+ python -m lidar_slam --no-model /working/f469127b-5551-49af-ad62-21dba0c8af42 Lidar SLAM 0.0.14 ===================================================== The recording path: /working/f469127b-5551-49af-ad62-21dba0c8af42 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 0.018241008 Adjusted end_distance from 9.223372036854776e+18 to 181.988241008 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.018241008 meters Centerline goodness : 0.864789 Centerline is valid? [0, False] SLAMing on 0.048241008 meters Centerline goodness : 0.867500 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99998517e-01 -1.46151645e-03 -9.10886087e-04 2.89604092e-03] [ 1.46082190e-03 9.99998642e-01 -7.62705236e-04 -6.67826225e-04] [ 9.11999557e-04 7.61373462e-04 9.99999294e-01 -8.86317396e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.078241008 meters Centerline goodness : 0.870990 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.00 [[ 0.99999426 -0.00293012 -0.00170207 0.00568758] [ 0.00292749 0.99999452 -0.00154608 -0.00151236] [ 0.0017066 0.00154109 0.99999736 -0.00191112] [ 0. 0. 0. 1. ]] SLAMing on 0.10824100800000001 meters Centerline goodness : 0.882381 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.00 [[ 0.99998398 -0.00492833 -0.0027829 0.009271 ] [ 0.00492313 0.99998613 -0.00187223 -0.00322569] [ 0.00279209 0.0018585 0.99999438 -0.00261498] [ 0. 0. 0. 1. ]] SLAMing on 0.138241008 meters Centerline goodness : 0.882604 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.00 [[ 0.99997842 -0.00562951 -0.00338702 0.01139582] [ 0.00562212 0.99998181 -0.00218637 -0.00346105] [ 0.00339927 0.00216728 0.99999187 -0.00347008] [ 0. 0. 0. 1. ]] SLAMing on 0.16824100800000003 meters Centerline goodness : 0.875729 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.00 [[ 0.99997588 -0.00578683 -0.00384025 0.01242072] [ 0.00577906 0.99998124 -0.00203175 -0.00360293] [ 0.00385193 0.00200951 0.99999056 -0.00332892] [ 0. 0. 0. 1. ]] SLAMing on 0.19824100800000002 meters Centerline goodness : 0.882956 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.00 [[ 0.99997212 -0.00610485 -0.00429924 0.01395856] [ 0.00609523 0.9999789 -0.00224829 -0.00302744] [ 0.00431288 0.00222202 0.99998823 -0.00388606] [ 0. 0. 0. 1. ]] SLAMing on 0.22824100800000002 meters Centerline goodness : 0.397326 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:-0.00 [[ 0.99996568 -0.00646668 -0.00517972 0.01662876] [ 0.0064551 0.99997664 -0.00224894 -0.00255999] [ 0.00519414 0.00221542 0.99998406 -0.00437836] [ 0. 0. 0. 1. ]] SLAMing on 0.258241008 meters Centerline goodness : 0.884399 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:-0.01 [[ 0.9999598 -0.00689206 -0.00573631 0.01878108] [ 0.0068783 0.99997343 -0.00241611 -0.00318219] [ 0.00575281 0.00237656 0.99998063 -0.00530204] [ 0. 0. 0. 1. ]] SLAMing on 0.288241008 meters Centerline goodness : 0.395350 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:-0.01 [[ 0.99995216 -0.00740334 -0.0063925 0.02127665] [ 0.00738692 0.99996937 -0.00258819 -0.00378586] [ 0.00641146 0.00254085 0.99997622 -0.0064338 ] [ 0. 0. 0. 1. ]] SLAMing on 0.31824100800000005 meters Centerline goodness : 0.880535 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.00, Z:-0.01 [[ 9.99953067e-01 -6.41016292e-03 -7.26456528e-03 2.58672343e-02] [ 6.40342120e-03 9.99979046e-01 -9.50908799e-04 -4.49529985e-03] [ 7.27050854e-03 9.04346098e-04 9.99973161e-01 -9.18606577e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.348241008 meters Centerline goodness : 0.413758 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.00, Z:-0.01 [[ 0.99996784 -0.0056487 -0.00569288 0.04976402] [ 0.00562864 0.99997792 -0.00353338 -0.00183242] [ 0.00571271 0.00350123 0.99997755 -0.0121226 ] [ 0. 0. 0. 1. ]] SLAMing on 0.37824100800000005 meters Centerline goodness : 0.418788 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.00, Z:-0.01 [[ 0.99998728 -0.00439259 -0.00247865 0.06867066] [ 0.00437674 0.99997016 -0.00636593 -0.00284746] [ 0.00250653 0.006355 0.99997667 -0.01322316] [ 0. 0. 0. 1. ]] SLAMing on 0.408241008 meters Centerline goodness : 0.422293 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.01, Z:-0.01 [[ 0.99999349 -0.00342933 -0.00112609 0.0901003 ] [ 0.00341961 0.99995786 -0.00851922 -0.00553854] [ 0.00115526 0.00851531 0.99996308 -0.01488447] [ 0. 0. 0. 1. ]] SLAMing on 0.43824100800000004 meters Centerline goodness : 0.190720 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.01, Z:-0.02 [[ 0.9999827 -0.00547846 -0.00214042 0.09519315] [ 0.00545889 0.99994423 -0.00904114 -0.00709025] [ 0.00218983 0.0090293 0.99995684 -0.01710457] [ 0. 0. 0. 1. ]] SLAMing on 0.468241008 meters Centerline goodness : 0.229666 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.01, Z:-0.02 [[ 0.99993966 -0.01039403 -0.0035549 0.13316395] [ 0.01037711 0.99993489 -0.00474569 -0.01256693] [ 0.003604 0.00470852 0.99998242 -0.01814607] [ 0. 0. 0. 1. ]] SLAMing on 0.49824100800000004 meters Centerline goodness : 0.237718 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.02, Z:-0.02 [[ 0.99991794 -0.01206634 -0.00430219 0.15901423] [ 0.01204135 0.99991075 -0.00578788 -0.01608321] [ 0.00437164 0.00573561 0.999974 -0.01824053] [ 0. 0. 0. 1. ]] SLAMing on 0.528241008 meters Centerline goodness : 0.246021 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.02, Z:-0.02 [[ 0.99990029 -0.01383092 -0.00284724 0.18281834] [ 0.01381426 0.99988781 -0.00579006 -0.02099807] [ 0.002927 0.00575015 0.99997918 -0.01708714] [ 0. 0. 0. 1. ]] SLAMing on 0.558241008 meters Centerline goodness : 0.245490 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.03, Z:-0.02 [[ 0.99985799 -0.01662937 -0.00273142 0.20806616] [ 0.01661079 0.99983965 -0.00668998 -0.02610535] [ 0.00284223 0.00664366 0.99997389 -0.01654121] [ 0. 0. 0. 1. ]] SLAMing on 0.588241008 meters Centerline goodness : 0.245142 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.04, Z:-0.02 [[ 0.99962819 -0.02711247 -0.00289826 0.24340574] [ 0.02709064 0.99960614 -0.00732523 -0.03661957] [ 0.00309572 0.00724399 0.99996897 -0.01720626] [ 0. 0. 0. 1. ]] SLAMing on 0.618241008 meters Centerline goodness : 0.238805 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.04, Z:-0.02 [[ 0.99941598 -0.03376726 -0.00524136 0.25368865] [ 0.03371939 0.99939111 -0.0089676 -0.04085373] [ 0.00554098 0.00878563 0.99994605 -0.01837189] [ 0. 0. 0. 1. ]] SLAMing on 0.648241008 meters Centerline goodness : 0.224280 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.05, Z:-0.02 [[ 0.99933818 -0.03563112 -0.00732266 0.27980299] [ 0.03557128 0.99933394 -0.0081462 -0.04837316] [ 0.00760804 0.00788033 0.99994001 -0.01808916] [ 0. 0. 0. 1. ]] SLAMing on 0.678241008 meters Centerline goodness : 0.224280 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.05, Z:-0.02 [[ 0.99933818 -0.03563112 -0.00732266 0.27980299] [ 0.03557128 0.99933394 -0.0081462 -0.04837316] [ 0.00760804 0.00788033 0.99994001 -0.01808916] [ 0. 0. 0. 1. ]] SLAMing on 0.708241008 meters Centerline goodness : 0.368524 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.06, Z:-0.02 [[ 0.99911387 -0.04084459 -0.01015891 0.31745722] [ 0.04082165 0.99916343 -0.00245516 -0.05997043] [ 0.01025069 0.00203828 0.99994538 -0.01831121] [ 0. 0. 0. 1. ]] SLAMing on 0.738241008 meters Centerline goodness : 0.389732 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.06, Z:-0.02 [[ 9.99003231e-01 -4.28680066e-02 -1.24449934e-02 3.27432503e-01] [ 4.28698579e-02 9.99080658e-01 -1.18090238e-04 -6.38688977e-02] [ 1.24386145e-02 -4.15542571e-04 9.99922551e-01 -1.97087597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7682410080000001 meters Centerline goodness : 0.361736 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.07, Z:-0.02 [[ 9.99012003e-01 -4.01280153e-02 -1.90987188e-02 3.48390685e-01] [ 4.01423030e-02 9.99193906e-01 3.65162266e-04 -7.02069759e-02] [ 1.90686702e-02 -1.13146804e-03 9.99817536e-01 -1.69314510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.798241008 meters Centerline goodness : 0.370695 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.08, Z:-0.02 [[ 9.99048253e-01 -3.71808232e-02 -2.28073273e-02 3.70892088e-01] [ 3.71891045e-02 9.99308244e-01 -6.10859860e-05 -7.65212337e-02] [ 2.27938214e-02 -7.87156231e-04 9.99739877e-01 -1.61686941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.828241008 meters Centerline goodness : 0.249630 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.08, Z:-0.02 [[ 0.99914417 -0.03682297 -0.01884112 0.3941115 ] [ 0.03675194 0.999316 -0.00410244 -0.08299192] [ 0.0189793 0.00340648 0.99981407 -0.02177203] [ 0. 0. 0. 1. ]] SLAMing on 0.858241008 meters Centerline goodness : 0.234403 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.09, Z:-0.02 [[ 0.99918547 -0.0328032 -0.02350189 0.41686262] [ 0.03272051 0.99945695 -0.00389484 -0.08794381] [ 0.02361689 0.00312268 0.99971621 -0.02090592] [ 0. 0. 0. 1. ]] SLAMing on 0.888241008 meters Centerline goodness : 0.720279 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.09, Z:-0.02 [[ 0.99933034 -0.02924813 -0.02198692 0.43746361] [ 0.02915746 0.999565 -0.00443324 -0.09089343] [ 0.02210702 0.00378919 0.99974843 -0.02168253] [ 0. 0. 0. 1. ]] SLAMing on 0.918241008 meters Centerline goodness : 0.684152 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.09, Z:-0.02 [[ 0.9993232 -0.02466605 -0.02728968 0.45934818] [ 0.02455528 0.99968885 -0.00438687 -0.09475316] [ 0.0273894 0.0037138 0.99961794 -0.02008822] [ 0. 0. 0. 1. ]] SLAMing on 0.948241008 meters Centerline goodness : 0.716892 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.02 [[ 0.99952101 -0.02122809 -0.02251937 0.48394494] [ 0.02115126 0.99976964 -0.00364457 -0.0993701 ] [ 0.02259155 0.00316651 0.99973976 -0.02381252] [ 0. 0. 0. 1. ]] SLAMing on 0.978241008 meters Centerline goodness : 0.708483 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.10, Z:-0.02 [[ 0.99968544 -0.01884212 -0.01655259 0.5001016 ] [ 0.01875552 0.99980967 -0.00537115 -0.10285091] [ 0.01665064 0.00505901 0.99984857 -0.02397997] [ 0. 0. 0. 1. ]] SLAMing on 1.0082410080000002 meters Centerline goodness : 0.770561 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.11, Z:-0.02 [[ 0.99980379 -0.01677907 -0.01052871 0.51639001] [ 0.01670232 0.99983359 -0.00733596 -0.10682984] [ 0.01065004 0.00715866 0.99991766 -0.0243001 ] [ 0. 0. 0. 1. ]] SLAMing on 1.038241008 meters Centerline goodness : 0.768025 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.11, Z:-0.02 [[ 0.99986995 -0.01372774 -0.00846412 0.55496544] [ 0.01363666 0.99984948 -0.01072612 -0.11435887] [ 0.00861009 0.0106093 0.99990665 -0.02104641] [ 0. 0. 0. 1. ]] SLAMing on 1.068241008 meters Centerline goodness : 0.769582 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.12, Z:-0.02 [[ 0.99992655 -0.01180105 -0.00276297 0.57237996] [ 0.01176827 0.99986356 -0.01159182 -0.11694944] [ 0.00289939 0.01155845 0.999929 -0.02066601] [ 0. 0. 0. 1. ]] SLAMing on 1.098241008 meters Centerline goodness : 0.242168 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.12, Z:-0.02 [[ 0.99994437 -0.01029336 0.00230264 0.59080446] [ 0.01032118 0.99986962 -0.01241798 -0.11905976] [-0.00217452 0.01244106 0.99992024 -0.01979863] [ 0. 0. 0. 1. ]] SLAMing on 1.128241008 meters Centerline goodness : 0.449115 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.12, Z:-0.02 [[ 0.99996458 -0.00821214 -0.00184119 0.61448026] [ 0.00818926 0.99989313 -0.01211044 -0.12331469] [ 0.00194045 0.01209493 0.99992497 -0.0156183 ] [ 0. 0. 0. 1. ]] SLAMing on 1.158241008 meters Centerline goodness : 0.745487 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.13, Z:-0.02 [[ 0.99988531 -0.01455009 0.00420346 0.63974883] [ 0.01457086 0.99988156 -0.00495463 -0.12876665] [-0.00413087 0.00501531 0.99997889 -0.01916758] [ 0. 0. 0. 1. ]] SLAMing on 1.188241008 meters Centerline goodness : 0.750287 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.02 [[ 0.99981876 -0.01885589 0.00262848 0.64972103] [ 0.01886411 0.99981713 -0.00313838 -0.13092855] [-0.00256882 0.0031874 0.99999162 -0.01778607] [ 0. 0. 0. 1. ]] SLAMing on 1.2182410080000001 meters Centerline goodness : 0.758237 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.01 [[ 0.9997924 -0.02000347 -0.00387458 0.66985287] [ 0.01998896 0.99979318 -0.00374583 -0.13501807] [ 0.00394871 0.00366761 0.99998548 -0.01127943] [ 0. 0. 0. 1. ]] SLAMing on 1.2482410080000002 meters Centerline goodness : 0.762185 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.14, Z:-0.01 [[ 0.99967597 -0.02480163 -0.00573037 0.68038914] [ 0.02479231 0.99969119 -0.00169011 -0.13758022] [ 0.00577052 0.00154749 0.99998215 -0.0090543 ] [ 0. 0. 0. 1. ]] SLAMing on 1.278241008 meters Centerline goodness : 0.770725 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.01 [[ 0.99935403 -0.03586822 -0.00223413 0.70940067] [ 0.03587928 0.999343 0.00512347 -0.13956966] [ 0.0020489 -0.00520032 0.99998438 -0.01061237] [ 0. 0. 0. 1. ]] SLAMing on 1.308241008 meters Centerline goodness : 0.776188 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.14, Z:-0.01 [[ 0.9991291 -0.04144493 -0.00483215 0.72175503] [ 0.04147707 0.99911663 0.00675333 -0.13953829] [ 0.00454799 -0.00694787 0.99996552 -0.0080768 ] [ 0. 0. 0. 1. ]] SLAMing on 1.338241008 meters Centerline goodness : 0.784740 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.14, Z:-0.00 [[ 0.99905311 -0.04203728 -0.0112134 0.74327064] [ 0.0420919 0.99910278 0.00467956 -0.14040304] [ 0.01100662 -0.00514712 0.99992618 -0.00298316] [ 0. 0. 0. 1. ]] SLAMing on 1.368241008 meters Centerline goodness : 0.796196 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.14, Z:-0.00 [[ 0.99881314 -0.04762653 -0.0101996 0.77808158] [ 0.0476683 0.99885564 0.00389106 -0.13716385] [ 0.01000261 -0.00437264 0.99994041 -0.00326597] [ 0. 0. 0. 1. ]] SLAMing on 1.398241008 meters Centerline goodness : 0.779945 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.14, Z:-0.00 [[ 0.99887888 -0.04508535 -0.01443229 0.79946296] [ 0.04510651 0.99898153 0.00114368 -0.13623107] [ 0.01436603 -0.00179339 0.99989519 -0.00178422] [ 0. 0. 0. 1. ]] SLAMing on 1.428241008 meters Centerline goodness : 0.783280 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.13, Z:-0.00 [[ 9.98967949e-01 -4.17327533e-02 -1.79280374e-02 8.20554956e-01] [ 4.17104820e-02 9.99128435e-01 -1.61455616e-03 -1.34898786e-01] [ 1.79797918e-02 8.65102777e-04 9.99837976e-01 -1.32222259e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4582410080000001 meters Centerline goodness : 0.786592 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.13, Z:-0.00 [[ 0.99911581 -0.0397729 -0.01362746 0.83851863] [ 0.03970763 0.99919869 -0.00502771 -0.13214946] [ 0.01381651 0.00448215 0.9998945 -0.00243437] [ 0. 0. 0. 1. ]] SLAMing on 1.4882410080000001 meters Centerline goodness : 0.806900 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.13, Z:-0.01 [[ 0.99916321 -0.03971651 -0.00977181 0.86626281] [ 0.03965046 0.99919004 -0.00686333 -0.12538026] [ 0.01003648 0.00647013 0.9999287 -0.00623561] [ 0. 0. 0. 1. ]] SLAMing on 1.5182410080000002 meters Centerline goodness : 0.824702 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.12, Z:-0.01 [[ 0.99924954 -0.03835096 -0.00543632 0.88690744] [ 0.0383032 0.99922887 -0.00863349 -0.12290466] [ 0.00576323 0.00841878 0.99994795 -0.00658362] [ 0. 0. 0. 1. ]] SLAMing on 1.548241008 meters Centerline goodness : 0.820311 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.12, Z:-0.01 [[ 0.99919966 -0.03928681 -0.00752265 0.89772657] [ 0.03925169 0.99921802 -0.00476036 -0.1212551 ] [ 0.00770379 0.00446127 0.99996037 -0.00684908] [ 0. 0. 0. 1. ]] SLAMing on 1.578241008 meters Centerline goodness : 0.191396 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.12, Z:-0.01 [[ 9.99173021e-01 -3.95479698e-02 -9.44627103e-03 9.07610250e-01] [ 3.95429117e-02 9.99217613e-01 -7.21710130e-04 -1.19598849e-01] [ 9.46742256e-03 3.47580230e-04 9.99955123e-01 -7.24889444e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.608241008 meters Centerline goodness : 0.189138 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.11, Z:-0.01 [[ 0.99918175 -0.03920198 -0.00995181 0.94591763] [ 0.03923699 0.99922433 0.00334733 -0.11422137] [ 0.00981287 -0.00373507 0.99994488 -0.01062439] [ 0. 0. 0. 1. ]] SLAMing on 1.638241008 meters Centerline goodness : 0.177533 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.11, Z:-0.01 [[ 9.99279802e-01 -3.54746486e-02 -1.34695028e-02 9.67626918e-01] [ 3.54775381e-02 9.99370474e-01 -2.44386482e-05 -1.12721865e-01] [ 1.34618903e-02 -4.53443751e-04 9.99909282e-01 -1.19396841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.668241008 meters Centerline goodness : 0.192368 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.11, Z:-0.01 [[ 0.99933483 -0.03194464 -0.01759068 0.98926448] [ 0.03189178 0.99948595 -0.00327752 -0.1126191 ] [ 0.01768633 0.00271434 0.9998399 -0.01224648] [ 0. 0. 0. 1. ]] SLAMing on 1.698241008 meters Centerline goodness : 0.186379 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.11, Z:-0.01 [[ 0.99944427 -0.03103294 -0.01216995 1.00499773] [ 0.03092896 0.99948423 -0.00864122 -0.11195266] [ 0.01243183 0.00826002 0.9998886 -0.01391818] [ 0. 0. 0. 1. ]] SLAMing on 1.7282410080000001 meters Centerline goodness : 0.762537 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.11, Z:-0.02 [[ 0.99944796 -0.03017062 -0.01391056 1.01272839] [ 0.03009827 0.99953246 -0.00538144 -0.11234289] [ 0.01406642 0.00495978 0.99988876 -0.01558767] [ 0. 0. 0. 1. ]] SLAMing on 1.7582410080000002 meters Centerline goodness : 0.594356 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.11, Z:-0.02 [[ 9.99367714e-01 -3.25407363e-02 -1.43273593e-02 1.02593038e+00] [ 3.25297179e-02 9.99470267e-01 -1.00147805e-03 -1.09766593e-01] [ 1.43523584e-02 5.34779872e-04 9.99896857e-01 -1.77960679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7882410080000002 meters Centerline goodness : 0.585776 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.11, Z:-0.02 [[ 0.9995047 -0.03008374 -0.00923657 1.04175843] [ 0.03004096 0.99953745 -0.00473592 -0.10853013] [ 0.00937478 0.0044561 0.99994613 -0.01982353] [ 0. 0. 0. 1. ]] SLAMing on 1.818241008 meters Centerline goodness : 0.589706 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.11, Z:-0.02 [[ 0.99960002 -0.02799551 -0.00400733 1.05836508] [ 0.027961 0.99957352 -0.00842347 -0.10764907] [ 0.00424144 0.00830805 0.99995649 -0.02206514] [ 0. 0. 0. 1. ]] SLAMing on 1.848241008 meters Centerline goodness : 0.599255 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.11, Z:-0.02 [[ 0.99960025 -0.02775188 -0.00540153 1.06616123] [ 0.02773409 0.99960975 -0.00334118 -0.10870213] [ 0.00549215 0.00319003 0.99997983 -0.02087228] [ 0. 0. 0. 1. ]] SLAMing on 1.878241008 meters Centerline goodness : 0.789641 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.11, Z:-0.02 [[ 9.99538733e-01 -3.03660328e-02 -4.75061149e-04 1.09278976e+00] [ 3.03624273e-02 9.99518961e-01 -6.32211898e-03 -1.05509344e-01] [ 6.66810298e-04 6.30477879e-03 9.99979902e-01 -2.31953092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.908241008 meters Centerline goodness : 0.207575 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.11, Z:-0.02 [[ 0.9995055 -0.03135575 -0.00236067 1.10269955] [ 0.03135032 0.9995058 -0.0023033 -0.10568178] [ 0.00243172 0.00222815 0.99999456 -0.0228875 ] [ 0. 0. 0. 1. ]] SLAMing on 1.938241008 meters Centerline goodness : 0.220571 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.10, Z:-0.02 [[ 9.99444885e-01 -3.29859728e-02 -4.67403200e-03 1.11363837e+00] [ 3.29880654e-02 9.99455677e-01 3.71306900e-04 -1.04302067e-01] [ 4.65923990e-03 -5.25288055e-04 9.99989008e-01 -2.39509925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9682410080000001 meters Centerline goodness : 0.696060 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.10, Z:-0.03 [[ 0.9993373 -0.03636611 -0.00156756 1.14266546] [ 0.03636066 0.99933304 -0.00337433 -0.09827925] [ 0.00168922 0.00331509 0.99999308 -0.0274958 ] [ 0. 0. 0. 1. ]] SLAMing on 1.9982410080000002 meters Centerline goodness : 0.227044 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.10, Z:-0.03 [[ 0.99943325 -0.0332413 -0.00530932 1.16725194] [ 0.0332119 0.99943302 -0.00553157 -0.09712847] [ 0.00549019 0.0053521 0.99997061 -0.02894564] [ 0. 0. 0. 1. ]] SLAMing on 2.028241008 meters Centerline goodness : 0.707419 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.09, Z:-0.03 [[ 0.99935543 -0.03531745 -0.00643469 1.17243646] [ 0.03526728 0.99934786 -0.00775081 -0.09440358] [ 0.00670423 0.00751888 0.99994926 -0.03224024] [ 0. 0. 0. 1. ]] SLAMing on 2.058241008 meters Centerline goodness : 0.713040 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.09, Z:-0.03 [[ 0.99927241 -0.03689125 -0.00967883 1.18414392] [ 0.03683899 0.99930595 -0.005524 -0.09304205] [ 0.0098759 0.00516342 0.9999379 -0.03378825] [ 0. 0. 0. 1. ]] SLAMing on 2.0882410080000002 meters Centerline goodness : 0.771028 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.09, Z:-0.03 [[ 0.99901277 -0.04294919 -0.01135133 1.22415357] [ 0.0428947 0.99906708 -0.00500099 -0.08803622] [ 0.01155552 0.00450914 0.99992307 -0.03394737] [ 0. 0. 0. 1. ]] SLAMing on 2.118241008 meters Centerline goodness : 0.140474 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.08, Z:-0.04 [[ 0.99904088 -0.04341987 -0.00566079 1.24035338] [ 0.04335067 0.99898998 -0.01182123 -0.08381726] [ 0.00616835 0.01156449 0.9999141 -0.03694985] [ 0. 0. 0. 1. ]] SLAMing on 2.1482410080000003 meters Centerline goodness : 0.775886 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.08, Z:-0.04 [[ 0.99897258 -0.04437509 -0.00919927 1.25162513] [ 0.04429844 0.99898323 -0.00837572 -0.0817284 ] [ 0.00956159 0.0079596 0.99992261 -0.03630072] [ 0. 0. 0. 1. ]] SLAMing on 2.178241008 meters Centerline goodness : 0.772335 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.08, Z:-0.04 [[ 0.99902742 -0.04397159 -0.00327368 1.26761758] [ 0.04392043 0.9989322 -0.01433349 -0.07727954] [ 0.00390045 0.01417577 0.99989191 -0.03921951] [ 0. 0. 0. 1. ]] SLAMing on 2.2082410080000003 meters Centerline goodness : 0.792425 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.07, Z:-0.04 [[ 0.99886174 -0.04741804 -0.00517258 1.28682912] [ 0.04738506 0.99885669 -0.00632205 -0.07089279] [ 0.00546644 0.00606975 0.99996664 -0.0374667 ] [ 0. 0. 0. 1. ]] SLAMing on 2.238241008 meters Centerline goodness : 0.795924 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.07, Z:-0.04 [[ 0.99891437 -0.04592995 -0.00777998 1.2934846 ] [ 0.04590104 0.99893855 -0.00385461 -0.06746391] [ 0.00794876 0.00349332 0.99996231 -0.03817102] [ 0. 0. 0. 1. ]] SLAMing on 2.268241008 meters Centerline goodness : 0.796600 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.06, Z:-0.04 [[ 0.99906688 -0.04312743 -0.00232359 1.30962835] [ 0.04310911 0.99904274 -0.0074301 -0.06283695] [ 0.0026418 0.007323 0.9999697 -0.0402799 ] [ 0. 0. 0. 1. ]] SLAMing on 2.298241008 meters Centerline goodness : 0.804475 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.06, Z:-0.04 [[ 9.99157125e-01 -4.07473049e-02 -4.96956784e-03 1.32075889e+00] [ 4.07440782e-02 9.99169335e-01 -7.48854454e-04 -5.73918600e-02] [ 4.99595359e-03 5.45742803e-04 9.99987371e-01 -3.97357689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.328241008 meters Centerline goodness : 0.806990 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.05, Z:-0.04 [[ 9.99232210e-01 -3.86500480e-02 -6.41599532e-03 1.32556898e+00] [ 3.86563485e-02 9.99252193e-01 8.60854569e-04 -5.39365812e-02] [ 6.37792532e-03 -1.10821256e-03 9.99979047e-01 -4.23578307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3582410080000002 meters Centerline goodness : 0.788386 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.05, Z:-0.04 [[ 0.99931955 -0.03606563 -0.00772672 1.32931156] [ 0.03608953 0.99934413 0.0029767 -0.04987919] [ 0.0076143 -0.00325353 0.99996572 -0.04396392] [ 0. 0. 0. 1. ]] SLAMing on 2.388241008 meters Centerline goodness : 0.796362 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.05, Z:-0.05 [[ 0.99939546 -0.0335844 -0.00898949 1.33314686] [ 0.03362856 0.99942284 0.00480666 -0.04541291] [ 0.00882287 -0.00510606 0.99994804 -0.04587226] [ 0. 0. 0. 1. ]] SLAMing on 2.4182410080000003 meters Centerline goodness : 0.781629 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.04, Z:-0.05 [[ 0.99945845 -0.03126333 -0.01026725 1.33721709] [ 0.03133095 0.99948798 0.00649296 -0.04104479] [ 0.010059 -0.00681113 0.99992621 -0.04800053] [ 0. 0. 0. 1. ]] SLAMing on 2.448241008 meters Centerline goodness : 0.825545 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.03, Z:-0.05 [[ 9.99555714e-01 -2.91995198e-02 -5.98019673e-03 1.35674743e+00] [ 2.92031659e-02 9.99573360e-01 5.23268617e-04 -2.97525138e-02] [ 5.96236614e-03 -6.97676813e-04 9.99981982e-01 -5.34334640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4782410080000004 meters Centerline goodness : 0.858469 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.03, Z:-0.06 [[ 0.99960822 -0.02702026 -0.00730184 1.36103807] [ 0.02703819 0.9996316 0.00236755 -0.02627066] [ 0.00723518 -0.00256405 0.99997054 -0.05553313] [ 0. 0. 0. 1. ]] SLAMing on 2.508241008 meters Centerline goodness : 0.815906 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.02, Z:-0.06 [[ 0.99964706 -0.02511084 -0.00867218 1.36579674] [ 0.02514576 0.99967602 0.00394222 -0.02238983] [ 0.00857037 -0.0041589 0.99995463 -0.05802744] [ 0. 0. 0. 1. ]] SLAMing on 2.538241008 meters Centerline goodness : 0.861638 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.02, Z:-0.06 [[ 0.99968326 -0.02313447 -0.00990828 1.37025362] [ 0.02319024 0.99971566 0.00555171 -0.01918798] [ 0.00977703 -0.00577973 0.9999355 -0.06055501] [ 0. 0. 0. 1. ]] SLAMing on 2.568241008 meters Centerline goodness : 0.862609 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.01, Z:-0.07 [[ 9.99731641e-01 -2.21144632e-02 -6.89907918e-03 1.39103461e+00] [ 2.21077413e-02 9.99755044e-01 -1.04907414e-03 -1.10269160e-02] [ 6.92058892e-03 8.96269558e-04 9.99975651e-01 -6.53888243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.598241008 meters Centerline goodness : 0.862609 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.01, Z:-0.07 [[ 9.99731641e-01 -2.21144632e-02 -6.89907918e-03 1.39103461e+00] [ 2.21077413e-02 9.99755044e-01 -1.04907414e-03 -1.10269160e-02] [ 6.92058892e-03 8.96269558e-04 9.99975651e-01 -6.53888243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6282410080000003 meters Centerline goodness : 0.863015 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.01, Z:-0.07 [[ 9.99758084e-01 -2.04081128e-02 -8.20260414e-03 1.39580669e+00] [ 2.04122317e-02 9.99791561e-01 4.18732880e-04 -8.14308811e-03] [ 8.19234885e-03 -5.86065038e-04 9.99966270e-01 -6.79160125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.658241008 meters Centerline goodness : 0.866871 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.00, Z:-0.07 [[ 0.99978728 -0.01831738 -0.00948014 1.3999892 ] [ 0.01834022 0.99982909 0.0023282 -0.00490123] [ 0.00943587 -0.00250157 0.99995235 -0.06978248] [ 0. 0. 0. 1. ]] SLAMing on 2.6882410080000003 meters Centerline goodness : 0.865768 Centerline is valid? [False, False] Translation: X:1.41, Y:0.00, Z:-0.07 [[ 0.99985927 -0.01647331 -0.00317327 1.41430752] [ 0.01646081 0.99985681 -0.00392548 0.00171669] [ 0.00323749 0.00387269 0.99998726 -0.07360518] [ 0. 0. 0. 1. ]] SLAMing on 2.718241008 meters Centerline goodness : 0.865986 Centerline is valid? [False, False] Translation: X:1.44, Y:0.01, Z:-0.08 [[ 9.99868849e-01 -1.61766129e-02 7.76511850e-04 1.43547116e+00] [ 1.61832099e-02 9.99824729e-01 -9.41359325e-03 1.45060305e-02] [-6.24095695e-04 9.42492510e-03 9.99955390e-01 -7.70891216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7482410080000004 meters Centerline goodness : 0.870446 Centerline is valid? [False, False] Translation: X:1.44, Y:0.02, Z:-0.08 [[ 9.99910225e-01 -1.33961168e-02 -2.92824332e-04 1.43822478e+00] [ 1.33938170e-02 9.99887184e-01 -6.79884852e-03 1.76384959e-02] [ 3.83869466e-04 6.79431612e-03 9.99976845e-01 -7.77050642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.778241008 meters Centerline goodness : 0.867816 Centerline is valid? [False, False] Translation: X:1.44, Y:0.02, Z:-0.08 [[ 9.99943421e-01 -1.05701658e-02 -1.19461729e-03 1.44068898e+00] [ 1.05651012e-02 9.99935497e-01 -4.16909291e-03 2.05534645e-02] [ 1.23860823e-03 4.15623578e-03 9.99990596e-01 -7.83551899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.808241008 meters Centerline goodness : 0.868832 Centerline is valid? [False, False] Translation: X:1.46, Y:0.03, Z:-0.08 [[ 0.99995165 -0.00935251 0.00303763 1.45879436] [ 0.00938397 0.99990071 -0.01051276 0.0301103 ] [-0.00293901 0.01054076 0.99994013 -0.08113308] [ 0. 0. 0. 1. ]] SLAMing on 2.8382410080000002 meters Centerline goodness : 0.858063 Centerline is valid? [False, False] Translation: X:1.46, Y:0.03, Z:-0.08 [[ 0.99997899 -0.00606959 0.002274 1.4605025 ] [ 0.00608601 0.99995496 -0.00728246 0.03160637] [-0.0022297 0.00729615 0.9999709 -0.08114858] [ 0. 0. 0. 1. ]] SLAMing on 2.868241008 meters Centerline goodness : 0.869168 Centerline is valid? [False, False] Translation: X:1.46, Y:0.03, Z:-0.08 [[ 9.99993226e-01 -3.40290673e-03 1.40288770e-03 1.46334754e+00] [ 3.40989588e-03 9.99981636e-01 -5.01005532e-03 3.49398067e-02] [-1.38581319e-03 5.01480508e-03 9.99986466e-01 -8.23736128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8982410080000003 meters Centerline goodness : 0.861295 Centerline is valid? [False, False] Translation: X:1.47, Y:0.04, Z:-0.08 [[ 9.99999502e-01 -7.78518040e-04 6.24153399e-04 1.46605348e+00] [ 7.80413688e-04 9.99995067e-01 -3.04268073e-03 3.94389330e-02] [-6.21781538e-04 3.04316631e-03 9.99995176e-01 -8.36894044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.928241008 meters Centerline goodness : 0.859409 Centerline is valid? [False, False] Translation: X:1.49, Y:0.05, Z:-0.09 [[ 0.99998914 0.00343254 0.00315198 1.48727127] [-0.00340896 0.99996638 -0.00745743 0.05305926] [-0.00317747 0.0074466 0.99996723 -0.08866949] [ 0. 0. 0. 1. ]] SLAMing on 2.9582410080000003 meters Centerline goodness : 0.857886 Centerline is valid? [False, False] Translation: X:1.49, Y:0.06, Z:-0.09 [[ 0.9999755 0.00654829 0.0024731 1.48941548] [-0.00653554 0.9999655 -0.00512725 0.0571769 ] [-0.00250659 0.00511096 0.9999838 -0.08951076] [ 0. 0. 0. 1. ]] SLAMing on 2.988241008 meters Centerline goodness : 0.874205 Centerline is valid? [False, False] Translation: X:1.51, Y:0.06, Z:-0.09 [[ 0.9999512 0.00878372 0.00452181 1.5094487 ] [-0.00873348 0.99990123 -0.01101134 0.06390601] [-0.00461809 0.01097131 0.99992915 -0.09282025] [ 0. 0. 0. 1. ]] SLAMing on 3.0182410080000004 meters Centerline goodness : 0.871165 Centerline is valid? [False, False] Translation: X:1.51, Y:0.07, Z:-0.09 [[ 0.99991211 0.01266281 0.00392642 1.51118865] [-0.01263145 0.99988892 -0.00791203 0.06680423] [-0.00402617 0.00786174 0.99996099 -0.0933271 ] [ 0. 0. 0. 1. ]] SLAMing on 3.048241008 meters Centerline goodness : 0.865881 Centerline is valid? [False, False] Translation: X:1.57, Y:0.08, Z:-0.09 [[ 9.99664974e-01 2.58793088e-02 -4.48938760e-04 1.56522940e+00] [-2.58816981e-02 9.99269500e-01 -2.81176717e-02 7.61614433e-02] [-2.79055100e-04 2.81198709e-02 9.99604519e-01 -9.30773156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.078241008 meters Centerline goodness : 0.876384 Centerline is valid? [False, False] Translation: X:1.59, Y:0.08, Z:-0.10 [[ 9.99563003e-01 2.95449435e-02 9.48077570e-04 1.58718905e+00] [-2.95030137e-02 9.99110873e-01 -3.01170477e-02 7.86993211e-02] [-1.83704108e-03 3.00759155e-02 9.99545929e-01 -9.60458113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1082410080000002 meters Centerline goodness : 0.877550 Centerline is valid? [False, False] Translation: X:1.59, Y:0.08, Z:-0.10 [[ 9.99461154e-01 3.28228800e-02 2.46988705e-04 1.58997725e+00] [-3.28042945e-02 9.99098096e-01 -2.69605789e-02 7.99208775e-02] [-1.13168979e-03 2.69379490e-02 9.99636467e-01 -9.72048488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.138241008 meters Centerline goodness : 0.876389 Centerline is valid? [False, False] Translation: X:1.61, Y:0.08, Z:-0.10 [[ 0.9994653 0.03226618 0.0052922 1.6118527 ] [-0.03217528 0.99934693 -0.01644566 0.08116097] [-0.00581938 0.01626659 0.99985076 -0.10091986] [ 0. 0. 0. 1. ]] SLAMing on 3.1682410080000003 meters Centerline goodness : 0.888483 Centerline is valid? [False, False] Translation: X:1.61, Y:0.08, Z:-0.10 [[ 0.99949611 0.03143166 0.00442383 1.61471093] [-0.03135222 0.9993637 -0.01700685 0.08104145] [-0.00495557 0.01685958 0.99984559 -0.10228369] [ 0. 0. 0. 1. ]] SLAMing on 3.198241008 meters Centerline goodness : 0.875900 Centerline is valid? [False, False] Translation: X:1.62, Y:0.08, Z:-0.10 [[ 0.99952556 0.03059509 0.00354809 1.61753254] [-0.03052961 0.99938522 -0.01723742 0.07877304] [-0.00407328 0.01712092 0.99984513 -0.10354638] [ 0. 0. 0. 1. ]] SLAMing on 3.2282410080000004 meters Centerline goodness : 0.889350 Centerline is valid? [False, False] Translation: X:1.61, Y:0.07, Z:-0.10 [[ 0.99975338 0.02201745 0.00289875 1.61485858] [-0.02199723 0.9997347 -0.00683064 0.07010177] [-0.00304837 0.00676519 0.99997247 -0.10101416] [ 0. 0. 0. 1. ]] SLAMing on 3.258241008 meters Centerline goodness : 0.888779 Centerline is valid? [False, False] Translation: X:1.62, Y:0.07, Z:-0.10 [[ 0.99983314 0.0180802 0.00260622 1.61538968] [-0.01805203 0.99978242 -0.01045146 0.06865818] [-0.00279461 0.01040266 0.99994199 -0.10109897] [ 0. 0. 0. 1. ]] SLAMing on 3.2882410080000004 meters Centerline goodness : 0.890819 Centerline is valid? [False, False] Translation: X:1.62, Y:0.07, Z:-0.10 [[ 0.99986046 0.01658436 0.00200592 1.61790921] [-0.01656153 0.99980339 -0.01090354 0.06515877] [-0.00218636 0.0108688 0.99993854 -0.10244795] [ 0. 0. 0. 1. ]] SLAMing on 3.318241008 meters Centerline goodness : 0.890671 Centerline is valid? [False, False] Translation: X:1.62, Y:0.06, Z:-0.10 [[ 9.99918481e-01 1.26662886e-02 1.61109489e-03 1.61857763e+00] [-1.26417274e-02 9.99815863e-01 -1.44369891e-02 6.32481467e-02] [-1.79366130e-03 1.44154452e-02 9.99894483e-01 -1.02405807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.348241008 meters Centerline goodness : 0.890875 Centerline is valid? [False, False] Translation: X:1.62, Y:0.06, Z:-0.10 [[ 9.99960929e-01 8.76031616e-03 1.18246399e-03 1.61912826e+00] [-8.73922702e-03 9.99820749e-01 -1.67956959e-02 5.71772742e-02] [-1.32938764e-03 1.67847059e-02 9.99858243e-01 -1.01631425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3782410080000003 meters Centerline goodness : 0.892638 Centerline is valid? [False, False] Translation: X:1.62, Y:0.05, Z:-0.10 [[ 9.99959997e-01 8.89061362e-03 9.80745133e-04 1.61923957e+00] [-8.87398706e-03 9.99835428e-01 -1.58230761e-02 5.39689895e-02] [-1.12126059e-03 1.58137400e-02 9.99874326e-01 -1.01089439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.408241008 meters Centerline goodness : 0.891662 Centerline is valid? [False, False] Translation: X:1.62, Y:0.05, Z:-0.10 [[ 9.99957172e-01 9.22211113e-03 7.78489206e-04 1.61940848e+00] [-9.20937510e-03 9.99844682e-01 -1.50266389e-02 5.18498852e-02] [-9.16945627e-04 1.50188260e-02 9.99886791e-01 -1.00688092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4382410080000003 meters Centerline goodness : 0.892065 Centerline is valid? [False, False] Translation: X:1.62, Y:0.05, Z:-0.10 [[ 9.99954643e-01 9.51272679e-03 4.68121826e-04 1.61998154e+00] [-9.50489751e-03 9.99848666e-01 -1.45705577e-02 5.06837290e-02] [-6.06656718e-04 1.45654474e-02 9.99893734e-01 -1.00586055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.468241008 meters Centerline goodness : 0.893936 Centerline is valid? [False, False] Translation: X:1.62, Y:0.05, Z:-0.10 [[ 9.99914549e-01 1.30685818e-02 -3.27194814e-04 1.62287805e+00] [-1.30713113e-02 9.99858658e-01 -1.05737501e-02 4.72979517e-02] [ 1.88964650e-04 1.05771234e-02 9.99944043e-01 -1.01989291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4982410080000004 meters Centerline goodness : 0.893463 Centerline is valid? [False, False] Translation: X:1.63, Y:0.04, Z:-0.10 [[ 9.99865432e-01 1.63811009e-02 -8.81637650e-04 1.62524520e+00] [-1.63869030e-02 9.99840980e-01 -7.03444710e-03 4.48056813e-02] [ 7.66265464e-04 7.04794780e-03 9.99974869e-01 -1.03223167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.528241008 meters Centerline goodness : 0.892597 Centerline is valid? [False, False] Translation: X:1.63, Y:0.04, Z:-0.10 [[ 9.99803074e-01 1.97920121e-02 -1.44524866e-03 1.62747854e+00] [-1.97967914e-02 9.99798341e-01 -3.37105618e-03 4.25343031e-02] [ 1.37823722e-03 3.39900362e-03 9.99993274e-01 -1.04337536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5582410080000004 meters Centerline goodness : 0.893373 Centerline is valid? [False, False] Translation: X:1.65, Y:0.04, Z:-0.11 [[ 9.99750857e-01 2.23135527e-02 5.74398892e-04 1.64743276e+00] [-2.23082439e-02 9.99719085e-01 -8.00586013e-03 4.39726609e-02] [-7.52876717e-04 7.99105169e-03 9.99967788e-01 -1.07771312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5882410080000002 meters Centerline goodness : 0.891007 Centerline is valid? [False, False] Translation: X:1.67, Y:0.05, Z:-0.11 [[ 0.99965197 0.02622248 0.00288383 1.66656643] [-0.02618588 0.9995842 -0.01207175 0.04639648] [-0.00319918 0.01199203 0.99992298 -0.1112634 ] [ 0. 0. 0. 1. ]] SLAMing on 3.618241008 meters Centerline goodness : 0.889842 Centerline is valid? [False, False] Translation: X:1.67, Y:0.04, Z:-0.11 [[ 0.99957499 0.02906827 0.00220861 1.66902876] [-0.02904859 0.99954208 -0.00847356 0.04363845] [-0.00245391 0.0084058 0.99996166 -0.11223886] [ 0. 0. 0. 1. ]] SLAMing on 3.6482410080000003 meters Centerline goodness : 0.892382 Centerline is valid? [False, False] Translation: X:1.67, Y:0.04, Z:-0.11 [[ 0.99956546 0.02941529 0.00190385 1.66945767] [-0.02939975 0.99953782 -0.00773294 0.04100224] [-0.00213044 0.00767361 0.99996829 -0.11190413] [ 0. 0. 0. 1. ]] SLAMing on 3.678241008 meters Centerline goodness : 0.891021 Centerline is valid? [False, False] Translation: X:1.67, Y:0.04, Z:-0.11 [[ 9.99560938e-01 2.95877399e-02 1.57988936e-03 1.67017120e+00] [-2.95761047e-02 9.99538439e-01 -6.94000224e-03 3.70884949e-02] [-1.78449913e-03 6.89022817e-03 9.99974670e-01 -1.11863941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7082410080000003 meters Centerline goodness : 0.893120 Centerline is valid? [False, False] Translation: X:1.67, Y:0.03, Z:-0.11 [[ 9.99641126e-01 2.67550466e-02 1.33677044e-03 1.67065930e+00] [-2.67423315e-02 9.99603941e-01 -8.76410923e-03 3.06261473e-02] [-1.57072515e-03 8.72521566e-03 9.99960701e-01 -1.12041959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.738241008 meters Centerline goodness : 0.892136 Centerline is valid? [False, False] Translation: X:1.67, Y:0.03, Z:-0.11 [[ 9.99654326e-01 2.62702983e-02 1.04862352e-03 1.67214163e+00] [-2.62607855e-02 9.99621180e-01 -8.23815915e-03 2.64685808e-02] [-1.26464518e-03 8.20777376e-03 9.99965516e-01 -1.12995563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7682410080000004 meters Centerline goodness : 0.891903 Centerline is valid? [False, False] Translation: X:1.67, Y:0.02, Z:-0.11 [[ 9.99674749e-01 2.54990534e-02 4.42106977e-04 1.67467837e+00] [-2.54946831e-02 9.99642685e-01 -8.03262954e-03 2.28344948e-02] [-6.46773456e-04 8.01874553e-03 9.99967640e-01 -1.14553423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.798241008 meters Centerline goodness : 0.890438 Centerline is valid? [False, False] Translation: X:1.68, Y:0.02, Z:-0.12 [[ 9.99693287e-01 2.47644034e-02 -2.38858670e-04 1.67755603e+00] [-2.47655195e-02 9.99661743e-01 -7.94159229e-03 1.95178326e-02] [ 4.21090800e-05 7.94507196e-03 9.99968437e-01 -1.16499640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8282410080000004 meters Centerline goodness : 0.892832 Centerline is valid? [False, False] Translation: X:1.68, Y:0.01, Z:-0.12 [[ 9.99756909e-01 2.20429800e-02 -4.80201854e-04 1.67858051e+00] [-2.20464888e-02 9.99713869e-01 -9.28073664e-03 1.22002137e-02] [ 2.75489361e-04 9.28906734e-03 9.99956818e-01 -1.17259487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8582410080000002 meters Centerline goodness : 0.893899 Centerline is valid? [False, False] Translation: X:1.68, Y:0.01, Z:-0.12 [[ 9.99762058e-01 2.17889633e-02 -1.03364929e-03 1.68008342e+00] [-2.17968578e-02 9.99727417e-01 -8.36592227e-03 6.69076893e-03] [ 8.51082766e-04 8.38646197e-03 9.99964471e-01 -1.17577906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.888241008 meters Centerline goodness : 0.893717 Centerline is valid? [False, False] Translation: X:1.68, Y:0.00, Z:-0.12 [[ 9.99785607e-01 2.06559267e-02 -1.43998457e-03 1.68099764e+00] [-2.06679279e-02 9.99746889e-01 -8.88788366e-03 1.66034454e-03] [ 1.25603262e-03 8.91573965e-03 9.99959465e-01 -1.17810432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9182410080000003 meters Centerline goodness : 0.896102 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.00, Z:-0.12 [[ 9.99783206e-01 2.07492170e-02 -1.73506092e-03 1.68162621e+00] [-2.07620468e-02 9.99754516e-01 -7.73593623e-03 -3.35895852e-03] [ 1.57412038e-03 7.77028254e-03 9.99968572e-01 -1.17610482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.948241008 meters Centerline goodness : 0.898427 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.01, Z:-0.12 [[ 0.99978474 0.02062883 -0.0022189 1.68283371] [-0.02064375 0.99976289 -0.00692855 -0.00776508] [ 0.00207544 0.00697287 0.99997354 -0.11773985] [ 0. 0. 0. 1. ]] SLAMing on 3.9782410080000004 meters Centerline goodness : 0.900487 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.01, Z:-0.12 [[ 0.99984174 0.01764963 -0.00223122 1.68209502] [-0.01766871 0.99980482 -0.00883979 -0.01329518] [ 0.00207477 0.00887782 0.99995844 -0.11682357] [ 0. 0. 0. 1. ]] SLAMing on 4.008241008000001 meters Centerline goodness : 0.899150 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.02, Z:-0.12 [[ 0.99984491 0.01740826 -0.00266457 1.68326082] [-0.0174294 0.99981508 -0.00812588 -0.01696467] [ 0.00252262 0.00817107 0.99996343 -0.11704024] [ 0. 0. 0. 1. ]] SLAMing on 4.038241008000001 meters Centerline goodness : 0.901588 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.02, Z:-0.12 [[ 0.9999035 0.0135802 -0.00292713 1.68357256] [-0.01361069 0.99985054 -0.01066096 -0.02218616] [ 0.00278192 0.01069978 0.99993889 -0.11668468] [ 0. 0. 0. 1. ]] SLAMing on 4.068241008000001 meters Centerline goodness : 0.901646 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.03, Z:-0.12 [[ 0.99991332 0.01270319 -0.00346081 1.68563151] [-0.01273936 0.99986227 -0.01063706 -0.0255722 ] [ 0.00332521 0.01068023 0.99993744 -0.11771787] [ 0. 0. 0. 1. ]] SLAMing on 4.0982410080000005 meters Centerline goodness : 0.903105 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.03, Z:-0.12 [[ 0.99991626 0.01243175 -0.00359378 1.6860376 ] [-0.01246687 0.99987308 -0.00991991 -0.02904105] [ 0.00347 0.00996388 0.99994434 -0.11762745] [ 0. 0. 0. 1. ]] SLAMing on 4.128241008000001 meters Centerline goodness : 0.902644 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.03, Z:-0.12 [[ 0.99992118 0.01199901 -0.00369441 1.68665892] [-0.01203349 0.99988286 -0.00945811 -0.03185935] [ 0.00358049 0.00950182 0.99994845 -0.11789901] [ 0. 0. 0. 1. ]] SLAMing on 4.158241008000001 meters Centerline goodness : 0.903684 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.04, Z:-0.12 [[ 9.99996974e-01 2.45860209e-03 -8.22307708e-05 1.68511955e+00] [-2.45871773e-03 9.99995945e-01 -1.43709051e-03 -3.56504745e-02] [ 7.86972036e-05 1.43728834e-03 9.99998964e-01 -1.18268542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.188241008 meters Centerline goodness : 0.906490 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.04, Z:-0.12 [[ 9.99999103e-01 1.12615674e-03 -7.25512088e-04 1.68760225e+00] [-1.12772401e-03 9.99997024e-01 -2.16344804e-03 -3.74031140e-02] [ 7.23073547e-04 2.16426427e-03 9.99997397e-01 -1.19569189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.218241008000001 meters Centerline goodness : 0.907337 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.04, Z:-0.12 [[ 9.99999162e-01 4.43881059e-04 -1.21631676e-03 1.68889110e+00] [-4.46357602e-04 9.99997827e-01 -2.03658553e-03 -4.00054835e-02] [ 1.21541012e-03 2.03712673e-03 9.99997186e-01 -1.19694378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.248241008000001 meters Centerline goodness : 0.906927 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.04, Z:-0.12 [[ 9.99999018e-01 5.57011968e-05 -1.40035769e-03 1.68932809e+00] [-5.78456174e-05 9.99998826e-01 -1.53134391e-03 -4.28177528e-02] [ 1.40027075e-03 1.53142342e-03 9.99997847e-01 -1.19352021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.278241008000001 meters Centerline goodness : 0.910192 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.04, Z:-0.12 [[ 9.99997608e-01 -1.58305720e-03 -1.50916427e-03 1.69093472e+00] [ 1.57986253e-03 9.99996514e-01 -2.11569317e-03 -4.46735671e-02] [ 1.51250827e-03 2.11330384e-03 9.99996623e-01 -1.20554904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.308241008 meters Centerline goodness : 0.910674 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.04, Z:-0.12 [[ 9.99996697e-01 -1.98412827e-03 -1.63362688e-03 1.69182347e+00] [ 1.98053694e-03 9.99995625e-01 -2.19706538e-03 -4.49060610e-02] [ 1.63797899e-03 2.19382266e-03 9.99996252e-01 -1.21368072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.338241008000001 meters Centerline goodness : 0.910380 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.05, Z:-0.12 [[ 0.99999478 -0.00252937 -0.00201122 1.69330586] [ 0.00252476 0.99999418 -0.00229464 -0.04570732] [ 0.00201701 0.00228955 0.99999534 -0.12223528] [ 0. 0. 0. 1. ]] SLAMing on 4.368241008000001 meters Centerline goodness : 0.912124 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.05, Z:-0.12 [[ 0.99999294 -0.00307883 -0.00215567 1.69394119] [ 0.00307437 0.99999313 -0.00206878 -0.047484 ] [ 0.00216202 0.00206214 0.99999554 -0.12233305] [ 0. 0. 0. 1. ]] SLAMing on 4.398241008000001 meters Centerline goodness : 0.915234 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.05, Z:-0.12 [[ 0.99996241 -0.0083881 -0.00219521 1.69462463] [ 0.00837344 0.99994312 -0.0066069 -0.04762328] [ 0.00225051 0.00658827 0.99997576 -0.12254591] [ 0. 0. 0. 1. ]] SLAMing on 4.4282410080000005 meters Centerline goodness : 0.917192 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.05, Z:-0.12 [[ 0.99995374 -0.009343 -0.00228659 1.69518385] [ 0.00932743 0.99993388 -0.00672511 -0.04846262] [ 0.00234927 0.00670347 0.99997477 -0.12248012] [ 0. 0. 0. 1. ]] SLAMing on 4.458241008000001 meters Centerline goodness : 0.918221 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.05, Z:-0.12 [[ 0.99994322 -0.01038624 -0.00238416 1.69574109] [ 0.01036925 0.99992152 -0.00703057 -0.04896365] [ 0.00245699 0.00700545 0.99997244 -0.12242113] [ 0. 0. 0. 1. ]] SLAMing on 4.488241008000001 meters Centerline goodness : 0.917867 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.05, Z:-0.12 [[ 0.99993234 -0.01136844 -0.00246523 1.69615095] [ 0.01134955 0.99990711 -0.00754654 -0.04845567] [ 0.0025508 0.00751805 0.99996849 -0.12229327] [ 0. 0. 0. 1. ]] SLAMing on 4.518241008 meters Centerline goodness : 0.917867 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.05, Z:-0.12 [[ 0.99993234 -0.01136844 -0.00246523 1.69615095] [ 0.01134955 0.99990711 -0.00754654 -0.04845567] [ 0.0025508 0.00751805 0.99996849 -0.12229327] [ 0. 0. 0. 1. ]] SLAMing on 4.548241008000001 meters Centerline goodness : 0.920809 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.05, Z:-0.12 [[ 0.99992042 -0.01231291 -0.00274756 1.69693647] [ 0.01228931 0.99988879 -0.0084484 -0.04643006] [ 0.00285128 0.00841396 0.99996054 -0.12233758] [ 0. 0. 0. 1. ]] SLAMing on 4.578241008000001 meters Centerline goodness : 0.922896 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.04, Z:-0.12 [[ 0.99990157 -0.01379616 -0.00255431 1.69603687] [ 0.01376825 0.9998486 -0.01063968 -0.03880394] [ 0.00270071 0.01060346 0.99994013 -0.12131926] [ 0. 0. 0. 1. ]] SLAMing on 4.608241008000001 meters Centerline goodness : 0.922829 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.04, Z:-0.12 [[ 0.99993651 -0.01091545 -0.00279914 1.69647941] [ 0.01089423 0.99991263 -0.0074865 -0.03729747] [ 0.00288062 0.00745553 0.99996806 -0.12082221] [ 0. 0. 0. 1. ]] SLAMing on 4.6382410080000005 meters Centerline goodness : 0.924296 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.04, Z:-0.12 [[ 0.99996443 -0.00794437 -0.00283188 1.69653379] [ 0.00793199 0.99995905 -0.00435592 -0.03539759] [ 0.00286637 0.0043333 0.9999865 -0.12035382] [ 0. 0. 0. 1. ]] SLAMing on 4.668241008000001 meters Centerline goodness : 0.922667 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.03, Z:-0.12 [[ 9.99984001e-01 -4.86345753e-03 -2.88858509e-03 1.69664521e+00] [ 4.85954985e-03 9.99987270e-01 -1.35828317e-03 -3.27809868e-02] [ 2.89515427e-03 1.34422422e-03 9.99994906e-01 -1.20034859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.698241008000001 meters Centerline goodness : 0.923391 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.02, Z:-0.12 [[ 0.99998751 -0.00358721 -0.00347885 1.69931586] [ 0.00358108 0.99999202 -0.00176858 -0.02104211] [ 0.00348517 0.0017561 0.99999238 -0.12206015] [ 0. 0. 0. 1. ]] SLAMing on 4.728241008 meters Centerline goodness : 0.923521 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.02, Z:-0.12 [[ 9.99991246e-01 -1.33612460e-03 -3.96507804e-03 1.70166031e+00] [ 1.33534387e-03 9.99999089e-01 -1.99542052e-04 -1.57303289e-02] [ 3.96534104e-03 1.94245563e-04 9.99992119e-01 -1.23825835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.758241008000001 meters Centerline goodness : 0.924346 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.01, Z:-0.13 [[ 9.99989796e-01 8.75831467e-04 -4.43173434e-03 1.70381117e+00] [-8.70300313e-04 9.99998840e-01 1.24985358e-03 -9.99219586e-03] [ 4.43282386e-03 -1.24598389e-03 9.99989399e-01 -1.25309262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.788241008000001 meters Centerline goodness : 0.921666 Centerline is valid? [False, False] Translation: X:1.71, Y:0.01, Z:-0.13 [[ 9.99984074e-01 2.07236166e-03 -5.24948346e-03 1.70742106e+00] [-2.07832587e-03 9.99997201e-01 -1.13095198e-03 6.44026356e-03] [ 5.24712502e-03 1.14184411e-03 9.99985582e-01 -1.29554523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.818241008000001 meters Centerline goodness : 0.919681 Centerline is valid? [False, False] Translation: X:1.71, Y:0.01, Z:-0.13 [[ 9.99973423e-01 4.40430013e-03 -5.80991229e-03 1.70987758e+00] [-4.40390469e-03 9.99990299e-01 8.08549739e-05 1.34523766e-02] [ 5.81021204e-03 -5.52665250e-05 9.99983119e-01 -1.31277806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8482410080000005 meters Centerline goodness : 0.919651 Centerline is valid? [False, False] Translation: X:1.71, Y:0.02, Z:-0.13 [[ 9.99956868e-01 7.01944353e-03 -6.08188036e-03 1.71131944e+00] [-7.01015887e-03 9.99974233e-01 1.54658583e-03 2.03615315e-02] [ 6.09257982e-03 -1.50388417e-03 9.99980309e-01 -1.32364958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.878241008000001 meters Centerline goodness : 0.920146 Centerline is valid? [False, False] Translation: X:1.71, Y:0.03, Z:-0.13 [[ 0.99993419 0.00959462 -0.00628929 1.71241294] [-0.00957554 0.99994948 0.00305596 0.02695226] [ 0.00631829 -0.00299554 0.99997555 -0.13309614] [ 0. 0. 0. 1. ]] SLAMing on 4.908241008000001 meters Centerline goodness : 0.919924 Centerline is valid? [False, False] Translation: X:1.73, Y:0.04, Z:-0.14 [[ 0.99993222 0.01119493 -0.00319704 1.73124668] [-0.01121483 0.9999174 -0.00627845 0.04331664] [ 0.00312649 0.00631388 0.99997518 -0.1389637 ] [ 0. 0. 0. 1. ]] SLAMing on 4.938241008000001 meters Centerline goodness : 0.918939 Centerline is valid? [False, False] Translation: X:1.73, Y:0.05, Z:-0.14 [[ 0.99989869 0.0137764 -0.00358193 1.73317908] [-0.01379299 0.99989406 -0.004649 0.04910241] [ 0.00351751 0.00469793 0.99998278 -0.14029385] [ 0. 0. 0. 1. ]] SLAMing on 4.968241008000001 meters Centerline goodness : 0.918328 Centerline is valid? [False, False] Translation: X:1.73, Y:0.05, Z:-0.14 [[ 0.99985345 0.01665363 -0.00396684 1.73466335] [-0.01666478 0.99985722 -0.00279555 0.05480763] [ 0.00391972 0.00286125 0.99998822 -0.14101592] [ 0. 0. 0. 1. ]] SLAMing on 4.998241008000001 meters Centerline goodness : 0.921647 Centerline is valid? [False, False] Translation: X:1.75, Y:0.07, Z:-0.15 [[ 9.99753813e-01 2.21865906e-02 -2.60614639e-04 1.75216371e+00] [-2.21879623e-02 9.99722141e-01 -7.95828948e-03 7.04247597e-02] [ 8.39749146e-05 7.96211276e-03 9.99968298e-01 -1.45845289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.028241008000001 meters Centerline goodness : 0.924294 Centerline is valid? [False, False] Translation: X:1.75, Y:0.08, Z:-0.15 [[ 9.99673576e-01 2.55452404e-02 -4.27495398e-04 1.75289595e+00] [-2.55473464e-02 9.99655620e-01 -5.99782542e-03 7.71533305e-02] [ 2.74132285e-04 6.00678895e-03 9.99981922e-01 -1.46044639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.058241008 meters Centerline goodness : 0.923574 Centerline is valid? [False, False] Translation: X:1.75, Y:0.08, Z:-0.15 [[ 9.99578377e-01 2.90289849e-02 -6.21388016e-04 1.75382325e+00] [-2.90312677e-02 9.99570301e-01 -4.04950827e-03 8.40631926e-02] [ 5.03567892e-04 4.06584058e-03 9.99991608e-01 -1.46458476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.088241008000001 meters Centerline goodness : 0.923656 Centerline is valid? [False, False] Translation: X:1.75, Y:0.09, Z:-0.15 [[ 9.99468656e-01 3.25832089e-02 -8.60712216e-04 1.75472537e+00] [-3.25847937e-02 9.99467176e-01 -1.89637701e-03 9.02977630e-02] [ 7.98463560e-04 1.92341551e-03 9.99997831e-01 -1.46638860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.118241008000001 meters Centerline goodness : 0.923579 Centerline is valid? [False, False] Translation: X:1.77, Y:0.10, Z:-0.15 [[ 0.9991583 0.04090367 0.00309491 1.77050281] [-0.040884 0.99914483 -0.00617305 0.10257926] [-0.00334477 0.00604132 0.99997616 -0.15284557] [ 0. 0. 0. 1. ]] SLAMing on 5.148241008000001 meters Centerline goodness : 0.923771 Centerline is valid? [False, False] Translation: X:1.77, Y:0.11, Z:-0.15 [[ 0.99901579 0.04426904 0.00277584 1.77207042] [-0.04425875 0.99901338 -0.00366344 0.10661387] [-0.00293528 0.00353698 0.99998944 -0.15363133] [ 0. 0. 0. 1. ]] SLAMing on 5.1782410080000005 meters Centerline goodness : 0.922514 Centerline is valid? [False, False] Translation: X:1.77, Y:0.11, Z:-0.15 [[ 9.98862022e-01 4.76274533e-02 2.50718247e-03 1.77349642e+00] [-4.76253489e-02 9.98864871e-01 -8.92509020e-04 1.09721872e-01] [-2.54684443e-03 7.72087924e-04 9.99996459e-01 -1.54293983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.208241008000001 meters Centerline goodness : 0.920531 Centerline is valid? [False, False] Translation: X:1.77, Y:0.11, Z:-0.15 [[ 0.99885865 0.04771316 0.00220132 1.77447744] [-0.04770833 0.99885889 -0.00219666 0.11465833] [-0.00230362 0.00208913 0.99999516 -0.1548451 ] [ 0. 0. 0. 1. ]] SLAMing on 5.238241008000001 meters Centerline goodness : 0.923950 Centerline is valid? [False, False] Translation: X:1.78, Y:0.12, Z:-0.16 [[ 9.98690378e-01 5.11212025e-02 2.03746906e-03 1.77557291e+00] [-5.11233887e-02 9.98691807e-01 1.03575283e-03 1.16326994e-01] [-1.98185473e-03 -1.13855871e-03 9.99997388e-01 -1.55264122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.268241008 meters Centerline goodness : 0.922289 Centerline is valid? [False, False] Translation: X:1.78, Y:0.12, Z:-0.16 [[ 9.98522424e-01 5.43090651e-02 1.86922342e-03 1.77675225e+00] [-5.43149852e-02 9.98518474e-01 3.27724465e-03 1.21470150e-01] [-1.68847003e-03 -3.37392911e-03 9.99992883e-01 -1.55766846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.298241008000001 meters Centerline goodness : 0.921217 Centerline is valid? [False, False] Translation: X:1.78, Y:0.12, Z:-0.16 [[ 9.98549627e-01 5.38143533e-02 1.63041492e-03 1.77743310e+00] [-5.38176973e-02 9.98548608e-01 2.08169514e-03 1.24938408e-01] [-1.51602347e-03 -2.16642109e-03 9.99996504e-01 -1.56017865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.328241008000001 meters Centerline goodness : 0.923186 Centerline is valid? [False, False] Translation: X:1.78, Y:0.13, Z:-0.16 [[ 9.98575574e-01 5.33383017e-02 1.35977233e-03 1.77802903e+00] [-5.33397564e-02 9.98575862e-01 1.05699875e-03 1.27934806e-01] [-1.30145731e-03 -1.12802306e-03 9.99998517e-01 -1.56028537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.358241008000001 meters Centerline goodness : 0.923288 Centerline is valid? [False, False] Translation: X:1.78, Y:0.13, Z:-0.16 [[ 9.98597103e-01 5.29393553e-02 1.11797836e-03 1.77819592e+00] [-5.29396946e-02 9.98597673e-01 2.76078532e-04 1.30036005e-01] [-1.10179517e-03 -3.34876656e-04 9.99999337e-01 -1.55495861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3882410080000005 meters Centerline goodness : 0.926029 Centerline is valid? [False, False] Translation: X:1.78, Y:0.13, Z:-0.15 [[ 9.98645742e-01 5.20174547e-02 9.30512876e-04 1.77659812e+00] [-5.20160546e-02 9.98645166e-01 -1.47046936e-03 1.33615913e-01] [-1.00574226e-03 1.42007635e-03 9.99998486e-01 -1.52857023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.418241008000001 meters Centerline goodness : 0.924237 Centerline is valid? [False, False] Translation: X:1.78, Y:0.14, Z:-0.15 [[ 9.98665720e-01 5.16369121e-02 6.38790623e-04 1.77727410e+00] [-5.16353379e-02 9.98663416e-01 -2.27466678e-03 1.35672199e-01] [-7.55393594e-04 2.23864757e-03 9.99997209e-01 -1.52927746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.448241008000001 meters Centerline goodness : 0.925413 Centerline is valid? [False, False] Translation: X:1.78, Y:0.14, Z:-0.15 [[ 9.98693580e-01 5.10977700e-02 3.88298071e-04 1.77810560e+00] [-5.10962265e-02 9.98688346e-01 -3.28081969e-03 1.38190666e-01] [-5.55431328e-04 3.25669299e-03 9.99994543e-01 -1.53364343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.478241008000001 meters Centerline goodness : 0.925321 Centerline is valid? [False, False] Translation: X:1.78, Y:0.14, Z:-0.15 [[ 9.98727755e-01 5.04268648e-02 4.53583851e-05 1.77938152e+00] [-5.04262196e-02 9.98718790e-01 -4.23976856e-03 1.40212661e-01] [-2.59098508e-04 4.23208729e-03 9.99991011e-01 -1.54175929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.508241008000001 meters Centerline goodness : 0.923678 Centerline is valid? [False, False] Translation: X:1.78, Y:0.14, Z:-0.16 [[ 9.98861257e-01 4.77059612e-02 -5.74273352e-04 1.78236390e+00] [-4.77088191e-02 9.98836655e-01 -7.01464964e-03 1.42711116e-01] [ 2.38964671e-04 7.03405967e-03 9.99975232e-01 -1.56392357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.538241008000001 meters Centerline goodness : 0.922328 Centerline is valid? [False, False] Translation: X:1.78, Y:0.14, Z:-0.16 [[ 9.98898740e-01 4.69109681e-02 -8.17053595e-04 1.78307041e+00] [-4.69157966e-02 9.98870512e-01 -7.52382369e-03 1.42862657e-01] [ 4.63180890e-04 7.55387073e-03 9.99971362e-01 -1.56638501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.568241008000001 meters Centerline goodness : 0.923645 Centerline is valid? [False, False] Translation: X:1.78, Y:0.15, Z:-0.16 [[ 9.99098396e-01 4.24367809e-02 -1.23104282e-03 1.78372338e+00] [-4.24489897e-02 9.99018301e-01 -1.26695554e-02 1.46166911e-01] [ 6.92179162e-04 1.27103890e-02 9.99918980e-01 -1.56863575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5982410080000005 meters Centerline goodness : 0.922317 Centerline is valid? [False, False] Translation: X:1.79, Y:0.15, Z:-0.16 [[ 9.99203293e-01 3.98628471e-02 -1.93181063e-03 1.78634220e+00] [-3.98874148e-02 9.99091314e-01 -1.50180312e-02 1.48854226e-01] [ 1.33139374e-03 1.50831212e-02 9.99885357e-01 -1.58298581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.628241008000001 meters Centerline goodness : 0.921625 Centerline is valid? [False, False] Translation: X:1.79, Y:0.15, Z:-0.16 [[ 9.99231420e-01 3.91313680e-02 -2.30327247e-03 1.78766958e+00] [-3.91627757e-02 9.99109560e-01 -1.56959683e-02 1.49593153e-01] [ 1.68701684e-03 1.57741073e-02 9.99874158e-01 -1.59101923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.658241008000001 meters Centerline goodness : 0.919431 Centerline is valid? [False, False] Translation: X:1.79, Y:0.15, Z:-0.16 [[ 0.99925138 0.03859812 -0.0026189 1.78889314] [-0.03863539 0.99912364 -0.01610174 0.14972465] [ 0.00199511 0.01619087 0.99986693 -0.15992209] [ 0. 0. 0. 1. ]] SLAMing on 5.688241008000001 meters Centerline goodness : 0.920394 Centerline is valid? [False, False] Translation: X:1.79, Y:0.15, Z:-0.16 [[ 0.99926877 0.03812252 -0.00293309 1.79002459] [-0.03816597 0.99913437 -0.01654913 0.15020038] [ 0.00229966 0.01664897 0.99985875 -0.16064671] [ 0. 0. 0. 1. ]] SLAMing on 5.718241008000001 meters Centerline goodness : 0.917435 Centerline is valid? [False, False] Translation: X:1.79, Y:0.15, Z:-0.16 [[ 0.99925838 0.0383349 -0.00362361 1.79480152] [-0.0383898 0.99912592 -0.01654145 0.15253077] [ 0.00298633 0.01666829 0.99985661 -0.16471135] [ 0. 0. 0. 1. ]] SLAMing on 5.748241008000001 meters Centerline goodness : 0.917001 Centerline is valid? [False, False] Translation: X:1.80, Y:0.15, Z:-0.17 [[ 0.99919938 0.03978184 -0.00424411 1.79832151] [-0.0398413 0.99909358 -0.01498978 0.15336447] [ 0.00364394 0.01514687 0.99987864 -0.16727392] [ 0. 0. 0. 1. ]] SLAMing on 5.778241008000001 meters Centerline goodness : 0.916751 Centerline is valid? [False, False] Translation: X:1.80, Y:0.15, Z:-0.17 [[ 0.99915953 0.04072699 -0.00464231 1.80087643] [-0.04078892 0.99906781 -0.01413416 0.15420073] [ 0.00406234 0.01431164 0.99988933 -0.16924726] [ 0. 0. 0. 1. ]] SLAMing on 5.808241008 meters Centerline goodness : 0.915681 Centerline is valid? [False, False] Translation: X:1.80, Y:0.16, Z:-0.17 [[ 0.99917486 0.04031413 -0.0049375 1.80184833] [-0.04038322 0.99907467 -0.01479835 0.15563734] [ 0.00433635 0.01498553 0.99987831 -0.16974191] [ 0. 0. 0. 1. ]] SLAMing on 5.838241008000001 meters Centerline goodness : 0.912710 Centerline is valid? [False, False] Translation: X:1.80, Y:0.16, Z:-0.17 [[ 0.99920178 0.03959769 -0.00527519 1.80260908] [-0.03967675 0.99908708 -0.01583562 0.15775836] [ 0.00464332 0.01603228 0.99986069 -0.1697372 ] [ 0. 0. 0. 1. ]] SLAMing on 5.868241008000001 meters Centerline goodness : 0.913630 Centerline is valid? [False, False] Translation: X:1.80, Y:0.16, Z:-0.17 [[ 0.99921807 0.03913785 -0.00561114 1.80335488] [-0.03922559 0.99909435 -0.01648738 0.15923165] [ 0.00496078 0.01669459 0.99984833 -0.16974626] [ 0. 0. 0. 1. ]] SLAMing on 5.898241008000001 meters Centerline goodness : 0.913706 Centerline is valid? [False, False] Translation: X:1.80, Y:0.16, Z:-0.17 [[ 0.99922864 0.03881744 -0.00594391 1.80415948] [-0.0389147 0.99909398 -0.01722978 0.1613312 ] [ 0.00526971 0.01744779 0.99983389 -0.16985391] [ 0. 0. 0. 1. ]] SLAMing on 5.9282410080000005 meters Centerline goodness : 0.915392 Centerline is valid? [False, False] Translation: X:1.81, Y:0.16, Z:-0.17 [[ 0.99916126 0.04042707 -0.00651407 1.8070435 ] [-0.04052439 0.99905718 -0.01557342 0.16276582] [ 0.00587834 0.01582433 0.99985751 -0.17153089] [ 0. 0. 0. 1. ]] SLAMing on 5.958241008000001 meters Centerline goodness : 0.914568 Centerline is valid? [False, False] Translation: X:1.81, Y:0.16, Z:-0.17 [[ 0.99905468 0.0429133 -0.00694187 1.80914933] [-0.0430019 0.99898828 -0.01316232 0.16485496] [ 0.00637001 0.0134484 0.99988928 -0.1725509 ] [ 0. 0. 0. 1. ]] SLAMing on 5.988241008000001 meters Centerline goodness : 0.912146 Centerline is valid? [False, False] Translation: X:1.81, Y:0.17, Z:-0.17 [[ 0.99890905 0.04616052 -0.0070652 1.80988684] [-0.04623737 0.99886847 -0.0111304 0.17128828] [ 0.00654342 0.01144494 0.99991309 -0.17235916] [ 0. 0. 0. 1. ]] SLAMing on 6.018241008000001 meters Centerline goodness : 0.913290 Centerline is valid? [False, False] Translation: X:1.80, Y:0.18, Z:-0.17 [[ 0.99887134 0.04536832 -0.01406245 1.79697552] [-0.04559481 0.99882822 -0.01622682 0.18018167] [ 0.01330979 0.01684968 0.99976944 -0.16910645] [ 0. 0. 0. 1. ]] SLAMing on 6.048241008000001 meters Centerline goodness : 0.914938 Centerline is valid? [False, False] Translation: X:1.80, Y:0.18, Z:-0.17 [[ 0.99870979 0.04883285 -0.01393202 1.79649242] [-0.04902444 0.99870281 -0.01375878 0.18280351] [ 0.01324207 0.01442403 0.99980828 -0.16769022] [ 0. 0. 0. 1. ]] SLAMing on 6.078241008000001 meters Centerline goodness : 0.913991 Centerline is valid? [False, False] Translation: X:1.80, Y:0.19, Z:-0.17 [[ 0.9986703 0.04938645 -0.01478572 1.7982271 ] [-0.04962323 0.99863823 -0.0161003 0.18829174] [ 0.01397045 0.01681261 0.99976105 -0.16638801] [ 0. 0. 0. 1. ]] SLAMing on 6.108241008000001 meters Centerline goodness : 0.912867 Centerline is valid? [False, False] Translation: X:1.80, Y:0.20, Z:-0.16 [[ 0.99845078 0.05353166 -0.01517887 1.79895112] [-0.05377287 0.99842571 -0.01595558 0.19682138] [ 0.01430085 0.01674708 0.99975748 -0.16370983] [ 0. 0. 0. 1. ]] SLAMing on 6.1382410080000005 meters Centerline goodness : 0.912952 Centerline is valid? [False, False] Translation: X:1.80, Y:0.20, Z:-0.16 [[ 0.99836788 0.05492674 -0.01564033 1.79945138] [-0.05519195 0.99832997 -0.01706195 0.20086874] [ 0.01467706 0.01789733 0.9997321 -0.16191805] [ 0. 0. 0. 1. ]] SLAMing on 6.168241008000001 meters Centerline goodness : 0.911903 Centerline is valid? [False, False] Translation: X:1.80, Y:0.20, Z:-0.16 [[ 0.99815306 0.05874165 -0.01548826 1.79966386] [-0.05895417 0.99816747 -0.01364182 0.20185772] [ 0.01465853 0.01452973 0.99978698 -0.16181092] [ 0. 0. 0. 1. ]] SLAMing on 6.198241008000001 meters Centerline goodness : 0.909955 Centerline is valid? [False, False] Translation: X:1.80, Y:0.21, Z:-0.16 [[ 0.9978864 0.06295 -0.01612525 1.80242988] [-0.06313399 0.99794259 -0.01116652 0.20512663] [ 0.01538914 0.01216097 0.99980762 -0.16250006] [ 0. 0. 0. 1. ]] SLAMing on 6.228241008000001 meters Centerline goodness : 0.908949 Centerline is valid? [False, False] Translation: X:1.80, Y:0.21, Z:-0.16 [[ 0.99787919 0.06295062 -0.01656301 1.80352186] [-0.06315882 0.99792692 -0.01236192 0.20794454] [ 0.01575049 0.0133818 0.9997864 -0.16229172] [ 0. 0. 0. 1. ]] SLAMing on 6.258241008000001 meters Centerline goodness : 0.909773 Centerline is valid? [False, False] Translation: X:1.80, Y:0.21, Z:-0.16 [[ 0.99787894 0.06285208 -0.01694827 1.80429789] [-0.06308254 0.99791802 -0.01342442 0.21038864] [ 0.01606923 0.01446509 0.99976624 -0.16183206] [ 0. 0. 0. 1. ]] SLAMing on 6.288241008000001 meters Centerline goodness : 0.907742 Centerline is valid? [False, False] Translation: X:1.80, Y:0.21, Z:-0.16 [[ 0.99788097 0.06278993 -0.01705836 1.80438155] [-0.06303522 0.99790966 -0.01424346 0.2125567 ] [ 0.01612836 0.01528855 0.99975304 -0.16122419] [ 0. 0. 0. 1. ]] SLAMing on 6.318241008000001 meters Centerline goodness : 0.909328 Centerline is valid? [False, False] Translation: X:1.80, Y:0.21, Z:-0.16 [[ 0.99788595 0.06260823 -0.01743085 1.80495381] [-0.06287606 0.99790458 -0.01526582 0.2145479 ] [ 0.01643856 0.01632953 0.99973152 -0.16058274] [ 0. 0. 0. 1. ]] SLAMing on 6.3482410080000005 meters Centerline goodness : 0.909265 Centerline is valid? [False, False] Translation: X:1.80, Y:0.21, Z:-0.16 [[ 0.99787334 0.06271274 -0.01777358 1.80453346] [-0.06299446 0.99788943 -0.01576042 0.21474321] [ 0.01674769 0.01684654 0.99971781 -0.15874084] [ 0. 0. 0. 1. ]] SLAMing on 6.378241008000001 meters Centerline goodness : 0.909453 Centerline is valid? [False, False] Translation: X:1.80, Y:0.21, Z:-0.16 [[ 0.99787757 0.06261363 -0.01788543 1.80451322] [-0.06289843 0.99789437 -0.01583079 0.21427704] [ 0.01685655 0.01692216 0.99971471 -0.15836778] [ 0. 0. 0. 1. ]] SLAMing on 6.408241008000001 meters Centerline goodness : 0.909453 Centerline is valid? [False, False] Translation: X:1.80, Y:0.21, Z:-0.16 [[ 0.99787757 0.06261363 -0.01788543 1.80451322] [-0.06289843 0.99789437 -0.01583079 0.21427704] [ 0.01685655 0.01692216 0.99971471 -0.15836778] [ 0. 0. 0. 1. ]] SLAMing on 6.438241008000001 meters Centerline goodness : 0.908802 Centerline is valid? [False, False] Translation: X:1.80, Y:0.21, Z:-0.16 [[ 0.99787399 0.06265045 -0.01795594 1.80452159] [-0.06293477 0.99789364 -0.01573193 0.21410196] [ 0.0169325 0.01682854 0.999715 -0.15820948] [ 0. 0. 0. 1. ]] SLAMing on 6.468241008000001 meters Centerline goodness : 0.910379 Centerline is valid? [False, False] Translation: X:1.80, Y:0.21, Z:-0.16 [[ 0.9978941 0.06233231 -0.01794571 1.80448075] [-0.06262022 0.99790989 -0.01595476 0.21447349] [ 0.01691371 0.01704492 0.99971166 -0.15823224] [ 0. 0. 0. 1. ]] SLAMing on 6.498241008000001 meters Centerline goodness : 0.910313 Centerline is valid? [False, False] Translation: X:1.80, Y:0.21, Z:-0.16 [[ 0.99791714 0.06203771 -0.01768332 1.80396611] [-0.06231349 0.99793632 -0.01549584 0.21339411] [ 0.01668551 0.01656547 0.99972355 -0.15856082] [ 0. 0. 0. 1. ]] SLAMing on 6.528241008000001 meters Centerline goodness : 0.911319 Centerline is valid? [False, False] Translation: X:1.80, Y:0.21, Z:-0.16 [[ 0.99817327 0.05776737 -0.01769348 1.80404817] [-0.05808696 0.99814716 -0.01811486 0.21027024] [ 0.01661425 0.01910952 0.99967935 -0.16012152] [ 0. 0. 0. 1. ]] SLAMing on 6.558241008000001 meters Centerline goodness : 0.908051 Centerline is valid? [False, False] Translation: X:1.81, Y:0.21, Z:-0.16 [[ 0.99830664 0.05542293 -0.01766797 1.80565381] [-0.05575049 0.99827109 -0.01862008 0.20814687] [ 0.01660545 0.01957355 0.99967051 -0.16323353] [ 0. 0. 0. 1. ]] SLAMing on 6.588241008000001 meters Centerline goodness : 0.907896 Centerline is valid? [False, False] Translation: X:1.80, Y:0.21, Z:-0.16 [[ 0.99836639 0.05450687 -0.01713334 1.80485219] [-0.05480583 0.99834381 -0.01749192 0.20539933] [ 0.01615154 0.01840235 0.9997002 -0.16459932] [ 0. 0. 0. 1. ]] SLAMing on 6.618241008000001 meters Centerline goodness : 0.906276 Centerline is valid? [False, False] Translation: X:1.80, Y:0.20, Z:-0.17 [[ 0.99864319 0.04926725 -0.01686772 1.80495864] [-0.04960365 0.99856585 -0.02014236 0.20214168] [ 0.01585117 0.02095173 0.99965482 -0.16730916] [ 0. 0. 0. 1. ]] SLAMing on 6.648241008000001 meters Centerline goodness : 0.905734 Centerline is valid? [False, False] Translation: X:1.80, Y:0.20, Z:-0.17 [[ 0.99868994 0.04847768 -0.01638024 1.80413778] [-0.04878972 0.99862415 -0.01921926 0.19976564] [ 0.015426 0.01999327 0.9996811 -0.16835271] [ 0. 0. 0. 1. ]] SLAMing on 6.6782410080000005 meters Centerline goodness : 0.903768 Centerline is valid? [False, False] Translation: X:1.80, Y:0.20, Z:-0.17 [[ 0.99873071 0.04777814 -0.01594448 1.80341277] [-0.04807908 0.99866172 -0.01905701 0.199314 ] [ 0.01501263 0.01979942 0.99969125 -0.16894341] [ 0. 0. 0. 1. ]] SLAMing on 6.708241008000001 meters Centerline goodness : 0.904792 Centerline is valid? [False, False] Translation: X:1.80, Y:0.20, Z:-0.17 [[ 0.99876924 0.04700255 -0.01583557 1.80338932] [-0.04731073 0.99868627 -0.01968303 0.20041812] [ 0.01488961 0.02040799 0.99968086 -0.16928231] [ 0. 0. 0. 1. ]] SLAMing on 6.738241008000001 meters Centerline goodness : 0.904225 Centerline is valid? [False, False] Translation: X:1.80, Y:0.20, Z:-0.17 [[ 0.99877702 0.04683282 -0.01584801 1.80350415] [-0.04714674 0.99868672 -0.02005066 0.2016205 ] [ 0.01488817 0.02077332 0.99967335 -0.16927904] [ 0. 0. 0. 1. ]] SLAMing on 6.768241008000001 meters Centerline goodness : 0.903898 Centerline is valid? [False, False] Translation: X:1.80, Y:0.20, Z:-0.17 [[ 0.99862422 0.05007388 -0.01556497 1.80335951] [-0.05034139 0.99858225 -0.01729824 0.20400709] [ 0.01467671 0.018058 0.99972921 -0.16897185] [ 0. 0. 0. 1. ]] SLAMing on 6.798241008000001 meters Centerline goodness : 0.904803 Centerline is valid? [False, False] Translation: X:1.80, Y:0.21, Z:-0.17 [[ 0.99859117 0.05052694 -0.01620824 1.80498491] [-0.05082853 0.99853103 -0.01876831 0.20762891] [ 0.01523613 0.01956571 0.99969247 -0.16858303] [ 0. 0. 0. 1. ]] SLAMing on 6.828241008000001 meters Centerline goodness : 0.903738 Centerline is valid? [False, False] Translation: X:1.81, Y:0.21, Z:-0.17 [[ 0.9984021 0.05419975 -0.01598887 1.80504335] [-0.05444805 0.9983959 -0.01552565 0.20910294] [ 0.01512174 0.01637141 0.99975162 -0.1684204 ] [ 0. 0. 0. 1. ]] SLAMing on 6.858241008000001 meters Centerline goodness : 0.904106 Centerline is valid? [False, False] Translation: X:1.81, Y:0.21, Z:-0.17 [[ 0.99836966 0.05461193 -0.01660012 1.80647417] [-0.05489197 0.9983491 -0.01690998 0.21244812] [ 0.01564923 0.01779363 0.9997192 -0.16786367] [ 0. 0. 0. 1. ]] SLAMing on 6.8882410080000005 meters Centerline goodness : 0.907062 Centerline is valid? [False, False] Translation: X:1.81, Y:0.22, Z:-0.17 [[ 0.99836336 0.0547065 -0.01666718 1.80607983] [-0.05503187 0.99828962 -0.01973128 0.21903145] [ 0.01555925 0.02061621 0.99966639 -0.16545915] [ 0. 0. 0. 1. ]] SLAMing on 6.918241008000001 meters Centerline goodness : 0.906467 Centerline is valid? [False, False] Translation: X:1.81, Y:0.22, Z:-0.16 [[ 0.99839766 0.05413894 -0.01646463 1.80532118] [-0.05448253 0.99828988 -0.02118905 0.22231748] [ 0.01528932 0.02205213 0.99963991 -0.16436796] [ 0. 0. 0. 1. ]] SLAMing on 6.948241008000001 meters Centerline goodness : 0.906132 Centerline is valid? [False, False] Translation: X:1.80, Y:0.23, Z:-0.16 [[ 0.99845471 0.05316108 -0.01618948 1.80452604] [-0.05352031 0.99831031 -0.02262952 0.2253444 ] [ 0.01495911 0.02346101 0.99961283 -0.16366331] [ 0. 0. 0. 1. ]] SLAMing on 6.978241008000001 meters Centerline goodness : 0.904985 Centerline is valid? [False, False] Translation: X:1.80, Y:0.23, Z:-0.16 [[ 0.99851088 0.05221643 -0.01579425 1.8036082 ] [-0.05258314 0.99833363 -0.0237693 0.22775036] [ 0.01452679 0.02456442 0.9995927 -0.16323263] [ 0. 0. 0. 1. ]] SLAMing on 7.008241008000001 meters Centerline goodness : 0.904046 Centerline is valid? [False, False] Translation: X:1.80, Y:0.23, Z:-0.16 [[ 0.99866998 0.04919557 -0.01542934 1.80313529] [-0.04959209 0.99841883 -0.02646623 0.23146547] [ 0.01410292 0.0271962 0.99953063 -0.16348256] [ 0. 0. 0. 1. ]] SLAMing on 7.038241008000001 meters Centerline goodness : 0.905032 Centerline is valid? [False, False] Translation: X:1.80, Y:0.23, Z:-0.16 [[ 0.99871781 0.04834444 -0.01501814 1.80242753] [-0.04873972 0.99844176 -0.02717514 0.23283098] [ 0.01368097 0.02787228 0.99951787 -0.16361054] [ 0. 0. 0. 1. ]] SLAMing on 7.068241008000001 meters Centerline goodness : 0.904104 Centerline is valid? [False, False] Translation: X:1.80, Y:0.23, Z:-0.16 [[ 0.99876048 0.04754643 -0.01472579 1.80198377] [-0.04794636 0.99845419 -0.02811375 0.23480394] [ 0.01336632 0.02878495 0.99949626 -0.16365049] [ 0. 0. 0. 1. ]] SLAMing on 7.098241008000001 meters Centerline goodness : 0.903366 Centerline is valid? [False, False] Translation: X:1.80, Y:0.24, Z:-0.16 [[ 0.99879949 0.04677845 -0.01453834 1.80187073] [-0.04718964 0.99845439 -0.02935948 0.23765001] [ 0.01314248 0.03001029 0.99946318 -0.16369503] [ 0. 0. 0. 1. ]] SLAMing on 7.128241008000001 meters Centerline goodness : 0.899956 Centerline is valid? [False, False] Translation: X:1.80, Y:0.24, Z:-0.16 [[ 0.99871618 0.0487466 -0.01377513 1.8008992 ] [-0.04911988 0.99839468 -0.02820112 0.24340778] [ 0.01237831 0.02884155 0.99950735 -0.16325964] [ 0. 0. 0. 1. ]] SLAMing on 7.158241008000001 meters Centerline goodness : 0.900377 Centerline is valid? [False, False] Translation: X:1.80, Y:0.25, Z:-0.16 [[ 0.99856676 0.05181647 -0.01339682 1.80069362] [-0.05214203 0.99832126 -0.02521641 0.24520929] [ 0.0120677 0.02587881 0.99959225 -0.16330254] [ 0. 0. 0. 1. ]] SLAMing on 7.188241008000001 meters Centerline goodness : 0.900156 Centerline is valid? [False, False] Translation: X:1.80, Y:0.25, Z:-0.16 [[ 0.99840358 0.05492371 -0.0131787 1.80072122] [-0.05521065 0.99822124 -0.0224977 0.24727742] [ 0.0119196 0.02318939 0.99966003 -0.16305307] [ 0. 0. 0. 1. ]] SLAMing on 7.218241008000001 meters Centerline goodness : 0.898764 Centerline is valid? [False, False] Translation: X:1.80, Y:0.25, Z:-0.16 [[ 0.99822869 0.05809169 -0.0128389 1.80054153] [-0.05834154 0.99809578 -0.02002691 0.25026217] [ 0.01165105 0.02074048 0.999717 -0.16266642] [ 0. 0. 0. 1. ]] SLAMing on 7.248241008000001 meters Centerline goodness : 0.896720 Centerline is valid? [False, False] Translation: X:1.80, Y:0.26, Z:-0.16 [[ 0.99820252 0.05839946 -0.01346223 1.80189756] [-0.05869121 0.99802476 -0.0224035 0.25573756] [ 0.01212729 0.02315334 0.99965837 -0.16151769] [ 0. 0. 0. 1. ]] SLAMing on 7.278241008000001 meters Centerline goodness : 0.896885 Centerline is valid? [False, False] Translation: X:1.80, Y:0.26, Z:-0.16 [[ 0.99792919 0.06281023 -0.01386396 1.80494225] [-0.06309469 0.99778375 -0.0211343 0.2643003 ] [ 0.01250578 0.02196528 0.99968051 -0.1623278 ] [ 0. 0. 0. 1. ]] SLAMing on 7.308241008000001 meters Centerline goodness : 0.895155 Centerline is valid? [False, False] Translation: X:1.81, Y:0.27, Z:-0.16 [[ 0.99769081 0.06645462 -0.01402997 1.80652213] [-0.06671089 0.99759777 -0.01866416 0.26809668] [ 0.01275594 0.01955701 0.99972737 -0.16278775] [ 0. 0. 0. 1. ]] SLAMing on 7.338241008000001 meters Centerline goodness : 0.894237 Centerline is valid? [False, False] Translation: X:1.81, Y:0.27, Z:-0.16 [[ 0.99743239 0.07024309 -0.01394791 1.8073765 ] [-0.07046078 0.99738969 -0.01578235 0.27150925] [ 0.0128029 0.01672461 0.99977816 -0.16298318] [ 0. 0. 0. 1. ]] SLAMing on 7.368241008000001 meters Centerline goodness : 0.893119 Centerline is valid? [False, False] Translation: X:1.81, Y:0.28, Z:-0.16 [[ 0.99740878 0.07052292 -0.01422127 1.80834739] [-0.07076486 0.9973431 -0.01729364 0.27616318] [ 0.01296388 0.0182552 0.99974931 -0.16265307] [ 0. 0. 0. 1. ]] SLAMing on 7.398241008000001 meters Centerline goodness : 0.891778 Centerline is valid? [False, False] Translation: X:1.81, Y:0.28, Z:-0.16 [[ 0.99715939 0.07397913 -0.01415025 1.80922615] [-0.07419529 0.99712459 -0.01541452 0.28182555] [ 0.01296921 0.01642061 0.99978106 -0.16247838] [ 0. 0. 0. 1. ]] SLAMing on 7.4282410080000005 meters Centerline goodness : 0.890256 Centerline is valid? [False, False] Translation: X:1.81, Y:0.28, Z:-0.16 [[ 0.99689372 0.07749575 -0.01404677 1.80999816] [-0.077669 0.99690408 -0.01223848 0.28379555] [ 0.01305485 0.01329147 0.99982644 -0.16274274] [ 0. 0. 0. 1. ]] SLAMing on 7.458241008000001 meters Centerline goodness : 0.889864 Centerline is valid? [False, False] Translation: X:1.81, Y:0.29, Z:-0.16 [[ 0.99686827 0.07779436 -0.0142017 1.81102262] [-0.07798401 0.99686553 -0.0133273 0.28823029] [ 0.01312039 0.01439307 0.99981033 -0.162998 ] [ 0. 0. 0. 1. ]] SLAMing on 7.488241008000001 meters Centerline goodness : 0.888352 Centerline is valid? [False, False] Translation: X:1.81, Y:0.29, Z:-0.16 [[ 0.99656267 0.08163125 -0.01411301 1.81227996] [-0.08179031 0.99658791 -0.01108535 0.29417583] [ 0.01315994 0.01220155 0.99983896 -0.1633291 ] [ 0. 0. 0. 1. ]] SLAMing on 7.518241008000001 meters Centerline goodness : 0.887987 Centerline is valid? [False, False] Translation: X:1.81, Y:0.30, Z:-0.16 [[ 0.99653172 0.0820025 -0.01414643 1.81264885] [-0.08217094 0.99654878 -0.01176696 0.29719418] [ 0.01313269 0.01288857 0.99983069 -0.16327912] [ 0. 0. 0. 1. ]] SLAMing on 7.548241008000001 meters Centerline goodness : 0.887872 Centerline is valid? [False, False] Translation: X:1.81, Y:0.30, Z:-0.16 [[ 0.99651701 0.082141 -0.01437705 1.81344098] [-0.0823223 0.99652727 -0.01250765 0.29982625] [ 0.01329973 0.01364764 0.99981841 -0.16341614] [ 0. 0. 0. 1. ]] SLAMing on 7.578241008000001 meters Centerline goodness : 0.888217 Centerline is valid? [False, False] Translation: X:1.81, Y:0.30, Z:-0.16 [[ 0.99630251 0.08479766 -0.01380821 1.81180841] [-0.08493923 0.99633585 -0.01000985 0.30098408] [ 0.0129088 0.0111457 0.99985456 -0.16221305] [ 0. 0. 0. 1. ]] SLAMing on 7.608241008000001 meters Centerline goodness : 0.890888 Centerline is valid? [False, False] Translation: X:1.81, Y:0.30, Z:-0.16 [[ 0.99598912 0.08843055 -0.01362732 1.81225143] [-0.08853278 0.99604804 -0.00708924 0.30447604] [ 0.01294656 0.00826727 0.99988201 -0.16209817] [ 0. 0. 0. 1. ]] SLAMing on 7.638241008000001 meters Centerline goodness : 0.889898 Centerline is valid? [False, False] Translation: X:1.81, Y:0.31, Z:-0.16 [[ 0.99599893 0.08830612 -0.01371722 1.81233437] [-0.08841936 0.99605217 -0.0078793 0.30731665] [ 0.01296728 0.00906064 0.99987487 -0.16176155] [ 0. 0. 0. 1. ]] SLAMing on 7.668241008000001 meters Centerline goodness : 0.889511 Centerline is valid? [False, False] Translation: X:1.81, Y:0.31, Z:-0.16 [[ 0.99600236 0.08823666 -0.01391383 1.81247594] [-0.08835807 0.99605365 -0.00836558 0.30930484] [ 0.01312077 0.00956153 0.9998682 -0.16124227] [ 0. 0. 0. 1. ]] SLAMing on 7.698241008000001 meters Centerline goodness : 0.890568 Centerline is valid? [False, False] Translation: X:1.81, Y:0.31, Z:-0.16 [[ 0.99602385 0.08798442 -0.01397233 1.8121311 ] [-0.08811436 0.99606996 -0.00897238 0.31116632] [ 0.01312799 0.01016786 0.99986213 -0.16054076] [ 0. 0. 0. 1. ]] SLAMing on 7.728241008000001 meters Centerline goodness : 0.889463 Centerline is valid? [False, False] Translation: X:1.81, Y:0.31, Z:-0.16 [[ 0.9960241 0.08797693 -0.01400183 1.81185005] [-0.08810973 0.9960686 -0.00916672 0.31196079] [ 0.01314032 0.01036397 0.99985995 -0.15998435] [ 0. 0. 0. 1. ]] SLAMing on 7.758241008000001 meters Centerline goodness : 0.887622 Centerline is valid? [False, False] Translation: X:1.81, Y:0.31, Z:-0.16 [[ 0.99633847 0.08428599 -0.01433603 1.81221998] [-0.08448308 0.99633008 -0.01374703 0.31448902] [ 0.01312474 0.01490785 0.99980273 -0.16022165] [ 0. 0. 0. 1. ]] SLAMing on 7.788241008000001 meters Centerline goodness : 0.886574 Centerline is valid? [False, False] Translation: X:1.82, Y:0.31, Z:-0.16 [[ 0.99652383 0.08194402 -0.01501431 1.81548911] [-0.08218314 0.99648771 -0.01606813 0.31408209] [ 0.01364488 0.0172462 0.99975816 -0.16312249] [ 0. 0. 0. 1. ]] SLAMing on 7.818241008000001 meters Centerline goodness : 0.885165 Centerline is valid? [False, False] Translation: X:1.82, Y:0.31, Z:-0.16 [[ 0.99654497 0.08165609 -0.01517936 1.81630796] [-0.08189884 0.99651021 -0.01612388 0.31367309] [ 0.01380978 0.01731134 0.99975477 -0.16391333] [ 0. 0. 0. 1. ]] SLAMing on 7.848241008000001 meters Centerline goodness : 0.886890 Centerline is valid? [False, False] Translation: X:1.82, Y:0.31, Z:-0.16 [[ 0.99657457 0.08126314 -0.01534365 1.81708106] [-0.08151117 0.99653917 -0.01629748 0.31369305] [ 0.01396617 0.01749234 0.99974945 -0.1645758 ] [ 0. 0. 0. 1. ]] SLAMing on 7.878241008000001 meters Centerline goodness : 0.884652 Centerline is valid? [False, False] Translation: X:1.82, Y:0.31, Z:-0.17 [[ 0.9965875 0.0810936 -0.01540064 1.81753158] [-0.08134233 0.99655332 -0.01627597 0.31357181] [ 0.01402768 0.01747316 0.99974893 -0.16503663] [ 0. 0. 0. 1. ]] SLAMing on 7.908241008000001 meters Centerline goodness : 0.884071 Centerline is valid? [False, False] Translation: X:1.82, Y:0.31, Z:-0.17 [[ 0.99661299 0.08077701 -0.01541519 1.81786737] [-0.0810261 0.99657898 -0.01628243 0.31296212] [ 0.01404721 0.01747631 0.9997486 -0.16554394] [ 0. 0. 0. 1. ]] SLAMing on 7.938241008000001 meters Centerline goodness : 0.883643 Centerline is valid? [False, False] Translation: X:1.82, Y:0.31, Z:-0.17 [[ 0.99660724 0.08081944 -0.01556351 1.81822602] [-0.08106982 0.99657692 -0.01619027 0.31271551] [ 0.01420175 0.01739707 0.99974779 -0.16564291] [ 0. 0. 0. 1. ]] SLAMing on 7.9682410080000015 meters Centerline goodness : 0.882531 Centerline is valid? [False, False] Translation: X:1.82, Y:0.31, Z:-0.17 [[ 0.99659522 0.08097313 -0.01553425 1.81854409] [-0.08122259 0.99656494 -0.01616222 0.31308805] [ 0.01417219 0.01736892 0.9997487 -0.16609197] [ 0. 0. 0. 1. ]] SLAMing on 7.998241008000001 meters Centerline goodness : 0.880921 Centerline is valid? [False, False] Translation: X:1.82, Y:0.31, Z:-0.17 [[ 0.99658467 0.08108484 -0.01562811 1.81895378] [-0.08133536 0.99655639 -0.0161218 0.31350559] [ 0.01426705 0.01733786 0.99974789 -0.16635621] [ 0. 0. 0. 1. ]] SLAMing on 8.028241008 meters Centerline goodness : 0.882089 Centerline is valid? [False, False] Translation: X:1.82, Y:0.31, Z:-0.17 [[ 0.99658066 0.08113152 -0.01564155 1.81907358] [-0.08138182 0.9965531 -0.01609078 0.31368637] [ 0.01428217 0.0173087 0.99974818 -0.16647535] [ 0. 0. 0. 1. ]] SLAMing on 8.058241008000001 meters Centerline goodness : 0.882102 Centerline is valid? [False, False] Translation: X:1.82, Y:0.31, Z:-0.17 [[ 0.99657816 0.08114648 -0.0157233 1.8191147 ] [-0.08139656 0.99655373 -0.01597722 0.31345998] [ 0.01437262 0.01720237 0.99974872 -0.16630259] [ 0. 0. 0. 1. ]] SLAMing on 8.088241008 meters Centerline goodness : 0.884642 Centerline is valid? [False, False] Translation: X:1.82, Y:0.31, Z:-0.17 [[ 0.99657903 0.0811373 -0.01571575 1.81906975] [-0.08138421 0.9965581 -0.01576558 0.3128502 ] [ 0.01438248 0.01699066 0.9997522 -0.16631104] [ 0. 0. 0. 1. ]] SLAMing on 8.118241008000002 meters Centerline goodness : 0.886020 Centerline is valid? [False, False] Translation: X:1.82, Y:0.31, Z:-0.17 [[ 0.9965899 0.08102132 -0.01562396 1.81889885] [-0.08126532 0.9965693 -0.01567067 0.31238145] [ 0.0143007 0.01688692 0.99975513 -0.16635845] [ 0. 0. 0. 1. ]] SLAMing on 8.148241008000001 meters Centerline goodness : 0.884970 Centerline is valid? [False, False] Translation: X:1.82, Y:0.31, Z:-0.17 [[ 0.99657057 0.08122971 -0.0157743 1.81925756] [-0.08147085 0.99655833 -0.01529719 0.31150061] [ 0.01447742 0.01652987 0.99975855 -0.16647442] [ 0. 0. 0. 1. ]] SLAMing on 8.178241008 meters Centerline goodness : 0.883285 Centerline is valid? [False, False] Translation: X:1.82, Y:0.31, Z:-0.17 [[ 0.99654128 0.081586 -0.01578606 1.81929866] [-0.08182255 0.9965345 -0.01496835 0.31094815] [ 0.01451014 0.01620824 0.99976335 -0.16646347] [ 0. 0. 0. 1. ]] SLAMing on 8.208241008000002 meters Centerline goodness : 0.885100 Centerline is valid? [False, False] Translation: X:1.82, Y:0.31, Z:-0.17 [[ 0.99650645 0.08197802 -0.01595318 1.81984979] [-0.08221414 0.99650546 -0.01475467 0.31089349] [ 0.01468787 0.0160147 0.99976387 -0.16671505] [ 0. 0. 0. 1. ]] SLAMing on 8.238241008000001 meters Centerline goodness : 0.886286 Centerline is valid? [False, False] Translation: X:1.82, Y:0.31, Z:-0.16 [[ 0.99631619 0.08436406 -0.01538694 1.8174651 ] [-0.08455413 0.9963448 -0.01215064 0.31085972] [ 0.01430562 0.0134069 0.99980778 -0.1647955 ] [ 0. 0. 0. 1. ]] SLAMing on 8.268241008 meters Centerline goodness : 0.886493 Centerline is valid? [False, False] Translation: X:1.82, Y:0.31, Z:-0.16 [[ 0.99616981 0.08616223 -0.01489236 1.81504308] [-0.08632144 0.99621305 -0.01040005 0.31157879] [ 0.01393987 0.01164575 0.99983501 -0.16264336] [ 0. 0. 0. 1. ]] SLAMing on 8.298241008000002 meters Centerline goodness : 0.889716 Centerline is valid? [False, False] Translation: X:1.79, Y:0.31, Z:-0.16 [[ 0.99616566 0.08648738 -0.01318792 1.7910822 ] [-0.08640639 0.99623816 0.00659313 0.31121487] [ 0.01370853 -0.00542833 0.9998913 -0.1598241 ] [ 0. 0. 0. 1. ]] SLAMing on 8.328241008000001 meters Centerline goodness : 0.889716 Centerline is valid? [False, False] Translation: X:1.78, Y:0.31, Z:-0.16 [[ 0.99632268 0.0845957 -0.01358973 1.78202379] [-0.0843843 0.99631361 0.01544263 0.31133117] [ 0.01484602 -0.01423908 0.9997884 -0.1598135 ] [ 0. 0. 0. 1. ]] SLAMing on 8.358241008 meters Centerline goodness : 0.889299 Centerline is valid? [False, False] Translation: X:1.77, Y:0.31, Z:-0.16 [[ 0.99639328 0.08385022 -0.01302214 1.77141017] [-0.08350894 0.99619714 0.02484996 0.31074746] [ 0.0150563 -0.02367286 0.99960637 -0.15952173] [ 0. 0. 0. 1. ]] SLAMing on 8.388241008000001 meters Centerline goodness : 0.889417 Centerline is valid? [False, False] Translation: X:1.75, Y:0.31, Z:-0.16 [[ 0.99638783 0.08371054 -0.01427751 1.7498142 ] [-0.08336983 0.99625346 0.02298954 0.31485042] [ 0.01614849 -0.02171618 0.99963375 -0.15873374] [ 0. 0. 0. 1. ]] SLAMing on 8.418241008 meters Centerline goodness : 0.890645 Centerline is valid? [False, False] Translation: X:1.72, Y:0.32, Z:-0.16 [[ 0.99622509 0.08560476 -0.014401 1.72149408] [-0.08505594 0.99575518 0.03517255 0.31574229] [ 0.01735081 -0.03381489 0.99927749 -0.15958491] [ 0. 0. 0. 1. ]] SLAMing on 8.448241008000002 meters Centerline goodness : 0.887176 Centerline is valid? [False, False] Translation: X:1.70, Y:0.32, Z:-0.16 [[ 0.99618145 0.08560271 -0.01716673 1.70164405] [-0.0850013 0.99582942 0.0331444 0.31971614] [ 0.01993238 -0.03155865 0.99930313 -0.15915386] [ 0. 0. 0. 1. ]] SLAMing on 8.478241008000001 meters Centerline goodness : 0.886193 Centerline is valid? [False, False] Translation: X:1.67, Y:0.32, Z:-0.16 [[ 0.99627483 0.08472263 -0.01607923 1.67421872] [-0.08404263 0.99569551 0.03908059 0.3217176 ] [ 0.01932103 -0.03758367 0.99910668 -0.1614312 ] [ 0. 0. 0. 1. ]] SLAMing on 8.508241008 meters Centerline goodness : 0.886713 Centerline is valid? [False, False] Translation: X:1.67, Y:0.32, Z:-0.16 [[ 0.99632708 0.08346572 -0.01912652 1.66508435] [-0.08244038 0.99537747 0.04926739 0.32169764] [ 0.02315024 -0.04750964 0.99860247 -0.15917685] [ 0. 0. 0. 1. ]] SLAMing on 8.538241008000002 meters Centerline goodness : 0.886314 Centerline is valid? [False, False] Translation: X:1.67, Y:0.32, Z:-0.16 [[ 0.99631593 0.08357288 -0.01923903 1.66551445] [-0.08254672 0.99537849 0.04906842 0.32233938] [ 0.0232509 -0.04729953 0.99861011 -0.15939529] [ 0. 0. 0. 1. ]] SLAMing on 8.568241008000001 meters Centerline goodness : 0.888072 Centerline is valid? [False, False] Translation: X:1.66, Y:0.32, Z:-0.16 [[ 0.99609702 0.08625213 -0.01874307 1.66308933] [-0.08515206 0.994948 0.05317513 0.31991127] [ 0.02323485 -0.05137158 0.99840929 -0.1563925 ] [ 0. 0. 0. 1. ]] SLAMing on 8.598241008 meters Centerline goodness : 0.883718 Centerline is valid? [False, False] Translation: X:1.66, Y:0.32, Z:-0.15 [[ 0.99598681 0.08738076 -0.01936171 1.66283686] [-0.08618631 0.99471945 0.0557237 0.31847836] [ 0.02412865 -0.05383136 0.99825848 -0.15342425] [ 0. 0. 0. 1. ]] SLAMing on 8.628241008000002 meters Centerline goodness : 0.888566 Centerline is valid? [False, False] Translation: X:1.67, Y:0.31, Z:-0.15 [[ 0.99590364 0.08870743 -0.01751975 1.67003434] [-0.08729863 0.99377018 0.06928039 0.31251502] [ 0.02355629 -0.06746714 0.99744337 -0.1497726 ] [ 0. 0. 0. 1. ]] SLAMing on 8.658241008000001 meters Centerline goodness : 0.889206 Centerline is valid? [False, False] Translation: X:1.67, Y:0.31, Z:-0.15 [[ 0.99582197 0.08958488 -0.01769592 1.67026441] [-0.08813469 0.99361513 0.07043613 0.31108282] [ 0.02389295 -0.06858222 0.99735932 -0.14891917] [ 0. 0. 0. 1. ]] SLAMing on 8.688241008 meters Centerline goodness : 0.889587 Centerline is valid? [False, False] Translation: X:1.68, Y:0.31, Z:-0.15 [[ 0.99513335 0.0970022 -0.01732609 1.67710946] [-0.09589541 0.99380687 0.05614245 0.30614005] [ 0.02266473 -0.05420774 0.99827242 -0.14812318] [ 0. 0. 0. 1. ]] SLAMing on 8.718241008000001 meters Centerline goodness : 0.891743 Centerline is valid? [False, False] Translation: X:1.68, Y:0.31, Z:-0.15 [[ 0.99469031 0.10011227 -0.02384798 1.67541994] [-0.09900011 0.99411531 0.04397428 0.30545856] [ 0.02811001 -0.04137983 0.99874798 -0.1461802 ] [ 0. 0. 0. 1. ]] SLAMing on 8.748241008 meters Centerline goodness : 0.894096 Centerline is valid? [False, False] Translation: X:1.67, Y:0.30, Z:-0.14 [[ 0.9948557 0.09850916 -0.02362395 1.6732546 ] [-0.09745442 0.99434175 0.04227434 0.30245638] [ 0.02765469 -0.03975461 0.99882671 -0.14474441] [ 0. 0. 0. 1. ]] SLAMing on 8.778241008000002 meters Centerline goodness : 0.894861 Centerline is valid? [False, False] Translation: X:1.68, Y:0.29, Z:-0.14 [[ 0.99500122 0.0980408 -0.01898871 1.67509665] [-0.0974724 0.99482002 0.02884875 0.29479224] [ 0.02171871 -0.02685366 0.99940341 -0.14437008] [ 0. 0. 0. 1. ]] SLAMing on 8.808241008000001 meters Centerline goodness : 0.898680 Centerline is valid? [False, False] Translation: X:1.68, Y:0.29, Z:-0.14 [[ 0.99529992 0.09488961 -0.01933983 1.67505152] [-0.09436283 0.99518401 0.02654133 0.29033814] [ 0.02176519 -0.02459162 0.99946062 -0.14458628] [ 0. 0. 0. 1. ]] SLAMing on 8.838241008 meters Centerline goodness : 0.894833 Centerline is valid? [False, False] Translation: X:1.68, Y:0.29, Z:-0.15 [[ 0.99559927 0.09156831 -0.01993319 1.6759838 ] [-0.09108016 0.9955505 0.02415778 0.28620253] [ 0.02205659 -0.02223595 0.99950941 -0.14556521] [ 0. 0. 0. 1. ]] SLAMing on 8.868241008000002 meters Centerline goodness : 0.896564 Centerline is valid? [False, False] Translation: X:1.67, Y:0.29, Z:-0.14 [[ 0.99554657 0.09026481 -0.02718996 1.6703944 ] [-0.08996427 0.99587169 0.01208348 0.28542834] [ 0.02816843 -0.00958354 0.99955725 -0.14448263] [ 0. 0. 0. 1. ]] SLAMing on 8.898241008000001 meters Centerline goodness : 0.896479 Centerline is valid? [False, False] Translation: X:1.66, Y:0.27, Z:-0.14 [[ 0.99575383 0.08453741 -0.03643808 1.6638722 ] [-0.08399728 0.99633575 0.01611015 0.27062892] [ 0.03766647 -0.01298105 0.99920605 -0.14336888] [ 0. 0. 0. 1. ]] SLAMing on 8.928241008 meters Centerline goodness : 0.893879 Centerline is valid? [False, False] Translation: X:1.67, Y:0.27, Z:-0.14 [[ 0.99624528 0.07788759 -0.03780035 1.66576345] [-0.07756931 0.99693863 0.00981708 0.26712645] [ 0.03844926 -0.00684807 0.99923709 -0.14410576] [ 0. 0. 0. 1. ]] SLAMing on 8.958241008000002 meters Centerline goodness : 0.895137 Centerline is valid? [False, False] Translation: X:1.67, Y:0.26, Z:-0.15 [[ 0.99647468 0.07457192 -0.03843494 1.66671103] [-0.07432757 0.99720377 0.00774957 0.26233665] [ 0.03890536 -0.00486548 0.99923105 -0.14502172] [ 0. 0. 0. 1. ]] SLAMing on 8.988241008000001 meters Centerline goodness : 0.896545 Centerline is valid? [False, False] Translation: X:1.67, Y:0.26, Z:-0.15 [[ 0.99668769 0.07120385 -0.03928945 1.66796799] [-0.07105637 0.99745906 0.00513918 0.25894533] [ 0.03955555 -0.0023304 0.99921466 -0.14549527] [ 0. 0. 0. 1. ]] SLAMing on 9.018241008 meters Centerline goodness : 0.897904 Centerline is valid? [False, False] Translation: X:1.67, Y:0.26, Z:-0.15 [[ 9.96861249e-01 6.81681435e-02 -4.02585857e-02 1.66918966e+00] [-6.81226926e-02 9.97673816e-01 2.50131255e-03 2.55600389e-01] [ 4.03354467e-02 2.49061712e-04 9.99186164e-01 -1.45489102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.048241008000002 meters Centerline goodness : 0.897323 Centerline is valid? [False, False] Translation: X:1.67, Y:0.24, Z:-0.15 [[ 9.96907537e-01 6.69162437e-02 -4.12016832e-02 1.67010391e+00] [-6.68413705e-02 9.97758504e-01 3.19368408e-03 2.44576118e-01] [ 4.13230391e-02 -4.29830763e-04 9.99145746e-01 -1.45889479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.078241008000001 meters Centerline goodness : 0.896985 Centerline is valid? [False, False] Translation: X:1.67, Y:0.24, Z:-0.15 [[ 9.97003497e-01 6.46006837e-02 -4.25532448e-02 1.67239016e+00] [-6.46427203e-02 9.97908396e-01 3.88843540e-04 2.42018710e-01] [ 4.24893598e-02 2.36307913e-03 9.99094125e-01 -1.45896804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.108241008 meters Centerline goodness : 0.900287 Centerline is valid? [False, False] Translation: X:1.67, Y:0.24, Z:-0.15 [[ 9.96918080e-01 6.55847789e-02 -4.30462448e-02 1.67338714e+00] [-6.55576091e-02 9.97846692e-01 2.04405468e-03 2.38067304e-01] [ 4.30876118e-02 7.84253826e-04 9.99070990e-01 -1.46195869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.138241008000001 meters Centerline goodness : 0.897870 Centerline is valid? [False, False] Translation: X:1.68, Y:0.24, Z:-0.15 [[ 9.96989212e-01 6.37143624e-02 -4.41926639e-02 1.67515851e+00] [-6.38176649e-02 9.97961143e-01 -9.29238487e-04 2.36768270e-01] [ 4.40433555e-02 3.74671336e-03 9.99022595e-01 -1.45650059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.168241008 meters Centerline goodness : 0.898994 Centerline is valid? [False, False] Translation: X:1.68, Y:0.23, Z:-0.14 [[ 9.96899797e-01 6.47513557e-02 -4.46996247e-02 1.67549414e+00] [-6.47895923e-02 9.97898770e-01 5.94340541e-04 2.32481197e-01] [ 4.46441849e-02 2.30357249e-03 9.99000295e-01 -1.44991834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.198241008000002 meters Centerline goodness : 0.900887 Centerline is valid? [False, False] Translation: X:1.68, Y:0.22, Z:-0.14 [[ 9.96893830e-01 6.37891597e-02 -4.61912929e-02 1.67680355e+00] [-6.38435814e-02 9.97959873e-01 2.97661177e-04 2.23468580e-01] [ 4.61160443e-02 2.65228098e-03 9.98932568e-01 -1.43769388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.228241008000001 meters Centerline goodness : 0.900981 Centerline is valid? [False, False] Translation: X:1.68, Y:0.22, Z:-0.14 [[ 0.99700361 0.06133285 -0.04713888 1.6777864 ] [-0.06148289 0.99810662 -0.0017382 0.21876328] [ 0.04694302 0.00463123 0.99888683 -0.14338534] [ 0. 0. 0. 1. ]] SLAMing on 9.258241008 meters Centerline goodness : 0.901339 Centerline is valid? [False, False] Translation: X:1.68, Y:0.21, Z:-0.14 [[ 0.99712896 0.05846778 -0.04811821 1.67879025] [-0.05873399 0.9982651 -0.00413585 0.21428336] [ 0.04779291 0.00695015 0.99883309 -0.14291036] [ 0. 0. 0. 1. ]] SLAMing on 9.288241008000002 meters Centerline goodness : 0.903004 Centerline is valid? [False, False] Translation: X:1.68, Y:0.20, Z:-0.14 [[ 0.99716058 0.05733298 -0.04882322 1.67757653] [-0.05756281 0.99833639 -0.00331342 0.20300617] [ 0.04855203 0.00611442 0.99880194 -0.14086443] [ 0. 0. 0. 1. ]] SLAMing on 9.318241008000001 meters Centerline goodness : 0.904154 Centerline is valid? [False, False] Translation: X:1.68, Y:0.20, Z:-0.14 [[ 0.99720609 0.05540652 -0.05010119 1.67958366] [-0.05576492 0.99842718 -0.00578314 0.19942717] [ 0.04970196 0.00856087 0.9987274 -0.14045025] [ 0. 0. 0. 1. ]] SLAMing on 9.348241008 meters Centerline goodness : 0.902137 Centerline is valid? [False, False] Translation: X:1.68, Y:0.19, Z:-0.14 [[ 0.99710918 0.05680056 -0.05046757 1.67989371] [-0.05704086 0.99836628 -0.00333293 0.19363898] [ 0.05019581 0.00620201 0.99872014 -0.14037543] [ 0. 0. 0. 1. ]] SLAMing on 9.378241008000002 meters Centerline goodness : 0.905320 Centerline is valid? [False, False] Translation: X:1.68, Y:0.19, Z:-0.14 [[ 9.96992444e-01 5.84706638e-02 -5.08649942e-02 1.67990596e+00] [-5.85868966e-02 9.98281995e-01 -7.95877088e-04 1.87814685e-01] [ 5.07310725e-02 3.77350560e-03 9.98705221e-01 -1.39737694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.408241008000001 meters Centerline goodness : 0.904717 Centerline is valid? [False, False] Translation: X:1.68, Y:0.18, Z:-0.14 [[ 0.99699361 0.05736765 -0.05208346 1.68086112] [-0.05760388 0.99833487 -0.00304481 0.18410308] [ 0.05182206 0.00603587 0.99863809 -0.13790113] [ 0. 0. 0. 1. ]] SLAMing on 9.438241008 meters Centerline goodness : 0.905686 Centerline is valid? [False, False] Translation: X:1.68, Y:0.18, Z:-0.14 [[ 0.99684661 0.05839731 -0.05372705 1.68200338] [-0.05865047 0.99827362 -0.00314609 0.17522073] [ 0.05345057 0.00628728 0.9985507 -0.13534169] [ 0. 0. 0. 1. ]] SLAMing on 9.468241008000001 meters Centerline goodness : 0.904333 Centerline is valid? [False, False] Translation: X:1.68, Y:0.17, Z:-0.14 [[ 9.96687259e-01 6.01462797e-02 -5.47442403e-02 1.68388680e+00] [-6.03118999e-02 9.98178631e-01 -1.37678568e-03 1.70473205e-01] [ 5.45617223e-02 4.67395388e-03 9.98499461e-01 -1.35187814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.498241008 meters Centerline goodness : 0.905064 Centerline is valid? [False, False] Translation: X:1.69, Y:0.17, Z:-0.14 [[ 9.96518394e-01 6.19787163e-02 -5.57649446e-02 1.68592412e+00] [-6.20505755e-02 9.98072908e-01 4.43608062e-04 1.65729158e-01] [ 5.56849746e-02 3.01818331e-03 9.98443826e-01 -1.35197050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.528241008000002 meters Centerline goodness : 0.904086 Centerline is valid? [False, False] Translation: X:1.69, Y:0.16, Z:-0.14 [[ 9.96353443e-01 6.37410697e-02 -5.67176533e-02 1.68770425e+00] [-6.37109055e-02 9.97965649e-01 2.34173966e-03 1.60594692e-01] [ 5.67515347e-02 1.28033267e-03 9.98387512e-01 -1.35111261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.558241008000001 meters Centerline goodness : 0.904089 Centerline is valid? [False, False] Translation: X:1.69, Y:0.16, Z:-0.13 [[ 9.96345353e-01 6.24612880e-02 -5.82625541e-02 1.69016337e+00] [-6.25728237e-02 9.98040397e-01 -9.01683779e-05 1.56809962e-01] [ 5.81427506e-02 3.73549137e-03 9.98301291e-01 -1.34370478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.588241008 meters Centerline goodness : 0.905429 Centerline is valid? [False, False] Translation: X:1.69, Y:0.14, Z:-0.13 [[ 9.96314774e-01 6.16145199e-02 -5.96701110e-02 1.69044704e+00] [-6.16712666e-02 9.98096117e-01 8.91887716e-04 1.43936468e-01] [ 5.96114593e-02 2.79133042e-03 9.98217753e-01 -1.32195776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.618241008000002 meters Centerline goodness : 0.904766 Centerline is valid? [False, False] Translation: X:1.69, Y:0.14, Z:-0.13 [[ 9.96485786e-01 5.85675251e-02 -5.98825853e-02 1.69051301e+00] [-5.87470690e-02 9.98272129e-01 -1.24061559e-03 1.38861514e-01] [ 5.97064561e-02 4.75418217e-03 9.98204657e-01 -1.32378008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.648241008000001 meters Centerline goodness : 0.903016 Centerline is valid? [False, False] Translation: X:1.69, Y:0.13, Z:-0.13 [[ 0.99666598 0.05536373 -0.05993156 1.69055329] [-0.05566997 0.99844326 -0.00345102 0.13360318] [ 0.0596472 0.00677591 0.99819652 -0.13295654] [ 0. 0. 0. 1. ]] SLAMing on 9.678241008 meters Centerline goodness : 0.904564 Centerline is valid? [False, False] Translation: X:1.69, Y:0.13, Z:-0.13 [[ 0.99679438 0.05257547 -0.06030571 1.6922692 ] [-0.05297885 0.99858257 -0.00510863 0.12764999] [ 0.05995164 0.00828718 0.99816688 -0.13450839] [ 0. 0. 0. 1. ]] SLAMing on 9.708241008000002 meters Centerline goodness : 0.903013 Centerline is valid? [False, False] Translation: X:1.70, Y:0.11, Z:-0.14 [[ 0.99691777 0.04900996 -0.0612616 1.69698754] [-0.0494496 0.99876047 -0.00568015 0.11448487] [ 0.06090728 0.008692 0.99810558 -0.13848792] [ 0. 0. 0. 1. ]] SLAMing on 9.738241008000001 meters Centerline goodness : 0.898225 Centerline is valid? [False, False] Translation: X:1.70, Y:0.11, Z:-0.14 [[ 0.99703014 0.04634282 -0.06150801 1.69793266] [-0.04686956 0.99887544 -0.00714794 0.10795429] [ 0.06110758 0.01000957 0.99808099 -0.13942527] [ 0. 0. 0. 1. ]] SLAMing on 9.768241008 meters Centerline goodness : 0.900827 Centerline is valid? [False, False] Translation: X:1.70, Y:0.10, Z:-0.14 [[ 0.99713754 0.04352714 -0.06182321 1.69855836] [-0.04414751 0.99898711 -0.00870368 0.10118501] [ 0.06138175 0.0114081 0.99804917 -0.13987025] [ 0. 0. 0. 1. ]] SLAMing on 9.798241008000002 meters Centerline goodness : 0.901180 Centerline is valid? [False, False] Translation: X:1.70, Y:0.09, Z:-0.14 [[ 0.99724712 0.04059692 -0.06204894 1.69899015] [-0.04132133 0.99909141 -0.010436 0.09454933] [ 0.0615689 0.01297121 0.99801855 -0.14028264] [ 0. 0. 0. 1. ]] SLAMing on 9.828241008000001 meters Centerline goodness : 0.904632 Centerline is valid? [False, False] Translation: X:1.70, Y:0.08, Z:-0.14 [[ 0.99734459 0.03761379 -0.06236168 1.69921152] [-0.03837757 0.99920171 -0.01109502 0.08093931] [ 0.06189457 0.01345885 0.99799194 -0.14012464] [ 0. 0. 0. 1. ]] SLAMing on 9.858241008000002 meters Centerline goodness : 0.905089 Centerline is valid? [False, False] Translation: X:1.70, Y:0.07, Z:-0.14 [[ 0.99730706 0.03860275 -0.06235746 1.69855588] [-0.03921985 0.99919271 -0.00870208 0.07380585] [ 0.0619712 0.01112429 0.99801594 -0.13920597] [ 0. 0. 0. 1. ]] SLAMing on 9.888241008000001 meters Centerline goodness : 0.908177 Centerline is valid? [False, False] Translation: X:1.70, Y:0.07, Z:-0.14 [[ 0.99726831 0.03926721 -0.06256201 1.69857035] [-0.03977455 0.99918496 -0.00688426 0.06815834] [ 0.06224069 0.00935383 0.99801734 -0.13858636] [ 0. 0. 0. 1. ]] SLAMing on 9.918241008 meters Centerline goodness : 0.910604 Centerline is valid? [False, False] Translation: X:1.70, Y:0.06, Z:-0.14 [[ 0.99723386 0.04000086 -0.06264634 1.69831851] [-0.04040501 0.99916987 -0.00519727 0.06312825] [ 0.06238644 0.00771412 0.99802226 -0.13798182] [ 0. 0. 0. 1. ]] SLAMing on 9.948241008000002 meters Centerline goodness : 0.914403 Centerline is valid? [False, False] Translation: X:1.70, Y:0.05, Z:-0.14 [[ 0.997202 0.04110523 -0.06243826 1.69668388] [-0.04130522 0.99914474 -0.00191517 0.05319465] [ 0.06230613 0.00448883 0.99804699 -0.13573975] [ 0. 0. 0. 1. ]] SLAMing on 9.978241008000001 meters Centerline goodness : 0.914207 Centerline is valid? [False, False] Translation: X:1.70, Y:0.05, Z:-0.14 [[ 9.97193451e-01 4.11774274e-02 -6.25271219e-02 1.69685655e+00] [-4.13098074e-02 9.99146045e-01 -8.25332564e-04 4.84632741e-02] [ 6.24397414e-02 3.40599959e-03 9.98042924e-01 -1.35516270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.008241008 meters Centerline goodness : 0.917101 Centerline is valid? [False, False] Translation: X:1.70, Y:0.04, Z:-0.14 [[ 9.97177277e-01 4.09998477e-02 -6.29006370e-02 1.69783588e+00] [-4.10740545e-02 9.99156099e-01 1.13417377e-04 4.32843160e-02] [ 6.28522051e-02 2.47048696e-03 9.98019788e-01 -1.35550555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.038241008000002 meters Centerline goodness : 0.916862 Centerline is valid? [False, False] Translation: X:1.70, Y:0.04, Z:-0.14 [[ 0.99730891 0.03730342 -0.06311407 1.69774528] [-0.0375599 0.99929022 -0.00288188 0.0400353 ] [ 0.06296177 0.00524468 0.99800216 -0.13536435] [ 0. 0. 0. 1. ]] SLAMing on 10.068241008000001 meters Centerline goodness : 0.919378 Centerline is valid? [False, False] Translation: X:1.70, Y:0.03, Z:-0.14 [[ 0.99742269 0.03311341 -0.0636512 1.69935773] [-0.03351696 0.99942419 -0.00528232 0.03186358] [ 0.06343964 0.0074021 0.99795823 -0.13616177] [ 0. 0. 0. 1. ]] SLAMing on 10.098241008 meters Centerline goodness : 0.918650 Centerline is valid? [False, False] Translation: X:1.70, Y:0.03, Z:-0.14 [[ 0.99742721 0.03286582 -0.06370877 1.69987261] [-0.03321013 0.99943891 -0.00435279 0.0269628 ] [ 0.06352997 0.00645737 0.99795904 -0.13632065] [ 0. 0. 0. 1. ]] SLAMing on 10.128241008000002 meters Centerline goodness : 0.922858 Centerline is valid? [False, False] Translation: X:1.70, Y:0.02, Z:-0.14 [[ 0.99741911 0.03291004 -0.06381258 1.70029945] [-0.03317883 0.99944445 -0.00315678 0.02213531] [ 0.06367324 0.00526586 0.99795691 -0.13631956] [ 0. 0. 0. 1. ]] SLAMing on 10.158241008000001 meters Centerline goodness : 0.924405 Centerline is valid? [False, False] Translation: X:1.70, Y:0.02, Z:-0.14 [[ 0.99740252 0.03276156 -0.06414749 1.70151742] [-0.03298386 0.99945298 -0.00240935 0.01859395] [ 0.06403346 0.00451893 0.99793752 -0.13682121] [ 0. 0. 0. 1. ]] SLAMing on 10.188241008 meters Centerline goodness : 0.924405 Centerline is valid? [False, False] Translation: X:1.70, Y:0.02, Z:-0.14 [[ 0.99740252 0.03276156 -0.06414749 1.70151742] [-0.03298386 0.99945298 -0.00240935 0.01859395] [ 0.06403346 0.00451893 0.99793752 -0.13682121] [ 0. 0. 0. 1. ]] SLAMing on 10.218241008000001 meters Centerline goodness : 0.924770 Centerline is valid? [False, False] Translation: X:1.70, Y:0.01, Z:-0.14 [[ 9.97415740e-01 3.23683174e-02 -6.41415155e-02 1.70293369e+00] [-3.25290035e-02 9.99469722e-01 -1.46218705e-03 1.35775440e-02] [ 6.40601741e-02 3.54486795e-03 9.97939742e-01 -1.38219501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.248241008 meters Centerline goodness : 0.924157 Centerline is valid? [False, False] Translation: X:1.70, Y:0.01, Z:-0.14 [[ 9.97398527e-01 3.25630291e-02 -6.43103922e-02 1.70349801e+00] [-3.26606493e-02 9.99466390e-01 -4.66959707e-04 9.83769856e-03] [ 6.42608699e-02 2.56616409e-03 9.97929835e-01 -1.38359956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.278241008000002 meters Centerline goodness : 0.923474 Centerline is valid? [False, False] Translation: X:1.71, Y:0.01, Z:-0.14 [[ 9.97386114e-01 3.15711616e-02 -6.49938490e-02 1.70619965e+00] [-3.16888297e-02 9.99497478e-01 -7.80109582e-04 6.01623855e-03] [ 6.49365592e-02 2.83764947e-03 9.97885360e-01 -1.39778359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.308241008000001 meters Centerline goodness : 0.925940 Centerline is valid? [False, False] Translation: X:1.71, Y:0.00, Z:-0.14 [[ 9.97478883e-01 2.82919614e-02 -6.50802863e-02 1.70594594e+00] [-2.85513565e-02 9.99587646e-01 -3.05899290e-03 3.53869000e-04] [ 6.49669053e-02 4.90941128e-03 9.97875342e-01 -1.39608248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.338241008 meters Centerline goodness : 0.925805 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.00, Z:-0.14 [[ 0.99746687 0.02844443 -0.06519789 1.70643316] [-0.02866781 0.99958589 -0.00249302 -0.00217443] [ 0.06509998 0.00435579 0.99786924 -0.1398687 ] [ 0. 0. 0. 1. ]] SLAMing on 10.368241008000002 meters Centerline goodness : 0.925146 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.00, Z:-0.14 [[ 0.99745277 0.02863844 -0.06532853 1.70702447] [-0.02883092 0.99958229 -0.00200524 -0.00425108] [ 0.06524381 0.00388361 0.9978618 -0.1402424 ] [ 0. 0. 0. 1. ]] SLAMing on 10.398241008000001 meters Centerline goodness : 0.926523 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.01, Z:-0.14 [[ 0.99725639 0.03020821 -0.0675808 1.71438913] [-0.02994007 0.9995393 0.00497727 -0.00979483] [ 0.06770002 -0.00294024 0.99770139 -0.13691636] [ 0. 0. 0. 1. ]] SLAMing on 10.428241008 meters Centerline goodness : 0.928487 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.01, Z:-0.14 [[ 9.97564419e-01 3.36266235e-02 -6.11103887e-02 1.72529416e+00] [-3.37669763e-02 9.99428932e-01 -1.26514689e-03 -9.80649203e-03] [ 6.10329479e-02 3.32557857e-03 9.98130212e-01 -1.39832807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.458241008000002 meters Centerline goodness : 0.930693 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.01, Z:-0.14 [[ 0.99776833 0.03765665 -0.0551392 1.73704334] [-0.0380766 0.99925313 -0.00658501 -0.01004709] [ 0.05485005 0.00866983 0.99845696 -0.14248244] [ 0. 0. 0. 1. ]] SLAMing on 10.488241008000001 meters Centerline goodness : 0.930312 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.01, Z:-0.15 [[ 0.99833673 0.03746548 -0.04381905 1.74181364] [-0.03763003 0.99928743 -0.00293617 -0.01232429] [ 0.04367782 0.0045802 0.99903517 -0.14630025] [ 0. 0. 0. 1. ]] SLAMing on 10.518241008 meters Centerline goodness : 0.930993 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.01, Z:-0.15 [[ 0.99832487 0.03770535 -0.04388346 1.74180531] [-0.03785081 0.9992803 -0.00248804 -0.01404084] [ 0.04375807 0.0041449 0.99903356 -0.1461151 ] [ 0. 0. 0. 1. ]] SLAMing on 10.548241008000002 meters Centerline goodness : 0.933033 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.02, Z:-0.15 [[ 9.98320226e-01 3.77641929e-02 -4.39384991e-02 1.74218500e+00] [-3.78747800e-02 9.99281069e-01 -1.68680836e-03 -1.78801660e-02] [ 4.38432094e-02 3.34813589e-03 9.99032814e-01 -1.46302052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.578241008000001 meters Centerline goodness : 0.934225 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.02, Z:-0.15 [[ 0.99833079 0.03696544 -0.04437546 1.74422749] [-0.03709373 0.99930965 -0.00207066 -0.0194021 ] [ 0.04426829 0.00371326 0.99901278 -0.14765696] [ 0. 0. 0. 1. ]] SLAMing on 10.608241008000002 meters Centerline goodness : 0.933662 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.02, Z:-0.15 [[ 9.98337879e-01 3.65739647e-02 -4.45401518e-02 1.74510151e+00] [-3.66879083e-02 9.99325252e-01 -1.74319101e-03 -2.18286297e-02] [ 4.44463430e-02 3.37437862e-03 9.99006074e-01 -1.48167666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.638241008000001 meters Centerline goodness : 0.933010 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.02, Z:-0.15 [[ 0.99835426 0.03533828 -0.04516601 1.74804313] [-0.03547808 0.99936781 -0.00229708 -0.02433406] [ 0.04505628 0.00389571 0.99897685 -0.1501059 ] [ 0. 0. 0. 1. ]] SLAMing on 10.668241008 meters Centerline goodness : 0.931501 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.03, Z:-0.15 [[ 0.99849676 0.03030349 -0.04567187 1.7508758 ] [-0.03062788 0.99951024 -0.00641944 -0.02691487] [ 0.04545497 0.00780863 0.99893587 -0.15274696] [ 0. 0. 0. 1. ]] SLAMing on 10.698241008000002 meters Centerline goodness : 0.930292 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.03, Z:-0.15 [[ 0.99849252 0.0297591 -0.04612039 1.75281146] [-0.03008941 0.99952618 -0.00648418 -0.02820992] [ 0.04590558 0.00786215 0.99891484 -0.1539776 ] [ 0. 0. 0. 1. ]] SLAMing on 10.728241008000001 meters Centerline goodness : 0.929184 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.03, Z:-0.16 [[ 0.9984854 0.02904928 -0.046723 1.75525015] [-0.02940183 0.99954402 -0.00687573 -0.02907441] [ 0.04650196 0.00823906 0.99888422 -0.15546217] [ 0. 0. 0. 1. ]] SLAMing on 10.758241008 meters Centerline goodness : 0.929628 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.03, Z:-0.16 [[ 0.99847058 0.02911816 -0.04699612 1.75587345] [-0.02945102 0.9995457 -0.00640587 -0.0310548 ] [ 0.04678825 0.00778015 0.99887453 -0.15551148] [ 0. 0. 0. 1. ]] SLAMing on 10.788241008000002 meters Centerline goodness : 0.929257 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.03, Z:-0.16 [[ 0.99845779 0.02924653 -0.04718778 1.75633684] [-0.02955884 0.99954543 -0.00593412 -0.03317948] [ 0.04699278 0.00731978 0.99886841 -0.15551294] [ 0. 0. 0. 1. ]] SLAMing on 10.818241008000001 meters Centerline goodness : 0.930809 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.04, Z:-0.15 [[ 0.99843715 0.03000658 -0.04714732 1.75548269] [-0.03026512 0.99953048 -0.00477925 -0.03621159] [ 0.04698177 0.0061987 0.99887651 -0.15443523] [ 0. 0. 0. 1. ]] SLAMing on 10.848241008 meters Centerline goodness : 0.932865 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.04, Z:-0.15 [[ 0.99842467 0.03031666 -0.04721316 1.75521653] [-0.03055106 0.99952417 -0.004251 -0.03745113] [ 0.04706182 0.00568671 0.99887579 -0.1538496 ] [ 0. 0. 0. 1. ]] SLAMing on 10.878241008000002 meters Centerline goodness : 0.931452 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.04, Z:-0.15 [[ 0.99841149 0.0304804 -0.04738616 1.75518792] [-0.03068936 0.99952217 -0.0036883 -0.03919099] [ 0.0472511 0.00513669 0.99886984 -0.15328112] [ 0. 0. 0. 1. ]] SLAMing on 10.908241008000001 meters Centerline goodness : 0.937551 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.04, Z:-0.15 [[ 0.99841276 0.03029693 -0.047477 1.75514094] [-0.03046259 0.99953207 -0.00276953 -0.04219457] [ 0.04737087 0.0042114 0.99886849 -0.15245042] [ 0. 0. 0. 1. ]] SLAMing on 10.938241008000002 meters Centerline goodness : 0.937144 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.04, Z:-0.15 [[ 0.99840767 0.03009292 -0.04771306 1.75573877] [-0.03025092 0.99953897 -0.00259271 -0.04308222] [ 0.04761304 0.00403195 0.99885772 -0.15244061] [ 0. 0. 0. 1. ]] SLAMing on 10.968241008000001 meters Centerline goodness : 0.937861 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.04, Z:-0.15 [[ 0.9984046 0.03006424 -0.04779539 1.7559147 ] [-0.03020856 0.99954097 -0.0023 -0.04430316] [ 0.0477043 0.00374016 0.9988545 -0.15233339] [ 0. 0. 0. 1. ]] SLAMing on 10.998241008 meters Centerline goodness : 0.936038 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.05, Z:-0.15 [[ 0.99839783 0.02985227 -0.04806889 1.75672683] [-0.02999465 0.99954754 -0.00224316 -0.04541086] [ 0.04798018 0.00368138 0.9988415 -0.15257794] [ 0. 0. 0. 1. ]] SLAMing on 11.028241008000002 meters Centerline goodness : 0.938475 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.05, Z:-0.15 [[ 0.99839605 0.02995482 -0.04804198 1.7566505 ] [-0.03007566 0.99954601 -0.00179419 -0.04708723] [ 0.04796642 0.00323621 0.99884371 -0.15244721] [ 0. 0. 0. 1. ]] SLAMing on 11.058241008000001 meters Centerline goodness : 0.935664 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.05, Z:-0.15 [[ 0.99839354 0.02965438 -0.04827996 1.757625 ] [-0.02979296 0.99955377 -0.00215304 -0.04683902] [ 0.04819457 0.00358799 0.99883152 -0.15307388] [ 0. 0. 0. 1. ]] SLAMing on 11.088241008 meters Centerline goodness : 0.937148 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.05, Z:-0.15 [[ 0.99839238 0.02945946 -0.04842302 1.75836574] [-0.02961243 0.99955847 -0.00244442 -0.0464637 ] [ 0.04832963 0.00387442 0.99882393 -0.1536592 ] [ 0. 0. 0. 1. ]] SLAMing on 11.118241008000002 meters Centerline goodness : 0.937385 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.05, Z:-0.15 [[ 0.99838519 0.02946831 -0.04856575 1.75881576] [-0.02963215 0.99955734 -0.00265684 -0.04593529] [ 0.04846596 0.00409166 0.99881645 -0.15394927] [ 0. 0. 0. 1. ]] SLAMing on 11.148241008000001 meters Centerline goodness : 0.936316 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.05, Z:-0.15 [[ 0.9983719 0.02958839 -0.04876557 1.75944493] [-0.02976058 0.99955311 -0.00280854 -0.0454236 ] [ 0.04866068 0.00425526 0.9988063 -0.15435672] [ 0. 0. 0. 1. ]] SLAMing on 11.178241008 meters Centerline goodness : 0.934775 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.04, Z:-0.16 [[ 9.98232233e-01 3.35402495e-02 -4.90658894e-02 1.76101081e+00] [-3.35506203e-02 9.99436832e-01 6.12443683e-04 -4.44903150e-02] [ 4.90587985e-02 1.03483000e-03 9.98795356e-01 -1.55312164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.208241008000002 meters Centerline goodness : 0.935945 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.04, Z:-0.16 [[ 0.99833178 0.03771384 -0.04371877 1.7736919 ] [-0.0380155 0.9992586 -0.00608879 -0.04264671] [ 0.04345672 0.00774062 0.99902532 -0.1598038 ] [ 0. 0. 0. 1. ]] SLAMing on 11.238241008000001 meters Centerline goodness : 0.934127 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.04, Z:-0.16 [[ 0.99830923 0.03816726 -0.04384001 1.77377595] [-0.03847479 0.99924038 -0.00619244 -0.0413733 ] [ 0.04357036 0.00786871 0.99901937 -0.15979126] [ 0. 0. 0. 1. ]] SLAMing on 11.268241008 meters Centerline goodness : 0.934044 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.04, Z:-0.16 [[ 0.99829418 0.03867919 -0.04373385 1.77351298] [-0.03898708 0.99922042 -0.00620899 -0.04018018] [ 0.04345959 0.00790346 0.99902392 -0.1599285 ] [ 0. 0. 0. 1. ]] SLAMing on 11.298241008000002 meters Centerline goodness : 0.934152 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.04, Z:-0.16 [[ 0.99828319 0.03881664 -0.04386279 1.77436505] [-0.0391406 0.99921224 -0.00655095 -0.03870065] [ 0.04357395 0.00825652 0.99901609 -0.16088616] [ 0. 0. 0. 1. ]] SLAMing on 11.328241008000001 meters Centerline goodness : 0.932762 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.04, Z:-0.16 [[ 0.99813272 0.04206524 -0.04428977 1.77691604] [-0.04224541 0.99910233 -0.00313964 -0.03987202] [ 0.04411795 0.00500482 0.99901379 -0.16246557] [ 0. 0. 0. 1. ]] SLAMing on 11.358241008000002 meters Centerline goodness : 0.932632 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.04, Z:-0.16 [[ 0.99812775 0.0419639 -0.04449747 1.77762187] [-0.04213971 0.99910716 -0.00301994 -0.04117453] [ 0.04433101 0.0048894 0.99900493 -0.1628018 ] [ 0. 0. 0. 1. ]] SLAMing on 11.388241008000001 meters Centerline goodness : 0.933574 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.04, Z:-0.16 [[ 0.99826722 0.03857272 -0.04443759 1.77653351] [-0.03888838 0.99922395 -0.00626061 -0.04244433] [ 0.04416162 0.00797787 0.99899255 -0.16217284] [ 0. 0. 0. 1. ]] SLAMing on 11.418241008 meters Centerline goodness : 0.934277 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.04, Z:-0.16 [[ 0.99826596 0.03830587 -0.04469605 1.77731462] [-0.03862043 0.99923475 -0.00619541 -0.0434365 ] [ 0.04442453 0.00791084 0.99898142 -0.16240015] [ 0. 0. 0. 1. ]] SLAMing on 11.448241008000002 meters Centerline goodness : 0.934149 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.04, Z:-0.16 [[ 0.99826142 0.03838673 -0.04472808 1.77719038] [-0.03868292 0.99923485 -0.00577495 -0.04477549] [ 0.04447217 0.00749512 0.99898251 -0.16205554] [ 0. 0. 0. 1. ]] SLAMing on 11.478241008000001 meters Centerline goodness : 0.936373 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.05, Z:-0.16 [[ 0.99825742 0.0384695 -0.04474621 1.7770207 ] [-0.03874832 0.99923452 -0.0053802 -0.04597464] [ 0.04450498 0.00710466 0.9989839 -0.16165617] [ 0. 0. 0. 1. ]] SLAMing on 11.508241008 meters Centerline goodness : 0.937685 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.05, Z:-0.16 [[ 0.99825939 0.03881919 -0.04439897 1.7753944 ] [-0.03902603 0.99923097 -0.00380093 -0.05024355] [ 0.04421728 0.00552703 0.99900665 -0.15976889] [ 0. 0. 0. 1. ]] SLAMing on 11.538241008000002 meters Centerline goodness : 0.939579 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.05, Z:-0.16 [[ 0.99826049 0.03855664 -0.04460253 1.77575963] [-0.03874522 0.99924344 -0.00337096 -0.05251471] [ 0.04443882 0.00509323 0.99899912 -0.15945242] [ 0. 0. 0. 1. ]] SLAMing on 11.568241008000001 meters Centerline goodness : 0.941179 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.05, Z:-0.16 [[ 0.9982658 0.0384364 -0.04458749 1.77555482] [-0.03859855 0.99925093 -0.00278113 -0.05483517] [ 0.04444719 0.00449732 0.99900161 -0.15895046] [ 0. 0. 0. 1. ]] SLAMing on 11.598241008 meters Centerline goodness : 0.940684 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.06, Z:-0.16 [[ 0.99827128 0.03770031 -0.04509025 1.77729295] [-0.03786528 0.9992789 -0.00280995 -0.05736281] [ 0.0449518 0.00451245 0.99897897 -0.15969511] [ 0. 0. 0. 1. ]] SLAMing on 11.628241008000002 meters Centerline goodness : 0.941266 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.06, Z:-0.16 [[ 0.99839813 0.03388966 -0.04530626 1.77781634] [-0.03419473 0.99939733 -0.00597542 -0.06097219] [ 0.04507645 0.00751509 0.99895527 -0.16032296] [ 0. 0. 0. 1. ]] SLAMing on 11.658241008000001 meters Centerline goodness : 0.939112 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.06, Z:-0.16 [[ 0.99839722 0.03312004 -0.04589166 1.7807093 ] [-0.03345266 0.99941917 -0.00649876 -0.0623278 ] [ 0.04564977 0.00802354 0.99892528 -0.1624721 ] [ 0. 0. 0. 1. ]] SLAMing on 11.688241008000002 meters Centerline goodness : 0.939715 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.06, Z:-0.16 [[ 0.99838887 0.03301958 -0.04614517 1.78225655] [-0.03335341 0.99942259 -0.00648301 -0.06314723] [ 0.04590446 0.00801166 0.99891371 -0.16387874] [ 0. 0. 0. 1. ]] SLAMing on 11.718241008000001 meters Centerline goodness : 0.939620 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.06, Z:-0.17 [[ 0.99837757 0.03298365 -0.0464146 1.78368203] [-0.03331987 0.99942368 -0.00648865 -0.06355183] [ 0.04617383 0.00802465 0.99890119 -0.16512168] [ 0. 0. 0. 1. ]] SLAMing on 11.748241008 meters Centerline goodness : 0.937487 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.07, Z:-0.17 [[ 0.99834951 0.0333883 -0.04672763 1.78445516] [-0.03370386 0.99941396 -0.00598151 -0.06523607] [ 0.04650054 0.00754654 0.99888976 -0.16542809] [ 0. 0. 0. 1. ]] SLAMing on 11.778241008000002 meters Centerline goodness : 0.938920 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.07, Z:-0.17 [[ 0.99833346 0.03375543 -0.04680684 1.78431091] [-0.03405316 0.99940446 -0.00557794 -0.0660574 ] [ 0.04659068 0.00716256 0.99888839 -0.16506416] [ 0. 0. 0. 1. ]] SLAMing on 11.808241008000001 meters Centerline goodness : 0.938368 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.07, Z:-0.16 [[ 0.9983165 0.03430306 -0.04677044 1.78366032] [-0.03457565 0.99938942 -0.00503143 -0.06684668] [ 0.04656928 0.00664007 0.99889299 -0.16437282] [ 0. 0. 0. 1. ]] SLAMing on 11.838241008 meters Centerline goodness : 0.939006 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.07, Z:-0.16 [[ 0.99830635 0.03432886 -0.04696757 1.78415697] [-0.03460617 0.999388 -0.00510361 -0.06692863] [ 0.04676362 0.00672033 0.99888338 -0.16452081] [ 0. 0. 0. 1. ]] SLAMing on 11.868241008000002 meters Centerline goodness : 0.939384 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.07, Z:-0.16 [[ 0.99828833 0.03456532 -0.04717673 1.78461248] [-0.03483811 0.9993806 -0.00497226 -0.06739416] [ 0.04697564 0.00660729 0.99887418 -0.16464126] [ 0. 0. 0. 1. ]] SLAMing on 11.898241008000001 meters Centerline goodness : 0.942335 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.07, Z:-0.17 [[ 0.99836071 0.03975832 -0.04117248 1.79382768] [-0.04024549 0.99912848 -0.01107159 -0.06889315] [ 0.04069641 0.01271045 0.99909071 -0.16755501] [ 0. 0. 0. 1. ]] SLAMing on 11.928241008 meters Centerline goodness : 0.941609 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.07, Z:-0.17 [[ 0.99819958 0.04330572 -0.0414996 1.79547541] [-0.04363092 0.99902346 -0.0069625 -0.07201347] [ 0.04115756 0.00876063 0.99911426 -0.16804949] [ 0. 0. 0. 1. ]] SLAMing on 11.958241008000002 meters Centerline goodness : 0.941506 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.07, Z:-0.17 [[ 0.99818965 0.04342848 -0.04161001 1.79620004] [-0.04375108 0.99901882 -0.00687352 -0.07259784] [ 0.04127068 0.00868156 0.99911028 -0.16882598] [ 0. 0. 0. 1. ]] SLAMing on 11.988241008000001 meters Centerline goodness : 0.942326 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.07, Z:-0.17 [[ 0.99818606 0.04338108 -0.04174533 1.79715194] [-0.04370266 0.99902129 -0.00682149 -0.07341534] [ 0.04140855 0.0086335 0.999105 -0.16976242] [ 0. 0. 0. 1. ]] SLAMing on 12.018241008000002 meters Centerline goodness : 0.942203 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.08, Z:-0.17 [[ 0.998179 0.04299635 -0.04230827 1.79939571] [-0.04329472 0.99904335 -0.00616101 -0.07829243] [ 0.0420029 0.00798151 0.99908561 -0.17098938] [ 0. 0. 0. 1. ]] SLAMing on 12.048241008000002 meters Centerline goodness : 0.941296 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.08, Z:-0.17 [[ 0.99817692 0.04263376 -0.04272224 1.80081515] [-0.04291552 0.99906245 -0.00569955 -0.08178734] [ 0.04243919 0.00752261 0.99907073 -0.17148757] [ 0. 0. 0. 1. ]] SLAMing on 12.078241008000001 meters Centerline goodness : 0.943476 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.09, Z:-0.17 [[ 0.99815596 0.04289602 -0.04294903 1.80085985] [-0.04313271 0.99905877 -0.00459897 -0.08541904] [ 0.04271133 0.00644299 0.99906668 -0.17069876] [ 0. 0. 0. 1. ]] SLAMing on 12.108241008000002 meters Centerline goodness : 0.944377 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.09, Z:-0.17 [[ 0.99813218 0.04332725 -0.0430686 1.80036101] [-0.04351228 0.99904722 -0.00336764 -0.08869582] [ 0.04288165 0.00523536 0.99906644 -0.1694632 ] [ 0. 0. 0. 1. ]] SLAMing on 12.138241008000001 meters Centerline goodness : 0.944377 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.09, Z:-0.17 [[ 0.99813218 0.04332725 -0.0430686 1.80036101] [-0.04351228 0.99904722 -0.00336764 -0.08869582] [ 0.04288165 0.00523536 0.99906644 -0.1694632 ] [ 0. 0. 0. 1. ]] SLAMing on 12.168241008 meters Centerline goodness : 0.945826 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.09, Z:-0.17 [[ 0.99863567 0.04325851 -0.02924888 1.80101023] [-0.0433988 0.99904909 -0.00417865 -0.09379301] [ 0.02904031 0.00544232 0.99956343 -0.1720992 ] [ 0. 0. 0. 1. ]] SLAMing on 12.198241008000002 meters Centerline goodness : 0.949469 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.10, Z:-0.17 [[ 0.9986165 0.04363474 -0.02934457 1.80086775] [-0.0437575 0.99903586 -0.00355382 -0.09591403] [ 0.02916121 0.00483295 0.99956304 -0.1716272 ] [ 0. 0. 0. 1. ]] SLAMing on 12.228241008000001 meters Centerline goodness : 0.948429 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.10, Z:-0.17 [[ 0.99860617 0.04391715 -0.02927464 1.80093146] [-0.04403197 0.99902471 -0.0032888 -0.09703975] [ 0.02910166 0.00457323 0.999566 -0.17195605] [ 0. 0. 0. 1. ]] SLAMing on 12.258241008 meters Centerline goodness : 0.945845 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.10, Z:-0.17 [[ 9.98401432e-01 4.82560446e-02 -2.94267721e-02 1.80236941e+00] [-4.82404923e-02 9.98834982e-01 1.23863013e-03 -9.98983036e-02] [ 2.94522608e-02 1.82911874e-04 9.99566171e-01 -1.72989532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.288241008000002 meters Centerline goodness : 0.945669 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.10, Z:-0.17 [[ 9.98380717e-01 4.85697719e-02 -2.96128504e-02 1.80300568e+00] [-4.85517738e-02 9.98819786e-01 1.32693966e-03 -1.00489822e-01] [ 2.96423500e-02 1.12965445e-04 9.99560563e-01 -1.73580441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.318241008000001 meters Centerline goodness : 0.946544 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.10, Z:-0.17 [[ 9.98363874e-01 4.87798612e-02 -2.98345501e-02 1.80388940e+00] [-4.87586921e-02 9.98809554e-01 1.43708060e-03 -1.01678621e-01] [ 2.98691343e-02 1.99642925e-05 9.99553818e-01 -1.74364614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.348241008000002 meters Centerline goodness : 0.945787 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.10, Z:-0.18 [[ 9.98360498e-01 4.86655549e-02 -3.01327124e-02 1.80533265e+00] [-4.86505406e-02 9.98815102e-01 1.23165994e-03 -1.02518844e-01] [ 3.01569477e-02 2.36332113e-04 9.99545148e-01 -1.75653169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.378241008000002 meters Centerline goodness : 0.944816 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.10, Z:-0.18 [[ 9.98364969e-01 4.84124054e-02 -3.03912447e-02 1.80682904e+00] [-4.84059051e-02 9.98827295e-01 9.50010569e-04 -1.03040723e-01] [ 3.04015970e-02 5.22658432e-04 9.99537628e-01 -1.77029576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.408241008000001 meters Centerline goodness : 0.942438 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.11, Z:-0.18 [[ 9.98358550e-01 4.83094814e-02 -3.07636104e-02 1.80889664e+00] [-4.82930738e-02 9.98832393e-01 1.27656643e-03 -1.06405448e-01] [ 3.07893609e-02 2.11198302e-04 9.99525873e-01 -1.78837275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.438241008000002 meters Centerline goodness : 0.941049 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.11, Z:-0.18 [[ 9.98356599e-01 4.80442646e-02 -3.12386117e-02 1.81062375e+00] [-4.80213733e-02 9.98845207e-01 1.48305479e-03 -1.09235481e-01] [ 3.12737899e-02 1.95034990e-05 9.99510855e-01 -1.79803958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.468241008000001 meters Centerline goodness : 0.938275 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.11, Z:-0.18 [[ 9.98351016e-01 4.78769173e-02 -3.16709696e-02 1.81200119e+00] [-4.78392059e-02 9.98853151e-01 1.94783845e-03 -1.12849165e-01] [ 3.17279043e-02 -4.29512460e-04 9.99496451e-01 -1.80340086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.498241008 meters Centerline goodness : 0.941048 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.11, Z:-0.19 [[ 0.99846614 0.04871801 -0.02630439 1.82483809] [-0.04893918 0.99877107 -0.0078302 -0.11417592] [ 0.0258906 0.00910551 0.99962331 -0.18580231] [ 0. 0. 0. 1. ]] SLAMing on 12.528241008000002 meters Centerline goodness : 0.938520 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.12, Z:-0.19 [[ 0.99846143 0.04848115 -0.02691394 1.82685966] [-0.04867381 0.99879325 -0.00654981 -0.12202977] [ 0.02656392 0.00784974 0.9996163 -0.18652837] [ 0. 0. 0. 1. ]] SLAMing on 12.558241008000001 meters Centerline goodness : 0.938569 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.13, Z:-0.19 [[ 0.9984682 0.04807512 -0.02738667 1.82864577] [-0.04826269 0.99881525 -0.00622902 -0.12507686] [ 0.02705476 0.00754123 0.99960551 -0.18741243] [ 0. 0. 0. 1. ]] SLAMing on 12.588241008 meters Centerline goodness : 0.938160 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.13, Z:-0.19 [[ 0.99847264 0.04768368 -0.02790426 1.83025838] [-0.04786127 0.99883755 -0.00573076 -0.12851091] [ 0.02759856 0.00705754 0.99959417 -0.18789766] [ 0. 0. 0. 1. ]] SLAMing on 12.618241008000002 meters Centerline goodness : 0.935994 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.14, Z:-0.19 [[ 0.99863903 0.04383253 -0.02826299 1.83062409] [-0.04407555 0.9989959 -0.00803325 -0.13533151] [ 0.0278825 0.00926803 0.99956824 -0.1875322 ] [ 0. 0. 0. 1. ]] SLAMing on 12.648241008000001 meters Centerline goodness : 0.935999 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.14, Z:-0.19 [[ 0.99865261 0.04299903 -0.02905256 1.83278266] [-0.04323297 0.99903707 -0.00747254 -0.140639 ] [ 0.02870327 0.0087185 0.99954995 -0.1877278 ] [ 0. 0. 0. 1. ]] SLAMing on 12.678241008 meters Centerline goodness : 0.935927 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.15, Z:-0.19 [[ 0.99866767 0.0422049 -0.02969213 1.83440673] [-0.04242458 0.99907648 -0.0068077 -0.14619138] [ 0.02937739 0.00805831 0.99953591 -0.18746843] [ 0. 0. 0. 1. ]] SLAMing on 12.708241008000002 meters Centerline goodness : 0.937103 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.15, Z:-0.19 [[ 0.99867443 0.04157548 -0.03034557 1.83586141] [-0.04177497 0.99910921 -0.00596956 -0.15139581] [ 0.03007035 0.00722933 0.99952164 -0.18689474] [ 0. 0. 0. 1. ]] SLAMing on 12.738241008000001 meters Centerline goodness : 0.934516 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.16, Z:-0.19 [[ 0.99869103 0.0406533 -0.03104087 1.83813043] [-0.0408484 0.99914923 -0.00567699 -0.15573301] [ 0.03078367 0.00693753 0.99950199 -0.18741802] [ 0. 0. 0. 1. ]] SLAMing on 12.768241008000002 meters Centerline goodness : 0.932405 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.16, Z:-0.19 [[ 0.99885656 0.03581519 -0.03166758 1.84069918] [-0.03612914 0.99930294 -0.0093978 -0.1598141 ] [ 0.03130892 0.01053118 0.99945427 -0.18930194] [ 0. 0. 0. 1. ]] SLAMing on 12.798241008000002 meters Centerline goodness : 0.932825 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.16, Z:-0.19 [[ 0.99886295 0.03488264 -0.0324962 1.84372182] [-0.03520459 0.99933603 -0.00938831 -0.1630922 ] [ 0.03214713 0.01052165 0.99942776 -0.1905919 ] [ 0. 0. 0. 1. ]] SLAMing on 12.828241008000001 meters Centerline goodness : 0.930548 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.17, Z:-0.19 [[ 0.9988591 0.03425163 -0.03327652 1.84619332] [-0.03456786 0.99936206 -0.00897457 -0.16659405] [ 0.0329479 0.01011463 0.99940589 -0.19125225] [ 0. 0. 0. 1. ]] SLAMing on 12.858241008000002 meters Centerline goodness : 0.927390 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.17, Z:-0.19 [[ 0.99889698 0.03255927 -0.03383376 1.84925491] [-0.03288638 0.99941715 -0.00915706 -0.17191082] [ 0.03351589 0.01025963 0.99938552 -0.19288421] [ 0. 0. 0. 1. ]] SLAMing on 12.888241008000001 meters Centerline goodness : 0.928140 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.17, Z:-0.19 [[ 0.99889091 0.03204219 -0.03449989 1.85137341] [-0.0323694 0.99943574 -0.00896776 -0.17410921] [ 0.03419307 0.01007455 0.99936447 -0.19353797] [ 0. 0. 0. 1. ]] SLAMing on 12.918241008 meters Centerline goodness : 0.925410 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.18, Z:-0.19 [[ 0.99888495 0.03167574 -0.03500719 1.85306512] [-0.0320054 0.9994481 -0.00889668 -0.17567159] [ 0.03470606 0.01000718 0.99934746 -0.19422502] [ 0. 0. 0. 1. ]] SLAMing on 12.948241008000002 meters Centerline goodness : 0.926230 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.18, Z:-0.19 [[ 0.99876206 0.03497874 -0.03536717 1.85492956] [-0.03515884 0.99937168 -0.00448312 -0.18034398] [ 0.03518814 0.00572104 0.99936433 -0.19445696] [ 0. 0. 0. 1. ]] SLAMing on 12.978241008000001 meters Centerline goodness : 0.925149 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.18, Z:-0.19 [[ 9.98610499e-01 3.86235267e-02 -3.58509906e-02 1.85674946e+00] [-3.86564555e-02 9.99252534e-01 -2.25528408e-04 -1.83575950e-01] [ 3.58154826e-02 1.61108726e-03 9.99357121e-01 -1.94684872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.008241008 meters Centerline goodness : 0.923962 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.18, Z:-0.20 [[ 0.99897874 0.03755628 -0.02511987 1.86208102] [-0.03762026 0.99928994 -0.00207909 -0.18243336] [ 0.02502396 0.00302198 0.99968228 -0.20339394] [ 0. 0. 0. 1. ]] SLAMing on 13.038241008000002 meters Centerline goodness : 0.924304 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.18, Z:-0.21 [[ 0.99892957 0.04141198 -0.02060982 1.87604978] [-0.0416132 0.99908927 -0.00943232 -0.18198086] [ 0.02020044 0.01027986 0.9997431 -0.20906571] [ 0. 0. 0. 1. ]] SLAMing on 13.068241008000001 meters Centerline goodness : 0.921345 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.18, Z:-0.21 [[ 0.99874836 0.04534732 -0.02110278 1.87777185] [-0.04545997 0.9989542 -0.00488911 -0.18488908] [ 0.02085901 0.00584232 0.99976536 -0.20933169] [ 0. 0. 0. 1. ]] SLAMing on 13.098241008000002 meters Centerline goodness : 0.920854 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.19, Z:-0.21 [[ 0.99863656 0.04885456 -0.01839156 1.89643206] [-0.04905436 0.99874014 -0.01057391 -0.18500822] [ 0.01785181 0.01146168 0.99977495 -0.21428305] [ 0. 0. 0. 1. ]] SLAMing on 13.128241008000002 meters Centerline goodness : 0.921566 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.19, Z:-0.21 [[ 0.99827149 0.05489218 -0.02099697 1.90140037] [-0.05512374 0.99842313 -0.01061294 -0.1877127 ] [ 0.02038129 0.01175203 0.99972321 -0.21287115] [ 0. 0. 0. 1. ]] SLAMing on 13.158241008000001 meters Centerline goodness : 0.921682 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.19, Z:-0.21 [[ 0.99811492 0.05687607 -0.02305898 1.9057565 ] [-0.05718163 0.99828154 -0.01281526 -0.18923178] [ 0.02229047 0.01410965 0.99965197 -0.2126721 ] [ 0. 0. 0. 1. ]] SLAMing on 13.188241008000002 meters Centerline goodness : 0.921051 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.19, Z:-0.21 [[ 0.99796577 0.05852815 -0.02527417 1.91032652] [-0.05893415 0.99813952 -0.01562905 -0.19084051] [ 0.02431241 0.01708677 0.99955838 -0.21230258] [ 0. 0. 0. 1. ]] SLAMing on 13.218241008000001 meters Centerline goodness : 0.920893 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.19, Z:-0.21 [[ 0.99784908 0.05971851 -0.02703528 1.91322196] [-0.06019894 0.99803614 -0.01731897 -0.19252075] [ 0.02594792 0.01890921 0.99948444 -0.21116637] [ 0. 0. 0. 1. ]] SLAMing on 13.248241008 meters Centerline goodness : 0.923263 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.20, Z:-0.21 [[ 0.99760442 0.06231994 -0.03002738 1.91789413] [-0.06294446 0.99781011 -0.02032181 -0.19658268] [ 0.02869517 0.02216319 0.99934247 -0.20914582] [ 0. 0. 0. 1. ]] SLAMing on 13.278241008000002 meters Centerline goodness : 0.922099 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.20, Z:-0.21 [[ 0.99750436 0.06342504 -0.03102128 1.91980235] [-0.06406037 0.99774693 -0.01993335 -0.19868041] [ 0.02968711 0.02187084 0.99931994 -0.20903508] [ 0. 0. 0. 1. ]] SLAMing on 13.308241008000001 meters Centerline goodness : 0.921385 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.20, Z:-0.21 [[ 0.99745293 0.06392209 -0.03164823 1.9214438 ] [-0.06455491 0.99772569 -0.01939334 -0.20034053] [ 0.03033659 0.021387 0.99931091 -0.20960601] [ 0. 0. 0. 1. ]] SLAMing on 13.338241008 meters Centerline goodness : 0.919268 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.21, Z:-0.21 [[ 0.99740461 0.06386238 -0.03325118 1.92550232] [-0.06452711 0.99772899 -0.01931619 -0.20562238] [ 0.03194208 0.02141166 0.99926035 -0.21157424] [ 0. 0. 0. 1. ]] SLAMing on 13.368241008000002 meters Centerline goodness : 0.917566 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.21, Z:-0.21 [[ 0.99738653 0.06396901 -0.03358682 1.92624323] [-0.06460575 0.9977444 -0.01822682 -0.20964651] [ 0.03234511 0.02034909 0.99926959 -0.21122431] [ 0. 0. 0. 1. ]] SLAMing on 13.398241008000001 meters Centerline goodness : 0.915709 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.21, Z:-0.21 [[ 0.99738419 0.06365191 -0.03425218 1.92797079] [-0.06426284 0.99778752 -0.01703991 -0.21457143] [ 0.03309178 0.01919648 0.99926795 -0.21072037] [ 0. 0. 0. 1. ]] SLAMing on 13.428241008000002 meters Centerline goodness : 0.916010 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.22, Z:-0.21 [[ 0.99741534 0.06278891 -0.03493129 1.93040979] [-0.06338719 0.99785604 -0.01629086 -0.21945267] [ 0.03383351 0.01846295 0.99925693 -0.21104483] [ 0. 0. 0. 1. ]] SLAMing on 13.458241008000002 meters Centerline goodness : 0.912905 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.23, Z:-0.21 [[ 9.98140827e-01 5.23342644e-02 -3.12412398e-02 1.95069232e+00] [-5.23224438e-02 9.98629526e-01 1.19631527e-03 -2.32367587e-01] [ 3.12610328e-02 4.40526904e-04 9.99511157e-01 -2.05641993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.488241008000001 meters Centerline goodness : 0.911355 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.24, Z:-0.21 [[ 9.98223487e-01 5.03821896e-02 -3.18041612e-02 1.95396289e+00] [-5.03556604e-02 9.98730011e-01 1.63506342e-03 -2.37624949e-01] [ 3.18461483e-02 -3.06391697e-05 9.99492782e-01 -2.05985672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.518241008000002 meters Centerline goodness : 0.911913 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.24, Z:-0.21 [[ 9.98437165e-01 4.55043180e-02 -3.24435616e-02 1.95683484e+00] [-4.55680419e-02 9.98960484e-01 -1.22708550e-03 -2.41510075e-01] [ 3.23539983e-02 2.70355734e-03 9.99472816e-01 -2.09263379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.548241008000002 meters Centerline goodness : 0.914331 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.25, Z:-0.21 [[ 0.99862408 0.04135031 -0.03225054 1.95655631] [-0.04144143 0.9991386 -0.00216185 -0.24515687] [ 0.03213337 0.00349538 0.99947748 -0.21041734] [ 0. 0. 0. 1. ]] SLAMing on 13.578241008000001 meters Centerline goodness : 0.913133 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.26, Z:-0.20 [[ 0.99890266 0.03345375 -0.03277683 1.95221162] [-0.03302969 0.9993646 0.01339513 -0.256778 ] [ 0.03320412 -0.01229782 0.99937293 -0.20066741] [ 0. 0. 0. 1. ]] SLAMing on 13.608241008000002 meters Centerline goodness : 0.912567 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.26, Z:-0.20 [[ 0.99912644 0.0354353 -0.0221515 1.95538498] [-0.0350589 0.99923799 0.01715572 -0.26416382] [ 0.02274253 -0.01636413 0.99960742 -0.20166446] [ 0. 0. 0. 1. ]] SLAMing on 13.638241008000001 meters Centerline goodness : 0.913438 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.27, Z:-0.19 [[ 0.999138 0.03229225 -0.02608585 1.94262703] [-0.03151713 0.99906488 0.02959793 -0.27329964] [ 0.02701724 -0.02875026 0.99922144 -0.19260194] [ 0. 0. 0. 1. ]] SLAMing on 13.668241008 meters Centerline goodness : 0.911031 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.27, Z:-0.20 [[ 0.99926108 0.02872658 -0.02553595 1.94186741] [-0.02810202 0.99930503 0.0244896 -0.27128095] [ 0.0262217 -0.02375389 0.99937389 -0.19538115] [ 0. 0. 0. 1. ]] SLAMing on 13.698241008000002 meters Centerline goodness : 0.914447 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.27, Z:-0.20 [[ 0.99926427 0.02874688 -0.02538752 1.94226178] [-0.02813699 0.99931442 0.02406224 -0.27118655] [ 0.02606183 -0.02333021 0.99938805 -0.19680697] [ 0. 0. 0. 1. ]] SLAMing on 13.728241008000001 meters Centerline goodness : 0.912048 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.27, Z:-0.20 [[ 0.99926172 0.02910295 -0.02508054 1.94181956] [-0.02850435 0.99930783 0.02390317 -0.27106102] [ 0.02575883 -0.02317062 0.99939962 -0.19760344] [ 0. 0. 0. 1. ]] SLAMing on 13.758241008 meters Centerline goodness : 0.909745 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.27, Z:-0.20 [[ 0.99925679 0.03288977 -0.02010297 1.95620004] [-0.03253007 0.99930928 0.01796524 -0.27106218] [ 0.02067996 -0.01729794 0.99963649 -0.201216 ] [ 0. 0. 0. 1. ]] SLAMing on 13.788241008000002 meters Centerline goodness : 0.911869 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.27, Z:-0.20 [[ 0.99915282 0.03844763 -0.0146773 1.96903345] [-0.03825178 0.99917829 0.01339938 -0.27224775] [ 0.01518041 -0.01282659 0.9998025 -0.20394925] [ 0. 0. 0. 1. ]] SLAMing on 13.818241008000001 meters Centerline goodness : 0.915571 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.27, Z:-0.20 [[ 0.99912222 0.03936175 -0.01433312 1.96747092] [-0.039164 0.99913715 0.01382538 -0.27277892] [ 0.01486494 -0.0132519 0.99980169 -0.20343974] [ 0. 0. 0. 1. ]] SLAMing on 13.848241008000002 meters Centerline goodness : 0.915832 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.27, Z:-0.21 [[ 0.99907972 0.04179403 -0.0096422 1.98025911] [-0.04176613 0.99912268 0.00307721 -0.27075774] [ 0.00976235 -0.00267166 0.99994878 -0.21089144] [ 0. 0. 0. 1. ]] SLAMing on 13.878241008000002 meters Centerline goodness : 0.915900 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.27, Z:-0.21 [[ 0.99902167 0.04327102 -0.00912825 1.97871401] [-0.04324208 0.99905903 0.00334469 -0.27177406] [ 0.00926438 -0.00294669 0.99995274 -0.2120109 ] [ 0. 0. 0. 1. ]] SLAMing on 13.908241008000001 meters Centerline goodness : 0.913341 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.27, Z:-0.21 [[ 0.99901196 0.04351685 -0.00902163 1.97891935] [-0.04349208 0.9990495 0.00292309 -0.27115536] [ 0.00914026 -0.00252783 0.99995503 -0.21339609] [ 0. 0. 0. 1. ]] SLAMing on 13.938241008000002 meters Centerline goodness : 0.916131 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.27, Z:-0.21 [[ 0.99884711 0.04703996 -0.00957606 1.98115652] [-0.04696819 0.99886757 0.00758738 -0.27442205] [ 0.00992213 -0.00712886 0.99992536 -0.21319329] [ 0. 0. 0. 1. ]] SLAMing on 13.968241008000001 meters Centerline goodness : 0.915740 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.28, Z:-0.21 [[ 0.99883875 0.04723219 -0.00950087 1.98098766] [-0.04715913 0.99885715 0.00777294 -0.27546131] [ 0.00985714 -0.00731586 0.99992465 -0.21329018] [ 0. 0. 0. 1. ]] SLAMing on 13.998241008 meters Centerline goodness : 0.918204 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.28, Z:-0.21 [[ 0.99867804 0.0504835 -0.00967395 1.98244006] [-0.05034905 0.9986381 0.01367185 -0.28285021] [ 0.01035097 -0.0131667 0.99985974 -0.21120571] [ 0. 0. 0. 1. ]] SLAMing on 14.028241008000002 meters Centerline goodness : 0.918204 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.28, Z:-0.21 [[ 0.99867804 0.0504835 -0.00967395 1.98244006] [-0.05034905 0.9986381 0.01367185 -0.28285021] [ 0.01035097 -0.0131667 0.99985974 -0.21120571] [ 0. 0. 0. 1. ]] SLAMing on 14.058241008000001 meters Centerline goodness : 0.916470 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.28, Z:-0.21 [[ 0.99886273 0.04674128 -0.00940767 1.98183442] [-0.04665727 0.99887077 0.00895987 -0.28238771] [ 0.00981584 -0.00851074 0.9999156 -0.21299065] [ 0. 0. 0. 1. ]] SLAMing on 14.088241008 meters Centerline goodness : 0.918969 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.29, Z:-0.21 [[ 0.99887701 0.04633718 -0.00987801 1.98338252] [-0.04624349 0.99888492 0.00951125 -0.28591543] [ 0.01030772 -0.00904378 0.99990598 -0.21294462] [ 0. 0. 0. 1. ]] SLAMing on 14.118241008000002 meters Centerline goodness : 0.917238 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.29, Z:-0.21 [[ 0.99905509 0.04234759 -0.00977764 1.98313299] [-0.04229928 0.99909199 0.00509633 -0.28630631] [ 0.00998458 -0.00467793 0.99993921 -0.21413486] [ 0. 0. 0. 1. ]] SLAMing on 14.148241008000001 meters Centerline goodness : 0.919853 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.29, Z:-0.21 [[ 0.99907327 0.04175832 -0.01043268 1.98506566] [-0.0416972 0.99911222 0.00600944 -0.289971 ] [ 0.01067436 -0.00556886 0.99992752 -0.21340214] [ 0. 0. 0. 1. ]] SLAMing on 14.178241008000002 meters Centerline goodness : 0.919041 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.29, Z:-0.21 [[ 0.99926792 0.0366561 -0.01095196 1.98789321] [-0.03663197 0.99932595 0.00239585 -0.29414092] [ 0.0110324 -0.0019929 0.99993716 -0.21472803] [ 0. 0. 0. 1. ]] SLAMing on 14.208241008000002 meters Centerline goodness : 0.916726 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.30, Z:-0.22 [[ 9.99316391e-01 3.51452865e-02 -1.14699593e-02 1.99077225e+00] [-3.51203202e-02 9.99380279e-01 2.37094350e-03 -2.98214574e-01] [ 1.15461786e-02 -1.96649406e-03 9.99931407e-01 -2.15601979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.238241008000001 meters Centerline goodness : 0.919209 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.30, Z:-0.22 [[ 9.99459707e-01 3.07321383e-02 -1.16546095e-02 1.99171002e+00] [-3.07544107e-02 9.99525463e-01 -1.73661284e-03 -2.99592529e-01] [ 1.15957092e-02 2.09410521e-03 9.99930575e-01 -2.16625953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.268241008000002 meters Centerline goodness : 0.921155 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.30, Z:-0.22 [[ 9.99479627e-01 2.97290291e-02 -1.25163600e-02 1.99475958e+00] [-2.97396097e-02 9.99557462e-01 -6.60032658e-04 -3.04318266e-01] [ 1.24911989e-02 1.03192086e-03 9.99921449e-01 -2.15961390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.298241008000002 meters Centerline goodness : 0.922516 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.31, Z:-0.21 [[ 0.9996254 0.02391921 -0.01330151 2.01221848] [-0.02384815 0.9997006 0.00547556 -0.31193407] [ 0.0134285 -0.00515629 0.99989654 -0.2123353 ] [ 0. 0. 0. 1. ]] SLAMing on 14.328241008000001 meters Centerline goodness : 0.920922 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.31, Z:-0.21 [[ 0.99962963 0.02329562 -0.0140683 2.014968 ] [-0.02321738 0.99971419 0.00569958 -0.31433686] [ 0.01419705 -0.00537084 0.99988479 -0.21296578] [ 0. 0. 0. 1. ]] SLAMing on 14.358241008000002 meters Centerline goodness : 0.920020 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.32, Z:-0.20 [[ 0.99966544 0.02266818 -0.01245653 2.03578871] [-0.0223417 0.99941869 0.02575147 -0.32290531] [ 0.01303303 -0.02546455 0.99959076 -0.19856724] [ 0. 0. 0. 1. ]] SLAMing on 14.388241008000001 meters Centerline goodness : 0.921695 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.33, Z:-0.20 [[ 0.99959177 0.02569832 -0.0124856 2.0373856 ] [-0.02528953 0.99917223 0.03186362 -0.32980873] [ 0.01329411 -0.03153486 0.99941424 -0.19602621] [ 0. 0. 0. 1. ]] SLAMing on 14.418241008 meters Centerline goodness : 0.921023 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.33, Z:-0.20 [[ 0.99963653 0.02590785 -0.00745645 2.05148377] [-0.02575729 0.99947557 0.0196254 -0.32782616] [ 0.00796099 -0.01942621 0.9997796 -0.20458156] [ 0. 0. 0. 1. ]] SLAMing on 14.448241008000002 meters Centerline goodness : 0.921685 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.33, Z:-0.20 [[ 0.9995286 0.02963268 -0.00803036 2.05301155] [-0.02941743 0.99923642 0.02571357 -0.33279757] [ 0.00878619 -0.02546521 0.9996371 -0.20152606] [ 0. 0. 0. 1. ]] SLAMing on 14.478241008000001 meters Centerline goodness : 0.921329 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.33, Z:-0.21 [[ 0.99949809 0.03151792 -0.00319185 2.06772255] [-0.0314641 0.99938151 0.01570403 -0.33058902] [ 0.00368483 -0.01559572 0.99987159 -0.20917596] [ 0. 0. 0. 1. ]] SLAMing on 14.508241008000002 meters Centerline goodness : 0.921488 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.33, Z:-0.21 [[ 0.9994661 0.03256466 -0.00265509 2.06593521] [-0.03251913 0.99934796 0.01568957 -0.33039996] [ 0.00316429 -0.01559485 0.99987339 -0.20972648] [ 0. 0. 0. 1. ]] SLAMing on 14.538241008000002 meters Centerline goodness : 0.920848 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.33, Z:-0.21 [[ 0.99933057 0.03643591 -0.003292 2.06762344] [-0.03635878 0.99911706 0.0210508 -0.33328824] [ 0.00405609 -0.02091702 0.99977299 -0.20765306] [ 0. 0. 0. 1. ]] SLAMing on 14.568241008000001 meters Centerline goodness : 0.921035 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.33, Z:-0.21 [[ 0.99941512 0.03403481 -0.00332263 2.06636278] [-0.03397709 0.99929276 0.01611008 -0.3297387 ] [ 0.00386859 -0.01598776 0.9998647 -0.20970003] [ 0. 0. 0. 1. ]] SLAMing on 14.598241008000002 meters Centerline goodness : 0.921126 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.33, Z:-0.21 [[ 0.99949503 0.03161971 -0.00314176 2.06461123] [-0.03158339 0.99944051 0.01100673 -0.32601579] [ 0.00348804 -0.01090194 0.99993449 -0.21188856] [ 0. 0. 0. 1. ]] SLAMing on 14.628241008000002 meters Centerline goodness : 0.922694 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.33, Z:-0.21 [[ 0.99947628 0.03222342 -0.00296876 2.06372044] [-0.03218884 0.99942085 0.01103842 -0.32599932] [ 0.00332274 -0.01093707 0.99993467 -0.21192911] [ 0. 0. 0. 1. ]] SLAMing on 14.658241008000001 meters Centerline goodness : 0.923366 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.32, Z:-0.21 [[ 0.9995999 0.02813136 -0.00294326 2.06376416] [-0.02811348 0.99958703 0.0059501 -0.32411498] [ 0.00310943 -0.00586497 0.99997797 -0.21363633] [ 0. 0. 0. 1. ]] SLAMing on 14.688241008000002 meters Centerline goodness : 0.922379 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.33, Z:-0.21 [[ 0.99961853 0.02736662 -0.00372378 2.06626066] [-0.02734316 0.9996068 0.00621264 -0.32609602] [ 0.00389234 -0.00610845 0.99997377 -0.21356834] [ 0. 0. 0. 1. ]] SLAMing on 14.718241008000001 meters Centerline goodness : 0.924821 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.33, Z:-0.21 [[ 0.99963372 0.02668886 -0.004486 2.0687356 ] [-0.02665838 0.999622 0.0067223 -0.32848316] [ 0.00466371 -0.00660025 0.99996734 -0.21334201] [ 0. 0. 0. 1. ]] SLAMing on 14.748241008 meters Centerline goodness : 0.924403 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.33, Z:-0.21 [[ 0.99974241 0.02195972 -0.0057339 2.08511392] [-0.02188237 0.99967313 0.01322113 -0.33346916] [ 0.00602236 -0.01309226 0.99989616 -0.20874135] [ 0. 0. 0. 1. ]] SLAMing on 14.778241008000002 meters Centerline goodness : 0.924593 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.34, Z:-0.20 [[ 0.99968252 0.02420739 -0.00699062 2.08986364] [-0.02406641 0.99951837 0.01959153 -0.3375244 ] [ 0.00746152 -0.01941707 0.99978363 -0.20467452] [ 0. 0. 0. 1. ]] SLAMing on 14.808241008000001 meters Centerline goodness : 0.924776 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.34, Z:-0.20 [[ 0.99958375 0.02778586 -0.00776394 2.09163159] [-0.02758798 0.99931846 0.02452604 -0.3400753 ] [ 0.00844012 -0.02430164 0.99966904 -0.20279668] [ 0. 0. 0. 1. ]] SLAMing on 14.838241008 meters Centerline goodness : 0.924946 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.34, Z:-0.21 [[ 0.99955433 0.02966866 -0.00330268 2.10772978] [-0.02961218 0.99943332 0.01600476 -0.33724434] [ 0.00377565 -0.01589983 0.99986646 -0.20824265] [ 0. 0. 0. 1. ]] SLAMing on 14.868241008000002 meters Centerline goodness : 0.928673 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.33, Z:-0.21 [[ 0.99964131 0.0266102 -0.00302311 2.10631909] [-0.02657562 0.99958678 0.01095488 -0.33347688] [ 0.00331337 -0.01087061 0.99993542 -0.20997891] [ 0. 0. 0. 1. ]] SLAMing on 14.898241008000001 meters Centerline goodness : 0.929842 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.34, Z:-0.21 [[ 0.99954601 0.02989357 -0.00376166 2.10853192] [-0.02982964 0.99942636 0.01603599 -0.33574426] [ 0.00423888 -0.0159165 0.99986434 -0.20791386] [ 0. 0. 0. 1. ]] SLAMing on 14.928241008000002 meters Centerline goodness : 0.929044 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.33, Z:-0.21 [[ 0.99955619 0.02953315 -0.00390175 2.1093852 ] [-0.02947095 0.99945098 0.01513914 -0.33386241] [ 0.00434671 -0.01501744 0.99987778 -0.20914396] [ 0. 0. 0. 1. ]] SLAMing on 14.958241008000002 meters Centerline goodness : 0.926907 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.33, Z:-0.21 [[ 0.99956318 0.02927404 -0.00405972 2.11009765] [-0.02921225 0.99946769 0.01452521 -0.33260488] [ 0.00448277 -0.01440028 0.99988626 -0.2099872 ] [ 0. 0. 0. 1. ]] SLAMing on 14.988241008000001 meters Centerline goodness : 0.929882 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.33, Z:-0.21 [[ 0.99957321 0.02888886 -0.00433951 2.11124175] [-0.02882651 0.99948912 0.01380295 -0.33142714] [ 0.00473604 -0.01367197 0.99989532 -0.21104112] [ 0. 0. 0. 1. ]] SLAMing on 15.018241008000002 meters Centerline goodness : 0.928421 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.33, Z:-0.22 [[ 0.99966753 0.02542522 -0.00428798 2.11097302] [-0.0253938 0.99965138 0.00723069 -0.32637328] [ 0.00447032 -0.0071194 0.99996466 -0.21538227] [ 0. 0. 0. 1. ]] SLAMing on 15.048241008000002 meters Centerline goodness : 0.928839 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.33, Z:-0.22 [[ 0.99967292 0.02517621 -0.00449647 2.11164977] [-0.02514538 0.99966078 0.00678543 -0.32554191] [ 0.00466578 -0.00667015 0.99996687 -0.21584307] [ 0. 0. 0. 1. ]] SLAMing on 15.078241008000001 meters Centerline goodness : 0.928820 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.33, Z:-0.22 [[ 0.99967608 0.02502042 -0.00465959 2.11210141] [-0.02498963 0.99966624 0.00655253 -0.32523805] [ 0.00482198 -0.00643396 0.99996768 -0.21599652] [ 0. 0. 0. 1. ]] SLAMing on 15.108241008000002 meters Centerline goodness : 0.927726 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.32, Z:-0.22 [[ 9.99760275e-01 2.14352629e-02 -4.46347498e-03 2.11133582e+00] [-2.14298365e-02 9.99769561e-01 1.26003742e-03 -3.21766534e-01] [ 4.48945566e-03 -1.16408382e-03 9.99989245e-01 -2.17872331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.138241008000001 meters Centerline goodness : 0.927206 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.32, Z:-0.22 [[ 9.99767394e-01 2.10725563e-02 -4.59414254e-03 2.11211499e+00] [-2.10694503e-02 9.99777753e-01 7.23422975e-04 -3.20798017e-01] [ 4.60836588e-03 -6.26458644e-04 9.99989185e-01 -2.18651568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.168241008 meters Centerline goodness : 0.926291 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.32, Z:-0.22 [[ 9.99774156e-01 2.07022094e-02 -4.80167427e-03 2.11317517e+00] [-2.07010575e-02 9.99785668e-01 2.89491371e-04 -3.20076267e-01] [ 4.80663823e-03 -1.90026256e-04 9.99988430e-01 -2.19437519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.198241008000002 meters Centerline goodness : 0.925051 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.32, Z:-0.22 [[ 9.99780351e-01 2.03408127e-02 -5.04993080e-03 2.11424551e+00] [-2.03412394e-02 9.99793095e-01 -3.31335887e-05 -3.19806058e-01] [ 5.04821198e-03 1.35848162e-04 9.99987248e-01 -2.20059603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.228241008000001 meters Centerline goodness : 0.924527 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.32, Z:-0.22 [[ 9.99785901e-01 1.99226742e-02 -5.58915625e-03 2.11580917e+00] [-1.99223643e-02 9.99801524e-01 1.11124665e-04 -3.21113635e-01] [ 5.59026084e-03 2.48333715e-07 9.99984374e-01 -2.19959454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.258241008000002 meters Centerline goodness : 0.922878 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.32, Z:-0.22 [[ 9.99787526e-01 1.97558317e-02 -5.88304671e-03 2.11650799e+00] [-1.97561567e-02 9.99804828e-01 2.88082054e-06 -3.21548463e-01] [ 5.88195542e-03 1.13346184e-04 9.99982695e-01 -2.20046117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.288241008000002 meters Centerline goodness : 0.925028 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.32, Z:-0.22 [[ 9.99791442e-01 1.94717386e-02 -6.15819612e-03 2.11753329e+00] [-1.94744223e-02 9.99810285e-01 -3.76125106e-04 -3.21342394e-01] [ 6.14970400e-03 4.95973974e-04 9.99980967e-01 -2.20725098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.318241008000001 meters Centerline goodness : 0.916764 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.32, Z:-0.22 [[ 9.99804649e-01 1.86246160e-02 -6.61714586e-03 2.12007708e+00] [-1.86337449e-02 9.99825505e-01 -1.32061697e-03 -3.20495556e-01] [ 6.59139522e-03 1.44366119e-03 9.99977234e-01 -2.22876276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.348241008000002 meters Centerline goodness : 0.917246 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.32, Z:-0.22 [[ 9.99815990e-01 1.78510916e-02 -7.02310939e-03 2.12235628e+00] [-1.78659128e-02 9.99838283e-01 -2.05330228e-03 -3.19633318e-01] [ 6.98531995e-03 2.17839871e-03 9.99973230e-01 -2.24657210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.378241008000002 meters Centerline goodness : 0.911204 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.32, Z:-0.23 [[ 0.99982671 0.01707047 -0.00742584 2.12453752] [-0.01709157 0.99985004 -0.00278753 -0.31870815] [ 0.00737714 0.00291397 0.99996854 -0.22624914] [ 0. 0. 0. 1. ]] SLAMing on 15.408241008000001 meters Centerline goodness : 0.912199 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.32, Z:-0.23 [[ 0.99983014 0.0167433 -0.00770414 2.12560944] [-0.01676575 0.99985536 -0.00285919 -0.31893188] [ 0.00765515 0.00298787 0.99996624 -0.22655915] [ 0. 0. 0. 1. ]] SLAMing on 15.438241008000002 meters Centerline goodness : 0.911438 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.32, Z:-0.22 [[ 9.99824961e-01 1.68955263e-02 -8.03675533e-03 2.12547568e+00] [-1.69127402e-02 9.99854808e-01 -2.07877000e-03 -3.20548252e-01] [ 8.00046655e-03 2.21432969e-03 9.99965544e-01 -2.24662617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.468241008000001 meters Centerline goodness : 0.911680 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.32, Z:-0.22 [[ 9.99820757e-01 1.70759064e-02 -8.17724884e-03 2.12522422e+00] [-1.70901539e-02 9.99852549e-01 -1.67563452e-03 -3.20988681e-01] [ 8.14743012e-03 1.81508461e-03 9.99965162e-01 -2.23610815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.498241008 meters Centerline goodness : 0.912342 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.32, Z:-0.22 [[ 9.99819965e-01 1.70778721e-02 -8.26948534e-03 2.12532079e+00] [-1.70929111e-02 9.99852372e-01 -1.75136195e-03 -3.20579785e-01] [ 8.23835499e-03 1.89239622e-03 9.99964274e-01 -2.23467136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.528241008000002 meters Centerline goodness : 0.912016 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.32, Z:-0.22 [[ 0.99982554 0.01666579 -0.00843492 2.12644706] [-0.01668771 0.99985754 -0.00253484 -0.31947353] [ 0.00839148 0.00267515 0.99996121 -0.22486325] [ 0. 0. 0. 1. ]] SLAMing on 15.558241008000001 meters Centerline goodness : 0.909934 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.32, Z:-0.23 [[ 0.99982995 0.01627232 -0.00867621 2.12743251] [-0.01629581 0.99986372 -0.00264397 -0.31938862] [ 0.00863201 0.00278491 0.99995887 -0.22504978] [ 0. 0. 0. 1. ]] SLAMing on 15.588241008000002 meters Centerline goodness : 0.907875 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.32, Z:-0.23 [[ 0.99983516 0.01573374 -0.00906107 2.12892408] [-0.01576123 0.99987137 -0.0029713 -0.31892294] [ 0.00901315 0.00311363 0.99995453 -0.22555461] [ 0. 0. 0. 1. ]] SLAMing on 15.618241008000002 meters Centerline goodness : 0.906807 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.32, Z:-0.23 [[ 0.99983964 0.01524044 -0.00940334 2.13034842] [-0.01527069 0.99987842 -0.00315323 -0.3185506 ] [ 0.00935414 0.00329632 0.99995082 -0.225909 ] [ 0. 0. 0. 1. ]] SLAMing on 15.648241008000001 meters Centerline goodness : 0.902493 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.32, Z:-0.23 [[ 0.99984317 0.01457581 -0.01005853 2.13268924] [-0.01460789 0.99988842 -0.0031228 -0.31923951] [ 0.01001189 0.00326924 0.99994454 -0.22628297] [ 0. 0. 0. 1. ]] SLAMing on 15.678241008000002 meters Centerline goodness : 0.900300 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.32, Z:-0.23 [[ 0.99984616 0.01379563 -0.01083245 2.13488431] [-0.01382321 0.99990139 -0.00247527 -0.32135126] [ 0.01079723 0.00262463 0.99993826 -0.22513689] [ 0. 0. 0. 1. ]] SLAMing on 15.708241008000002 meters Centerline goodness : 0.896157 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.32, Z:-0.23 [[ 0.99989671 0.00977195 -0.01053954 2.13402325] [-0.00984248 0.99992938 -0.00666039 -0.32109907] [ 0.01047371 0.00676343 0.99992228 -0.22519936] [ 0. 0. 0. 1. ]] SLAMing on 15.738241008000001 meters Centerline goodness : 0.897801 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.32, Z:-0.22 [[ 0.99989447 0.00890566 -0.01147736 2.1367269 ] [-0.00897538 0.9999415 -0.00603726 -0.3232247 ] [ 0.01142292 0.00613964 0.99991591 -0.22425978] [ 0. 0. 0. 1. ]] SLAMing on 15.768241008000002 meters Centerline goodness : 0.893616 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.32, Z:-0.22 [[ 0.99989418 0.00814593 -0.01205305 2.13904437] [-0.00822032 0.99994739 -0.00613491 -0.32386079] [ 0.01200244 0.00623334 0.99990854 -0.22491877] [ 0. 0. 0. 1. ]] SLAMing on 15.798241008000002 meters Centerline goodness : 0.888673 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.32, Z:-0.22 [[ 0.99988243 0.00784272 -0.01317624 2.14676972] [-0.00787195 0.99996666 -0.00216827 -0.3249785 ] [ 0.0131588 0.00227174 0.99991084 -0.22438476] [ 0. 0. 0. 1. ]] SLAMing on 15.828241008000001 meters Centerline goodness : 0.887507 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.33, Z:-0.22 [[ 9.99880835e-01 7.99324343e-03 -1.32069824e-02 2.14627795e+00] [-8.01300416e-03 9.99966853e-01 -1.44399424e-03 -3.25489564e-01] [ 1.31950024e-02 1.54964977e-03 9.99911741e-01 -2.22855552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.858241008000002 meters Centerline goodness : 0.889818 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.33, Z:-0.22 [[ 0.99984168 0.0106248 -0.01427342 2.14937484] [-0.01053634 0.99992491 0.00625857 -0.33022091] [ 0.01433885 -0.00610719 0.99987854 -0.21565224] [ 0. 0. 0. 1. ]] SLAMing on 15.888241008000001 meters Centerline goodness : 0.892887 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.33, Z:-0.22 [[ 9.99882203e-01 7.19289847e-03 -1.35588474e-02 2.14686988e+00] [-7.16745013e-03 9.99972462e-01 1.92454094e-03 -3.28091936e-01] [ 1.35723170e-02 -1.82713188e-03 9.99906223e-01 -2.15504743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.918241008000003 meters Centerline goodness : 0.889422 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.33, Z:-0.21 [[ 0.99987956 0.00562657 -0.01446415 2.14972807] [-0.00556884 0.99997638 0.0040285 -0.33132651] [ 0.01448647 -0.00394746 0.99988727 -0.2111313 ] [ 0. 0. 0. 1. ]] SLAMing on 15.948241008000002 meters Centerline goodness : 0.889422 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.33, Z:-0.21 [[ 0.99987956 0.00562657 -0.01446415 2.14972807] [-0.00556884 0.99997638 0.0040285 -0.33132651] [ 0.01448647 -0.00394746 0.99988727 -0.2111313 ] [ 0. 0. 0. 1. ]] SLAMing on 15.978241008000001 meters Centerline goodness : 0.885889 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.33, Z:-0.21 [[ 0.99987155 0.00447436 -0.01539006 2.15288994] [-0.00441334 0.99998227 0.00399676 -0.3318734 ] [ 0.01540767 -0.00392833 0.99987358 -0.21113619] [ 0. 0. 0. 1. ]] SLAMing on 16.008241008000002 meters Centerline goodness : 0.884951 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.33, Z:-0.21 [[ 0.99986015 0.00305105 -0.01644269 2.15685454] [-0.0029933 0.99998927 0.00353565 -0.33156577] [ 0.0164533 -0.00348593 0.99985856 -0.21188266] [ 0. 0. 0. 1. ]] SLAMing on 16.038241008 meters Centerline goodness : 0.882295 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.33, Z:-0.21 [[ 0.99982995 0.00353531 -0.01809916 2.16461994] [-0.00337506 0.99995491 0.00887652 -0.33422767] [ 0.01812973 -0.00881393 0.99979679 -0.20915061] [ 0. 0. 0. 1. ]] SLAMing on 16.068241008 meters Centerline goodness : 0.881985 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.33, Z:-0.21 [[ 9.99815631e-01 1.38177417e-03 -1.91518975e-02 2.16991701e+00] [-1.24587049e-03 9.99973974e-01 7.10621064e-03 -3.32721133e-01] [ 1.91612182e-02 -7.08103969e-03 9.99791332e-01 -2.12497584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.098241008000002 meters Centerline goodness : 0.879931 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.33, Z:-0.21 [[ 9.99803448e-01 4.98587175e-04 -1.98195891e-02 2.17248671e+00] [-3.74674912e-04 9.99980366e-01 6.25523142e-03 -3.31189532e-01] [ 1.98223187e-02 -6.24657605e-03 9.99784005e-01 -2.13838627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.128241008000003 meters Centerline goodness : 0.878477 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.33, Z:-0.21 [[ 0.99981081 -0.00297811 -0.01922198 2.12897725] [ 0.00330172 0.99985299 0.01682572 -0.32935893] [ 0.01916904 -0.016886 0.99967365 -0.21000148] [ 0. 0. 0. 1. ]] SLAMing on 16.158241008 meters Centerline goodness : 0.874473 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.33, Z:-0.21 [[ 0.99980441 -0.00345537 -0.01947334 2.1299571 ] [ 0.00376565 0.99986619 0.01591939 -0.32707173] [ 0.01941572 -0.01598961 0.99968363 -0.21089117] [ 0. 0. 0. 1. ]] SLAMing on 16.188241008000002 meters Centerline goodness : 0.875587 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.33, Z:-0.21 [[ 0.99984061 -0.00456432 -0.01726012 2.07906454] [ 0.00499717 0.99967198 0.02511878 -0.32541205] [ 0.01713981 -0.02520103 0.99953546 -0.2075253 ] [ 0. 0. 0. 1. ]] SLAMing on 16.218241008000003 meters Centerline goodness : 0.872950 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.32, Z:-0.21 [[ 0.9998432 -0.00441162 -0.01714963 2.07804494] [ 0.00483143 0.99968778 0.02451533 -0.32240697] [ 0.01703612 -0.02459435 0.99955234 -0.20719856] [ 0. 0. 0. 1. ]] SLAMing on 16.248241008 meters Centerline goodness : 0.871721 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.32, Z:-0.21 [[ 0.99991708 -0.00413657 -0.01219487 2.04141152] [ 0.00438774 0.99977731 0.02064186 -0.31606005] [ 0.01210677 -0.02069366 0.99971256 -0.21232365] [ 0. 0. 0. 1. ]] SLAMing on 16.278241008000002 meters Centerline goodness : 0.869809 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.31, Z:-0.21 [[ 9.99931433e-01 1.19435578e-03 -1.16491632e-02 2.03791206e+00] [-9.11472033e-04 9.99705297e-01 2.42587607e-02 -3.10621396e-01] [ 1.16747038e-02 -2.42464795e-02 9.99637839e-01 -2.10790312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.308241008000003 meters Centerline goodness : 0.865125 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.31, Z:-0.21 [[ 0.99991747 0.00544882 -0.01163438 2.03705842] [-0.0051189 0.99958916 0.02820137 -0.30803966] [ 0.01178326 -0.02813949 0.99953455 -0.20946111] [ 0. 0. 0. 1. ]] SLAMing on 16.338241008 meters Centerline goodness : 0.866756 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.30, Z:-0.22 [[ 0.99993475 0.00921637 -0.00674958 2.04918186] [-0.00909551 0.99980154 0.01772436 -0.30081308] [ 0.0069116 -0.01766181 0.99982013 -0.21725179] [ 0. 0. 0. 1. ]] SLAMing on 16.368241008000002 meters Centerline goodness : 0.861472 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.30, Z:-0.21 [[ 0.99987313 0.01469346 -0.00614967 2.0450285 ] [-0.01455338 0.99964684 0.02223507 -0.29700945] [ 0.00647421 -0.02214275 0.99973386 -0.21387592] [ 0. 0. 0. 1. ]] SLAMing on 16.398241008000003 meters Centerline goodness : 0.863203 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.29, Z:-0.21 [[ 0.99986932 0.01503474 -0.00594108 2.04402938] [-0.01490369 0.99965735 0.02151883 -0.29399406] [ 0.00626258 -0.02142748 0.99975079 -0.21414327] [ 0. 0. 0. 1. ]] SLAMing on 16.428241008 meters Centerline goodness : 0.863323 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.29, Z:-0.21 [[ 0.99986978 0.01501682 -0.00590905 2.04385035] [-0.01489214 0.99967674 0.02060698 -0.29122637] [ 0.00621659 -0.0205163 0.99977019 -0.21483487] [ 0. 0. 0. 1. ]] SLAMing on 16.458241008 meters Centerline goodness : 0.864343 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.29, Z:-0.22 [[ 0.99986613 0.01619142 -0.00235887 2.05925329] [-0.01617054 0.99983211 0.00861778 -0.28571098] [ 0.00249801 -0.00857848 0.99996008 -0.22288628] [ 0. 0. 0. 1. ]] SLAMing on 16.488241008000003 meters Centerline goodness : 0.863728 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.28, Z:-0.23 [[ 0.99987188 0.0157698 -0.00274654 2.06091842] [-0.01575128 0.99985391 0.00663798 -0.28123295] [ 0.00285082 -0.00659387 0.9999742 -0.22571659] [ 0. 0. 0. 1. ]] SLAMing on 16.518241008 meters Centerline goodness : 0.862920 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.28, Z:-0.23 [[ 0.99982185 0.01847882 -0.00384797 2.06484119] [-0.01843643 0.99977197 0.01077494 -0.28189614] [ 0.0040462 -0.01070208 0.99993454 -0.22554421] [ 0. 0. 0. 1. ]] SLAMing on 16.548241008 meters Centerline goodness : 0.861409 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.28, Z:-0.23 [[ 0.9998325 0.01787127 -0.00394746 2.06631474] [-0.01783344 0.9997966 0.00941903 -0.27931752] [ 0.00411499 -0.00934706 0.99994785 -0.22793516] [ 0. 0. 0. 1. ]] SLAMing on 16.578241008000003 meters Centerline goodness : 0.861536 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.28, Z:-0.23 [[ 0.99983696 0.01753853 -0.0042946 2.06745056] [-0.01749988 0.99980744 0.00887875 -0.27796412] [ 0.00444949 -0.00880215 0.99995136 -0.22852869] [ 0. 0. 0. 1. ]] SLAMing on 16.608241008 meters Centerline goodness : 0.857513 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.28, Z:-0.22 [[ 0.99978291 0.02012291 -0.00540304 2.07062868] [-0.02003782 0.99968113 0.01536609 -0.28213145] [ 0.00571053 -0.01525449 0.99986734 -0.22364181] [ 0. 0. 0. 1. ]] SLAMing on 16.638241008 meters Centerline goodness : 0.857521 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.29, Z:-0.22 [[ 0.99974454 0.02154194 -0.00684155 2.07678963] [-0.02137794 0.9995022 0.02320199 -0.28579089] [ 0.00733796 -0.0230498 0.99970739 -0.21660392] [ 0. 0. 0. 1. ]] SLAMing on 16.668241008000003 meters Centerline goodness : 0.858645 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.29, Z:-0.22 [[ 0.99975335 0.02097348 -0.00730361 2.07851265] [-0.02080247 0.9995247 0.02275145 -0.28531311] [ 0.00777732 -0.02259391 0.99971447 -0.21735313] [ 0. 0. 0. 1. ]] SLAMing on 16.698241008 meters Centerline goodness : 0.858529 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.29, Z:-0.21 [[ 0.99974258 0.02083147 -0.00899014 2.08773813] [-0.02055942 0.99935744 0.02936027 -0.28752471] [ 0.00959598 -0.02916788 0.99952846 -0.21257656] [ 0. 0. 0. 1. ]] SLAMing on 16.728241008 meters Centerline goodness : 0.856631 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.29, Z:-0.21 [[ 0.99969452 0.02231818 -0.01061892 2.09419544] [-0.02191116 0.99907445 0.03701533 -0.29070843] [ 0.01143521 -0.03677135 0.99925828 -0.20570803] [ 0. 0. 0. 1. ]] SLAMing on 16.758241008000002 meters Centerline goodness : 0.857518 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.29, Z:-0.21 [[ 0.99976944 0.0186906 -0.01056984 2.0938583 ] [-0.01834871 0.9993332 0.0315671 -0.28708787] [ 0.0111528 -0.03136588 0.99944574 -0.20787746] [ 0. 0. 0. 1. ]] SLAMing on 16.788241008 meters Centerline goodness : 0.855900 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.28, Z:-0.22 [[ 0.99980446 0.01870552 -0.0064141 2.10633271] [-0.01860029 0.99969751 0.0160912 -0.28125641] [ 0.00671315 -0.01596875 0.99984996 -0.21819189] [ 0. 0. 0. 1. ]] SLAMing on 16.818241008 meters Centerline goodness : 0.860292 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.28, Z:-0.22 [[ 0.99980215 0.01887058 -0.00629038 2.10614251] [-0.01877283 0.99970744 0.01525151 -0.27857681] [ 0.00657635 -0.01513041 0.9998639 -0.21920455] [ 0. 0. 0. 1. ]] SLAMing on 16.848241008000002 meters Centerline goodness : 0.860262 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.28, Z:-0.22 [[ 0.9998042 0.01870039 -0.00646897 2.10670876] [-0.01860359 0.99971867 0.0147132 -0.27713166] [ 0.00674229 -0.01458998 0.99987083 -0.21973661] [ 0. 0. 0. 1. ]] SLAMing on 16.878241008000003 meters Centerline goodness : 0.858957 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.28, Z:-0.22 [[ 0.99980804 0.01842639 -0.00666036 2.10739668] [-0.01833023 0.99973084 0.01422145 -0.27619498] [ 0.00692062 -0.01409664 0.99987669 -0.22029767] [ 0. 0. 0. 1. ]] SLAMing on 16.908241008 meters Centerline goodness : 0.860290 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.28, Z:-0.21 [[ 0.9998279 0.01729766 -0.00670559 2.12191392] [-0.01711846 0.99951746 0.02591935 -0.2797268 ] [ 0.0071507 -0.0258001 0.99964155 -0.21208117] [ 0. 0. 0. 1. ]] SLAMing on 16.938241008000002 meters Centerline goodness : 0.860334 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.28, Z:-0.21 [[ 0.99988982 0.0133081 -0.00657547 2.12184931] [-0.0131706 0.99970249 0.02052962 -0.27702817] [ 0.00684673 -0.02044076 0.99976762 -0.21424727] [ 0. 0. 0. 1. ]] SLAMing on 16.968241008000003 meters Centerline goodness : 0.860804 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.27, Z:-0.22 [[ 0.99993725 0.00892004 -0.00677656 2.12294361] [-0.00881751 0.99984844 0.0150119 -0.27438573] [ 0.00690944 -0.01495121 0.99986435 -0.21658051] [ 0. 0. 0. 1. ]] SLAMing on 16.998241008 meters Centerline goodness : 0.861444 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.27, Z:-0.22 [[ 0.99993956 0.00775099 -0.00779712 2.1267015 ] [-0.00763884 0.9998684 0.01431178 -0.27446993] [ 0.00790703 -0.01425136 0.99986718 -0.21817381] [ 0. 0. 0. 1. ]] SLAMing on 17.028241008000002 meters Centerline goodness : 0.861505 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.28, Z:-0.22 [[ 0.99990574 0.010538 -0.00880138 2.13022168] [-0.0103661 0.99975898 0.0193526 -0.27661405] [ 0.00900319 -0.01925954 0.99977398 -0.216583 ] [ 0. 0. 0. 1. ]] SLAMing on 17.058241008000003 meters Centerline goodness : 0.861698 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.28, Z:-0.22 [[ 0.99986699 0.01309715 -0.00971944 2.13405438] [-0.0128692 0.99964901 0.02315666 -0.27796256] [ 0.01001931 -0.0230285 0.9996846 -0.21716357] [ 0. 0. 0. 1. ]] SLAMing on 17.088241008 meters Centerline goodness : 0.861726 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.28, Z:-0.22 [[ 0.99986923 0.01264604 -0.01008015 2.13544421] [-0.01241771 0.99967193 0.02240183 -0.2765648 ] [ 0.01036014 -0.02227373 0.99969823 -0.21829839] [ 0. 0. 0. 1. ]] SLAMing on 17.118241008000002 meters Centerline goodness : 0.861176 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.27, Z:-0.23 [[ 0.99989672 0.01323256 -0.0056074 2.15015258] [-0.01317462 0.9998607 0.01024731 -0.27222067] [ 0.00574222 -0.01017238 0.99993177 -0.22661713] [ 0. 0. 0. 1. ]] SLAMing on 17.148241008000003 meters Centerline goodness : 0.862561 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.27, Z:-0.23 [[ 0.99992018 0.01147269 -0.00529276 2.14708466] [-0.01143779 0.99991295 0.00657837 -0.27010341] [ 0.00536778 -0.0065173 0.99996436 -0.2260971 ] [ 0. 0. 0. 1. ]] SLAMing on 17.178241008 meters Centerline goodness : 0.863513 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.27, Z:-0.23 [[ 0.99991723 0.01173088 -0.0052836 2.14666749] [-0.01169614 0.99991009 0.00655832 -0.26963537] [ 0.00536006 -0.00649597 0.99996454 -0.22578986] [ 0. 0. 0. 1. ]] SLAMing on 17.208241008 meters Centerline goodness : 0.861523 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.27, Z:-0.23 [[ 0.99991535 0.01192825 -0.00519759 2.14649071] [-0.01189654 0.99991069 0.00609017 -0.26809425] [ 0.00526977 -0.00602782 0.99996795 -0.22641505] [ 0. 0. 0. 1. ]] SLAMing on 17.238241008000003 meters Centerline goodness : 0.861294 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.26, Z:-0.23 [[ 0.99989822 0.01324974 -0.00529063 2.14576713] [-0.01322294 0.99989972 0.00506893 -0.26370103] [ 0.00535726 -0.00499846 0.99997316 -0.22808909] [ 0. 0. 0. 1. ]] SLAMing on 17.268241008 meters Centerline goodness : 0.859543 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.26, Z:-0.23 [[ 0.99988876 0.01397023 -0.00522452 2.14491275] [-0.01394616 0.99989209 0.00461626 -0.26167481] [ 0.00528845 -0.00454288 0.9999757 -0.22840925] [ 0. 0. 0. 1. ]] SLAMing on 17.298241008 meters Centerline goodness : 0.861837 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.26, Z:-0.23 [[ 0.9998758 0.01489666 -0.0051456 2.14373595] [-0.01487395 0.99987959 0.00442452 -0.26037713] [ 0.00521089 -0.00434744 0.99997697 -0.22835396] [ 0. 0. 0. 1. ]] SLAMing on 17.328241008000003 meters Centerline goodness : 0.861355 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.26, Z:-0.23 [[ 0.9998646 0.01573146 -0.00482734 2.14242452] [-0.01571153 0.999868 0.00413857 -0.25885578] [ 0.00489181 -0.00406217 0.99997978 -0.22868495] [ 0. 0. 0. 1. ]] SLAMing on 17.358241008 meters Centerline goodness : 0.861364 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.26, Z:-0.23 [[ 0.99985934 0.01605781 -0.00484194 2.14245573] [-0.0160417 0.99986572 0.00334752 -0.25631255] [ 0.00489504 -0.00326938 0.99998267 -0.22987376] [ 0. 0. 0. 1. ]] SLAMing on 17.388241008 meters Centerline goodness : 0.859084 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.25, Z:-0.23 [[ 0.99984121 0.01724665 -0.00448343 2.14155698] [-0.01723584 0.99984848 0.00243896 -0.25216555] [ 0.00452482 -0.0023613 0.99998698 -0.23223579] [ 0. 0. 0. 1. ]] SLAMing on 17.418241008000003 meters Centerline goodness : 0.856572 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.25, Z:-0.23 [[ 0.99983784 0.01750304 -0.00423511 2.14109877] [-0.01749367 0.99984446 0.00224019 -0.25180697] [ 0.00427366 -0.00216574 0.99998852 -0.23284931] [ 0. 0. 0. 1. ]] SLAMing on 17.448241008 meters Centerline goodness : 0.856538 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.25, Z:-0.23 [[ 0.99983476 0.01764885 -0.00435487 2.14100905] [-0.01763783 0.99984117 0.00255678 -0.25294499] [ 0.00439931 -0.00247955 0.99998725 -0.23225495] [ 0. 0. 0. 1. ]] SLAMing on 17.478241008 meters Centerline goodness : 0.858806 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.25, Z:-0.23 [[ 9.99885521e-01 1.45824820e-02 -4.03689302e-03 2.13928006e+00] [-1.45888057e-02 9.99892389e-01 -1.54149115e-03 -2.52102481e-01] [ 4.01397984e-03 1.60020813e-03 9.99990664e-01 -2.32334485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.508241008000002 meters Centerline goodness : 0.860166 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.26, Z:-0.23 [[ 9.99883359e-01 1.46510245e-02 -4.31460435e-03 2.13944451e+00] [-1.46526090e-02 9.99892588e-01 -3.35872597e-04 -2.56725372e-01] [ 4.30922003e-03 3.99053631e-04 9.99990636e-01 -2.30813727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.538241008000004 meters Centerline goodness : 0.860904 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.26, Z:-0.23 [[ 9.99885050e-01 1.44243239e-02 -4.67179895e-03 2.14035903e+00] [-1.44238142e-02 9.99895961e-01 1.42780372e-04 -2.58812500e-01] [ 4.67337241e-03 -7.53787999e-05 9.99989077e-01 -2.30341343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.568241008 meters Centerline goodness : 0.860557 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.26, Z:-0.23 [[ 9.99889097e-01 1.39559737e-02 -5.19854855e-03 2.14199546e+00] [-1.39541727e-02 9.99902563e-01 3.82537525e-04 -2.60471817e-01] [ 5.20338070e-03 -3.09953656e-04 9.99986414e-01 -2.30276765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.598241008000002 meters Centerline goodness : 0.857777 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.26, Z:-0.23 [[ 0.99994163 0.00965646 -0.00484593 2.14280604] [-0.00967825 0.99994307 -0.00449379 -0.26051277] [ 0.00480226 0.00454043 0.99997816 -0.23343877] [ 0. 0. 0. 1. ]] SLAMing on 17.628241008000003 meters Centerline goodness : 0.856837 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.26, Z:-0.23 [[ 0.99994318 0.0091449 -0.00547808 2.14526065] [-0.00916887 0.99994843 -0.00436624 -0.26243563] [ 0.00543787 0.00441622 0.99997546 -0.23433864] [ 0. 0. 0. 1. ]] SLAMing on 17.658241008 meters Centerline goodness : 0.856681 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.26, Z:-0.24 [[ 0.99994454 0.00844275 -0.00629499 2.14810902] [-0.00846946 0.9999552 -0.00422757 -0.26460667] [ 0.00625902 0.00428065 0.99997125 -0.23502926] [ 0. 0. 0. 1. ]] SLAMing on 17.688241008000002 meters Centerline goodness : 0.856694 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.27, Z:-0.24 [[ 0.99994555 0.00746047 -0.00729675 2.15204403] [-0.00748904 0.99996437 -0.00389507 -0.26860127] [ 0.00726743 0.0039495 0.99996579 -0.23615365] [ 0. 0. 0. 1. ]] SLAMing on 17.718241008000003 meters Centerline goodness : 0.853407 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.27, Z:-0.24 [[ 0.99994409 0.00719545 -0.00774822 2.15362483] [-0.00722292 0.99996771 -0.00352387 -0.27036795] [ 0.00772261 0.00357964 0.99996377 -0.23629364] [ 0. 0. 0. 1. ]] SLAMing on 17.748241008 meters Centerline goodness : 0.855022 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.27, Z:-0.24 [[ 0.99994152 0.00698737 -0.00825435 2.1549594 ] [-0.00701274 0.99997076 -0.00304834 -0.27214244] [ 0.00823281 0.00310605 0.99996129 -0.2359421 ] [ 0. 0. 0. 1. ]] SLAMing on 17.778241008000002 meters Centerline goodness : 0.858094 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.27, Z:-0.24 [[ 0.99993865 0.00667639 -0.00883857 2.15658689] [-0.00669904 0.99997435 -0.00253518 -0.27413102] [ 0.00882141 0.00259423 0.99995773 -0.23554005] [ 0. 0. 0. 1. ]] SLAMing on 17.808241008000003 meters Centerline goodness : 0.861235 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.28, Z:-0.24 [[ 9.99934206e-01 6.29991043e-03 -9.58617415e-03 2.15895280e+00] [-6.31479198e-03 9.99978902e-01 -1.52292122e-03 -2.78426163e-01] [ 9.57637763e-03 1.58335572e-03 9.99952892e-01 -2.35210459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.838241008 meters Centerline goodness : 0.861235 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.28, Z:-0.24 [[ 9.99934206e-01 6.29991043e-03 -9.58617415e-03 2.15895280e+00] [-6.31479198e-03 9.99978902e-01 -1.52292122e-03 -2.78426163e-01] [ 9.57637763e-03 1.58335572e-03 9.99952892e-01 -2.35210459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.868241008000002 meters Centerline goodness : 0.859382 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.28, Z:-0.24 [[ 9.99931423e-01 5.93998271e-03 -1.00928315e-02 2.16057831e+00] [-5.95171591e-03 9.99981647e-01 -1.13288980e-03 -2.80299896e-01] [ 1.00859169e-02 1.19288177e-03 9.99948424e-01 -2.35128840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.898241008000003 meters Centerline goodness : 0.859815 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.28, Z:-0.23 [[ 9.99928047e-01 5.67398461e-03 -1.05691234e-02 2.16188330e+00] [-5.67932534e-03 9.99983760e-01 -4.75368874e-04 -2.82548755e-01] [ 1.05662545e-02 5.35360160e-04 9.99944032e-01 -2.34498263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.928241008 meters Centerline goodness : 0.862997 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.29, Z:-0.23 [[ 9.99925247e-01 5.05464933e-03 -1.11333009e-02 2.16368830e+00] [-5.04173800e-03 9.99986585e-01 1.18746570e-03 -2.87129407e-01] [ 1.11391538e-02 -1.13124575e-03 9.99937318e-01 -2.32483091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.958241008 meters Centerline goodness : 0.864615 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.29, Z:-0.23 [[ 9.99922431e-01 4.61023825e-03 -1.15705579e-02 2.16517929e+00] [-4.59303695e-03 9.99988308e-01 1.51277658e-03 -2.89506601e-01] [ 1.15773969e-02 -1.45951523e-03 9.99931915e-01 -2.32471840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.988241008000003 meters Centerline goodness : 0.864787 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.29, Z:-0.23 [[ 0.99991535 0.00411598 -0.01234292 2.16753796] [-0.00407699 0.99998663 0.00318229 -0.29471401] [ 0.01235585 -0.0031317 0.99991876 -0.23075293] [ 0. 0. 0. 1. ]] SLAMing on 18.018241008 meters Centerline goodness : 0.863393 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.30, Z:-0.23 [[ 0.99991453 0.00408985 -0.01241784 2.16794068] [-0.004048 0.99998605 0.00339298 -0.29602826] [ 0.01243154 -0.00334242 0.99991714 -0.23089107] [ 0. 0. 0. 1. ]] SLAMing on 18.048241008 meters Centerline goodness : 0.866547 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.30, Z:-0.23 [[ 0.99991188 0.00386724 -0.0126997 2.16884579] [-0.00382465 0.99998699 0.00337606 -0.29647685] [ 0.01271259 -0.00332719 0.99991366 -0.23101611] [ 0. 0. 0. 1. ]] SLAMing on 18.078241008000003 meters Centerline goodness : 0.862426 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.30, Z:-0.23 [[ 0.99991044 0.0040082 -0.01276868 2.16905621] [-0.00396249 0.99998566 0.00360347 -0.29719527] [ 0.01278294 -0.00355256 0.99991198 -0.2310171 ] [ 0. 0. 0. 1. ]] SLAMing on 18.108241008 meters Centerline goodness : 0.864638 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.30, Z:-0.23 [[ 0.99990966 0.00410598 -0.01279899 2.16934493] [-0.00406193 0.99998574 0.00346601 -0.29763182] [ 0.01281304 -0.00341371 0.99991208 -0.23164524] [ 0. 0. 0. 1. ]] SLAMing on 18.138241008 meters Centerline goodness : 0.861953 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.30, Z:-0.23 [[ 0.99990943 0.00479624 -0.01257499 2.16863281] [-0.00475112 0.99998218 0.00361524 -0.29883448] [ 0.0125921 -0.00355516 0.9999144 -0.23223392] [ 0. 0. 0. 1. ]] SLAMing on 18.168241008000003 meters Centerline goodness : 0.865360 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.30, Z:-0.23 [[ 0.99990868 0.00481983 -0.01262552 2.16911564] [-0.00477691 0.99998272 0.00342712 -0.29898845] [ 0.01264182 -0.0033665 0.99991442 -0.23299256] [ 0. 0. 0. 1. ]] SLAMing on 18.198241008 meters Centerline goodness : 0.864898 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.30, Z:-0.23 [[ 0.99990647 0.00467876 -0.01285174 2.16993721] [-0.00463499 0.99998337 0.00343287 -0.29935396] [ 0.01286759 -0.00337298 0.99991152 -0.23321607] [ 0. 0. 0. 1. ]] SLAMing on 18.228241008 meters Centerline goodness : 0.868021 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.30, Z:-0.23 [[ 0.99990132 0.00417506 -0.01341352 2.17173741] [-0.0041238 0.9999841 0.00384711 -0.30120171] [ 0.01342937 -0.00379142 0.99990263 -0.23286655] [ 0. 0. 0. 1. ]] SLAMing on 18.258241008000002 meters Centerline goodness : 0.869953 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.30, Z:-0.23 [[ 0.99989232 0.00341266 -0.01427213 2.17465115] [-0.00335947 0.99998733 0.003749 -0.30196759] [ 0.01428474 -0.00370065 0.99989112 -0.23335156] [ 0. 0. 0. 1. ]] SLAMing on 18.288241008000004 meters Centerline goodness : 0.865668 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.30, Z:-0.23 [[ 0.99988648 0.00277842 -0.0148092 2.17673564] [-0.00272926 0.9999907 0.0033387 -0.3014812 ] [ 0.01481834 -0.0032979 0.99988476 -0.23410691] [ 0. 0. 0. 1. ]] SLAMing on 18.318241008 meters Centerline goodness : 0.867705 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.30, Z:-0.23 [[ 0.99988334 0.00243539 -0.0150789 2.1779598 ] [-0.0023908 0.99999272 0.00297387 -0.30116301] [ 0.01508603 -0.00293747 0.99988188 -0.23484742] [ 0. 0. 0. 1. ]] SLAMing on 18.348241008000002 meters Centerline goodness : 0.870639 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.30, Z:-0.23 [[ 0.9998518 0.00454079 -0.01660585 2.18344502] [-0.00440916 0.99995864 0.00795475 -0.30320395] [ 0.01664129 -0.00788036 0.99983047 -0.23304136] [ 0. 0. 0. 1. ]] SLAMing on 18.378241008000003 meters Centerline goodness : 0.866731 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.30, Z:-0.24 [[ 0.99985023 0.00380593 -0.01688261 2.18541228] [-0.00369023 0.99996953 0.00687939 -0.30129764] [ 0.01690828 -0.00681606 0.99983381 -0.23503535] [ 0. 0. 0. 1. ]] SLAMing on 18.408241008 meters Centerline goodness : 0.870523 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.30, Z:-0.24 [[ 0.99984645 0.00305369 -0.0172552 2.18747191] [-0.00295087 0.99997776 0.00598133 -0.29963914] [ 0.01727308 -0.00592949 0.99983323 -0.23661931] [ 0. 0. 0. 1. ]] SLAMing on 18.438241008000002 meters Centerline goodness : 0.869088 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.30, Z:-0.24 [[ 0.99992016 0.00275427 -0.01233269 2.20649472] [-0.00278972 0.99999203 -0.00285745 -0.29658815] [ 0.01232472 0.00289163 0.99991987 -0.24225916] [ 0. 0. 0. 1. ]] SLAMing on 18.468241008000003 meters Centerline goodness : 0.872954 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.30, Z:-0.24 [[ 9.99913594e-01 2.48951920e-03 -1.29075895e-02 2.20760926e+00] [-2.51272760e-03 9.99995255e-01 -1.78213721e-03 -2.98951330e-01] [ 1.29030916e-02 1.81441648e-03 9.99915105e-01 -2.40279629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.498241008 meters Centerline goodness : 0.873686 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.30, Z:-0.24 [[ 9.99908673e-01 2.50207902e-03 -1.32810227e-02 2.20780856e+00] [-2.50906896e-03 9.99996722e-01 -5.09673894e-04 -3.01293134e-01] [ 1.32797040e-02 5.42950349e-04 9.99911673e-01 -2.37863550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.528241008000002 meters Centerline goodness : 0.878292 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.31, Z:-0.23 [[ 9.99895480e-01 7.66307891e-04 -1.44375027e-02 2.21163671e+00] [-7.31971432e-04 9.99996892e-01 2.38341651e-03 -3.05578865e-01] [ 1.44392842e-02 -2.37259956e-03 9.99892933e-01 -2.32154484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.558241008000003 meters Centerline goodness : 0.879781 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.31, Z:-0.23 [[ 9.99883743e-01 2.17647309e-03 -1.50918533e-02 2.21577139e+00] [-2.08402422e-03 9.99978986e-01 6.13876995e-03 -3.07747575e-01] [ 1.51048970e-02 -6.10660449e-03 9.99867267e-01 -2.31852084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.588241008 meters Centerline goodness : 0.883065 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.31, Z:-0.23 [[ 0.99985415 0.0046618 -0.01642986 2.2204491 ] [-0.00449005 0.99993506 0.01047488 -0.30956091] [ 0.01647762 -0.01039958 0.99981015 -0.23141448] [ 0. 0. 0. 1. ]] SLAMing on 18.618241008000002 meters Centerline goodness : 0.880203 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.31, Z:-0.23 [[ 0.99981927 0.00698224 -0.01768239 2.22590268] [-0.00674505 0.99988695 0.01343817 -0.30906722] [ 0.01777422 -0.01331647 0.99975334 -0.23379968] [ 0. 0. 0. 1. ]] SLAMing on 18.648241008000003 meters Centerline goodness : 0.881259 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.31, Z:-0.23 [[ 0.99981281 0.0063077 -0.01829113 2.22799076] [-0.00606803 0.9998954 0.01312902 -0.30889897] [ 0.01837203 -0.01301557 0.9997465 -0.23420337] [ 0. 0. 0. 1. ]] SLAMing on 18.678241008 meters Centerline goodness : 0.879987 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.31, Z:-0.24 [[ 0.99983249 0.00265552 -0.01810935 2.22751743] [-0.00250919 0.99996406 0.00809836 -0.30600184] [ 0.0181302 -0.00805157 0.99980321 -0.23593409] [ 0. 0. 0. 1. ]] SLAMing on 18.708241008 meters Centerline goodness : 0.881160 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.31, Z:-0.23 [[ 0.99980071 0.00521185 -0.01927135 2.23128831] [-0.00495408 0.99989795 0.01339955 -0.30962171] [ 0.01933922 -0.01330141 0.9997245 -0.23339621] [ 0. 0. 0. 1. ]] SLAMing on 18.738241008000003 meters Centerline goodness : 0.884782 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.31, Z:-0.24 [[ 9.99877005e-01 5.20447182e-03 -1.47948659e-02 2.24808720e+00] [-5.17485938e-03 9.99984531e-01 2.03911397e-03 -3.05613660e-01] [ 1.48052496e-02 -1.96230182e-03 9.99888471e-01 -2.41125979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.768241008 meters Centerline goodness : 0.888286 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.31, Z:-0.24 [[ 0.999837 0.00826823 -0.01605042 2.25128533] [-0.00814142 0.99993526 0.00794994 -0.3092829 ] [ 0.01611512 -0.00781797 0.99983958 -0.23744674] [ 0. 0. 0. 1. ]] SLAMing on 18.798241008 meters Centerline goodness : 0.885411 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.31, Z:-0.24 [[ 0.99983293 0.00797821 -0.0164454 2.2524422 ] [-0.00785378 0.99994015 0.00761684 -0.30872853] [ 0.01650518 -0.0074864 0.99983575 -0.23774702] [ 0. 0. 0. 1. ]] SLAMing on 18.828241008000003 meters Centerline goodness : 0.891280 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.31, Z:-0.24 [[ 0.99982972 0.00764301 -0.01679648 2.2536272 ] [-0.00752407 0.99994625 0.00713313 -0.30755363] [ 0.0168501 -0.00700553 0.99983348 -0.23827757] [ 0. 0. 0. 1. ]] SLAMing on 18.858241008 meters Centerline goodness : 0.889251 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.30, Z:-0.24 [[ 0.99983215 0.00717447 -0.01685832 2.25465937] [-0.00708125 0.99995934 0.00558268 -0.30395853] [ 0.01689769 -0.00546237 0.9998423 -0.24060294] [ 0. 0. 0. 1. ]] SLAMing on 18.888241008 meters Centerline goodness : 0.889719 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.30, Z:-0.24 [[ 0.99983131 0.00679869 -0.01706249 2.25570002] [-0.00671489 0.99996513 0.00496411 -0.30241783] [ 0.01709565 -0.0048487 0.9998421 -0.24147577] [ 0. 0. 0. 1. ]] SLAMing on 18.918241008000003 meters Centerline goodness : 0.888180 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.30, Z:-0.24 [[ 0.99982871 0.00636649 -0.01737872 2.25698769] [-0.00629256 0.99997093 0.004305 -0.30093389] [ 0.01740562 -0.00419491 0.99983971 -0.24236023] [ 0. 0. 0. 1. ]] SLAMing on 18.948241008 meters Centerline goodness : 0.890627 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.30, Z:-0.24 [[ 0.99982582 0.00600881 -0.01766999 2.25789266] [-0.00594077 0.99997475 0.00390045 -0.29951116] [ 0.01769298 -0.0037948 0.99983627 -0.24249794] [ 0. 0. 0. 1. ]] SLAMing on 18.978241008 meters Centerline goodness : 0.891309 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.30, Z:-0.24 [[ 0.9998234 0.00601206 -0.017805 2.25788494] [-0.00593651 0.99997316 0.00429306 -0.30025915] [ 0.01783033 -0.0041866 0.99983226 -0.24156136] [ 0. 0. 0. 1. ]] SLAMing on 19.008241008000002 meters Centerline goodness : 0.892430 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.30, Z:-0.23 [[ 0.99978913 0.00729254 -0.01919698 2.26396701] [-0.00706731 0.9999057 0.01177443 -0.3047823 ] [ 0.01928104 -0.01163628 0.99974639 -0.23483385] [ 0. 0. 0. 1. ]] SLAMing on 19.038241008000004 meters Centerline goodness : 0.894154 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.30, Z:-0.24 [[ 9.99880282e-01 6.48898260e-03 -1.40468565e-02 2.27998695e+00] [-6.48325398e-03 9.99978881e-01 4.53321382e-04 -3.01163651e-01] [ 1.40495014e-02 -3.62197773e-04 9.99901235e-01 -2.41418919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.068241008 meters Centerline goodness : 0.895993 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.31, Z:-0.23 [[ 0.99985747 0.00712646 -0.01530541 2.2871123 ] [-0.00699611 0.99993895 0.008553 -0.30545454] [ 0.01536543 -0.0084447 0.99984628 -0.23375814] [ 0. 0. 0. 1. ]] SLAMing on 19.098241008000002 meters Centerline goodness : 0.897225 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.31, Z:-0.23 [[ 0.9998195 0.0092381 -0.01660218 2.29184965] [-0.00899792 0.99985462 0.01448396 -0.30873585] [ 0.01673357 -0.01433196 0.99975726 -0.23008974] [ 0. 0. 0. 1. ]] SLAMing on 19.128241008000003 meters Centerline goodness : 0.898826 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.31, Z:-0.23 [[ 0.99985159 0.00542475 -0.01635139 2.29143232] [-0.00527832 0.9999457 0.00898517 -0.3051253 ] [ 0.01639924 -0.00889753 0.99982593 -0.23242201] [ 0. 0. 0. 1. ]] SLAMing on 19.158241008 meters Centerline goodness : 0.902687 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.31, Z:-0.22 [[ 0.99981758 0.00640047 -0.01799565 2.29903235] [-0.00608919 0.99983181 0.0172995 -0.30943029] [ 0.01810335 -0.01718676 0.99968839 -0.22432244] [ 0. 0. 0. 1. ]] SLAMing on 19.188241008000002 meters Centerline goodness : 0.904459 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.31, Z:-0.23 [[ 0.99983637 0.00267634 -0.01789058 2.29850648] [-0.00246267 0.99992551 0.01195475 -0.30690502] [ 0.01792124 -0.01190874 0.99976848 -0.22626936] [ 0. 0. 0. 1. ]] SLAMing on 19.218241008000003 meters Centerline goodness : 0.908329 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.31, Z:-0.22 [[ 0.99979734 0.00494036 -0.01951579 2.30394428] [-0.00459021 0.99982842 0.01794625 -0.30964721] [ 0.0196011 -0.01785303 0.99964847 -0.22260846] [ 0. 0. 0. 1. ]] SLAMing on 19.248241008 meters Centerline goodness : 0.905148 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.31, Z:-0.22 [[ 0.99975513 0.00588706 -0.02133144 2.31204457] [-0.00543517 0.99976089 0.02118091 -0.30892587] [ 0.02145103 -0.02105978 0.99954807 -0.22376278] [ 0. 0. 0. 1. ]] SLAMing on 19.278241008000002 meters Centerline goodness : 0.904445 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.30, Z:-0.23 [[ 0.99984315 0.00572142 -0.01676125 2.32858808] [-0.00557762 0.99994734 0.00861383 -0.30339837] [ 0.01680965 -0.00851899 0.99982242 -0.23364059] [ 0. 0. 0. 1. ]] SLAMing on 19.308241008000003 meters Centerline goodness : 0.906894 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.31, Z:-0.23 [[ 0.99979743 0.00777139 -0.01856631 2.3341674 ] [-0.00750335 0.99986725 0.01446334 -0.30609024] [ 0.01867625 -0.0143211 0.99972301 -0.22969859] [ 0. 0. 0. 1. ]] SLAMing on 19.338241008 meters Centerline goodness : 0.911125 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.31, Z:-0.23 [[ 0.99979156 0.00756628 -0.01896279 2.33506782] [-0.00729583 0.99987126 0.01429135 -0.30614671] [ 0.01906848 -0.01415002 0.99971805 -0.22963506] [ 0. 0. 0. 1. ]] SLAMing on 19.368241008000002 meters Centerline goodness : 0.918312 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.30, Z:-0.23 [[ 0.99987193 0.00811433 -0.01379425 2.34777657] [-0.00807126 0.99996239 0.00317502 -0.30279562] [ 0.01381949 -0.00306327 0.99989981 -0.23408774] [ 0. 0. 0. 1. ]] SLAMing on 19.398241008000003 meters Centerline goodness : 0.917143 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.30, Z:-0.23 [[ 0.99986955 0.00850902 -0.01372858 2.34676745] [-0.00846343 0.99995849 0.00337561 -0.30232753] [ 0.01375673 -0.00325898 0.99990006 -0.23304325] [ 0. 0. 0. 1. ]] SLAMing on 19.428241008 meters Centerline goodness : 0.914163 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.30, Z:-0.23 [[ 0.99986808 0.00887186 -0.01360525 2.34597409] [-0.00883005 0.99995612 0.00312948 -0.30040711] [ 0.01363242 -0.00300893 0.99990255 -0.23288371] [ 0. 0. 0. 1. ]] SLAMing on 19.458241008 meters Centerline goodness : 0.917293 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.30, Z:-0.23 [[ 9.99867628e-01 9.14050082e-03 -1.34602272e-02 2.34555799e+00] [-9.11100922e-03 9.99955961e-01 2.25071294e-03 -2.96977444e-01] [ 1.34802071e-02 -2.12777875e-03 9.99906874e-01 -2.33866400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.488241008000003 meters Centerline goodness : 0.914115 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.29, Z:-0.23 [[ 9.99865498e-01 9.76980249e-03 -1.31733228e-02 2.34448821e+00] [-9.75231206e-03 9.99951477e-01 1.39130195e-03 -2.92117448e-01] [ 1.31862764e-02 -1.26264446e-03 9.99912260e-01 -2.34862298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.518241008 meters Centerline goodness : 0.912094 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.29, Z:-0.24 [[ 9.99865820e-01 9.66333067e-03 -1.32273135e-02 2.34480986e+00] [-9.65333899e-03 9.99953070e-01 8.19022842e-04 -2.90061433e-01] [ 1.32346072e-02 -6.91225205e-04 9.99912180e-01 -2.35436622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.548241008 meters Centerline goodness : 0.914427 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.29, Z:-0.24 [[ 9.99865833e-01 9.77965796e-03 -1.31405929e-02 2.34435810e+00] [-9.77514941e-03 9.99952139e-01 4.07287449e-04 -2.88211092e-01] [ 1.31439471e-02 -2.78781545e-04 9.99913576e-01 -2.35518430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.578241008000003 meters Centerline goodness : 0.914900 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.29, Z:-0.23 [[ 9.99858112e-01 1.06967730e-02 -1.30128834e-02 2.34268911e+00] [-1.06944233e-02 9.99942782e-01 2.50147400e-04 -2.85210608e-01] [ 1.30148146e-02 -1.10946625e-04 9.99915298e-01 -2.34678282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.608241008 meters Centerline goodness : 0.916304 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.28, Z:-0.23 [[ 9.99854965e-01 1.10722960e-02 -1.29403771e-02 2.34192769e+00] [-1.10696960e-02 9.99938692e-01 2.72529990e-04 -2.84537058e-01] [ 1.29426013e-02 -1.29244423e-04 9.99916233e-01 -2.34165374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.638241008 meters Centerline goodness : 0.916337 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.28, Z:-0.23 [[ 9.99851717e-01 1.11527111e-02 -1.31210280e-02 2.34189286e+00] [-1.11500934e-02 9.99937799e-01 2.72643460e-04 -2.84307762e-01] [ 1.31232525e-02 -1.26302345e-04 9.99913878e-01 -2.33564092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.668241008000003 meters Centerline goodness : 0.915972 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.28, Z:-0.23 [[ 9.99847190e-01 1.11694616e-02 -1.34476461e-02 2.34217768e+00] [-1.11639962e-02 9.99937565e-01 4.81419580e-04 -2.84551055e-01] [ 1.34521837e-02 -3.31216545e-04 9.99909460e-01 -2.32683207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.698241008000004 meters Centerline goodness : 0.914447 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.28, Z:-0.23 [[ 9.99849475e-01 1.05387338e-02 -1.37826733e-02 2.34418888e+00] [-1.05471685e-02 9.99944232e-01 -5.39432751e-04 -2.83067269e-01] [ 1.37762198e-02 6.84719732e-04 9.99904869e-01 -2.34778715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.728241008 meters Centerline goodness : 0.914447 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.28, Z:-0.23 [[ 9.99849475e-01 1.05387338e-02 -1.37826733e-02 2.34418888e+00] [-1.05471685e-02 9.99944232e-01 -5.39432751e-04 -2.83067269e-01] [ 1.37762198e-02 6.84719732e-04 9.99904869e-01 -2.34778715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.758241008000002 meters Centerline goodness : 0.911783 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.28, Z:-0.24 [[ 9.99853441e-01 9.63003893e-03 -1.41547828e-02 2.34703077e+00] [-9.65756764e-03 9.99951602e-01 -1.87776794e-03 -2.80860695e-01] [ 1.41360147e-02 2.01419350e-03 9.99898053e-01 -2.37831638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.788241008000004 meters Centerline goodness : 0.911112 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.28, Z:-0.24 [[ 9.99813817e-01 1.15052457e-02 -1.54906651e-02 2.35293948e+00] [-1.14748677e-02 9.99932063e-01 2.04851186e-03 -2.82139942e-01] [ 1.55131814e-02 -1.87037713e-03 9.99877914e-01 -2.38594796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.818241008 meters Centerline goodness : 0.909016 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.28, Z:-0.24 [[ 9.99814181e-01 1.07634961e-02 -1.59922355e-02 2.35545087e+00] [-1.07427969e-02 9.99941343e-01 1.37966978e-03 -2.81967014e-01] [ 1.60061475e-02 -1.20761207e-03 9.99871164e-01 -2.40388455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.848241008000002 meters Centerline goodness : 0.914069 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.29, Z:-0.24 [[ 9.99801783e-01 9.89763127e-03 -1.72751649e-02 2.35885494e+00] [-9.85871451e-03 9.99948672e-01 2.33646923e-03 -2.86579310e-01] [ 1.72974037e-02 -2.16569519e-03 9.99848043e-01 -2.39037554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.878241008000003 meters Centerline goodness : 0.913979 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.29, Z:-0.24 [[ 9.99834991e-01 6.62784813e-03 -1.69133544e-02 2.35706449e+00] [-6.65440638e-03 9.99976712e-01 -1.51445782e-03 -2.86540601e-01] [ 1.69029229e-02 1.62675626e-03 9.99855812e-01 -2.38717482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.908241008 meters Centerline goodness : 0.912601 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.29, Z:-0.23 [[ 0.99981059 0.00714433 -0.01810376 2.36339411] [-0.00705353 0.99996225 0.00507436 -0.29140118] [ 0.01813933 -0.0049457 0.99982324 -0.23326779] [ 0. 0. 0. 1. ]] SLAMing on 19.938241008000002 meters Centerline goodness : 0.912867 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.29, Z:-0.23 [[ 9.99840190e-01 3.67833232e-03 -1.74947221e-02 2.36185303e+00] [-3.66241164e-03 9.99992850e-01 9.41979603e-04 -2.90857276e-01] [ 1.74980619e-02 -8.77756191e-04 9.99846512e-01 -2.34025915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.968241008000003 meters Centerline goodness : 0.910338 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.29, Z:-0.23 [[ 9.99837661e-01 3.72860893e-03 -1.76281039e-02 2.36203397e+00] [-3.70584677e-03 9.99992257e-01 1.32373286e-03 -2.91333470e-01] [ 1.76329031e-02 -1.25819091e-03 9.99843737e-01 -2.33424044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.998241008 meters Centerline goodness : 0.911771 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.29, Z:-0.23 [[ 9.99834528e-01 3.62650913e-03 -1.78259513e-02 2.36250672e+00] [-3.60267063e-03 9.99992573e-01 1.36922319e-03 -2.91210978e-01] [ 1.78307844e-02 -1.30477559e-03 9.99840168e-01 -2.33203060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.028241008000002 meters Centerline goodness : 0.913549 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.29, Z:-0.23 [[ 9.99835859e-01 3.73332497e-03 -1.77290042e-02 2.36218939e+00] [-3.70745667e-03 9.99992015e-01 1.49173848e-03 -2.90881560e-01] [ 1.77344317e-02 -1.42576411e-03 9.99841716e-01 -2.32874584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.058241008000003 meters Centerline goodness : 0.909785 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.29, Z:-0.24 [[ 0.99990123 0.00530205 -0.0130158 2.37969025] [-0.00538407 0.99996582 -0.00627495 -0.28772715] [ 0.01298208 0.00634441 0.9998956 -0.23785394] [ 0. 0. 0. 1. ]] SLAMing on 20.088241008 meters Centerline goodness : 0.912591 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.29, Z:-0.24 [[ 0.99989938 0.00574907 -0.01296813 2.37869431] [-0.00582261 0.99996714 -0.00563993 -0.28807964] [ 0.01293528 0.00571487 0.9999 -0.23639293] [ 0. 0. 0. 1. ]] SLAMing on 20.118241008000002 meters Centerline goodness : 0.912339 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.29, Z:-0.24 [[ 0.9998974 0.00602174 -0.01299725 2.378209 ] [-0.00609079 0.99996751 -0.00528001 -0.28786831] [ 0.01296503 0.00535864 0.99990159 -0.23544344] [ 0. 0. 0. 1. ]] SLAMing on 20.148241008000003 meters Centerline goodness : 0.909483 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.29, Z:-0.23 [[ 9.99859657e-01 9.14928896e-03 -1.40341646e-02 2.38097915e+00] [-9.15355779e-03 9.99958077e-01 -2.39968385e-04 -2.90649662e-01] [ 1.40313807e-02 3.68397244e-04 9.99901487e-01 -2.33525224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.178241008 meters Centerline goodness : 0.908891 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.29, Z:-0.23 [[ 9.99857050e-01 7.89468650e-03 -1.49517143e-02 2.38465769e+00] [-7.90623959e-03 9.99968490e-01 -7.13740745e-04 -2.90792583e-01] [ 1.49456084e-02 8.31850551e-04 9.99887962e-01 -2.34621781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.208241008 meters Centerline goodness : 0.909401 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.29, Z:-0.23 [[ 9.99850133e-01 7.14553041e-03 -1.57687450e-02 2.38691881e+00] [-7.14930144e-03 9.99974427e-01 -1.82787162e-04 -2.92288354e-01] [ 1.57670356e-02 2.95495280e-04 9.99875649e-01 -2.33596414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.238241008000003 meters Centerline goodness : 0.909406 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.29, Z:-0.23 [[ 9.99843305e-01 6.60954738e-03 -1.64219126e-02 2.38876877e+00] [-6.60702161e-03 9.99978152e-01 2.08054302e-04 -2.93207680e-01] [ 1.64229289e-02 -9.95217700e-05 9.99865130e-01 -2.32955852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.268241008 meters Centerline goodness : 0.909743 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.30, Z:-0.23 [[ 0.99983221 0.00556375 -0.01745277 2.40577864] [-0.00535841 0.99991614 0.01178977 -0.2969185 ] [ 0.0175169 -0.01169427 0.99977818 -0.22561099] [ 0. 0. 0. 1. ]] SLAMing on 20.298241008 meters Centerline goodness : 0.908986 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.29, Z:-0.23 [[ 9.99854218e-01 2.23610820e-03 -1.69275812e-02 2.40457774e+00] [-2.13390489e-03 9.99979402e-01 6.05333611e-03 -2.93034660e-01] [ 1.69407685e-02 -6.01633179e-03 9.99838394e-01 -2.28804815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.328241008000003 meters Centerline goodness : 0.908765 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.30, Z:-0.23 [[ 0.99982144 0.00565973 -0.01802915 2.40717791] [-0.0054509 0.99991774 0.01161057 -0.29657249] [ 0.01809338 -0.01151022 0.99977005 -0.2260855 ] [ 0. 0. 0. 1. ]] SLAMing on 20.358241008 meters Centerline goodness : 0.908546 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.30, Z:-0.22 [[ 0.99977876 0.00744444 -0.01967275 2.41287732] [-0.00710712 0.99982747 0.01716149 -0.30016782] [ 0.01979711 -0.01701788 0.99965918 -0.22284525] [ 0. 0. 0. 1. ]] SLAMing on 20.388241008 meters Centerline goodness : 0.908222 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.30, Z:-0.23 [[ 0.99982138 0.00828449 -0.01698742 2.43616489] [-0.00808546 0.99989826 0.01175161 -0.29897063] [ 0.01708305 -0.01161216 0.99978664 -0.22610561] [ 0. 0. 0. 1. ]] SLAMing on 20.418241008000003 meters Centerline goodness : 0.913755 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.30, Z:-0.23 [[ 0.99984664 0.00458336 -0.01690256 2.43612381] [-0.00448246 0.99997194 0.00600274 -0.2954751 ] [ 0.0169296 -0.00592606 0.99983912 -0.22920567] [ 0. 0. 0. 1. ]] SLAMing on 20.448241008000004 meters Centerline goodness : 0.912309 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.30, Z:-0.22 [[ 0.99980436 0.00642282 -0.01870809 2.44218323] [-0.00618835 0.99990192 0.01256398 -0.29890298] [ 0.01878695 -0.01244575 0.99974604 -0.22421769] [ 0. 0. 0. 1. ]] SLAMing on 20.478241008 meters Centerline goodness : 0.912511 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.30, Z:-0.22 [[ 0.99979624 0.00609217 -0.01924472 2.44346651] [-0.00585077 0.99990381 0.01257534 -0.2989034 ] [ 0.01931948 -0.01246019 0.99973572 -0.22384747] [ 0. 0. 0. 1. ]] SLAMing on 20.508241008000002 meters Centerline goodness : 0.913148 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.29, Z:-0.23 [[ 9.99972829e-01 8.42391667e-04 -7.32339208e-03 2.45835421e+00] [-7.60965503e-04 9.99937944e-01 1.11143258e-02 -2.94705649e-01] [ 7.33230023e-03 -1.11084510e-02 9.99911416e-01 -2.31605120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.538241008000004 meters Centerline goodness : 0.912438 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.29, Z:-0.23 [[ 9.99971060e-01 6.68317864e-04 -7.57848801e-03 2.45892245e+00] [-5.80664668e-04 9.99932985e-01 1.15623609e-02 -2.94813773e-01] [ 7.58570747e-03 -1.15576257e-02 9.99904435e-01 -2.30550430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.568241008 meters Centerline goodness : 0.912940 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.30, Z:-0.23 [[ 9.99968090e-01 3.48228612e-04 -7.98102535e-03 2.45972045e+00] [-2.51280762e-04 9.99926214e-01 1.21450778e-02 -2.95691077e-01] [ 7.98466573e-03 -1.21426847e-02 9.99894395e-01 -2.29092971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.598241008000002 meters Centerline goodness : 0.913286 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.30, Z:-0.23 [[ 9.99966467e-01 2.45103705e-04 -8.18566169e-03 2.45967628e+00] [-1.41591552e-04 9.99920055e-01 1.26437313e-02 -2.96346107e-01] [ 8.18810631e-03 -1.26421483e-02 9.99886559e-01 -2.27509615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.628241008000003 meters Centerline goodness : 0.914893 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.29, Z:-0.23 [[ 9.99991450e-01 -1.40139727e-03 -3.89049438e-03 2.48060869e+00] [ 1.42567649e-03 9.99979484e-01 6.24490613e-03 -2.94899477e-01] [ 3.88166297e-03 -6.25039932e-03 9.99972932e-01 -2.27506789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.658241008 meters Centerline goodness : 0.916361 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.30, Z:-0.23 [[ 9.99989967e-01 -1.74995938e-03 -4.12354323e-03 2.48107054e+00] [ 1.77709273e-03 9.99976735e-01 6.58565451e-03 -2.95950993e-01] [ 4.11192267e-03 -6.59291635e-03 9.99969812e-01 -2.26537035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.688241008000002 meters Centerline goodness : 0.918437 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.30, Z:-0.23 [[ 9.99987924e-01 -2.06221883e-03 -4.46074655e-03 2.48180427e+00] [ 2.09333516e-03 9.99973433e-01 6.98220427e-03 -2.96271539e-01] [ 4.44622921e-03 -6.99145780e-03 9.99965675e-01 -2.25448390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.718241008000003 meters Centerline goodness : 0.912521 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.30, Z:-0.22 [[ 9.99976489e-01 -1.64469265e-03 -6.65699455e-03 2.49067936e+00] [ 1.72651458e-03 9.99922811e-01 1.23040937e-02 -2.97336098e-01] [ 6.63624425e-03 -1.23152978e-02 9.99902142e-01 -2.22580303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.748241008 meters Centerline goodness : 0.913118 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.30, Z:-0.22 [[ 9.99970556e-01 -2.43619100e-03 -7.27685138e-03 2.49324021e+00] [ 2.51960380e-03 9.99930978e-01 1.14756731e-02 -2.95560071e-01] [ 7.24839218e-03 -1.14936700e-02 9.99907674e-01 -2.24045827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.778241008000002 meters Centerline goodness : 0.915188 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.30, Z:-0.22 [[ 9.99964000e-01 2.00043082e-05 -8.48522572e-03 2.49742145e+00] [ 1.17110305e-04 9.99869437e-01 1.61584134e-02 -2.97645976e-01] [ 8.48444110e-03 -1.61588254e-02 9.99833439e-01 -2.22928532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.808241008000003 meters Centerline goodness : 0.913493 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.29, Z:-0.23 [[ 9.99986827e-01 1.46437282e-03 -4.91948839e-03 2.51566742e+00] [-1.42508657e-03 9.99967145e-01 7.97987569e-03 -2.94924619e-01] [ 4.93101227e-03 -7.97275987e-03 9.99956059e-01 -2.28515368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.838241008 meters Centerline goodness : 0.910905 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.30, Z:-0.22 [[ 0.99997332 0.00424056 -0.00594774 2.51863404] [-0.00415455 0.99988769 0.0143996 -0.29867417] [ 0.00600814 -0.0143745 0.99987863 -0.22374593] [ 0. 0. 0. 1. ]] SLAMing on 20.868241008000002 meters Centerline goodness : 0.911270 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.30, Z:-0.22 [[ 0.99997237 0.00444293 -0.00595987 2.51846371] [-0.00435758 0.99988884 0.01425896 -0.29756929] [ 0.00602256 -0.0142326 0.99988057 -0.22367081] [ 0. 0. 0. 1. ]] SLAMing on 20.898241008000003 meters Centerline goodness : 0.909812 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.30, Z:-0.22 [[ 0.99994813 0.00770697 -0.00665821 2.52072337] [-0.00758234 0.99979927 0.01854504 -0.29862329] [ 0.0067998 -0.01849359 0.99980586 -0.22301474] [ 0. 0. 0. 1. ]] SLAMing on 20.928241008 meters Centerline goodness : 0.909235 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.30, Z:-0.22 [[ 0.99991057 0.01098698 -0.00762446 2.52373653] [-0.01081669 0.99969884 0.0220281 -0.29778269] [ 0.00786419 -0.02194366 0.99972828 -0.22369359] [ 0. 0. 0. 1. ]] SLAMing on 20.958241008 meters Centerline goodness : 0.907508 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.30, Z:-0.22 [[ 0.99991032 0.01099615 -0.0076442 2.52392554] [-0.01083141 0.99971513 0.02126835 -0.29625077] [ 0.0078759 -0.02118364 0.99974458 -0.22473069] [ 0. 0. 0. 1. ]] SLAMing on 20.988241008000003 meters Centerline goodness : 0.907278 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.29, Z:-0.23 [[ 0.99990849 0.01122952 -0.0075438 2.52338352] [-0.01107205 0.99972646 0.02060113 -0.29417686] [ 0.00777307 -0.02051572 0.99975931 -0.2252748 ] [ 0. 0. 0. 1. ]] SLAMing on 21.018241008 meters Centerline goodness : 0.904479 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.29, Z:-0.23 [[ 0.99990369 0.01356777 -0.00291864 2.53701207] [-0.01353904 0.99986178 0.00964924 -0.28909388] [ 0.00304916 -0.0096088 0.99994919 -0.2331149 ] [ 0. 0. 0. 1. ]] SLAMing on 21.048241008 meters Centerline goodness : 0.908737 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.29, Z:-0.23 [[ 0.99989946 0.01390987 -0.00275472 2.53637131] [-0.01388484 0.99986393 0.00890712 -0.28652269] [ 0.00287824 -0.00886798 0.99995654 -0.23386687] [ 0. 0. 0. 1. ]] SLAMing on 21.078241008000003 meters Centerline goodness : 0.908178 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.28, Z:-0.23 [[ 0.99989622 0.0141589 -0.00266157 2.53584466] [-0.01413622 0.99986517 0.00835577 -0.28469578] [ 0.00277952 -0.00831728 0.99996155 -0.23424687] [ 0. 0. 0. 1. ]] SLAMing on 21.108241008000004 meters Centerline goodness : 0.907602 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.28, Z:-0.23 [[ 9.99890801e-01 1.45774812e-02 -2.42564791e-03 2.53477531e+00] [-1.45582572e-02 9.99863889e-01 7.76271106e-03 -2.82533500e-01] [ 2.53847853e-03 -7.72655017e-03 9.99966928e-01 -2.34523968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.138241008 meters Centerline goodness : 0.906310 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.28, Z:-0.24 [[ 9.99891943e-01 1.44859852e-02 -2.50151135e-03 2.53523268e+00] [-1.44680904e-02 9.99870623e-01 7.02936956e-03 -2.80958068e-01] [ 2.60301505e-03 -6.99241790e-03 9.99972165e-01 -2.35622881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.168241008000003 meters Centerline goodness : 0.903789 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.28, Z:-0.24 [[ 9.99889166e-01 1.46891363e-02 -2.42595711e-03 2.53509233e+00] [-1.46744651e-02 9.99874570e-01 5.95857438e-03 -2.77931814e-01] [ 2.51317913e-03 -5.92231434e-03 9.99979305e-01 -2.37054119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.198241008000004 meters Centerline goodness : 0.905266 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.28, Z:-0.24 [[ 9.99891110e-01 1.45515685e-02 -2.45374813e-03 2.53541429e+00] [-1.45388403e-02 9.99881157e-01 5.12768422e-03 -2.75829072e-01] [ 2.52807237e-03 -5.09145122e-03 9.99983843e-01 -2.38061479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.228241008 meters Centerline goodness : 0.904367 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.27, Z:-0.24 [[ 9.99892607e-01 1.44359146e-02 -2.52547912e-03 2.53590869e+00] [-1.44249223e-02 9.99886632e-01 4.31793085e-03 -2.73821368e-01] [ 2.58752609e-03 -4.28103729e-03 9.99987489e-01 -2.39240010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.258241008000002 meters Centerline goodness : 0.902637 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.27, Z:-0.24 [[ 0.99989601 0.01416915 -0.00268282 2.53709909] [-0.0141609 0.99989502 0.0030684 -0.27168489] [ 0.00272602 -0.00303009 0.99999169 -0.24158151] [ 0. 0. 0. 1. ]] SLAMing on 21.288241008000004 meters Centerline goodness : 0.903564 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.27, Z:-0.24 [[ 0.99989773 0.01400879 -0.00287873 2.53784578] [-0.0140013 0.99989858 0.00260563 -0.27102834] [ 0.00291494 -0.00256505 0.99999246 -0.24234368] [ 0. 0. 0. 1. ]] SLAMing on 21.318241008 meters Centerline goodness : 0.903591 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.27, Z:-0.24 [[ 9.99900380e-01 1.37611390e-02 -3.14023276e-03 2.53871279e+00] [-1.37546083e-02 9.99903213e-01 2.09187787e-03 -2.70086608e-01] [ 3.16871545e-03 -2.04847680e-03 9.99992881e-01 -2.43019781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.348241008000002 meters Centerline goodness : 0.901152 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.27, Z:-0.24 [[ 9.99905420e-01 1.33560837e-02 -3.28102106e-03 2.53944442e+00] [-1.33515175e-02 9.99909871e-01 1.40968034e-03 -2.68194540e-01] [ 3.29955315e-03 -1.36574040e-03 9.99993624e-01 -2.43705510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.378241008000003 meters Centerline goodness : 0.901101 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.27, Z:-0.24 [[ 9.99908589e-01 1.30356849e-02 -3.58963761e-03 2.54051246e+00] [-1.30310737e-02 9.99914240e-01 1.30498185e-03 -2.68698198e-01] [ 3.60634110e-03 -1.25808573e-03 9.99992706e-01 -2.44019526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.408241008 meters Centerline goodness : 0.901317 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.27, Z:-0.24 [[ 9.99913406e-01 1.24681605e-02 -4.21015010e-03 2.54235569e+00] [-1.24626217e-02 9.99921442e-01 1.33925961e-03 -2.69680823e-01] [ 4.22651746e-03 -1.28667413e-03 9.99990240e-01 -2.44025527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.438241008000002 meters Centerline goodness : 0.905310 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.27, Z:-0.24 [[ 9.99918900e-01 1.17504776e-02 -4.91120324e-03 2.54465950e+00] [-1.17442661e-02 9.99930199e-01 1.29170361e-03 -2.70663132e-01] [ 4.92603857e-03 -1.23392038e-03 9.99987106e-01 -2.44332220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.468241008000003 meters Centerline goodness : 0.904979 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.27, Z:-0.25 [[ 9.99925103e-01 1.07811933e-02 -5.79264746e-03 2.54759214e+00] [-1.07763346e-02 9.99941556e-01 8.69327153e-04 -2.71176743e-01] [ 5.80168129e-03 -8.06838535e-04 9.99982845e-01 -2.45126591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.498241008 meters Centerline goodness : 0.905016 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.27, Z:-0.25 [[ 9.99932350e-01 9.57461835e-03 -6.60471897e-03 2.55060272e+00] [-9.56981752e-03 9.99953921e-01 7.58099032e-04 -2.72431694e-01] [ 6.61167314e-03 -6.94841791e-04 9.99977901e-01 -2.45480479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.528241008000002 meters Centerline goodness : 0.903502 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.27, Z:-0.25 [[ 9.99933885e-01 9.03292848e-03 -7.11561636e-03 2.55222167e+00] [-9.02730212e-03 9.99958915e-01 8.22428735e-04 -2.73309643e-01] [ 7.12275295e-03 -7.58139542e-04 9.99974345e-01 -2.45455274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.558241008000003 meters Centerline goodness : 0.905984 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.28, Z:-0.25 [[ 9.99936733e-01 8.16254803e-03 -7.73972036e-03 2.55434711e+00] [-8.15482746e-03 9.99966220e-01 1.02856052e-03 -2.75709352e-01] [ 7.74785458e-03 -9.65379367e-04 9.99969519e-01 -2.45308796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.588241008 meters Centerline goodness : 0.905984 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.28, Z:-0.25 [[ 9.99936733e-01 8.16254803e-03 -7.73972036e-03 2.55434711e+00] [-8.15482746e-03 9.99966220e-01 1.02856052e-03 -2.75709352e-01] [ 7.74785458e-03 -9.65379367e-04 9.99969519e-01 -2.45308796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.618241008000002 meters Centerline goodness : 0.905325 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.28, Z:-0.24 [[ 9.99938249e-01 7.67306736e-03 -8.03882751e-03 2.55531065e+00] [-7.66250966e-03 9.99969740e-01 1.34331482e-03 -2.77050336e-01] [ 8.04889160e-03 -1.28163428e-03 9.99966786e-01 -2.44753251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.648241008000003 meters Centerline goodness : 0.905325 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.28, Z:-0.24 [[ 9.99938249e-01 7.67306736e-03 -8.03882751e-03 2.55531065e+00] [-7.66250966e-03 9.99969740e-01 1.34331482e-03 -2.77050336e-01] [ 8.04889160e-03 -1.28163428e-03 9.99966786e-01 -2.44753251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.678241008 meters Centerline goodness : 0.904878 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.28, Z:-0.24 [[ 9.99937155e-01 7.42340085e-03 -8.40111319e-03 2.55617433e+00] [-7.41063006e-03 9.99971339e-01 1.55024077e-03 -2.77476259e-01] [ 8.41238047e-03 -1.48788580e-03 9.99963508e-01 -2.44293361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.708241008 meters Centerline goodness : 0.905518 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.28, Z:-0.24 [[ 9.99935879e-01 7.05921724e-03 -8.85468470e-03 2.55749929e+00] [-7.04633398e-03 9.99974071e-01 1.48532066e-03 -2.77845400e-01] [ 8.86494031e-03 -1.42283235e-03 9.99959693e-01 -2.44430106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.738241008000003 meters Centerline goodness : 0.902847 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.28, Z:-0.24 [[ 9.99934648e-01 6.92013235e-03 -9.10009899e-03 2.55836635e+00] [-6.90711803e-03 9.99975079e-01 1.46078086e-03 -2.78668200e-01] [ 9.10998100e-03 -1.39782994e-03 9.99957526e-01 -2.44838775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.768241008 meters Centerline goodness : 0.904239 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.28, Z:-0.25 [[ 9.99933284e-01 6.91349158e-03 -9.25371207e-03 2.55880740e+00] [-6.90144893e-03 9.99975297e-01 1.33268688e-03 -2.78221500e-01] [ 9.26269699e-03 -1.26873395e-03 9.99956295e-01 -2.45082500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.798241008 meters Centerline goodness : 0.900574 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.28, Z:-0.25 [[ 9.99933056e-01 6.86403006e-03 -9.31496041e-03 2.55911935e+00] [-6.85471828e-03 9.99975974e-01 1.03121725e-03 -2.77624429e-01] [ 9.32181492e-03 -9.67296787e-04 9.99956083e-01 -2.45557347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.828241008000003 meters Centerline goodness : 0.901680 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.28, Z:-0.24 [[ 9.99930407e-01 6.86890023e-03 -9.59164197e-03 2.55949724e+00] [-6.85778937e-03 9.99975776e-01 1.19079919e-03 -2.77385860e-01] [ 9.59958910e-03 -1.12493886e-03 9.99953290e-01 -2.44963038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.858241008000004 meters Centerline goodness : 0.902114 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.28, Z:-0.24 [[ 9.99926528e-01 7.34439814e-03 -9.64354804e-03 2.55901120e+00] [-7.32975773e-03 9.99971932e-01 1.55262319e-03 -2.78278613e-01] [ 9.65468044e-03 -1.48182425e-03 9.99952295e-01 -2.44366896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.888241008 meters Centerline goodness : 0.900946 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.28, Z:-0.25 [[ 9.99925343e-01 7.13002742e-03 -9.92321305e-03 2.56008300e+00] [-7.11973687e-03 9.99974080e-01 1.07195935e-03 -2.77904550e-01] [ 9.93059894e-03 -1.00122866e-03 9.99950189e-01 -2.45295756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.918241008000003 meters Centerline goodness : 0.900944 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.28, Z:-0.25 [[ 9.99925583e-01 6.91295836e-03 -1.00518241e-02 2.56078511e+00] [-6.90848341e-03 9.99976021e-01 4.79842479e-04 -2.76718519e-01] [ 1.00549002e-02 -4.10363910e-04 9.99949364e-01 -2.46208409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.948241008000004 meters Centerline goodness : 0.900144 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.28, Z:-0.25 [[ 9.99926120e-01 6.65747958e-03 -1.01701612e-02 2.56144627e+00] [-6.65643474e-03 9.99977836e-01 1.36582075e-04 -2.75836868e-01] [ 1.01708451e-02 -6.88749699e-05 9.99948273e-01 -2.46714754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.978241008 meters Centerline goodness : 0.903550 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.28, Z:-0.25 [[ 9.99926412e-01 6.33932463e-03 -1.03433233e-02 2.56229832e+00] [-6.34169200e-03 9.99979872e-01 -1.96096519e-04 -2.75232071e-01] [ 1.03418720e-02 2.61676259e-04 9.99946487e-01 -2.47295357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.008241008000002 meters Centerline goodness : 0.903384 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.28, Z:-0.25 [[ 9.99924783e-01 5.95759313e-03 -1.07208221e-02 2.56357123e+00] [-5.96170940e-03 9.99982167e-01 -3.52033486e-04 -2.75158009e-01] [ 1.07185336e-02 4.15921433e-04 9.99942468e-01 -2.47583998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.038241008000004 meters Centerline goodness : 0.900886 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.28, Z:-0.25 [[ 9.99924105e-01 5.52846517e-03 -1.10100268e-02 2.56472602e+00] [-5.52870066e-03 9.99984717e-01 9.04791855e-06 -2.76896786e-01] [ 1.10099086e-02 5.18239108e-05 9.99939388e-01 -2.47382300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.068241008 meters Centerline goodness : 0.899888 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.28, Z:-0.25 [[ 9.99922169e-01 5.26596642e-03 -1.13104599e-02 2.56554224e+00] [-5.26492246e-03 9.99986133e-01 1.22073717e-04 -2.77556466e-01] [ 1.13109459e-02 -6.25155214e-05 9.99936027e-01 -2.47153808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.098241008000002 meters Centerline goodness : 0.900106 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.28, Z:-0.25 [[ 9.99919958e-01 4.88847306e-03 -1.16696775e-02 2.56679459e+00] [-4.88836654e-03 9.99988051e-01 3.76522377e-05 -2.77743808e-01] [ 1.16697221e-02 1.93964371e-05 9.99931906e-01 -2.47373111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.128241008000003 meters Centerline goodness : 0.899936 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.28, Z:-0.25 [[ 9.99916353e-01 4.25887125e-03 -1.22126668e-02 2.56918044e+00] [-4.26152899e-03 9.99990901e-01 -1.91606171e-04 -2.78303033e-01] [ 1.22117396e-02 2.43634778e-04 9.99925404e-01 -2.48517144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.158241008 meters Centerline goodness : 0.899230 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.28, Z:-0.25 [[ 9.99912834e-01 4.05854775e-03 -1.25639356e-02 2.57035183e+00] [-4.05776491e-03 9.99991763e-01 8.77997291e-05 -2.79537581e-01] [ 1.25641885e-02 -3.68105788e-05 9.99921067e-01 -2.48528294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.188241008000002 meters Centerline goodness : 0.897443 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.28, Z:-0.25 [[ 9.99910145e-01 4.00972436e-03 -1.27915560e-02 2.57092752e+00] [-4.00503468e-03 9.99991903e-01 3.92219054e-04 -2.80618779e-01] [ 1.27930251e-02 -3.40953186e-04 9.99918108e-01 -2.48249116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.218241008000003 meters Centerline goodness : 0.897392 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.28, Z:-0.25 [[ 9.99906218e-01 4.10338151e-03 -1.30658551e-02 2.57127976e+00] [-4.09164353e-03 9.99991201e-01 9.24975714e-04 -2.81780019e-01] [ 1.30695357e-02 -8.71428147e-04 9.99914210e-01 -2.47426667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.248241008 meters Centerline goodness : 0.900671 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.28, Z:-0.25 [[ 9.99904586e-01 4.30861261e-03 -1.31246122e-02 2.57108804e+00] [-4.29348142e-03 9.99990086e-01 1.18084502e-03 -2.82454163e-01] [ 1.31295699e-02 -1.12438207e-03 9.99913171e-01 -2.47005664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.278241008000002 meters Centerline goodness : 0.898552 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.28, Z:-0.25 [[ 9.99903976e-01 4.74077925e-03 -1.30216942e-02 2.57022441e+00] [-4.72880576e-03 9.99988368e-01 9.50139606e-04 -2.80753778e-01] [ 1.30260471e-02 -8.88471307e-04 9.99914763e-01 -2.46816787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.308241008000003 meters Centerline goodness : 0.899648 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.28, Z:-0.25 [[ 9.99905985e-01 4.79167742e-03 -1.28475953e-02 2.57005612e+00] [-4.78844678e-03 9.99988496e-01 2.82208096e-04 -2.78268157e-01] [ 1.28487997e-02 -2.20661538e-04 9.99917426e-01 -2.47702521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.338241008 meters Centerline goodness : 0.895847 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.28, Z:-0.25 [[ 9.99909429e-01 4.99024454e-03 -1.24992738e-02 2.56949351e+00] [-4.99518049e-03 9.99987458e-01 -3.63711332e-04 -2.75799062e-01] [ 1.24973020e-02 4.26114519e-04 9.99921815e-01 -2.48767619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.368241008000002 meters Centerline goodness : 0.894912 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.27, Z:-0.25 [[ 9.99908878e-01 4.68047459e-03 -1.26620860e-02 2.57043756e+00] [-4.69379158e-03 9.99988462e-01 -1.02220796e-03 -2.73914806e-01] [ 1.26571554e-02 1.08154801e-03 9.99919310e-01 -2.49778244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.398241008000003 meters Centerline goodness : 0.894253 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.28, Z:-0.25 [[ 0.99988018 0.00782458 -0.01335634 2.57273098] [-0.00777724 0.9999633 0.00359283 -0.27533923] [ 0.01338397 -0.00348853 0.99990435 -0.24858847] [ 0. 0. 0. 1. ]] SLAMing on 22.428241008 meters Centerline goodness : 0.893809 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.27, Z:-0.25 [[ 0.99987951 0.00747269 -0.01360599 2.57378447] [-0.00743077 0.9999675 0.00312878 -0.2744604 ] [ 0.01362893 -0.0030273 0.99990254 -0.24928813] [ 0. 0. 0. 1. ]] SLAMing on 22.458241008 meters Centerline goodness : 0.892722 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.27, Z:-0.25 [[ 0.99987758 0.00713679 -0.01392422 2.57494329] [-0.00709899 0.99997099 0.00276278 -0.27434317] [ 0.01394354 -0.0026636 0.99989924 -0.24992006] [ 0. 0. 0. 1. ]] SLAMing on 22.488241008000003 meters Centerline goodness : 0.889726 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.28, Z:-0.25 [[ 0.99984295 0.00982812 -0.01474698 2.57792044] [-0.00971857 0.99992478 0.00748156 -0.27822399] [ 0.0148194 -0.00733706 0.99986327 -0.24862498] [ 0. 0. 0. 1. ]] SLAMing on 22.518241008 meters Centerline goodness : 0.889046 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.28, Z:-0.25 [[ 9.99881359e-01 6.27480959e-03 -1.40675021e-02 2.57677089e+00] [-6.24212542e-03 9.99977719e-01 2.36608686e-03 -2.76748684e-01] [ 1.40820354e-02 -2.27799503e-03 9.99898248e-01 -2.51342262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.548241008 meters Centerline goodness : 0.891257 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.28, Z:-0.25 [[ 9.99878480e-01 5.82248630e-03 -1.44611133e-02 2.57849823e+00] [-5.79232614e-03 9.99980963e-01 2.12661320e-03 -2.77375071e-01] [ 1.44732202e-02 -2.04259129e-03 9.99893171e-01 -2.52289128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.578241008000003 meters Centerline goodness : 0.890831 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.28, Z:-0.25 [[ 9.99873516e-01 5.43156984e-03 -1.49482701e-02 2.58045179e+00] [-5.40177601e-03 9.99983344e-01 2.03278368e-03 -2.78375078e-01] [ 1.49590623e-02 -1.95177935e-03 9.99886202e-01 -2.53235573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.608241008000004 meters Centerline goodness : 0.888924 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.28, Z:-0.25 [[ 9.99864690e-01 4.60680271e-03 -1.57917552e-02 2.58372958e+00] [-4.57758371e-03 9.99987744e-01 1.88591674e-03 -2.80230235e-01] [ 1.58002497e-02 -1.81337348e-03 9.99873524e-01 -2.54469190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.638241008 meters Centerline goodness : 0.890560 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.28, Z:-0.25 [[ 9.99859675e-01 4.24640960e-03 -1.62048585e-02 2.58516592e+00] [-4.21786207e-03 9.99989493e-01 1.79543586e-03 -2.80506943e-01] [ 1.62123124e-02 -1.72683406e-03 9.99867081e-01 -2.54829062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.668241008000003 meters Centerline goodness : 0.889560 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.28, Z:-0.26 [[ 9.99857229e-01 4.15371859e-03 -1.63788716e-02 2.58572220e+00] [-4.12498300e-03 9.99989894e-01 1.78782395e-03 -2.80606234e-01] [ 1.63861322e-02 -1.72000614e-03 9.99864259e-01 -2.55004490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.698241008000004 meters Centerline goodness : 0.888573 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.28, Z:-0.25 [[ 0.99982512 0.00723369 -0.01724559 2.5883392 ] [-0.00711648 0.99995123 0.00684831 -0.28412701] [ 0.01729429 -0.00672438 0.99982783 -0.2532502 ] [ 0. 0. 0. 1. ]] SLAMing on 22.728241008 meters Centerline goodness : 0.887035 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.28, Z:-0.26 [[ 0.99998141 0.00286783 -0.00538089 2.59552358] [-0.00284678 0.99998829 0.00391417 -0.28157136] [ 0.00539205 -0.00389878 0.99997786 -0.26146258] [ 0. 0. 0. 1. ]] SLAMing on 22.758241008000002 meters Centerline goodness : 0.888821 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.28, Z:-0.26 [[ 0.99998115 0.00261791 -0.00555382 2.59623101] [-0.00259786 0.99999009 0.00361413 -0.28127396] [ 0.00556322 -0.00359963 0.99997805 -0.26192245] [ 0. 0. 0. 1. ]] SLAMing on 22.788241008000004 meters Centerline goodness : 0.887448 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.28, Z:-0.26 [[ 9.99980806e-01 2.33247640e-03 -5.74000784e-03 2.59722074e+00] [-2.31356005e-03 9.99991879e-01 3.29996425e-03 -2.80562033e-01] [ 5.74765832e-03 -3.28662106e-03 9.99978081e-01 -2.62647983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.818241008 meters Centerline goodness : 0.883587 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.28, Z:-0.26 [[ 9.99979924e-01 1.80615054e-03 -6.07360939e-03 2.59882736e+00] [-1.79000837e-03 9.99994854e-01 2.66214190e-03 -2.79561850e-01] [ 6.07838637e-03 -2.65121664e-03 9.99978012e-01 -2.63873556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.848241008000002 meters Centerline goodness : 0.884646 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.28, Z:-0.26 [[ 9.99979413e-01 1.90910036e-03 -6.12606219e-03 2.59848725e+00] [-1.88934125e-03 9.99993000e-01 3.22958519e-03 -2.81155508e-01] [ 6.13218491e-03 -3.21794448e-03 9.99976020e-01 -2.62765017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.878241008000003 meters Centerline goodness : 0.885484 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.28, Z:-0.26 [[ 9.99978568e-01 1.68167555e-03 -6.32740983e-03 2.59926854e+00] [-1.66242871e-03 9.99993980e-01 3.04585066e-03 -2.81265707e-01] [ 6.33249387e-03 -3.03526651e-03 9.99975343e-01 -2.63150082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.908241008 meters Centerline goodness : 0.885399 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.28, Z:-0.26 [[ 9.99977321e-01 1.14179024e-03 -6.63723981e-03 2.60090888e+00] [-1.12701064e-03 9.99996878e-01 2.23008183e-03 -2.79756091e-01] [ 6.63976538e-03 -2.22255102e-03 9.99975487e-01 -2.64617689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.938241008000002 meters Centerline goodness : 0.884928 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.28, Z:-0.27 [[ 9.99975812e-01 7.32997718e-04 -6.91657757e-03 2.60230702e+00] [-7.22359381e-04 9.99998553e-01 1.54046538e-03 -2.78086228e-01] [ 6.91769671e-03 -1.53543187e-03 9.99974894e-01 -2.65867619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.968241008000003 meters Centerline goodness : 0.886684 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.28, Z:-0.27 [[ 9.99974175e-01 4.29490805e-04 -7.17383342e-03 2.60351424e+00] [-4.19710001e-04 9.99998981e-01 1.36484985e-03 -2.77882740e-01] [ 7.17441229e-03 -1.36180368e-03 9.99973336e-01 -2.66537413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.998241008 meters Centerline goodness : 0.888967 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.28, Z:-0.27 [[ 9.99969337e-01 -1.42766115e-04 -7.82970788e-03 2.60534077e+00] [ 1.58033571e-04 9.99998088e-01 1.94935531e-03 -2.79959623e-01] [ 7.82941460e-03 -1.95053289e-03 9.99967447e-01 -2.65749888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.028241008000002 meters Centerline goodness : 0.887977 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.28, Z:-0.27 [[ 9.99963952e-01 -8.37102281e-04 -8.44944137e-03 2.60742617e+00] [ 8.54271127e-04 9.99997578e-01 2.02854593e-03 -2.80922531e-01] [ 8.44772280e-03 -2.03569092e-03 9.99962245e-01 -2.65738371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.058241008000003 meters Centerline goodness : 0.886591 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.28, Z:-0.27 [[ 9.99959454e-01 -1.18437752e-03 -8.92684383e-03 2.60882109e+00] [ 1.20524562e-03 9.99996553e-01 2.33266254e-03 -2.81545204e-01] [ 8.92405031e-03 -2.34332700e-03 9.99957434e-01 -2.65353402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.088241008 meters Centerline goodness : 0.882806 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.28, Z:-0.26 [[ 9.99956054e-01 -1.47841897e-03 -9.25762096e-03 2.60997184e+00] [ 1.50494164e-03 9.99994782e-01 2.85864456e-03 -2.82759173e-01] [ 9.25334638e-03 -2.87245111e-03 9.99953061e-01 -2.64820910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.118241008000002 meters Centerline goodness : 0.886125 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.28, Z:-0.26 [[ 9.99952037e-01 -1.81203900e-03 -9.62497841e-03 2.61117060e+00] [ 1.83895254e-03 9.99994422e-01 2.78810441e-03 -2.82702025e-01] [ 9.61987257e-03 -2.80567056e-03 9.99949792e-01 -2.64984936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.148241008000003 meters Centerline goodness : 0.884918 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.28, Z:-0.26 [[ 9.99952850e-01 -1.73857913e-03 -9.55381007e-03 2.61111148e+00] [ 1.76765268e-03 9.99993830e-01 3.03553477e-03 -2.82780978e-01] [ 9.54847361e-03 -3.05227946e-03 9.99949754e-01 -2.64806374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.178241008 meters Centerline goodness : 0.885443 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.28, Z:-0.26 [[ 9.99954890e-01 -1.66981009e-03 -9.35042532e-03 2.61068609e+00] [ 1.69869049e-03 9.99993809e-01 3.08158202e-03 -2.82768972e-01] [ 9.34522177e-03 -3.09732648e-03 9.99951536e-01 -2.64799861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.208241008 meters Centerline goodness : 0.885466 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.28, Z:-0.27 [[ 9.99990743e-01 -3.52272241e-03 2.47067007e-03 2.61657831e+00] [ 3.51198961e-03 9.99984436e-01 4.33505369e-03 -2.83389561e-01] [-2.48590280e-03 -4.32633659e-03 9.99987551e-01 -2.69030867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.238241008000003 meters Centerline goodness : 0.887832 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.28, Z:-0.27 [[ 9.99991419e-01 -3.47218181e-03 2.25950228e-03 2.61657837e+00] [ 3.46142565e-03 9.99982742e-01 4.74703447e-03 -2.83846883e-01] [-2.27594585e-03 -4.73917264e-03 9.99986180e-01 -2.67869298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.268241008000004 meters Centerline goodness : 0.889028 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.28, Z:-0.27 [[ 9.99991508e-01 -3.42197550e-03 2.29644088e-03 2.61644216e+00] [ 3.41167620e-03 9.99984172e-01 4.47392449e-03 -2.83272779e-01] [-2.31171419e-03 -4.46605179e-03 9.99987355e-01 -2.68148328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.298241008 meters Centerline goodness : 0.888240 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.28, Z:-0.27 [[ 9.99983069e-01 -1.51868518e-03 5.61746215e-03 2.64047676e+00] [ 1.50885087e-03 9.99997323e-01 1.75449291e-03 -2.81814531e-01] [-5.62011163e-03 -1.74598729e-03 9.99982683e-01 -2.69848499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.328241008000003 meters Centerline goodness : 0.888012 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.28, Z:-0.27 [[ 9.99988643e-01 1.51380618e-03 4.51909924e-03 2.64359350e+00] [-1.54377518e-03 9.99976793e-01 6.63552548e-03 -2.84822204e-01] [-4.50894947e-03 -6.64242660e-03 9.99967773e-01 -2.68459201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.358241008000004 meters Centerline goodness : 0.889531 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.28, Z:-0.27 [[ 9.99990782e-01 1.23112281e-03 4.11338668e-03 2.64474902e+00] [-1.25777648e-03 9.99978191e-01 6.48344710e-03 -2.84672176e-01] [-4.10531505e-03 -6.48856106e-03 9.99970522e-01 -2.68613685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.388241008 meters Centerline goodness : 0.889461 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.28, Z:-0.27 [[ 9.99992701e-01 8.69977957e-04 3.72024943e-03 2.64615116e+00] [-8.93066171e-04 9.99980326e-01 6.20894185e-03 -2.84329047e-01] [-3.71477459e-03 -6.21221896e-03 9.99973804e-01 -2.69221026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.418241008000003 meters Centerline goodness : 0.889105 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.29, Z:-0.27 [[ 9.99992640e-01 3.06549587e-03 2.30724040e-03 2.65113470e+00] [-3.09035419e-03 9.99936375e-01 1.08487268e-02 -2.86687020e-01] [-2.27383688e-03 -1.08557771e-02 9.99938489e-01 -2.68304147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.448241008000004 meters Centerline goodness : 0.888892 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.28, Z:-0.27 [[ 9.99997538e-01 1.68690239e-03 1.44197102e-03 2.65549375e+00] [-1.70010123e-03 9.99956219e-01 9.20165265e-03 -2.84985281e-01] [-1.42638560e-03 -9.20408148e-03 9.99956624e-01 -2.72039631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.478241008 meters Centerline goodness : 0.891323 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.29, Z:-0.27 [[ 9.99999210e-01 1.05124602e-03 6.88830224e-04 2.65803651e+00] [-1.05730208e-03 9.99960268e-01 8.85122945e-03 -2.85006781e-01] [-6.79498036e-04 -8.85195076e-03 9.99960590e-01 -2.72917161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.508241008000002 meters Centerline goodness : 0.889672 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.28, Z:-0.27 [[ 9.99999825e-01 5.69947432e-04 1.57264224e-04 2.65996614e+00] [-5.71232044e-04 9.99965449e-01 8.29307558e-03 -2.84396172e-01] [-1.52532174e-04 -8.29316397e-03 9.99965599e-01 -2.74040599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.538241008000004 meters Centerline goodness : 0.889219 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.28, Z:-0.28 [[ 9.99999970e-01 1.94438332e-04 -1.47875235e-04 2.66134911e+00] [-1.93324612e-04 9.99971897e-01 7.49456895e-03 -2.82473438e-01] [ 1.49328311e-04 -7.49454014e-03 9.99971904e-01 -2.75451640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.568241008 meters Centerline goodness : 0.889219 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.28, Z:-0.28 [[ 9.99999970e-01 1.96235509e-04 -1.46168712e-04 2.66134449e+00] [-1.95134655e-04 9.99971903e-01 7.49370841e-03 -2.82470170e-01] [ 1.47635137e-04 -7.49367966e-03 9.99971911e-01 -2.75451834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.598241008000002 meters Centerline goodness : 0.889676 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.29, Z:-0.27 [[ 9.99993366e-01 3.33021492e-03 -1.47540062e-03 2.66451442e+00] [-3.31078117e-03 9.99910222e-01 1.29840882e-02 -2.85819213e-01] [ 1.51850797e-03 -1.29791173e-02 9.99914615e-01 -2.72651218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.628241008000003 meters Centerline goodness : 0.888970 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.28, Z:-0.28 [[ 0.99998339 0.00496012 0.00293661 2.67991022] [-0.00497087 0.99998093 0.00366506 -0.28279702] [-0.00291837 -0.0036796 0.99998897 -0.27821668] [ 0. 0. 0. 1. ]] SLAMing on 23.658241008 meters Centerline goodness : 0.891075 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.28, Z:-0.28 [[ 9.99955883e-01 9.06752895e-03 2.45178161e-03 2.68024516e+00] [-9.08866289e-03 9.99920408e-01 8.75064661e-03 -2.84593440e-01] [-2.37223973e-03 -8.77254397e-03 9.99958707e-01 -2.75872562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.688241008000002 meters Centerline goodness : 0.890685 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.28, Z:-0.28 [[ 9.99956427e-01 9.03290086e-03 2.35618159e-03 2.68050581e+00] [-9.05251157e-03 9.99923325e-01 8.44962879e-03 -2.82921391e-01] [-2.27967627e-03 -8.47058997e-03 9.99961525e-01 -2.75935235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.718241008000003 meters Centerline goodness : 0.891692 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.28, Z:-0.28 [[ 9.99959151e-01 8.77560603e-03 2.16437298e-03 2.68124138e+00] [-8.79224916e-03 9.99930896e-01 7.80383388e-03 -2.81536317e-01] [-2.09574004e-03 -7.82254481e-03 9.99967207e-01 -2.76734111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.748241008 meters Centerline goodness : 0.891098 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.28, Z:-0.28 [[ 9.99960327e-01 8.68701299e-03 1.97005522e-03 2.68163011e+00] [-8.70193153e-03 9.99932530e-01 7.69492126e-03 -2.81175109e-01] [-1.90307642e-03 -7.71175926e-03 9.99968453e-01 -2.76685499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.778241008000002 meters Centerline goodness : 0.892634 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.28, Z:-0.28 [[ 9.99962532e-01 8.47522791e-03 1.76215045e-03 2.68228090e+00] [-8.48829079e-03 9.99935527e-01 7.54264341e-03 -2.81389085e-01] [-1.69811122e-03 -7.55731844e-03 9.99970001e-01 -2.76900270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.808241008000003 meters Centerline goodness : 0.892837 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.28, Z:-0.28 [[ 9.99968104e-01 7.89881616e-03 1.18313831e-03 2.68403156e+00] [-7.90793807e-03 9.99937410e-01 7.91459837e-03 -2.82911708e-01] [-1.12054830e-03 -7.92370211e-03 9.99967979e-01 -2.76305795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.838241008 meters Centerline goodness : 0.893414 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.29, Z:-0.28 [[ 9.99972255e-01 7.42768655e-03 5.63732086e-04 2.68560087e+00] [-7.43215269e-03 9.99937237e-01 8.38363133e-03 -2.85262205e-01] [-5.01425719e-04 -8.38758847e-03 9.99964698e-01 -2.75515386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.868241008000002 meters Centerline goodness : 0.895453 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.29, Z:-0.27 [[ 9.99983129e-01 5.79691267e-03 -3.71515699e-04 2.69573918e+00] [-5.78961460e-03 9.99833442e-01 1.73080607e-02 -2.90759567e-01] [ 4.71787136e-04 -1.73056177e-02 9.99850135e-01 -2.66034200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.898241008000003 meters Centerline goodness : 0.894873 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.30, Z:-0.26 [[ 9.99991496e-01 3.96313922e-03 -1.14124812e-03 2.69886537e+00] [-3.94166583e-03 9.99825861e-01 1.82403595e-02 -2.95121299e-01] [ 1.21333847e-03 -1.82357059e-02 9.99832979e-01 -2.63985184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.928241008 meters Centerline goodness : 0.894234 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.29, Z:-0.27 [[ 9.99994278e-01 2.89195059e-03 -1.75505761e-03 2.70172713e+00] [-2.86157653e-03 9.99850217e-01 1.70691070e-02 -2.93561015e-01] [ 1.80415774e-03 -1.70639871e-02 9.99852772e-01 -2.66027557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.958241008 meters Centerline goodness : 0.892217 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.29, Z:-0.27 [[ 9.99995621e-01 1.98768619e-03 -2.19273170e-03 2.70400309e+00] [-1.95241935e-03 9.99870564e-01 1.59700865e-02 -2.91657685e-01] [ 2.22419141e-03 -1.59657354e-02 9.99870066e-01 -2.67859238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.988241008000003 meters Centerline goodness : 0.889552 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.29, Z:-0.26 [[ 9.99988723e-01 1.65853909e-03 -4.45015059e-03 2.71453004e+00] [-1.55642122e-03 9.99737620e-01 2.28532155e-02 -2.92885291e-01] [ 4.48688591e-03 -2.28460315e-02 9.99728927e-01 -2.61941765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.018241008000004 meters Centerline goodness : 0.891017 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.29, Z:-0.26 [[ 0.99998061 0.00315158 -0.00537077 2.71894008] [-0.0030054 0.99963057 0.02701285 -0.2948518 ] [ 0.00545392 -0.02699618 0.99962066 -0.26085291] [ 0. 0. 0. 1. ]] SLAMing on 24.048241008 meters Centerline goodness : 0.888667 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.29, Z:-0.27 [[ 9.99994939e-01 2.64277276e-03 -1.77114366e-03 2.73761085e+00] [-2.61385668e-03 9.99866416e-01 1.61343630e-02 -2.90667025e-01] [ 1.81354651e-03 -1.61296518e-02 9.99868264e-01 -2.68111163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.078241008000003 meters Centerline goodness : 0.894000 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.29, Z:-0.26 [[ 9.99988723e-01 2.57630360e-03 -3.98962736e-03 2.74678105e+00] [-2.48846156e-03 9.99757765e-01 2.18682178e-02 -2.93012901e-01] [ 4.04500010e-03 -2.18580432e-02 9.99752901e-01 -2.64503961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.108241008000004 meters Centerline goodness : 0.890274 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.29, Z:-0.27 [[ 9.99988328e-01 1.66932692e-03 -4.53396459e-03 2.74919756e+00] [-1.57141921e-03 9.99767341e-01 2.15126669e-02 -2.92733122e-01] [ 4.56882139e-03 -2.15052911e-02 9.99758295e-01 -2.65119010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.138241008 meters Centerline goodness : 0.889758 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.30, Z:-0.26 [[ 9.99986878e-01 -4.93457634e-03 -1.37615225e-03 2.72088920e+00] [ 4.98358901e-03 9.99256357e-01 3.82347538e-02 -2.95448844e-01] [ 1.18645658e-03 -3.82411103e-02 9.99267837e-01 -2.57895947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.168241008000003 meters Centerline goodness : 0.890248 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.29, Z:-0.26 [[ 9.99948244e-01 -1.00713998e-02 -1.44123705e-03 2.72280704e+00] [ 1.01111084e-02 9.99472011e-01 3.08782127e-02 -2.89530011e-01] [ 1.12948927e-03 -3.08911870e-02 9.99522115e-01 -2.63033949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.198241008000004 meters Centerline goodness : 0.890569 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.29, Z:-0.26 [[ 9.99896570e-01 -1.43646589e-02 -7.10750781e-04 2.67846418e+00] [ 1.43816498e-02 9.99079016e-01 4.04263162e-02 -2.89343160e-01] [ 1.29385949e-04 -4.04323567e-02 9.99182270e-01 -2.57966279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.228241008 meters Centerline goodness : 0.888612 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.29, Z:-0.26 [[ 9.99892996e-01 -1.45258748e-02 -1.73049841e-03 2.68140817e+00] [ 1.45822239e-02 9.99136283e-01 3.89107521e-02 -2.88879696e-01] [ 1.16379103e-03 -3.89318231e-02 9.99241191e-01 -2.59348254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.258241008000002 meters Centerline goodness : 0.887080 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.29, Z:-0.26 [[ 9.99886420e-01 -1.47962051e-02 -2.86685820e-03 2.64992147e+00] [ 1.48944949e-02 9.99166949e-01 3.79942250e-02 -2.86375370e-01] [ 2.30229962e-03 -3.80326100e-02 9.99273846e-01 -2.60117094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.288241008000004 meters Centerline goodness : 0.886528 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.28, Z:-0.26 [[ 9.99886618e-01 -1.48277267e-02 -2.62492453e-03 2.64925432e+00] [ 1.49137494e-02 9.99221440e-01 3.65252553e-02 -2.81459160e-01] [ 2.08129436e-03 -3.65602614e-02 9.99329283e-01 -2.61514426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.318241008 meters Centerline goodness : 0.883322 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.28, Z:-0.26 [[ 9.99886140e-01 -1.48575715e-02 -2.63793665e-03 2.64918798e+00] [ 1.49422731e-02 9.99251573e-01 3.56794447e-02 -2.78522175e-01] [ 2.10585244e-03 -3.57147990e-02 9.99359804e-01 -2.62151055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.348241008000002 meters Centerline goodness : 0.883563 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.27, Z:-0.27 [[ 9.99911674e-01 -1.31321914e-02 2.04672396e-03 2.66314525e+00] [ 1.30805093e-02 9.99638370e-01 2.34952996e-02 -2.72557530e-01] [-2.35452858e-03 -2.34664521e-02 9.99721852e-01 -2.71464968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.378241008000003 meters Centerline goodness : 0.881804 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.27, Z:-0.27 [[ 9.99958325e-01 -8.98348672e-03 1.62650355e-03 2.66295995e+00] [ 8.93494141e-03 9.99575496e-01 2.77307469e-02 -2.71503102e-01] [-1.87493188e-03 -2.77150585e-02 9.99614106e-01 -2.69596038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.408241008 meters Centerline goodness : 0.879652 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.27, Z:-0.27 [[ 9.99960301e-01 -8.77944654e-03 1.52262349e-03 2.66278437e+00] [ 8.73496337e-03 9.99594450e-01 2.71041652e-02 -2.68937894e-01] [-1.75996556e-03 -2.70897891e-02 9.99631455e-01 -2.69931527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.438241008000002 meters Centerline goodness : 0.877292 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.26, Z:-0.28 [[ 0.99995965 -0.00678988 0.0058811 2.6765087 ] [ 0.00670254 0.99986881 0.01474607 -0.26306277] [-0.00598046 -0.01470606 0.99987398 -0.27930778] [ 0. 0. 0. 1. ]] SLAMing on 24.468241008000003 meters Centerline goodness : 0.875429 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.26, Z:-0.28 [[ 0.99996011 -0.00652551 0.00609822 2.67583397] [ 0.00643953 0.99988106 0.014014 -0.26093426] [-0.00618894 -0.01397417 0.9998832 -0.2801119 ] [ 0. 0. 0. 1. ]] SLAMing on 24.498241008 meters Centerline goodness : 0.876747 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.26, Z:-0.28 [[ 9.99981246e-01 -2.74998852e-03 5.47218041e-03 2.67703954e+00] [ 2.65008378e-03 9.99831198e-01 1.81810959e-02 -2.61005802e-01] [-5.52125450e-03 -1.81662532e-02 9.99819735e-01 -2.79362010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.528241008000002 meters Centerline goodness : 0.873332 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.26, Z:-0.28 [[ 0.99998105 -0.00302519 0.005361 2.67782933] [ 0.00293182 0.99984534 0.01734058 -0.25929026] [-0.00541263 -0.01732453 0.99983527 -0.28064914] [ 0. 0. 0. 1. ]] SLAMing on 24.558241008000003 meters Centerline goodness : 0.873031 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.26, Z:-0.28 [[ 0.99998093 -0.00307068 0.00535771 2.67800328] [ 0.0029788 0.99984978 0.01707445 -0.25849186] [-0.00540933 -0.01705816 0.99983987 -0.28102488] [ 0. 0. 0. 1. ]] SLAMing on 24.588241008 meters Centerline goodness : 0.875179 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.26, Z:-0.28 [[ 0.99998024 -0.00298981 0.00552986 2.67762724] [ 0.00289628 0.99985393 0.01684437 -0.25783162] [-0.00557941 -0.01682802 0.99984283 -0.28136149] [ 0. 0. 0. 1. ]] SLAMing on 24.618241008000002 meters Centerline goodness : 0.866225 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.26, Z:-0.28 [[ 0.99997982 -0.00321495 0.00547936 2.67794327] [ 0.00312447 0.99985994 0.01644207 -0.25666771] [-0.00553145 -0.01642462 0.99984981 -0.28164097] [ 0. 0. 0. 1. ]] SLAMing on 24.648241008000003 meters Centerline goodness : 0.865690 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.26, Z:-0.28 [[ 0.99998056 -0.00356413 0.00511589 2.67906669] [ 0.00348031 0.99986107 0.01630116 -0.25711909] [-0.00517328 -0.01628304 0.99985404 -0.28179666] [ 0. 0. 0. 1. ]] SLAMing on 24.678241008000004 meters Centerline goodness : 0.868718 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.26, Z:-0.28 [[ 0.99998181 -0.00373934 0.00473345 2.67995612] [ 0.00366091 0.99985763 0.01647162 -0.25822959] [-0.00479437 -0.01645399 0.99985313 -0.2814581 ] [ 0. 0. 0. 1. ]] SLAMing on 24.708241008 meters Centerline goodness : 0.867410 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.26, Z:-0.28 [[ 0.99998187 -0.00425471 0.00426143 2.68161891] [ 0.00418535 0.99986074 0.01615529 -0.25834429] [-0.00432957 -0.01613716 0.99986041 -0.28200671] [ 0. 0. 0. 1. ]] SLAMing on 24.738241008000003 meters Centerline goodness : 0.862413 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.26, Z:-0.28 [[ 0.99998058 -0.00501761 0.00369589 2.68404341] [ 0.0049598 0.99986775 0.01548835 -0.25789047] [-0.00377312 -0.01546972 0.99987322 -0.28337564] [ 0. 0. 0. 1. ]] SLAMing on 24.768241008000004 meters Centerline goodness : 0.860236 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.26, Z:-0.29 [[ 0.99997504 -0.00651456 0.00273486 2.68809752] [ 0.00647353 0.99987021 0.01475302 -0.25882307] [-0.00283062 -0.01473494 0.99988743 -0.28504265] [ 0. 0. 0. 1. ]] SLAMing on 24.798241008 meters Centerline goodness : 0.861908 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.26, Z:-0.28 [[ 9.99972567e-01 -7.10193268e-03 2.10446707e-03 2.69012633e+00] [ 7.06977427e-03 9.99863793e-01 1.49135294e-02 -2.60798084e-01] [-2.21009531e-03 -1.48982421e-02 9.99886572e-01 -2.84990706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.828241008000003 meters Centerline goodness : 0.859900 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.26, Z:-0.28 [[ 9.99983187e-01 -5.79329036e-03 2.53086634e-04 2.71527685e+00] [ 5.78953232e-03 9.99899581e-01 1.29347873e-02 -2.63522369e-01] [-3.27996198e-04 -1.29331046e-02 9.99916310e-01 -2.83082792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.858241008000004 meters Centerline goodness : 0.862348 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.26, Z:-0.28 [[ 9.99976464e-01 -6.83469464e-03 -5.99202620e-04 2.71832452e+00] [ 6.84201813e-03 9.99889248e-01 1.32165824e-02 -2.64918262e-01] [ 5.08804953e-04 -1.32203711e-02 9.99912478e-01 -2.82840324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.888241008 meters Centerline goodness : 0.860829 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.27, Z:-0.28 [[ 9.99933717e-01 -1.13801980e-02 -1.74737813e-03 2.73478751e+00] [ 1.14153893e-02 9.99700251e-01 2.16586291e-02 -2.68981242e-01] [ 1.50037487e-03 -2.16771405e-02 9.99763897e-01 -2.75504334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.918241008000003 meters Centerline goodness : 0.859970 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.27, Z:-0.27 [[ 0.99990485 -0.0128347 -0.005056 2.7142708 ] [ 0.01297557 0.99949832 0.02889191 -0.27289756] [ 0.00468265 -0.02895477 0.99956975 -0.270317 ] [ 0. 0. 0. 1. ]] SLAMing on 24.948241008000004 meters Centerline goodness : 0.860591 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.27, Z:-0.27 [[ 0.99989296 -0.01334385 -0.00600014 2.71693364] [ 0.01349705 0.99956397 0.02626196 -0.27397805] [ 0.00564709 -0.02634014 0.99963709 -0.27139645] [ 0. 0. 0. 1. ]] SLAMing on 24.978241008 meters Centerline goodness : 0.862820 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.28, Z:-0.27 [[ 0.99989616 -0.01195511 -0.00804593 2.68578135] [ 0.01219701 0.99945366 0.03071829 -0.27679711] [ 0.0076743 -0.03081324 0.9994957 -0.26656786] [ 0. 0. 0. 1. ]] SLAMing on 25.008241008000002 meters Centerline goodness : 0.864573 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.27, Z:-0.27 [[ 0.99991149 -0.0110792 -0.00736673 2.68389698] [ 0.01129566 0.9994854 0.03002234 -0.27465206] [ 0.00703032 -0.03010289 0.99952208 -0.26791087] [ 0. 0. 0. 1. ]] SLAMing on 25.038241008000004 meters Centerline goodness : 0.863632 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.27, Z:-0.27 [[ 0.99991325 -0.01108238 -0.00711852 2.68401122] [ 0.01128096 0.99953041 0.02849024 -0.27166978] [ 0.00679944 -0.02856807 0.99956872 -0.2705374 ] [ 0. 0. 0. 1. ]] SLAMing on 25.068241008 meters Centerline goodness : 0.862306 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.27, Z:-0.27 [[ 0.99995406 -0.00648026 -0.00706217 2.68355396] [ 0.00670217 0.9994697 0.03186519 -0.27004948] [ 0.00685193 -0.03191106 0.99946723 -0.27155246] [ 0. 0. 0. 1. ]] SLAMing on 25.098241008000002 meters Centerline goodness : 0.863137 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.26, Z:-0.28 [[ 0.99998933 -0.00339504 -0.00313322 2.69778197] [ 0.00345933 0.99977878 0.02074682 -0.26446524] [ 0.00306209 -0.02075743 0.99977985 -0.28076552] [ 0. 0. 0. 1. ]] SLAMing on 25.128241008000003 meters Centerline goodness : 0.859464 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.27, Z:-0.28 [[ 9.99993331e-01 3.91816904e-04 -3.63114846e-03 2.69930156e+00] [-3.00113986e-04 9.99681861e-01 2.52207444e-02 -2.65512824e-01] [ 3.63987517e-03 -2.52194865e-02 9.99675312e-01 -2.79925617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.158241008 meters Centerline goodness : 0.860320 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.26, Z:-0.29 [[ 9.99996808e-01 2.28262894e-03 1.08358121e-03 2.70921017e+00] [-2.29362369e-03 9.99944773e-01 1.02562534e-02 -2.60206144e-01] [-1.06011015e-03 -1.02587060e-02 9.99946816e-01 -2.90362468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.188241008000002 meters Centerline goodness : 0.862702 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.26, Z:-0.29 [[ 9.99995304e-01 2.84014684e-03 1.15097679e-03 2.70845864e+00] [-2.85178833e-03 9.99943480e-01 1.02422798e-02 -2.59760013e-01] [-1.12182216e-03 -1.02455140e-02 9.99946884e-01 -2.90164224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.218241008000003 meters Centerline goodness : 0.863532 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.26, Z:-0.29 [[ 9.99970310e-01 7.59958753e-03 1.27492922e-03 2.70749717e+00] [-7.61786431e-03 9.99858445e-01 1.50019063e-02 -2.60966623e-01] [-1.16074045e-03 -1.50111731e-02 9.99886652e-01 -2.89177034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.248241008 meters Centerline goodness : 0.859247 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.26, Z:-0.29 [[ 9.99970512e-01 7.57631376e-03 1.25465679e-03 2.70813788e+00] [-7.59289795e-03 9.99876115e-01 1.37877373e-02 -2.58098244e-01] [-1.15004113e-03 -1.37968573e-02 9.99904157e-01 -2.91350608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.278241008000002 meters Centerline goodness : 0.862945 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.26, Z:-0.29 [[ 9.99970874e-01 7.53854339e-03 1.19241693e-03 2.70897850e+00] [-7.55319296e-03 9.99889557e-01 1.27993414e-02 -2.56146294e-01] [-1.09579684e-03 -1.28079752e-02 9.99917374e-01 -2.93419473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.308241008000003 meters Centerline goodness : 0.860716 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.26, Z:-0.30 [[ 9.99991516e-01 3.87278649e-03 1.40319283e-03 2.70859449e+00] [-3.88379901e-03 9.99960996e-01 7.93236090e-03 -2.55532014e-01] [-1.37241776e-03 -7.93774333e-03 9.99967554e-01 -2.95290778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.338241008 meters Centerline goodness : 0.861955 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.26, Z:-0.29 [[ 9.99994724e-01 3.20437208e-03 5.33195766e-04 2.71074951e+00] [-3.20894527e-03 9.99956048e-01 8.80934362e-03 -2.58508559e-01] [-5.04943917e-04 -8.81100813e-03 9.99961055e-01 -2.93633154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.368241008000002 meters Centerline goodness : 0.862022 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.26, Z:-0.29 [[ 9.99996229e-01 2.74052190e-03 -1.80008805e-04 2.71252633e+00] [-2.73861734e-03 9.99947805e-01 9.84311819e-03 -2.61757914e-01] [ 2.06974690e-04 -9.84258809e-03 9.99951539e-01 -2.91968419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.398241008000003 meters Centerline goodness : 0.863120 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.26, Z:-0.29 [[ 9.99997756e-01 1.79792714e-03 -1.12024330e-03 2.71570826e+00] [-1.78666017e-03 9.99948615e-01 9.97871685e-03 -2.63522197e-01] [ 1.13812674e-03 -9.97669297e-03 9.99949584e-01 -2.92071321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.428241008000004 meters Centerline goodness : 0.858995 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.26, Z:-0.29 [[ 9.99997416e-01 -3.52917674e-04 -2.24590590e-03 2.72168641e+00] [ 3.73482255e-04 9.99957952e-01 9.16265218e-03 -2.64583186e-01] [ 2.24257780e-03 -9.16346730e-03 9.99955500e-01 -2.94919765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.458241008 meters Centerline goodness : 0.858995 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.26, Z:-0.29 [[ 9.99997416e-01 -3.52917674e-04 -2.24590590e-03 2.72168641e+00] [ 3.73482255e-04 9.99957952e-01 9.16265218e-03 -2.64583186e-01] [ 2.24257780e-03 -9.16346730e-03 9.99955500e-01 -2.94919765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.488241008000003 meters Centerline goodness : 0.856897 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.27, Z:-0.30 [[ 9.99995074e-01 -1.15912911e-03 -2.91688363e-03 2.72446471e+00] [ 1.18596383e-03 9.99956838e-01 9.21493867e-03 -2.65432401e-01] [ 2.90607643e-03 -9.21835259e-03 9.99953287e-01 -2.95512562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.518241008000004 meters Centerline goodness : 0.859390 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.27, Z:-0.30 [[ 9.99991758e-01 -1.92965980e-03 -3.57215677e-03 2.72699434e+00] [ 1.96224160e-03 9.99956303e-01 9.14012123e-03 -2.66456051e-01] [ 3.55436336e-03 -9.14705534e-03 9.99951848e-01 -2.96064044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.548241008 meters Centerline goodness : 0.856740 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.27, Z:-0.29 [[ 9.99989239e-01 -2.19189170e-03 -4.08860822e-03 2.72791893e+00] [ 2.23802830e-03 9.99933491e-01 1.13139456e-02 -2.70796589e-01] [ 4.06353735e-03 -1.13229743e-02 9.99927636e-01 -2.92505752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.578241008000003 meters Centerline goodness : 0.860070 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.27, Z:-0.29 [[ 9.99998784e-01 -1.50248080e-03 4.17218848e-04 2.74596046e+00] [ 1.50053763e-03 9.99988205e-01 4.61932894e-03 -2.69483094e-01] [-4.24154380e-04 -4.61869727e-03 9.99989244e-01 -2.94361713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.608241008000004 meters Centerline goodness : 0.861987 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.28, Z:-0.29 [[ 9.99999505e-01 8.61079857e-04 -4.99228295e-04 2.74937822e+00] [-8.54365598e-04 9.99911226e-01 1.32970038e-02 -2.75764684e-01] [ 5.10633759e-04 -1.32965707e-02 9.99911466e-01 -2.85614494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.638241008 meters Centerline goodness : 0.864389 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.28, Z:-0.28 [[ 9.99999333e-01 6.70145858e-04 -9.40639354e-04 2.75006852e+00] [-6.56704524e-04 9.99898705e-01 1.42178721e-02 -2.77380068e-01] [ 9.50072120e-04 -1.42172449e-02 9.99898479e-01 -2.83549941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.668241008000003 meters Centerline goodness : 0.862291 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.28, Z:-0.28 [[ 9.99994981e-01 1.75445216e-03 -2.63799426e-03 2.75690874e+00] [-1.69891087e-03 9.99779893e-01 2.09112100e-02 -2.80558704e-01] [ 2.67410134e-03 -2.09066233e-02 9.99777856e-01 -2.78261468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.698241008000004 meters Centerline goodness : 0.867079 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.28, Z:-0.28 [[ 9.99994611e-01 1.00795554e-03 -3.12447314e-03 2.75901977e+00] [-9.43265394e-04 9.99786587e-01 2.06371185e-02 -2.79634780e-01] [ 3.14460763e-03 -2.06340601e-02 9.99782150e-01 -2.78768772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.728241008 meters Centerline goodness : 0.858498 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.28, Z:-0.28 [[ 9.99991916e-01 -8.23831393e-04 -3.93557830e-03 2.76379185e+00] [ 8.95798802e-04 9.99831778e-01 1.83197355e-02 -2.75997329e-01] [ 3.91982388e-03 -1.83231129e-02 9.99824434e-01 -2.83210942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.758241008000002 meters Centerline goodness : 0.859401 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.28, Z:-0.28 [[ 9.99986048e-01 -2.12099299e-03 -4.83782711e-03 2.76738189e+00] [ 2.20472303e-03 9.99846731e-01 1.73682036e-02 -2.75346146e-01] [ 4.80024778e-03 -1.73786273e-02 9.99837457e-01 -2.84854189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.788241008000004 meters Centerline goodness : 0.859999 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.28, Z:-0.28 [[ 0.99997693 -0.00323707 -0.00597092 2.77082337] [ 0.003342 0.99983869 0.01764721 -0.27592619] [ 0.00591284 -0.01766676 0.99982645 -0.28404679] [ 0. 0. 0. 1. ]] SLAMing on 25.818241008 meters Centerline goodness : 0.863792 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.28, Z:-0.28 [[ 0.999929 -0.00649269 -0.00999221 2.7569222 ] [ 0.00677006 0.99958557 0.02797965 -0.27865369] [ 0.00980641 -0.02804531 0.99955855 -0.27551145] [ 0. 0. 0. 1. ]] SLAMing on 25.848241008000002 meters Centerline goodness : 0.865904 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.28, Z:-0.28 [[ 0.99987911 -0.01234071 -0.00945938 2.7334964 ] [ 0.01259939 0.9995343 0.02779284 -0.27571165] [ 0.00911199 -0.02790867 0.99956895 -0.27521593] [ 0. 0. 0. 1. ]] SLAMing on 25.878241008000003 meters Centerline goodness : 0.867413 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.27, Z:-0.28 [[ 0.99986016 -0.01410819 -0.00897933 2.70443033] [ 0.01434396 0.99953903 0.02675773 -0.27306204] [ 0.00859769 -0.02688279 0.99960162 -0.27774728] [ 0. 0. 0. 1. ]] SLAMing on 25.908241008 meters Centerline goodness : 0.866629 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.27, Z:-0.28 [[ 0.9998092 -0.01768864 -0.00828695 2.70329705] [ 0.01785357 0.99963512 0.02027029 -0.26737346] [ 0.00792537 -0.02041437 0.99976019 -0.28180329] [ 0. 0. 0. 1. ]] SLAMing on 25.938241008000002 meters Centerline goodness : 0.867414 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.27, Z:-0.28 [[ 0.99982793 -0.01608524 -0.00923991 2.70585916] [ 0.01627296 0.99965507 0.02061367 -0.26578268] [ 0.00890515 -0.02076048 0.99974482 -0.2832453 ] [ 0. 0. 0. 1. ]] SLAMing on 25.968241008000003 meters Centerline goodness : 0.863060 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.26, Z:-0.28 [[ 0.99982369 -0.01626687 -0.00938015 2.70622038] [ 0.01645126 0.99966605 0.01992829 -0.26388089] [ 0.00905285 -0.02007909 0.99975741 -0.283727 ] [ 0. 0. 0. 1. ]] SLAMing on 25.998241008 meters Centerline goodness : 0.868174 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.26, Z:-0.28 [[ 0.99982788 -0.01555445 -0.01011314 2.70844868] [ 0.01573442 0.99971478 0.01796652 -0.26253038] [ 0.00983079 -0.01812256 0.99978744 -0.28460747] [ 0. 0. 0. 1. ]] SLAMing on 26.028241008000002 meters Centerline goodness : 0.868213 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.26, Z:-0.29 [[ 9.99948556e-01 -9.95332013e-03 -1.95349965e-03 2.71586491e+00] [ 9.98763697e-03 9.99780401e-01 1.84227188e-02 -2.64385980e-01] [ 1.76970345e-03 -1.84412819e-02 9.99828379e-01 -2.88181614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.058241008000003 meters Centerline goodness : 0.869563 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.26, Z:-0.29 [[ 9.99952401e-01 -9.57645927e-03 -1.86754867e-03 2.71477014e+00] [ 9.60825219e-03 9.99794848e-01 1.78309676e-02 -2.61800717e-01] [ 1.69640800e-03 -1.78480627e-02 9.99839272e-01 -2.87971944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.088241008 meters Centerline goodness : 0.873538 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.26, Z:-0.29 [[ 9.99952019e-01 -9.57422001e-03 -2.07242958e-03 2.71497474e+00] [ 9.60977806e-03 9.99793820e-01 1.78876850e-02 -2.60808163e-01] [ 1.90074165e-03 -1.79067423e-02 9.99837855e-01 -2.87271736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.118241008000002 meters Centerline goodness : 0.875968 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.26, Z:-0.29 [[ 9.99924936e-01 -1.21101821e-02 -1.86171109e-03 2.71336226e+00] [ 1.21343187e-02 9.99834540e-01 1.35517766e-02 -2.57113055e-01] [ 1.69728857e-03 -1.35733500e-02 9.99906437e-01 -2.88165935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.148241008000003 meters Centerline goodness : 0.874538 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.26, Z:-0.29 [[ 9.99918859e-01 -1.25568673e-02 -2.14497297e-03 2.71413155e+00] [ 1.25842532e-02 9.99832750e-01 1.32705557e-02 -2.55528639e-01] [ 1.97797762e-03 -1.32964718e-02 9.99909642e-01 -2.87884070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.178241008000004 meters Centerline goodness : 0.874476 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.26, Z:-0.29 [[ 9.99909490e-01 -1.31864842e-02 -2.66981126e-03 2.71577786e+00] [ 1.32202409e-02 9.99827475e-01 1.30477867e-02 -2.55159552e-01] [ 2.49729622e-03 -1.30819013e-02 9.99911310e-01 -2.87908821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.208241008 meters Centerline goodness : 0.875773 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.25, Z:-0.29 [[ 0.99989873 -0.01382485 -0.0033782 2.71765462] [ 0.01386743 0.99982032 0.01292408 -0.25480231] [ 0.00319892 -0.01296962 0.99991077 -0.28748189] [ 0. 0. 0. 1. ]] SLAMing on 26.238241008000003 meters Centerline goodness : 0.876164 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.26, Z:-0.28 [[ 0.99992224 -0.01126568 -0.00534689 2.74668888] [ 0.01134865 0.99981156 0.01574944 -0.25818517] [ 0.00516845 -0.01580889 0.99986167 -0.28289783] [ 0. 0. 0. 1. ]] SLAMing on 26.268241008000004 meters Centerline goodness : 0.876821 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.26, Z:-0.28 [[ 0.99992186 -0.01004916 -0.00743504 2.77541463] [ 0.01016851 0.99981718 0.01619281 -0.25960006] [ 0.00727096 -0.01626715 0.99984124 -0.27813405] [ 0. 0. 0. 1. ]] SLAMing on 26.298241008 meters Centerline goodness : 0.872304 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.26, Z:-0.28 [[ 0.99993253 -0.00771467 -0.00868411 2.77931267] [ 0.00789984 0.99973776 0.02149433 -0.26253629] [ 0.00851601 -0.02156148 0.99973125 -0.27530559] [ 0. 0. 0. 1. ]] SLAMing on 26.328241008000003 meters Centerline goodness : 0.874840 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.26, Z:-0.28 [[ 0.99992599 -0.00469955 -0.01122161 2.78825841] [ 0.00477236 0.99996768 0.00647028 -0.25826395] [ 0.01119084 -0.00652335 0.9999161 -0.28098425] [ 0. 0. 0. 1. ]] SLAMing on 26.358241008000004 meters Centerline goodness : 0.871179 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.26, Z:-0.28 [[ 9.99917730e-01 -2.56369931e-03 -1.25682079e-02 2.79313467e+00] [ 2.70730984e-03 9.99931092e-01 1.14228263e-02 -2.59466447e-01] [ 1.25380572e-02 -1.14559125e-02 9.99855769e-01 -2.78790743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.388241008 meters Centerline goodness : 0.869400 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.26, Z:-0.28 [[ 9.99906455e-01 4.19927196e-04 -1.36713514e-02 2.79640041e+00] [-2.09926761e-04 9.99882030e-01 1.53584330e-02 -2.58968847e-01] [ 1.36761880e-02 -1.53541263e-02 9.99788584e-01 -2.78340436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.418241008000003 meters Centerline goodness : 0.868031 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.25, Z:-0.29 [[ 0.99995213 0.00308113 -0.00928645 2.81257907] [-0.00301649 0.99997119 0.00696614 -0.2546232 ] [ 0.00930764 -0.00693779 0.99993262 -0.2850882 ] [ 0. 0. 0. 1. ]] SLAMing on 26.448241008000004 meters Centerline goodness : 0.864378 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.25, Z:-0.29 [[ 0.99994894 0.00295346 -0.00966397 2.81349079] [-0.00289505 0.99997749 0.00605301 -0.25138128] [ 0.00968163 -0.00602472 0.99993498 -0.28592871] [ 0. 0. 0. 1. ]] SLAMing on 26.478241008 meters Centerline goodness : 0.865570 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.25, Z:-0.29 [[ 0.99994973 0.0031928 -0.00950451 2.81295505] [-0.00314229 0.99998088 0.00532504 -0.24923116] [ 0.00952133 -0.00529491 0.99994065 -0.28665875] [ 0. 0. 0. 1. ]] SLAMing on 26.508241008000002 meters Centerline goodness : 0.863963 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.25, Z:-0.29 [[ 9.99961240e-01 6.51661044e-03 -5.92049826e-03 2.83145527e+00] [-6.51476838e-03 9.99978724e-01 3.30365655e-04 -2.47767746e-01] [ 5.92252516e-03 -2.91782175e-04 9.99982419e-01 -2.88858166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.538241008000004 meters Centerline goodness : 0.865551 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.25, Z:-0.29 [[ 0.99992466 0.01019822 -0.00683138 2.83339931] [-0.0101606 0.99993315 0.00551967 -0.25000197] [ 0.00688721 -0.00544984 0.99996143 -0.28666225] [ 0. 0. 0. 1. ]] SLAMing on 26.568241008 meters Centerline goodness : 0.863823 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.25, Z:-0.29 [[ 0.99992453 0.01012739 -0.00695432 2.83394647] [-0.0100959 0.99993868 0.00454964 -0.24721138] [ 0.00699997 -0.00447909 0.99996547 -0.28792473] [ 0. 0. 0. 1. ]] SLAMing on 26.598241008000002 meters Centerline goodness : 0.865165 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.24, Z:-0.29 [[ 0.99992502 0.00996627 -0.00711483 2.8348801 ] [-0.00994098 0.99994417 0.00358222 -0.2443145 ] [ 0.00715013 -0.00351122 0.99996827 -0.28937888] [ 0. 0. 0. 1. ]] SLAMing on 26.628241008000003 meters Centerline goodness : 0.863550 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.24, Z:-0.29 [[ 0.99992049 0.0105322 -0.00693441 2.83416749] [-0.0105114 0.99994017 0.00302848 -0.2424315 ] [ 0.00696589 -0.00295535 0.99997137 -0.29024058] [ 0. 0. 0. 1. ]] SLAMing on 26.658241008 meters Centerline goodness : 0.863054 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.24, Z:-0.29 [[ 0.9999172 0.01065996 -0.00720876 2.83448551] [-0.01063737 0.99993841 0.00316516 -0.24275292] [ 0.00724206 -0.00308822 0.99996901 -0.28980301] [ 0. 0. 0. 1. ]] SLAMing on 26.688241008000002 meters Centerline goodness : 0.866198 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.24, Z:-0.29 [[ 0.99991482 0.01075635 -0.00739299 2.83470542] [-0.01073332 0.99993744 0.00314762 -0.24302605] [ 0.00742639 -0.003068 0.99996772 -0.28967761] [ 0. 0. 0. 1. ]] SLAMing on 26.718241008000003 meters Centerline goodness : 0.865565 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.24, Z:-0.29 [[ 0.99991257 0.01079983 -0.00763033 2.8352213 ] [-0.01077566 0.99993681 0.00320179 -0.24323062] [ 0.00766443 -0.00311928 0.99996576 -0.2895625 ] [ 0. 0. 0. 1. ]] SLAMing on 26.748241008 meters Centerline goodness : 0.863803 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.24, Z:-0.29 [[ 9.99911835e-01 1.06500930e-02 -7.93081850e-03 2.83628314e+00] [-1.06277863e-02 9.99939463e-01 2.84950864e-03 -2.42635572e-01] [ 7.96068593e-03 -2.76497037e-03 9.99964491e-01 -2.90215031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.778241008000002 meters Centerline goodness : 0.860683 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.24, Z:-0.29 [[ 9.99909306e-01 1.06535799e-02 -8.23903014e-03 2.83792433e+00] [-1.06411167e-02 9.99942173e-01 1.55506613e-03 -2.40797680e-01] [ 8.25512072e-03 -1.46725261e-03 9.99964849e-01 -2.93288147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.808241008000003 meters Centerline goodness : 0.863413 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.24, Z:-0.29 [[ 9.99909665e-01 1.04150312e-02 -8.49635539e-03 2.83932692e+00] [-1.04084318e-02 9.99945494e-01 8.20579085e-04 -2.39703070e-01] [ 8.50443865e-03 -7.32071222e-04 9.99963569e-01 -2.94922262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.838241008000004 meters Centerline goodness : 0.862913 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.24, Z:-0.29 [[ 0.99986091 0.01370733 -0.00950068 2.84259327] [-0.01365599 0.99989191 0.00544809 -0.24317372] [ 0.00957433 -0.00531759 0.99994003 -0.2945756 ] [ 0. 0. 0. 1. ]] SLAMing on 26.868241008000002 meters Centerline goodness : 0.861512 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.24, Z:-0.30 [[ 0.99986346 0.01337307 -0.00970675 2.84382452] [-0.01332637 0.99989939 0.00486028 -0.24291327] [ 0.00977077 -0.00473026 0.99994108 -0.29590722] [ 0. 0. 0. 1. ]] SLAMing on 26.898241008000003 meters Centerline goodness : 0.863148 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.24, Z:-0.30 [[ 0.99986435 0.01311436 -0.00996486 2.84510417] [-0.01307008 0.99990448 0.00449588 -0.24265735] [ 0.01002287 -0.00436503 0.99994024 -0.29693143] [ 0. 0. 0. 1. ]] SLAMing on 26.928241008000004 meters Centerline goodness : 0.858548 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.24, Z:-0.30 [[ 0.99986626 0.01275853 -0.01023147 2.84652499] [-0.01271525 0.99990998 0.00428419 -0.24264205] [ 0.01028521 -0.00415352 0.99993848 -0.29770724] [ 0. 0. 0. 1. ]] SLAMing on 26.958241008 meters Centerline goodness : 0.863564 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.24, Z:-0.30 [[ 9.99909025e-01 9.00935610e-03 -1.00385770e-02 2.84598462e+00] [-9.00798523e-03 9.99959411e-01 1.81767621e-04 -2.43178804e-01] [ 1.00398072e-02 -9.13237315e-05 9.99949596e-01 -2.98292217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.988241008000003 meters Centerline goodness : 0.860436 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.25, Z:-0.30 [[ 9.99906655e-01 8.22212361e-03 -1.09123186e-02 2.84865381e+00] [-8.21435611e-03 9.99965975e-01 7.56441179e-04 -2.45718272e-01] [ 1.09181669e-02 -6.66732898e-04 9.99940173e-01 -2.97617493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.018241008000004 meters Centerline goodness : 0.860184 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.25, Z:-0.30 [[ 9.99907523e-01 7.22018760e-03 -1.15245342e-02 2.85144200e+00] [-7.21111555e-03 9.99973656e-01 8.28554989e-04 -2.47896699e-01] [ 1.15302129e-02 -7.45373619e-04 9.99933247e-01 -2.98163465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.048241008 meters Centerline goodness : 0.859303 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.25, Z:-0.30 [[ 9.99902423e-01 5.83119369e-03 -1.26941896e-02 2.85573699e+00] [-5.81022046e-03 9.99981695e-01 1.68844503e-03 -2.50815844e-01] [ 1.27038029e-02 -1.61452423e-03 9.99918000e-01 -2.97236636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.078241008000003 meters Centerline goodness : 0.862664 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.25, Z:-0.30 [[ 9.99899644e-01 4.32837846e-03 -1.34894834e-02 2.85942714e+00] [-4.29939961e-03 9.99988389e-01 2.17651455e-03 -2.54333464e-01] [ 1.34987476e-02 -2.11829945e-03 9.99906644e-01 -2.97192865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.108241008000004 meters Centerline goodness : 0.863032 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.26, Z:-0.29 [[ 0.99989929 -0.00347442 -0.01375997 2.88069394] [ 0.00361661 0.99994018 0.01032227 -0.26136856] [ 0.01372328 -0.010371 0.99985205 -0.28977233] [ 0. 0. 0. 1. ]] SLAMing on 27.138241008 meters Centerline goodness : 0.862726 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.26, Z:-0.29 [[ 0.99987998 -0.00467957 -0.01476902 2.88433604] [ 0.00484573 0.99992515 0.01123478 -0.26445981] [ 0.01471534 -0.011305 0.99982781 -0.28871675] [ 0. 0. 0. 1. ]] SLAMing on 27.168241008000003 meters Centerline goodness : 0.866696 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.27, Z:-0.28 [[ 0.99986369 -0.01205868 -0.01127758 2.85645287] [ 0.01239374 0.9994692 0.03012837 -0.26964887] [ 0.01090829 -0.03026404 0.99948241 -0.27984011] [ 0. 0. 0. 1. ]] SLAMing on 27.198241008000004 meters Centerline goodness : 0.864439 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.27, Z:-0.28 [[ 0.9998552 -0.0131622 -0.01078553 2.85541522] [ 0.01348543 0.99944487 0.03046471 -0.27125731] [ 0.01037856 -0.03060575 0.99947765 -0.27927588] [ 0. 0. 0. 1. ]] SLAMing on 27.228241008 meters Centerline goodness : 0.867528 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.27, Z:-0.28 [[ 0.99984098 -0.01301531 -0.01219094 2.85900949] [ 0.013346 0.99953411 0.02744899 -0.27175732] [ 0.011828 -0.02760733 0.99954887 -0.28034674] [ 0. 0. 0. 1. ]] SLAMing on 27.258241008000002 meters Centerline goodness : 0.874108 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.27, Z:-0.28 [[ 0.99996547 -0.00641773 -0.00527989 2.86743554] [ 0.00654104 0.99969819 0.02368009 -0.27330207] [ 0.00512632 -0.0237138 0.99970564 -0.2832315 ] [ 0. 0. 0. 1. ]] SLAMing on 27.288241008000004 meters Centerline goodness : 0.875445 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.27, Z:-0.28 [[ 0.99997282 -0.00448588 -0.00585082 2.86784478] [ 0.0046243 0.99970455 0.02386263 -0.27215779] [ 0.00574204 -0.02388904 0.99969813 -0.28178432] [ 0. 0. 0. 1. ]] SLAMing on 27.318241008 meters Centerline goodness : 0.876327 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.27, Z:-0.28 [[ 0.99997103 -0.0031654 -0.00692233 2.87125938] [ 0.0033216 0.99973747 0.0226708 -0.27092511] [ 0.00684875 -0.02269314 0.99971902 -0.28363276] [ 0. 0. 0. 1. ]] SLAMing on 27.348241008000002 meters Centerline goodness : 0.876634 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.27, Z:-0.29 [[ 9.99975828e-01 -2.06102017e-03 -6.64048769e-03 2.86989111e+00] [ 2.20249569e-03 9.99769239e-01 2.13685933e-02 -2.66354699e-01] [ 6.59491423e-03 -2.13827025e-02 9.99749612e-01 -2.85875677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.378241008000003 meters Centerline goodness : 0.876634 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.27, Z:-0.29 [[ 9.99975908e-01 -2.05650076e-03 -6.62973042e-03 2.86987141e+00] [ 2.19769689e-03 9.99769413e-01 2.13609563e-02 -2.66337599e-01] [ 6.58427287e-03 -2.13750118e-02 9.99749847e-01 -2.85885737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.408241008 meters Centerline goodness : 0.876708 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.26, Z:-0.29 [[ 9.99974638e-01 -2.15781143e-03 -6.78731626e-03 2.87050810e+00] [ 2.29641926e-03 9.99787614e-01 2.04805362e-02 -2.64303473e-01] [ 6.74168160e-03 -2.04956033e-02 9.99767213e-01 -2.87089635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.438241008000002 meters Centerline goodness : 0.876531 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.26, Z:-0.29 [[ 9.99996813e-01 -9.35102108e-05 -2.52312412e-03 2.88499760e+00] [ 1.18632098e-04 9.99950407e-01 9.95834746e-03 -2.60227232e-01] [ 2.52206779e-03 -9.95861504e-03 9.99947231e-01 -2.94189360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.468241008000003 meters Centerline goodness : 0.882172 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.26, Z:-0.29 [[ 9.99996639e-01 3.43316479e-04 -2.56993841e-03 2.88431455e+00] [-3.18702870e-04 9.99954138e-01 9.57179957e-03 -2.58662713e-01] [ 2.57310670e-03 -9.57094835e-03 9.99950887e-01 -2.94115584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.498241008 meters Centerline goodness : 0.883548 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.26, Z:-0.30 [[ 9.99995669e-01 2.93371635e-03 -2.33471976e-04 2.90562467e+00] [-2.93235154e-03 9.99979763e-01 5.64577987e-03 -2.58119012e-01] [ 2.50030368e-04 -5.64507080e-03 9.99984035e-01 -2.95441287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.528241008000002 meters Centerline goodness : 0.882938 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.26, Z:-0.29 [[ 9.99995176e-01 3.06940054e-03 -4.76604038e-04 2.90568054e+00] [-3.06638205e-03 9.99976017e-01 6.20990945e-03 -2.58421995e-01] [ 4.95653307e-04 -6.20841804e-03 9.99980605e-01 -2.94136185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.558241008000003 meters Centerline goodness : 0.887173 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.26, Z:-0.29 [[ 9.99982093e-01 5.68932520e-03 -1.85610165e-03 2.90968298e+00] [-5.66620046e-03 9.99909098e-01 1.22348030e-02 -2.61765343e-01] [ 1.92554070e-03 -1.22240669e-02 9.99923429e-01 -2.90315874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.588241008000004 meters Centerline goodness : 0.886972 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.26, Z:-0.29 [[ 9.99984015e-01 5.10617204e-03 -2.42847339e-03 2.91159079e+00] [-5.07725376e-03 9.99917856e-01 1.17687116e-02 -2.59865765e-01] [ 2.48836697e-03 -1.17561935e-02 9.99927797e-01 -2.90693363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.618241008000002 meters Centerline goodness : 0.887933 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.26, Z:-0.29 [[ 0.99998641 0.00429541 -0.00295359 2.91367456] [-0.00426448 0.99993683 0.01039981 -0.25687853] [ 0.00299807 -0.01038707 0.99994156 -0.29248266] [ 0. 0. 0. 1. ]] SLAMing on 27.648241008000003 meters Centerline goodness : 0.890054 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.26, Z:-0.29 [[ 0.99998639 0.00386868 -0.00350151 2.91531805] [-0.00383343 0.99994247 0.01001823 -0.25582641] [ 0.00354007 -0.01000467 0.99994369 -0.29277338] [ 0. 0. 0. 1. ]] SLAMing on 27.678241008000004 meters Centerline goodness : 0.887679 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.26, Z:-0.29 [[ 0.99998597 0.00353329 -0.00394586 2.91649016] [-0.00349463 0.99994624 0.00976209 -0.25538503] [ 0.00398014 -0.00974816 0.99994456 -0.29280885] [ 0. 0. 0. 1. ]] SLAMing on 27.708241008 meters Centerline goodness : 0.888220 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.26, Z:-0.29 [[ 0.99996182 0.00553951 -0.00675838 2.94374406] [-0.00548224 0.99994917 0.00846213 -0.25642617] [ 0.00680491 -0.00842476 0.99994136 -0.29076565] [ 0. 0. 0. 1. ]] SLAMing on 27.738241008000003 meters Centerline goodness : 0.887066 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.26, Z:-0.28 [[ 0.99993976 0.00665868 -0.00872628 2.95144605] [-0.00652194 0.99985694 0.01560636 -0.25920613] [ 0.00882895 -0.01554851 0.99984013 -0.2846895 ] [ 0. 0. 0. 1. ]] SLAMing on 27.768241008000004 meters Centerline goodness : 0.885509 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.26, Z:-0.29 [[ 0.99993681 0.00592834 -0.00955172 2.95401857] [-0.00578294 0.99986808 0.0151785 -0.25870836] [ 0.00964044 -0.01512231 0.99983918 -0.28518241] [ 0. 0. 0. 1. ]] SLAMing on 27.798241008 meters Centerline goodness : 0.886339 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.26, Z:-0.29 [[ 9.99952713e-01 1.84210232e-03 -9.54868725e-03 2.95450431e+00] [-1.75072183e-03 9.99952679e-01 9.56949404e-03 -2.55221095e-01] [ 9.56586339e-03 -9.55232444e-03 9.99908620e-01 -2.87767955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.828241008000003 meters Centerline goodness : 0.888388 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.26, Z:-0.29 [[ 9.99943235e-01 1.06475719e-03 -1.06016021e-02 2.95715778e+00] [-9.55118245e-04 9.99946070e-01 1.03414310e-02 -2.56848995e-01] [ 1.06120414e-02 -1.03307182e-02 9.99890324e-01 -2.86049508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.858241008000004 meters Centerline goodness : 0.887142 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.26, Z:-0.28 [[ 9.99922233e-01 1.92329256e-03 -1.23218938e-02 2.96427582e+00] [-1.71000480e-03 9.99848936e-01 1.72968698e-02 -2.60211010e-01] [ 1.23532994e-02 -1.72744542e-02 9.99774469e-01 -2.80008845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.888241008 meters Centerline goodness : 0.885931 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.26, Z:-0.28 [[ 9.99926336e-01 -1.95419175e-03 -1.19793356e-02 2.96369042e+00] [ 2.09743895e-03 9.99926313e-01 1.19569814e-02 -2.57369467e-01] [ 1.19550867e-02 -1.19812265e-02 9.99856753e-01 -2.82153571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.918241008000003 meters Centerline goodness : 0.885620 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.26, Z:-0.28 [[ 9.99920380e-01 -2.19103097e-03 -1.24271322e-02 2.96456250e+00] [ 2.34885501e-03 9.99916598e-01 1.26996125e-02 -2.58359174e-01] [ 1.23982705e-02 -1.27277909e-02 9.99842131e-01 -2.80581583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.948241008000004 meters Centerline goodness : 0.888308 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.26, Z:-0.29 [[ 9.99967301e-01 -2.20627356e-03 -7.77999365e-03 2.98170333e+00] [ 2.22963949e-03 9.99993026e-01 2.99594208e-03 -2.55036048e-01] [ 7.77332953e-03 -3.01319070e-03 9.99965247e-01 -2.86177813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.978241008 meters Centerline goodness : 0.888727 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.26, Z:-0.28 [[ 9.99959099e-01 -2.37103741e-03 -8.72802566e-03 2.98913790e+00] [ 2.46598251e-03 9.99937732e-01 1.08835477e-02 -2.58130989e-01] [ 8.70167688e-03 -1.09046257e-02 9.99902680e-01 -2.77812384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.008241008000002 meters Centerline goodness : 0.886259 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.26, Z:-0.28 [[ 9.99955638e-01 -2.60174796e-03 -9.05275113e-03 2.98984304e+00] [ 2.70347289e-03 9.99933142e-01 1.12428741e-02 -2.58134892e-01] [ 9.02289476e-03 -1.12668492e-02 9.99895817e-01 -2.76821466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.038241008000004 meters Centerline goodness : 0.885403 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.26, Z:-0.28 [[ 0.99994874 -0.00330631 -0.00956954 2.9915607 ] [ 0.00340965 0.99993583 0.01080285 -0.256247 ] [ 0.0095332 -0.01083492 0.99989586 -0.27694611] [ 0. 0. 0. 1. ]] SLAMing on 28.068241008 meters Centerline goodness : 0.886737 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.26, Z:-0.27 [[ 9.99945886e-01 -9.66845925e-04 -1.03581459e-02 2.99491149e+00] [ 1.13162628e-03 9.99872720e-01 1.59142550e-02 -2.57748524e-01] [ 1.03414409e-02 -1.59251153e-02 9.99819706e-01 -2.74215434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.098241008000002 meters Centerline goodness : 0.887217 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.26, Z:-0.27 [[ 9.99940683e-01 -1.42531039e-03 -1.07981254e-02 2.99603746e+00] [ 1.59645913e-03 9.99872982e-01 1.58578529e-02 -2.56806072e-01] [ 1.07741515e-02 -1.58741510e-02 9.99815948e-01 -2.73510001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.128241008000003 meters Centerline goodness : 0.887464 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.26, Z:-0.27 [[ 9.99934614e-01 -1.83113630e-03 -1.12878503e-02 2.99725739e+00] [ 2.01130097e-03 9.99870444e-01 1.59703031e-02 -2.56484709e-01] [ 1.12571441e-02 -1.59919622e-02 9.99808749e-01 -2.72773899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.158241008 meters Centerline goodness : 0.885035 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.26, Z:-0.27 [[ 9.99929251e-01 -2.16881092e-03 -1.16957164e-02 2.99843302e+00] [ 2.35675511e-03 9.99867935e-01 1.60797220e-02 -2.56257378e-01] [ 1.16592979e-02 -1.61061483e-02 9.99802307e-01 -2.72333987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.188241008000002 meters Centerline goodness : 0.884628 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.26, Z:-0.27 [[ 9.99923550e-01 -2.58960918e-03 -1.20907881e-02 2.99961296e+00] [ 2.78216662e-03 9.99869137e-01 1.59363996e-02 -2.55832825e-01] [ 1.20479368e-02 -1.59688198e-02 9.99799902e-01 -2.72295354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.218241008000003 meters Centerline goodness : 0.885564 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.26, Z:-0.26 [[ 0.99985128 -0.00565943 -0.016291 2.98562012] [ 0.00609076 0.99962893 0.02655 -0.25786799] [ 0.0161347 -0.02664527 0.99951473 -0.2629858 ] [ 0. 0. 0. 1. ]] SLAMing on 28.248241008000004 meters Centerline goodness : 0.885974 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.26, Z:-0.26 [[ 0.99983014 -0.00947607 -0.01580826 2.9846421 ] [ 0.00981115 0.99972594 0.02125518 -0.2551395 ] [ 0.01560251 -0.02140667 0.9996491 -0.26488929] [ 0. 0. 0. 1. ]] SLAMing on 28.278241008000002 meters Centerline goodness : 0.885809 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.25, Z:-0.27 [[ 0.99978243 -0.01366548 -0.01575905 2.98462563] [ 0.01392467 0.99976763 0.01645591 -0.2532 ] [ 0.01553051 -0.01667177 0.99974039 -0.26556814] [ 0. 0. 0. 1. ]] SLAMing on 28.308241008000003 meters Centerline goodness : 0.885588 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.26, Z:-0.26 [[ 0.99974228 -0.01704599 -0.01499353 2.94076409] [ 0.01748316 0.9994111 0.02952603 -0.2556978 ] [ 0.0144814 -0.02978055 0.99945155 -0.25802789] [ 0. 0. 0. 1. ]] SLAMing on 28.338241008000004 meters Centerline goodness : 0.880976 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.26, Z:-0.26 [[ 0.99973973 -0.01774207 -0.01434209 2.94100474] [ 0.01816714 0.99938263 0.03007195 -0.25619604] [ 0.0137997 -0.03032468 0.99944484 -0.25995493] [ 0. 0. 0. 1. ]] SLAMing on 28.368241008000002 meters Centerline goodness : 0.880430 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.26, Z:-0.26 [[ 0.99989135 -0.0141905 -0.00398995 2.94589579] [ 0.01431167 0.99937943 0.03218596 -0.26004811] [ 0.00353074 -0.03223957 0.99947393 -0.26454479] [ 0. 0. 0. 1. ]] SLAMing on 28.398241008000003 meters Centerline goodness : 0.880240 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.25, Z:-0.28 [[ 9.99851821e-01 -1.72095275e-02 -4.11297064e-04 2.96103318e+00] [ 1.72134963e-02 9.99761892e-01 1.34109663e-02 -2.53073828e-01] [ 1.80402738e-04 -1.34160589e-02 9.99909984e-01 -2.77034528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.428241008000004 meters Centerline goodness : 0.876480 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.25, Z:-0.28 [[ 9.99846655e-01 -1.74800526e-02 -1.05531521e-03 2.96340294e+00] [ 1.74904788e-02 9.99788196e-01 1.08465256e-02 -2.53104181e-01] [ 8.65493856e-04 -1.08633203e-02 9.99940618e-01 -2.78528851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.458241008 meters Centerline goodness : 0.876733 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.25, Z:-0.28 [[ 9.99851734e-01 -1.71944761e-02 -9.27804032e-04 2.96303726e+00] [ 1.72038716e-02 9.99788095e-01 1.13044917e-02 -2.52793346e-01] [ 7.33232614e-04 -1.13187774e-02 9.99935672e-01 -2.78023616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.488241008000003 meters Centerline goodness : 0.877357 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.25, Z:-0.28 [[ 9.99857145e-01 -1.68416966e-02 -1.43082715e-03 2.96535650e+00] [ 1.68557030e-02 9.99803665e-01 1.04171448e-02 -2.51593204e-01] [ 1.25510383e-03 -1.04397742e-02 9.99944716e-01 -2.79913316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.518241008000004 meters Centerline goodness : 0.874956 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.25, Z:-0.28 [[ 9.99912436e-01 -1.32264539e-02 -4.25645666e-04 2.96274258e+00] [ 1.32307268e-02 9.99835057e-01 1.24421519e-02 -2.50298089e-01] [ 2.61009910e-04 -1.24466940e-02 9.99922503e-01 -2.77717366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.548241008 meters Centerline goodness : 0.876356 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.25, Z:-0.28 [[ 9.99942142e-01 -1.06646603e-02 -1.40604971e-03 2.96496393e+00] [ 1.06794546e-02 9.99882781e-01 1.09715131e-02 -2.49109437e-01] [ 1.28887743e-03 -1.09858942e-02 9.99938823e-01 -2.77514051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.578241008000003 meters Centerline goodness : 0.877712 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.25, Z:-0.28 [[ 9.99960143e-01 -8.54432052e-03 -2.58959850e-03 2.96829135e+00] [ 8.56841907e-03 9.99918710e-01 9.44224388e-03 -2.47438794e-01] [ 2.50871043e-03 -9.46405631e-03 9.99952068e-01 -2.78321692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.608241008000004 meters Centerline goodness : 0.873973 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.24, Z:-0.28 [[ 0.99997879 -0.00579204 0.0029786 2.93767107] [ 0.00575133 0.99989233 0.01350001 -0.24218203] [-0.00305647 -0.0134826 0.99990443 -0.27794326] [ 0. 0. 0. 1. ]] SLAMing on 28.638241008 meters Centerline goodness : 0.875216 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.24, Z:-0.28 [[ 0.99998177 -0.00495142 0.00345688 2.93569678] [ 0.00490602 0.99990321 0.01301957 -0.23937616] [-0.00352102 -0.01300237 0.99990927 -0.27809732] [ 0. 0. 0. 1. ]] SLAMing on 28.668241008000003 meters Centerline goodness : 0.874704 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.24, Z:-0.28 [[ 9.99994839e-01 -9.60276693e-04 3.06592043e-03 2.93603361e+00] [ 9.04707790e-04 9.99836226e-01 1.80749323e-02 -2.40135503e-01] [-3.08277525e-03 -1.80720653e-02 9.99831934e-01 -2.75756006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.698241008000004 meters Centerline goodness : 0.875153 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.24, Z:-0.28 [[ 9.99993889e-01 -5.25791181e-04 3.45630859e-03 2.93511760e+00] [ 4.66512479e-04 9.99853173e-01 1.71293594e-02 -2.37286894e-01] [-3.46480758e-03 -1.71276423e-02 9.99847308e-01 -2.77142076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.728241008 meters Centerline goodness : 0.872374 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.23, Z:-0.28 [[ 9.99993527e-01 5.89655257e-04 3.54948973e-03 2.93383250e+00] [-6.47230240e-04 9.99867890e-01 1.62414028e-02 -2.33320915e-01] [-3.53944398e-03 -1.62435950e-02 9.99861799e-01 -2.78131810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.758241008000002 meters Centerline goodness : 0.871551 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.23, Z:-0.28 [[ 9.99993610e-01 8.93123353e-04 3.46161708e-03 2.93369757e+00] [-9.48112448e-04 9.99872876e-01 1.59164263e-02 -2.32045820e-01] [-3.44696169e-03 -1.59196066e-02 9.99867333e-01 -2.78318784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.788241008000004 meters Centerline goodness : 0.871732 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.23, Z:-0.28 [[ 9.99993750e-01 1.06040719e-03 3.37286007e-03 2.93354657e+00] [-1.11338967e-03 9.99875411e-01 1.57455790e-02 -2.31369390e-01] [-3.35574312e-03 -1.57492358e-02 9.99870342e-01 -2.78127937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.818241008 meters Centerline goodness : 0.873780 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.23, Z:-0.28 [[ 9.99993947e-01 1.15304445e-03 3.28281579e-03 2.93353484e+00] [-1.20415395e-03 9.99877437e-01 1.56096271e-02 -2.31024926e-01] [-3.26441485e-03 -1.56134857e-02 9.99872773e-01 -2.77967789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.848241008000002 meters Centerline goodness : 0.871364 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.23, Z:-0.28 [[ 0.99997603 0.00338633 0.00603931 2.95673089] [-0.00346913 0.99989941 0.01375277 -0.23060503] [-0.00599213 -0.01377339 0.99988719 -0.27816852] [ 0. 0. 0. 1. ]] SLAMing on 28.878241008000003 meters Centerline goodness : 0.874458 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.23, Z:-0.28 [[ 0.99997877 0.00308353 0.00574008 2.95783776] [-0.00316271 0.99989928 0.01383539 -0.23064679] [-0.00569684 -0.01385325 0.99988781 -0.27805612] [ 0. 0. 0. 1. ]] SLAMing on 28.908241008 meters Centerline goodness : 0.876342 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.23, Z:-0.28 [[ 9.99982626e-01 2.57248270e-03 5.30383277e-03 2.95941081e+00] [-2.64544582e-03 9.99901333e-01 1.37958673e-02 -2.31288544e-01] [-5.26781983e-03 -1.38096586e-02 9.99890766e-01 -2.78276104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.938241008000002 meters Centerline goodness : 0.875606 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.23, Z:-0.28 [[ 9.99986842e-01 2.02519237e-03 4.71322661e-03 2.96134743e+00] [-2.09060232e-03 9.99901001e-01 1.39146584e-02 -2.32509882e-01] [-4.68458014e-03 -1.39243288e-02 9.99892078e-01 -2.78327164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.968241008000003 meters Centerline goodness : 0.876369 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.24, Z:-0.27 [[ 9.99989679e-01 3.95691907e-03 2.23276689e-03 2.98920942e+00] [-3.99372122e-03 9.99852129e-01 1.67263532e-02 -2.36869480e-01] [-2.16625190e-03 -1.67350976e-02 9.99857612e-01 -2.72915069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.998241008000004 meters Centerline goodness : 0.878892 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.24, Z:-0.27 [[ 9.99998622e-01 1.47246133e-03 7.66973787e-04 2.99508037e+00] [-1.48674614e-03 9.99818952e-01 1.89698041e-02 -2.41662514e-01] [-7.38902625e-04 -1.89709183e-02 9.99819763e-01 -2.69320942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.028241008000002 meters Centerline goodness : 0.879183 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.25, Z:-0.26 [[ 9.99999906e-01 3.04814090e-04 3.08266801e-04 3.00384473e+00] [-3.13378693e-04 9.99602940e-01 2.81756018e-02 -2.47579303e-01] [-2.99556080e-04 -2.81756958e-02 9.99602941e-01 -2.60176464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.058241008000003 meters Centerline goodness : 0.881701 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.25, Z:-0.26 [[ 9.99992597e-01 -3.82613134e-03 4.07930623e-04 3.00435817e+00] [ 3.81539908e-03 9.99712310e-01 2.36799383e-02 -2.47613501e-01] [-4.98415819e-04 -2.36782066e-02 9.99719508e-01 -2.61514435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.088241008000004 meters Centerline goodness : 0.878912 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.25, Z:-0.26 [[ 9.99962101e-01 -8.70488237e-03 1.49872184e-04 3.00735832e+00] [ 8.70056122e-03 9.99787485e-01 1.86891467e-02 -2.48757848e-01] [-3.12527158e-04 -1.86871344e-02 9.99825331e-01 -2.64993886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.118241008000002 meters Centerline goodness : 0.879464 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.25, Z:-0.27 [[ 9.99916765e-01 -1.28854239e-02 6.54172572e-04 3.00808442e+00] [ 1.28763121e-02 9.99840012e-01 1.24157741e-02 -2.45538043e-01] [-8.14050425e-04 -1.24063173e-02 9.99922707e-01 -2.69989175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.148241008000003 meters Centerline goodness : 0.877313 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.25, Z:-0.27 [[ 9.99909010e-01 -1.34876479e-02 2.32690217e-04 3.01029777e+00] [ 1.34840029e-02 9.99840634e-01 1.16999146e-02 -2.45154330e-01] [-3.90457463e-04 -1.16957125e-02 9.99931527e-01 -2.71933165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.178241008000004 meters Centerline goodness : 0.879844 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.25, Z:-0.27 [[ 9.99926277e-01 -1.21424444e-02 2.50636698e-05 3.01112312e+00] [ 1.21411677e-02 9.99847116e-01 1.25832154e-02 -2.45778016e-01] [-1.77850831e-04 -1.25819834e-02 9.99920828e-01 -2.72174622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.208241008 meters Centerline goodness : 0.881065 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.25, Z:-0.27 [[ 9.99949312e-01 -9.80333827e-03 -2.29530423e-03 3.01620389e+00] [ 9.82700094e-03 9.99896212e-01 1.05354345e-02 -2.46733435e-01] [ 2.19178358e-03 -1.05574564e-02 9.99941866e-01 -2.73119896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.238241008000003 meters Centerline goodness : 0.878955 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.25, Z:-0.27 [[ 9.99956964e-01 -9.06009500e-03 -1.99625484e-03 3.01429724e+00] [ 9.08272469e-03 9.99891063e-01 1.16346772e-02 -2.47666659e-01] [ 1.89062609e-03 -1.16523079e-02 9.99930322e-01 -2.70802513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.268241008000004 meters Centerline goodness : 0.878955 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.25, Z:-0.27 [[ 9.99957059e-01 -9.05545969e-03 -1.96967375e-03 3.01424870e+00] [ 9.07770164e-03 9.99891597e-01 1.15926727e-02 -2.47563470e-01] [ 1.86448325e-03 -1.16100550e-02 9.99930863e-01 -2.70842222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.298241008 meters Centerline goodness : 0.883228 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.25, Z:-0.27 [[ 9.99964885e-01 -8.21964814e-03 -1.63296242e-03 3.01199269e+00] [ 8.23990296e-03 9.99883991e-01 1.28104781e-02 -2.48996173e-01] [ 1.52747536e-03 -1.28234837e-02 9.99916609e-01 -2.68277914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.328241008000003 meters Centerline goodness : 0.881395 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.25, Z:-0.26 [[ 9.99987449e-01 -4.69518571e-03 -1.74846015e-03 3.01200707e+00] [ 4.73057774e-03 9.99772049e-01 2.08199944e-02 -2.54423544e-01] [ 1.65030784e-03 -2.08280043e-02 9.99781712e-01 -2.60969741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.358241008000004 meters Centerline goodness : 0.882232 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.25, Z:-0.26 [[ 9.99972827e-01 -7.36657979e-03 -2.79791866e-04 3.00773161e+00] [ 7.37026612e-03 9.99828955e-01 1.69629023e-02 -2.53181853e-01] [ 1.54785436e-04 -1.69645035e-02 9.99856080e-01 -2.60701773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.388241008 meters Centerline goodness : 0.881127 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.25, Z:-0.26 [[ 9.99973026e-01 -7.34435655e-03 -8.28463282e-05 3.00736198e+00] [ 7.34469352e-03 9.99824495e-01 1.72346898e-02 -2.53780830e-01] [-4.37459186e-05 -1.72348334e-02 9.99851468e-01 -2.60403500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.418241008000003 meters Centerline goodness : 0.881029 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.25, Z:-0.26 [[ 9.99971365e-01 -7.56184039e-03 -2.96113639e-04 3.00793021e+00] [ 7.56583294e-03 9.99821585e-01 1.73077136e-02 -2.54471837e-01] [ 1.65182641e-04 -1.73094583e-02 9.99850166e-01 -2.60156935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.448241008000004 meters Centerline goodness : 0.884092 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.26, Z:-0.26 [[ 9.99967418e-01 -8.03844521e-03 -7.39703444e-04 3.00930275e+00] [ 8.04994832e-03 9.99820589e-01 1.71460718e-02 -2.55044638e-01] [ 6.01742974e-04 -1.71514677e-02 9.99852722e-01 -2.60295783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.478241008 meters Centerline goodness : 0.883633 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.25, Z:-0.27 [[ 9.99934099e-01 -1.14794787e-02 -1.40757410e-04 3.00859168e+00] [ 1.14803210e-02 9.99880360e-01 1.03666750e-02 -2.50753959e-01] [ 2.17365451e-05 -1.03676078e-02 9.99946255e-01 -2.65656755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.508241008000002 meters Centerline goodness : 0.879437 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.25, Z:-0.27 [[ 9.99947619e-01 -1.02133578e-02 -6.68816668e-04 3.01092154e+00] [ 1.02198726e-02 9.99891643e-01 1.05951352e-02 -2.50799596e-01] [ 5.60532291e-04 -1.06014154e-02 9.99943646e-01 -2.67501169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.538241008000004 meters Centerline goodness : 0.882191 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.25, Z:-0.26 [[ 0.99993851 -0.00991767 -0.00496109 2.99301996] [ 0.01001516 0.99974925 0.02002812 -0.25350851] [ 0.00476121 -0.02007658 0.99978711 -0.2625075 ] [ 0. 0. 0. 1. ]] SLAMing on 29.568241008 meters Centerline goodness : 0.884116 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.26, Z:-0.26 [[ 0.99995364 -0.0080535 -0.00527812 2.99305023] [ 0.00816198 0.99974902 0.02086337 -0.25641952] [ 0.00510878 -0.02090548 0.9997684 -0.26148897] [ 0. 0. 0. 1. ]] SLAMing on 29.598241008000002 meters Centerline goodness : 0.883641 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.25, Z:-0.27 [[ 9.99961857e-01 -8.60263688e-03 -1.50955743e-03 3.00930301e+00] [ 8.61305463e-03 9.99938153e-01 7.03602179e-03 -2.52215703e-01] [ 1.44893573e-03 -7.04875532e-03 9.99974107e-01 -2.71668197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.628241008000003 meters Centerline goodness : 0.884535 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.25, Z:-0.27 [[ 9.99956177e-01 -9.13161010e-03 -2.06339929e-03 3.01147881e+00] [ 9.14607430e-03 9.99932877e-01 7.11269261e-03 -2.53468765e-01] [ 1.99831045e-03 -7.13125292e-03 9.99972576e-01 -2.73465835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.658241008 meters Centerline goodness : 0.885385 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.25, Z:-0.28 [[ 9.99955271e-01 -9.34248985e-03 1.47457489e-03 3.02965258e+00] [ 9.34816236e-03 9.99948746e-01 -3.88804470e-03 -2.50335250e-01] [-1.43817529e-03 3.90165535e-03 9.99991354e-01 -2.81282998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.688241008000002 meters Centerline goodness : 0.885446 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.25, Z:-0.28 [[ 9.99964440e-01 -8.42125778e-03 -4.48625892e-04 3.03417707e+00] [ 8.41759191e-03 9.99935481e-01 -7.62743106e-03 -2.50771911e-01] [ 5.12829510e-04 7.62338348e-03 9.99970810e-01 -2.82622104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.718241008000003 meters Centerline goodness : 0.884328 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.26, Z:-0.27 [[ 0.99997174 -0.00662868 -0.0035457 3.02173272] [ 0.00667095 0.99990519 0.01204617 -0.25669405] [ 0.00346551 -0.01206948 0.99992116 -0.26848059] [ 0. 0. 0. 1. ]] SLAMing on 29.748241008000004 meters Centerline goodness : 0.887103 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.26, Z:-0.26 [[ 0.99996597 -0.00424413 -0.00707399 3.00704464] [ 0.0044431 0.99958812 0.02835212 -0.2602009 ] [ 0.00695074 -0.02838258 0.99957297 -0.25834612] [ 0. 0. 0. 1. ]] SLAMing on 29.778241008000002 meters Centerline goodness : 0.888011 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.26, Z:-0.26 [[ 0.99997286 -0.003509 -0.006478 3.00535303] [ 0.00368421 0.99962224 0.02723591 -0.2564579 ] [ 0.00637998 -0.02725903 0.99960804 -0.2599239 ] [ 0. 0. 0. 1. ]] SLAMing on 29.808241008000003 meters Centerline goodness : 0.888527 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.25, Z:-0.26 [[ 9.99976606e-01 -2.70852221e-03 -6.28095881e-03 3.00412465e+00] [ 2.87393397e-03 9.99645273e-01 2.64776952e-02 -2.53516833e-01] [ 6.20701535e-03 -2.64951269e-02 9.99629672e-01 -2.60794336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.838241008000004 meters Centerline goodness : 0.887081 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.25, Z:-0.27 [[ 9.99991959e-01 3.61254556e-03 -1.74094009e-03 3.01247962e+00] [-3.58649167e-03 9.99884882e-01 1.47431080e-02 -2.47572081e-01] [ 1.79399982e-03 -1.47367456e-02 9.99889799e-01 -2.70977178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.868241008000002 meters Centerline goodness : 0.887415 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.25, Z:-0.27 [[ 9.99989947e-01 4.15607838e-03 -1.68312696e-03 3.01192420e+00] [-4.13216415e-03 9.99893865e-01 1.39708232e-02 -2.45255826e-01] [ 1.74101215e-03 -1.39637278e-02 9.99900987e-01 -2.71985700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.898241008000003 meters Centerline goodness : 0.884071 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.24, Z:-0.27 [[ 9.99987988e-01 4.65183640e-03 -1.54382939e-03 3.01136312e+00] [-4.63103247e-03 9.99901939e-01 1.32160962e-02 -2.43044145e-01] [ 1.60515711e-03 -1.32087879e-02 9.99911472e-01 -2.73135482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.928241008000004 meters Centerline goodness : 0.885278 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.24, Z:-0.27 [[ 9.99988550e-01 4.42276871e-03 -1.82754710e-03 3.01228890e+00] [-4.39863445e-03 9.99905753e-01 1.30052965e-02 -2.42859282e-01] [ 1.88489428e-03 -1.29971089e-02 9.99913757e-01 -2.73477640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.958241008 meters Centerline goodness : 0.884385 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.25, Z:-0.27 [[ 9.99972619e-01 6.91134685e-03 -2.64471838e-03 3.01530187e+00] [-6.86347070e-03 9.99819740e-01 1.77025445e-02 -2.46288449e-01] [ 2.76659007e-03 -1.76839079e-02 9.99839800e-01 -2.71867035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.988241008000003 meters Centerline goodness : 0.885390 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.25, Z:-0.27 [[ 9.99991909e-01 3.19364828e-03 -2.44610421e-03 3.01493698e+00] [-3.16234899e-03 9.99914423e-01 1.26942993e-02 -2.45323308e-01] [ 2.48643601e-03 -1.26864611e-02 9.99916432e-01 -2.73853894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.018241008000004 meters Centerline goodness : 0.884326 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.24, Z:-0.28 [[ 9.99993663e-01 3.51760745e-03 -5.48696197e-04 3.03664989e+00] [-3.51401941e-03 9.99973291e-01 6.40857678e-03 -2.44988171e-01] [ 5.71224399e-04 -6.40660804e-03 9.99979314e-01 -2.76265060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.048241008 meters Centerline goodness : 0.885976 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.25, Z:-0.28 [[ 9.99996182e-01 2.30910687e-03 -1.51815587e-03 3.04036639e+00] [-2.29808438e-03 9.99971276e-01 7.22253699e-03 -2.48840949e-01] [ 1.53478987e-03 -7.21902056e-03 9.99972765e-01 -2.75836593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.078241008000003 meters Centerline goodness : 0.884556 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.25, Z:-0.28 [[ 9.99997707e-01 -1.77805366e-03 -1.19323824e-03 3.04080829e+00] [ 1.78031462e-03 9.99996617e-01 1.89643436e-03 -2.46523967e-01] [ 1.18986224e-03 -1.89855435e-03 9.99997490e-01 -2.78917984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.108241008000004 meters Centerline goodness : 0.882999 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.25, Z:-0.28 [[ 9.99996449e-01 -2.12418706e-03 -1.60899956e-03 3.04239668e+00] [ 2.12677627e-03 9.99996444e-01 1.60920533e-03 -2.45975040e-01] [ 1.60557559e-03 -1.61262160e-03 9.99997411e-01 -2.79768812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.138241008 meters Centerline goodness : 0.887397 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.25, Z:-0.28 [[ 9.99995220e-01 3.64502475e-04 -3.07021598e-03 3.04699239e+00] [-3.45773660e-04 9.99981344e-01 6.09848545e-03 -2.47407354e-01] [ 3.07238162e-03 -6.09739471e-03 9.99976691e-01 -2.78843635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.168241008000003 meters Centerline goodness : 0.886324 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.25, Z:-0.28 [[ 9.99992724e-01 -4.25287275e-04 -3.79089773e-03 3.04938003e+00] [ 4.46231633e-04 9.99984633e-01 5.52577475e-03 -2.47290331e-01] [ 3.78848944e-03 -5.52742616e-03 9.99977547e-01 -2.79610957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.198241008000004 meters Centerline goodness : 0.885352 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.25, Z:-0.28 [[ 9.99989466e-01 -9.30670058e-04 -4.49470046e-03 3.05106874e+00] [ 9.59078947e-04 9.99979553e-01 6.32251592e-03 -2.49374293e-01] [ 4.48872438e-03 -6.32676009e-03 9.99969911e-01 -2.78091391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.228241008 meters Centerline goodness : 0.888283 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.25, Z:-0.28 [[ 9.99985462e-01 -1.64106746e-03 -5.13649193e-03 3.05283529e+00] [ 1.67627709e-03 9.99975079e-01 6.85801778e-03 -2.51118503e-01] [ 5.12510945e-03 -6.86652826e-03 9.99963291e-01 -2.76942874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.258241008000002 meters Centerline goodness : 0.883990 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.25, Z:-0.28 [[ 9.99981298e-01 -2.27805149e-03 -5.67579614e-03 3.05461852e+00] [ 2.31805483e-03 9.99972451e-01 7.05147576e-03 -2.51388375e-01] [ 5.65957616e-03 -7.06450068e-03 9.99959030e-01 -2.76472666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.288241008000004 meters Centerline goodness : 0.881530 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.25, Z:-0.28 [[ 9.99979068e-01 -2.73410609e-03 -5.86421200e-03 3.05563315e+00] [ 2.77445105e-03 9.99972464e-01 6.88279485e-03 -2.50407001e-01] [ 5.84523223e-03 -6.89892074e-03 9.99959118e-01 -2.76685330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.318241008 meters Centerline goodness : 0.878024 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.25, Z:-0.28 [[ 0.9999683 -0.00429816 -0.00670297 3.05950721] [ 0.00433607 0.99997463 0.00565153 -0.2483974 ] [ 0.00667851 -0.00568041 0.99996156 -0.27876496] [ 0. 0. 0. 1. ]] SLAMing on 30.348241008000002 meters Centerline goodness : 0.876956 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.25, Z:-0.28 [[ 9.99949846e-01 -2.35994168e-03 -9.73321055e-03 3.08636957e+00] [ 2.40831418e-03 9.99984794e-01 4.96111758e-03 -2.50315489e-01] [ 9.72135459e-03 -4.98430939e-03 9.99940324e-01 -2.76690615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.378241008000003 meters Centerline goodness : 0.876397 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.25, Z:-0.28 [[ 9.99943571e-01 -2.84808026e-03 -1.02343727e-02 3.08785703e+00] [ 2.90018616e-03 9.99982891e-01 5.08003489e-03 -2.50940157e-01] [ 1.02197293e-02 -5.10942982e-03 9.99934723e-01 -2.76456596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.408241008000005 meters Centerline goodness : 0.877000 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.25, Z:-0.28 [[ 9.99953647e-01 -1.97919702e-03 -9.42265311e-03 3.11120095e+00] [ 1.98195408e-03 9.99997996e-01 2.83270903e-04 -2.50830166e-01] [ 9.42207358e-03 -3.01933038e-04 9.99955566e-01 -2.78035206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.438241008000002 meters Centerline goodness : 0.877513 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.25, Z:-0.28 [[ 9.99948040e-01 -2.45989605e-03 -9.89271231e-03 3.11258726e+00] [ 2.46555498e-03 9.99996804e-01 5.59874689e-04 -2.51416639e-01] [ 9.89130346e-03 -5.84236624e-04 9.99950909e-01 -2.77490475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.468241008000003 meters Centerline goodness : 0.872704 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.25, Z:-0.27 [[ 0.99992064 -0.0037205 -0.01203603 3.12352743] [ 0.0037969 0.99997275 0.00633149 -0.25384668] [ 0.01201214 -0.00637669 0.99990752 -0.27328942] [ 0. 0. 0. 1. ]] SLAMing on 30.498241008000004 meters Centerline goodness : 0.871562 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.26, Z:-0.27 [[ 9.99905903e-01 -1.76508995e-03 -1.36040170e-02 3.12894030e+00] [ 1.91170030e-03 9.99940158e-01 1.07715310e-02 -2.56129638e-01] [ 1.35841902e-02 -1.07965243e-02 9.99849441e-01 -2.72297667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.528241008000002 meters Centerline goodness : 0.869478 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.26, Z:-0.27 [[ 9.99885753e-01 2.29788406e-04 -1.51138637e-02 3.13449177e+00] [-7.53767740e-06 9.99891898e-01 1.47035036e-02 -2.57216272e-01] [ 1.51156085e-02 -1.47017099e-02 9.99777664e-01 -2.72311963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.558241008000003 meters Centerline goodness : 0.866878 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.26, Z:-0.27 [[ 9.99863742e-01 3.25375822e-03 -1.61836769e-02 3.13754054e+00] [-2.93195975e-03 9.99798307e-01 1.98682732e-02 -2.60101506e-01] [ 1.62450593e-02 -1.98181161e-02 9.99671616e-01 -2.70138656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.588241008000004 meters Centerline goodness : 0.865929 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.26, Z:-0.28 [[ 0.99992725 0.00363197 -0.01150219 3.15233864] [-0.00353992 0.99996163 0.00801322 -0.2560105 ] [ 0.01153085 -0.00797192 0.99990174 -0.27779545] [ 0. 0. 0. 1. ]] SLAMing on 30.618241008000002 meters Centerline goodness : 0.861255 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.26, Z:-0.28 [[ 0.999925 0.00360854 -0.01170342 3.15247945] [-0.00351252 0.99996009 0.00821503 -0.2555051 ] [ 0.0117326 -0.00817331 0.99989777 -0.27691648] [ 0. 0. 0. 1. ]] SLAMing on 30.648241008000003 meters Centerline goodness : 0.859967 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.26, Z:-0.27 [[ 0.99989659 0.00722605 -0.01243379 3.1538977 ] [-0.00705202 0.99987736 0.01398343 -0.25862953] [ 0.01253331 -0.0138943 0.99982492 -0.27356307] [ 0. 0. 0. 1. ]] SLAMing on 30.678241008000004 meters Centerline goodness : 0.854639 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.26, Z:-0.27 [[ 0.99989425 0.00809606 -0.01208049 3.15167573] [-0.00792702 0.99987091 0.01397579 -0.25694507] [ 0.01219208 -0.01387855 0.99982935 -0.27258402] [ 0. 0. 0. 1. ]] SLAMing on 30.708241008 meters Centerline goodness : 0.855715 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.26, Z:-0.27 [[ 0.99989177 0.00819135 -0.01222085 3.15180222] [-0.00802506 0.99987538 0.01359461 -0.25576074] [ 0.01233069 -0.01349507 0.9998329 -0.27285899] [ 0. 0. 0. 1. ]] SLAMing on 30.738241008000003 meters Centerline goodness : 0.853321 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.25, Z:-0.27 [[ 0.99988986 0.0080971 -0.01243811 3.15248701] [-0.00793591 0.9998846 0.01295416 -0.25427969] [ 0.01254157 -0.01285402 0.99983873 -0.27371786] [ 0. 0. 0. 1. ]] SLAMing on 30.768241008000004 meters Centerline goodness : 0.850033 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.25, Z:-0.28 [[ 0.99988945 0.00789669 -0.01259914 3.15351882] [-0.00774571 0.99989815 0.01198753 -0.25239206] [ 0.01269252 -0.01188862 0.99984877 -0.27546559] [ 0. 0. 0. 1. ]] SLAMing on 30.798241008 meters Centerline goodness : 0.848853 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.25, Z:-0.28 [[ 0.99988798 0.00823514 -0.01249817 3.15335252] [-0.00809802 0.99990689 0.01098293 -0.24997304] [ 0.01258745 -0.01088048 0.99986158 -0.27723183] [ 0. 0. 0. 1. ]] SLAMing on 30.828241008000003 meters Centerline goodness : 0.845844 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.25, Z:-0.28 [[ 0.99991029 0.00531434 -0.01229548 3.15216491] [-0.00524075 0.99996821 0.00600941 -0.24627546] [ 0.01232702 -0.00594443 0.99990635 -0.27910191] [ 0. 0. 0. 1. ]] SLAMing on 30.858241008000004 meters Centerline goodness : 0.838913 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.25, Z:-0.28 [[ 0.99990846 0.0052148 -0.01248509 3.15267991] [-0.00514308 0.99997013 0.00576998 -0.24612104] [ 0.01251481 -0.00570524 0.99990541 -0.27943898] [ 0. 0. 0. 1. ]] SLAMing on 30.888241008 meters Centerline goodness : 0.837598 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.25, Z:-0.28 [[ 0.99990738 0.00502221 -0.0126497 3.1534165 ] [-0.00495307 0.99997266 0.00549128 -0.24625155] [ 0.01267693 -0.00542812 0.99990491 -0.28007037] [ 0. 0. 0. 1. ]] SLAMing on 30.918241008000003 meters Centerline goodness : 0.837706 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.25, Z:-0.28 [[ 0.99990569 0.00500267 -0.01278993 3.15367296] [-0.00492856 0.99997092 0.00581939 -0.24772915] [ 0.01281867 -0.0057558 0.99990127 -0.27967389] [ 0. 0. 0. 1. ]] SLAMing on 30.948241008000004 meters Centerline goodness : 0.834740 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.25, Z:-0.28 [[ 9.99922184e-01 1.54963300e-03 -1.23784145e-02 3.15254327e+00] [-1.53803112e-03 9.99998369e-01 9.46731224e-04 -2.45129242e-01] [ 1.23798614e-02 -9.27619166e-04 9.99922936e-01 -2.81226854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.978241008 meters Centerline goodness : 0.834498 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.24, Z:-0.28 [[ 9.99919369e-01 1.43288632e-03 -1.26175391e-02 3.15334509e+00] [-1.42467489e-03 9.99998768e-01 6.59759255e-04 -2.44706552e-01] [ 1.26184689e-02 -6.41730167e-04 9.99920178e-01 -2.81732543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.008241008000002 meters Centerline goodness : 0.833870 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.24, Z:-0.28 [[ 9.99919604e-01 1.78272749e-03 -1.25541403e-02 3.15296069e+00] [-1.77799645e-03 9.99998344e-01 3.88002223e-04 -2.43503991e-01] [ 1.25548112e-02 -3.65649812e-04 9.99921118e-01 -2.82115081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.038241008000004 meters Centerline goodness : 0.829652 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.24, Z:-0.28 [[ 0.99989712 0.00501623 -0.01343846 3.15589645] [-0.00495006 0.99997548 0.00495287 -0.24480898] [ 0.01346298 -0.00488584 0.99989743 -0.28138666] [ 0. 0. 0. 1. ]] SLAMing on 31.068241008 meters Centerline goodness : 0.825532 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.24, Z:-0.28 [[ 0.99989844 0.00472103 -0.01344672 3.15685871] [-0.00466436 0.99998012 0.0042425 -0.24404988] [ 0.01346648 -0.00417935 0.99990059 -0.2831436 ] [ 0. 0. 0. 1. ]] SLAMing on 31.098241008000002 meters Centerline goodness : 0.826685 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.24, Z:-0.28 [[ 0.99989737 0.00434758 -0.01365072 3.15818583] [-0.00429689 0.99998377 0.00374061 -0.24391474] [ 0.01366676 -0.00368158 0.99989983 -0.28450244] [ 0. 0. 0. 1. ]] SLAMing on 31.128241008000003 meters Centerline goodness : 0.824342 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.24, Z:-0.29 [[ 9.99894696e-01 4.09564952e-03 -1.39220443e-02 3.15931232e+00] [-4.05283060e-03 9.99986975e-01 3.10244391e-03 -2.43044892e-01] [ 1.39345695e-02 -3.04569353e-03 9.99898271e-01 -2.85636394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.158241008000005 meters Centerline goodness : 0.821555 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.24, Z:-0.29 [[ 9.99893241e-01 4.19773823e-03 -1.39959130e-02 3.15935581e+00] [-4.15742357e-03 9.99987129e-01 2.90831071e-03 -2.42949394e-01] [ 1.40079412e-02 -2.84981329e-03 9.99897823e-01 -2.85861534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.188241008000002 meters Centerline goodness : 0.821555 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.24, Z:-0.29 [[ 9.99893241e-01 4.19773823e-03 -1.39959130e-02 3.15935581e+00] [-4.15742357e-03 9.99987129e-01 2.90831071e-03 -2.42949394e-01] [ 1.40079412e-02 -2.84981329e-03 9.99897823e-01 -2.85861534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.218241008000003 meters Centerline goodness : 0.820327 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.24, Z:-0.29 [[ 9.99889974e-01 3.89061597e-03 -1.43144077e-02 3.16045834e+00] [-3.85223448e-03 9.99988914e-01 2.70791491e-03 -2.43218566e-01] [ 1.43247845e-02 -2.65247452e-03 9.99893877e-01 -2.86281425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.248241008000004 meters Centerline goodness : 0.822261 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.24, Z:-0.29 [[ 9.99884514e-01 3.28307053e-03 -1.48384670e-02 3.16242724e+00] [-3.25023638e-03 9.99992217e-01 2.23634691e-03 -2.42777861e-01] [ 1.48456936e-02 -2.18786012e-03 9.99887403e-01 -2.87143271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.278241008000002 meters Centerline goodness : 0.822270 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.24, Z:-0.29 [[ 9.99886472e-01 3.01750676e-03 -1.47627474e-02 3.16301657e+00] [-2.99341558e-03 9.99994152e-01 1.65371510e-03 -2.41278411e-01] [ 1.47676511e-02 -1.60933632e-03 9.99889657e-01 -2.88395049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.308241008000003 meters Centerline goodness : 0.819939 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.24, Z:-0.29 [[ 9.99885184e-01 2.69706708e-03 -1.49112357e-02 3.16387878e+00] [-2.67451243e-03 9.99995249e-01 1.53232823e-03 -2.41051315e-01] [ 1.49152977e-02 -1.49227201e-03 9.99887647e-01 -2.88803335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.338241008000004 meters Centerline goodness : 0.820477 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.24, Z:-0.29 [[ 0.99986595 0.00465645 -0.01569723 3.16778575] [-0.0045656 0.99997265 0.00581869 -0.24358855] [ 0.0157239 -0.00574624 0.99985986 -0.28801637] [ 0. 0. 0. 1. ]] SLAMing on 31.368241008000002 meters Centerline goodness : 0.822676 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.24, Z:-0.29 [[ 0.99986183 0.00403839 -0.01612518 3.16951995] [-0.00395144 0.9999775 0.00542074 -0.24373971] [ 0.01614671 -0.00535627 0.99985529 -0.28877798] [ 0. 0. 0. 1. ]] SLAMing on 31.398241008000003 meters Centerline goodness : 0.819951 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.24, Z:-0.29 [[ 9.99852203e-01 2.66326450e-03 -1.69847008e-02 3.17309378e+00] [-2.57501493e-03 9.99983083e-01 5.21558179e-03 -2.44032750e-01] [ 1.69983039e-02 -5.17107508e-03 9.99842146e-01 -2.89307361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.428241008000004 meters Centerline goodness : 0.819350 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.24, Z:-0.29 [[ 9.99842466e-01 1.96485683e-03 -1.76403422e-02 3.17507386e+00] [-1.86712235e-03 9.99982827e-01 5.55515710e-03 -2.44911584e-01] [ 1.76509544e-02 -5.52134530e-03 9.99828965e-01 -2.88566156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.458241008 meters Centerline goodness : 0.819173 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.25, Z:-0.29 [[ 9.99829575e-01 1.13196312e-03 -1.84266206e-02 3.17761011e+00] [-1.02385418e-03 9.99982216e-01 5.87537462e-03 -2.46536229e-01] [ 1.84329436e-02 -5.85550714e-03 9.99812952e-01 -2.88064933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.488241008000003 meters Centerline goodness : 0.820592 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.25, Z:-0.29 [[ 9.99817072e-01 4.82148670e-05 -1.91264318e-02 3.18049816e+00] [ 6.06799426e-05 9.99983794e-01 5.69279880e-03 -2.46749742e-01] [ 1.91263963e-02 -5.69291802e-03 9.99800866e-01 -2.88486220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.518241008000004 meters Centerline goodness : 0.822325 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.25, Z:-0.29 [[ 9.99787755e-01 2.06232222e-03 -2.04985638e-02 3.18554969e+00] [-1.84851614e-03 9.99943754e-01 1.04437769e-02 -2.48364263e-01] [ 2.05189493e-02 -1.04036684e-02 9.99735333e-01 -2.86872231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.548241008 meters Centerline goodness : 0.820210 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.25, Z:-0.28 [[ 9.99746901e-01 3.03249314e-03 -2.22920916e-02 3.19306069e+00] [-2.68380508e-03 9.99873850e-01 1.56550936e-02 -2.50059120e-01] [ 2.23367534e-02 -1.55913037e-02 9.99628921e-01 -2.84235101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.578241008000003 meters Centerline goodness : 0.820633 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.25, Z:-0.29 [[ 9.99734114e-01 2.11173058e-03 -2.29617663e-02 3.19561163e+00] [-1.76601766e-03 9.99884943e-01 1.50658929e-02 -2.49513518e-01] [ 2.29909395e-02 -1.50213362e-02 9.99622817e-01 -2.85068766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.608241008000004 meters Centerline goodness : 0.820997 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.25, Z:-0.28 [[ 9.99722182e-01 1.53918805e-03 -2.35199819e-02 3.19731642e+00] [-1.17703710e-03 9.99880663e-01 1.54036796e-02 -2.50388748e-01] [ 2.35408843e-02 -1.53717163e-02 9.99604690e-01 -2.84383232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.638241008 meters Centerline goodness : 0.822435 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.25, Z:-0.28 [[ 9.99705985e-01 8.27369117e-04 -2.42334135e-02 3.19894927e+00] [-4.16843727e-04 9.99856410e-01 1.69406240e-02 -2.53209324e-01] [ 2.42439499e-02 -1.69255417e-02 9.99562783e-01 -2.81229419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.668241008000003 meters Centerline goodness : 0.824438 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.25, Z:-0.28 [[ 9.99695161e-01 4.69738897e-04 -2.46852969e-02 3.20007285e+00] [-4.49389455e-05 9.99851959e-01 1.72063602e-02 -2.53573424e-01] [ 2.46897249e-02 -1.72000057e-02 9.99547186e-01 -2.80482400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.698241008000004 meters Centerline goodness : 0.823198 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.25, Z:-0.28 [[ 9.99689956e-01 2.66748333e-04 -2.48982189e-02 3.20070316e+00] [ 1.66285805e-04 9.99848795e-01 1.73884827e-02 -2.53633472e-01] [ 2.48990925e-02 -1.73872317e-02 9.99538753e-01 -2.80062785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.728241008 meters Centerline goodness : 0.822323 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.25, Z:-0.28 [[ 9.99699467e-01 -3.08795848e-03 -2.43195495e-02 3.19899794e+00] [ 3.38634161e-03 9.99919383e-01 1.22376595e-02 -2.50162367e-01] [ 2.42797995e-02 -1.23163360e-02 9.99629331e-01 -2.81930076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.758241008000002 meters Centerline goodness : 0.823190 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.25, Z:-0.28 [[ 9.99704245e-01 -2.80408026e-03 -2.41569620e-02 3.19850608e+00] [ 3.10225649e-03 9.99919359e-01 1.23146630e-02 -2.49613413e-01] [ 2.41204827e-02 -1.23859620e-02 9.99632328e-01 -2.81760261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.788241008000004 meters Centerline goodness : 0.825763 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.25, Z:-0.28 [[ 9.99719979e-01 -2.17023194e-03 -2.35638207e-02 3.19691456e+00] [ 2.44683435e-03 9.99928372e-01 1.17159565e-02 -2.47195585e-01] [ 2.35367065e-02 -1.17703325e-02 9.99653681e-01 -2.82944038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.818241008000005 meters Centerline goodness : 0.825604 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.24, Z:-0.29 [[ 9.99830314e-01 2.53372067e-04 -1.84195296e-02 3.21229989e+00] [-1.94845903e-04 9.99994928e-01 3.17912256e-03 -2.43265222e-01] [ 1.84202416e-02 -3.17499414e-03 9.99825292e-01 -2.89569064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.848241008000002 meters Centerline goodness : 0.822231 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.24, Z:-0.29 [[ 9.99839348e-01 1.17804725e-03 -1.78854857e-02 3.21021896e+00] [-1.12408367e-03 9.99994787e-01 3.02692489e-03 -2.41536192e-01] [ 1.78889584e-02 -3.00633383e-03 9.99835460e-01 -2.89625764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.878241008000003 meters Centerline goodness : 0.827300 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.24, Z:-0.29 [[ 9.99891673e-01 7.94736384e-03 -1.23887793e-02 3.22184274e+00] [-7.96921664e-03 9.99966774e-01 -1.71555117e-03 -2.39577770e-01] [ 1.23747335e-02 1.81409419e-03 9.99921784e-01 -2.92843679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.908241008000005 meters Centerline goodness : 0.825294 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.24, Z:-0.29 [[ 9.99885306e-01 8.93864848e-03 -1.22259765e-02 3.22049909e+00] [-8.96359694e-03 9.99957851e-01 -1.98733777e-03 -2.37846528e-01] [ 1.22076970e-02 2.09669856e-03 9.99923285e-01 -2.93117306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.938241008000002 meters Centerline goodness : 0.825888 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.24, Z:-0.29 [[ 9.99881499e-01 9.61373679e-03 -1.20235002e-02 3.21968941e+00] [-9.64323978e-03 9.99950627e-01 -2.39821286e-03 -2.36025475e-01] [ 1.19998508e-02 2.51387416e-03 9.99924839e-01 -2.93907778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.968241008000003 meters Centerline goodness : 0.824138 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.23, Z:-0.30 [[ 9.99877704e-01 9.93341019e-03 -1.20790570e-02 3.21991414e+00] [-9.96970331e-03 9.99945955e-01 -2.94813706e-03 -2.34195636e-01] [ 1.20491191e-02 3.06820113e-03 9.99922699e-01 -2.95013574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.998241008000004 meters Centerline goodness : 0.827158 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.23, Z:-0.30 [[ 0.99987342 0.01079428 -0.01168891 3.2187427 ] [-0.01083262 0.99993614 -0.00322174 -0.23280231] [ 0.01165339 0.00334795 0.99992649 -0.29610991] [ 0. 0. 0. 1. ]] SLAMing on 32.028241008 meters Centerline goodness : 0.824411 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.23, Z:-0.30 [[ 0.99987448 0.01065964 -0.01172197 3.21941392] [-0.01070048 0.99993688 -0.00342615 -0.23284858] [ 0.01168471 0.00355115 0.99992543 -0.29698491] [ 0. 0. 0. 1. ]] SLAMing on 32.058241007999996 meters Centerline goodness : 0.824514 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.23, Z:-0.30 [[ 0.99987372 0.01017881 -0.01220368 3.22127648] [-0.01022232 0.9999416 -0.00350789 -0.23374798] [ 0.01216726 0.00363219 0.99991938 -0.29764015] [ 0. 0. 0. 1. ]] SLAMing on 32.088241008 meters Centerline goodness : 0.824570 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.24, Z:-0.30 [[ 9.99871724e-01 9.88959395e-03 -1.25988399e-02 3.22255274e+00] [-9.92869749e-03 9.99946073e-01 -3.04498227e-03 -2.35814846e-01] [ 1.25680469e-02 3.16968174e-03 9.99915995e-01 -2.97432229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.118241008 meters Centerline goodness : 0.825282 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.24, Z:-0.30 [[ 9.99871862e-01 8.75976871e-03 -1.33987375e-02 3.22546721e+00] [-8.78440066e-03 9.99959831e-01 -1.78063128e-03 -2.40753311e-01] [ 1.33826014e-02 1.89810299e-03 9.99908647e-01 -2.95987296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.148241008 meters Centerline goodness : 0.825601 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.24, Z:-0.30 [[ 9.99869642e-01 7.91155681e-03 -1.40750190e-02 3.22786001e+00] [-7.92937235e-03 9.99967829e-01 -1.21039973e-03 -2.43322587e-01] [ 1.40649900e-02 1.32184802e-03 9.99900209e-01 -2.95404567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.178241008 meters Centerline goodness : 0.827059 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.25, Z:-0.30 [[ 9.99868845e-01 7.13804846e-03 -1.45375725e-02 3.22979873e+00] [-7.15002419e-03 9.99974140e-01 -7.71969248e-04 -2.45697997e-01] [ 1.45316862e-02 8.75811995e-04 9.99894026e-01 -2.95189330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.208241008 meters Centerline goodness : 0.827843 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.25, Z:-0.30 [[ 9.99866713e-01 6.74283102e-03 -1.48691355e-02 3.23098420e+00] [-6.75136513e-03 9.99977072e-01 -5.23826056e-04 -2.46941916e-01] [ 1.48652625e-02 6.24143199e-04 9.99889311e-01 -2.95067586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.238241008 meters Centerline goodness : 0.826057 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.25, Z:-0.29 [[ 9.99862324e-01 5.91886017e-03 -1.55016308e-02 3.23303418e+00] [-5.92396139e-03 9.99982413e-01 -2.83178203e-04 -2.47193526e-01] [ 1.54996821e-02 3.74970278e-04 9.99879802e-01 -2.94276187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.268241008 meters Centerline goodness : 0.826255 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.25, Z:-0.29 [[ 0.99982435 0.00822924 -0.01683865 3.23746161] [-0.0081416 0.99995299 0.00526678 -0.25064393] [ 0.0168812 -0.00512876 0.99984435 -0.29142386] [ 0. 0. 0. 1. ]] SLAMing on 32.298241008 meters Centerline goodness : 0.824011 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.25, Z:-0.29 [[ 0.9998249 0.00761213 -0.01709441 3.23897172] [-0.00753554 0.9999613 0.00454038 -0.24971507] [ 0.01712831 -0.00441077 0.99984357 -0.29274243] [ 0. 0. 0. 1. ]] SLAMing on 32.328241008 meters Centerline goodness : 0.822937 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.25, Z:-0.29 [[ 0.99982379 0.00680153 -0.01749668 3.24102901] [-0.00673614 0.99997012 0.00379305 -0.24857712] [ 0.01752195 -0.00367453 0.99983973 -0.29409492] [ 0. 0. 0. 1. ]] SLAMing on 32.358241008 meters Centerline goodness : 0.820856 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.25, Z:-0.29 [[ 0.99982483 0.00573192 -0.01781702 3.24306118] [-0.00566933 0.99997759 0.00356163 -0.24865738] [ 0.01783703 -0.00346 0.99983492 -0.29456231] [ 0. 0. 0. 1. ]] SLAMing on 32.388241008 meters Centerline goodness : 0.821698 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.25, Z:-0.29 [[ 0.99981449 0.00477973 -0.01865852 3.24589526] [-0.00471734 0.99998314 0.00338666 -0.2492402 ] [ 0.0186744 -0.00329801 0.99982018 -0.29484416] [ 0. 0. 0. 1. ]] SLAMing on 32.418241008 meters Centerline goodness : 0.819541 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.25, Z:-0.30 [[ 9.99808968e-01 4.01323922e-03 -1.91290540e-02 3.24794605e+00] [-3.95681787e-03 9.99987712e-01 2.98644700e-03 -2.49129995e-01] [ 1.91408043e-02 -2.91018631e-03 9.99812563e-01 -2.95638674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.448241008 meters Centerline goodness : 0.818403 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.25, Z:-0.30 [[ 9.99804254e-01 3.23302581e-03 -1.95192319e-02 3.24998778e+00] [-3.18855777e-03 9.99992251e-01 2.30885829e-03 -2.48318231e-01] [ 1.95265453e-02 -2.24616814e-03 9.99806816e-01 -2.96980625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.478241008 meters Centerline goodness : 0.820008 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.25, Z:-0.29 [[ 9.99722128e-01 6.79103043e-04 -2.35628218e-02 3.23159442e+00] [-4.78768398e-04 9.99963702e-01 8.50674989e-03 -2.48863276e-01] [ 2.35677435e-02 -8.49310497e-03 9.99686165e-01 -2.93085399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.508241008 meters Centerline goodness : 0.819645 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.25, Z:-0.29 [[ 9.99727901e-01 -3.16406011e-03 -2.31108599e-02 3.23061694e+00] [ 3.24854520e-03 9.99988175e-01 3.61901631e-03 -2.45961004e-01] [ 2.30991359e-02 -3.69310825e-03 9.99726358e-01 -2.94300655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.538241008 meters Centerline goodness : 0.819392 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.24, Z:-0.29 [[ 0.99979007 -0.00705553 -0.01923632 3.20701152] [ 0.00719399 0.99994865 0.00713816 -0.24466572] [ 0.01918497 -0.00727505 0.99978948 -0.29386767] [ 0. 0. 0. 1. ]] SLAMing on 32.568241008 meters Centerline goodness : 0.819310 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.24, Z:-0.29 [[ 0.99978339 -0.00765804 -0.01935271 3.20733926] [ 0.00779231 0.99994602 0.00687262 -0.2426423 ] [ 0.01929904 -0.00702194 0.9997891 -0.29311628] [ 0. 0. 0. 1. ]] SLAMing on 32.598241008 meters Centerline goodness : 0.817834 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.24, Z:-0.29 [[ 0.99978145 -0.00775874 -0.01941282 3.20738176] [ 0.00788892 0.99994685 0.00663814 -0.24126481] [ 0.01936029 -0.00678983 0.99978952 -0.29301045] [ 0. 0. 0. 1. ]] SLAMing on 32.628241007999996 meters Centerline goodness : 0.818317 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.24, Z:-0.29 [[ 0.99976584 -0.00697563 -0.02048419 3.1808522 ] [ 0.0072512 0.99988379 0.01340974 -0.24230315] [ 0.02038827 -0.01355514 0.99970024 -0.28845003] [ 0. 0. 0. 1. ]] SLAMing on 32.658241008 meters Centerline goodness : 0.818610 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.24, Z:-0.29 [[ 0.99981875 -0.00884364 -0.01685984 3.15376887] [ 0.00908919 0.99985292 0.01454401 -0.23879719] [ 0.01672873 -0.01469462 0.99975208 -0.29090872] [ 0. 0. 0. 1. ]] SLAMing on 32.688241008 meters Centerline goodness : 0.815627 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.23, Z:-0.29 [[ 0.99983562 -0.00763675 -0.01644442 3.15146673] [ 0.00786574 0.99987238 0.01390541 -0.23447483] [ 0.01633613 -0.01403247 0.99976808 -0.29123694] [ 0. 0. 0. 1. ]] SLAMing on 32.718241008 meters Centerline goodness : 0.815998 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.23, Z:-0.29 [[ 0.99984579 -0.00716968 -0.01603092 3.15038007] [ 0.00737913 0.99988769 0.01304463 -0.2315512 ] [ 0.0159356 -0.01316091 0.9997864 -0.29246891] [ 0. 0. 0. 1. ]] SLAMing on 32.748241008 meters Centerline goodness : 0.815084 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.23, Z:-0.29 [[ 0.99985716 -0.00656023 -0.01557635 3.14896739] [ 0.00675704 0.99989758 0.01261628 -0.22875822] [ 0.01549199 -0.01271973 0.99979908 -0.29286283] [ 0. 0. 0. 1. ]] SLAMing on 32.778241008 meters Centerline goodness : 0.813782 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.23, Z:-0.29 [[ 0.99986519 -0.00606449 -0.01525841 3.14799796] [ 0.00624508 0.99991069 0.01181556 -0.2258397 ] [ 0.0151854 -0.01190926 0.99981377 -0.29393244] [ 0. 0. 0. 1. ]] SLAMing on 32.808241007999996 meters Centerline goodness : 0.817670 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.23, Z:-0.29 [[ 9.99880635e-01 -1.45338640e-03 -1.53819152e-02 3.14741436e+00] [ 1.69816049e-03 9.99871954e-01 1.59120297e-02 -2.25254894e-01] [ 1.53568192e-02 -1.59362513e-02 9.99755072e-01 -2.93275561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.838241008 meters Centerline goodness : 0.816761 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.22, Z:-0.30 [[ 9.99941679e-01 1.30894157e-03 -1.07203015e-02 3.16227540e+00] [-1.22654083e-03 9.99969684e-01 7.68939166e-03 -2.22095333e-01] [ 1.07300414e-02 -7.67579432e-03 9.99912970e-01 -2.98917417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.868241008 meters Centerline goodness : 0.817284 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.22, Z:-0.30 [[ 9.99941009e-01 1.70103518e-03 -1.07277456e-02 3.16181972e+00] [-1.61670079e-03 9.99967763e-01 7.86511204e-03 -2.21401112e-01] [ 1.07407786e-02 -7.84730451e-03 9.99911524e-01 -2.98397152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.898241008 meters Centerline goodness : 0.816957 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.22, Z:-0.30 [[ 9.99942518e-01 1.97440765e-03 -1.05386101e-02 3.16127762e+00] [-1.89453055e-03 9.99969446e-01 7.58408131e-03 -2.20745716e-01] [ 1.05532622e-02 -7.56367964e-03 9.99915706e-01 -2.98839044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.928241008 meters Centerline goodness : 0.818310 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.22, Z:-0.30 [[ 0.99994772 0.00593266 -0.00832887 3.18729931] [-0.00585519 0.99993966 0.00929457 -0.22131381] [ 0.0083835 -0.00924532 0.99992212 -0.29776091] [ 0. 0. 0. 1. ]] SLAMing on 32.958241008 meters Centerline goodness : 0.820056 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.22, Z:-0.30 [[ 0.99996342 0.00337349 -0.00785965 3.18555812] [-0.00333785 0.99998411 0.00454232 -0.21762029] [ 0.00787485 -0.00451592 0.9999588 -0.29967313] [ 0. 0. 0. 1. ]] SLAMing on 32.988241008 meters Centerline goodness : 0.820051 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.22, Z:-0.30 [[ 0.9999653 0.00435751 -0.00709985 3.18397254] [-0.00433036 0.99998327 0.00383423 -0.21536534] [ 0.00711644 -0.00380335 0.99996744 -0.30176698] [ 0. 0. 0. 1. ]] SLAMing on 33.018241008 meters Centerline goodness : 0.821768 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.21, Z:-0.30 [[ 0.99996545 0.00473217 -0.00683481 3.18351285] [-0.00470936 0.9999833 0.00335075 -0.2138637 ] [ 0.00685055 -0.00331845 0.99997103 -0.30284573] [ 0. 0. 0. 1. ]] SLAMing on 33.048241008 meters Centerline goodness : 0.821768 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.21, Z:-0.30 [[ 0.99996545 0.00473217 -0.00683481 3.18351285] [-0.00470936 0.9999833 0.00335075 -0.2138637 ] [ 0.00685055 -0.00331845 0.99997103 -0.30284573] [ 0. 0. 0. 1. ]] SLAMing on 33.078241008 meters Centerline goodness : 0.822722 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.21, Z:-0.30 [[ 9.99964806e-01 5.14457468e-03 -6.62725134e-03 3.18298786e+00] [-5.12433081e-03 9.99982164e-01 3.06800706e-03 -2.12980947e-01] [ 6.64291672e-03 -3.03393885e-03 9.99973333e-01 -3.03512006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.108241008 meters Centerline goodness : 0.822141 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.21, Z:-0.30 [[ 9.99963523e-01 5.39645552e-03 -6.62046413e-03 3.18302687e+00] [-5.37747962e-03 9.99981392e-01 2.88070870e-03 -2.12886649e-01] [ 6.63588655e-03 -2.84500221e-03 9.99973935e-01 -3.04120976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.138241008 meters Centerline goodness : 0.823961 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.21, Z:-0.30 [[ 9.99961501e-01 5.62315190e-03 -6.73622250e-03 3.18326445e+00] [-5.60377700e-03 9.99980118e-01 2.89165617e-03 -2.13231051e-01] [ 6.75234879e-03 -2.85379655e-03 9.99973130e-01 -3.04414299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.168241008 meters Centerline goodness : 0.823033 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.21, Z:-0.31 [[ 9.99960291e-01 6.08302984e-03 -6.51260301e-03 3.18338174e+00] [-6.06704578e-03 9.99978542e-01 2.47127820e-03 -2.13554022e-01] [ 6.52749611e-03 -2.43166781e-03 9.99975739e-01 -3.06445709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.198241008 meters Centerline goodness : 0.824017 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.21, Z:-0.31 [[ 9.99960399e-01 6.06207608e-03 -6.51551514e-03 3.18407501e+00] [-6.04828875e-03 9.99979433e-01 2.13370102e-03 -2.13816121e-01] [ 6.52831579e-03 -2.09420880e-03 9.99976497e-01 -3.07823763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.228241008 meters Centerline goodness : 0.824143 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.22, Z:-0.31 [[ 0.99993362 0.00887607 -0.00734698 3.18721662] [-0.00882518 0.99993704 0.0069307 -0.21782682] [ 0.00740803 -0.0068654 0.99994899 -0.30690981] [ 0. 0. 0. 1. ]] SLAMing on 33.258241008 meters Centerline goodness : 0.826254 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.22, Z:-0.31 [[ 0.99993435 0.00836205 -0.00783433 3.18961417] [-0.00830505 0.99993901 0.00728002 -0.22206586] [ 0.00789473 -0.00721447 0.99994281 -0.30789872] [ 0. 0. 0. 1. ]] SLAMing on 33.288241008 meters Centerline goodness : 0.829091 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.22, Z:-0.31 [[ 0.99993486 0.00766274 -0.00845945 3.19204222] [-0.00759874 0.99994246 0.00757225 -0.22481749] [ 0.00851699 -0.00750747 0.99993555 -0.30825227] [ 0. 0. 0. 1. ]] SLAMing on 33.318241008 meters Centerline goodness : 0.828941 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.22, Z:-0.31 [[ 9.99959781e-01 3.48371994e-03 -8.26434256e-03 3.19242574e+00] [-3.46026434e-03 9.99989950e-01 2.85077180e-03 -2.23863900e-01] [ 8.27419079e-03 -2.82206033e-03 9.99961786e-01 -3.10095787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.348241008 meters Centerline goodness : 0.828670 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.23, Z:-0.31 [[ 9.99956000e-01 2.74323014e-03 -8.97064841e-03 3.19491955e+00] [-2.71343392e-03 9.99990767e-01 3.33200905e-03 -2.25609634e-01] [ 8.97970605e-03 -3.30752118e-03 9.99954212e-01 -3.09820270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.378241007999996 meters Centerline goodness : 0.828649 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.23, Z:-0.31 [[ 9.99952480e-01 1.64751281e-03 -9.60855727e-03 3.19809544e+00] [-1.61431233e-03 9.99992704e-01 3.46203625e-03 -2.27081178e-01] [ 9.61419092e-03 -3.44636052e-03 9.99947844e-01 -3.10431446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.408241008 meters Centerline goodness : 0.827847 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.23, Z:-0.31 [[ 9.99950183e-01 1.38594801e-03 -9.88490714e-03 3.19918534e+00] [-1.34876221e-03 9.99991993e-01 3.76755052e-03 -2.27817693e-01] [ 9.89004962e-03 -3.75403044e-03 9.99944046e-01 -3.10234669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.438241008 meters Centerline goodness : 0.831486 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.23, Z:-0.31 [[ 0.99993444 0.00389288 -0.01076869 3.20263023] [-0.00379934 0.999955 0.00869299 -0.23096934] [ 0.01080204 -0.0086515 0.99990423 -0.30860949] [ 0. 0. 0. 1. ]] SLAMing on 33.468241008 meters Centerline goodness : 0.831486 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.23, Z:-0.31 [[ 0.99993322 0.00361877 -0.01097582 3.2035401 ] [-0.00352675 0.99995857 0.00839113 -0.23062396] [ 0.01100573 -0.00835186 0.99990456 -0.30914522] [ 0. 0. 0. 1. ]] SLAMing on 33.498241008 meters Centerline goodness : 0.828197 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.23, Z:-0.31 [[ 0.99993397 0.00374541 -0.01086402 3.20345363] [-0.00366104 0.99996307 0.00777531 -0.22929972] [ 0.01089274 -0.00773503 0.99991075 -0.31015849] [ 0. 0. 0. 1. ]] SLAMing on 33.528241008 meters Centerline goodness : 0.827273 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.23, Z:-0.31 [[ 0.99990666 0.00658585 -0.01197055 3.2070276 ] [-0.0064421 0.99990715 0.01200798 -0.23094083] [ 0.01204852 -0.01192975 0.99985625 -0.30960731] [ 0. 0. 0. 1. ]] SLAMing on 33.558241007999996 meters Centerline goodness : 0.827439 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.23, Z:-0.31 [[ 0.99990668 0.00626046 -0.01214239 3.20821714] [-0.0061259 0.99991977 0.01108765 -0.22911944] [ 0.01221083 -0.01101223 0.9998648 -0.3112486 ] [ 0. 0. 0. 1. ]] SLAMing on 33.588241008 meters Centerline goodness : 0.828166 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.23, Z:-0.31 [[ 0.99990372 0.00551969 -0.01273153 3.21089263] [-0.00539497 0.99993733 0.00980927 -0.22669772] [ 0.01278487 -0.00973964 0.99987083 -0.31357427] [ 0. 0. 0. 1. ]] SLAMing on 33.618241008 meters Centerline goodness : 0.827170 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.23, Z:-0.32 [[ 0.99990076 0.00476876 -0.01325597 3.21355871] [-0.00465556 0.99995255 0.00855681 -0.22508461] [ 0.01329614 -0.00849425 0.99987552 -0.3160454 ] [ 0. 0. 0. 1. ]] SLAMing on 33.648241008 meters Centerline goodness : 0.829290 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.23, Z:-0.32 [[ 0.99988739 0.00345536 -0.01460401 3.21853293] [-0.00334214 0.99996423 0.00776995 -0.22574706] [ 0.01463033 -0.00772027 0.99986317 -0.31790916] [ 0. 0. 0. 1. ]] SLAMing on 33.678241008 meters Centerline goodness : 0.829182 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.23, Z:-0.32 [[ 9.99881244e-01 2.81273829e-03 -1.51521338e-02 3.22083607e+00] [-2.70164442e-03 9.99969358e-01 7.34738186e-03 -2.26106409e-01] [ 1.51723358e-02 -7.30557364e-03 9.99858204e-01 -3.19077248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.708241008 meters Centerline goodness : 0.829082 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.23, Z:-0.32 [[ 9.99870444e-01 2.12327570e-03 -1.59558081e-02 3.22355657e+00] [-2.00916508e-03 9.99972318e-01 7.16429646e-03 -2.26129605e-01] [ 1.59705782e-02 -7.13131043e-03 9.99847031e-01 -3.19578869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.738241008 meters Centerline goodness : 0.826067 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.23, Z:-0.32 [[ 9.99862117e-01 1.32144154e-03 -1.65529914e-02 3.22607130e+00] [-1.21311475e-03 9.99977796e-01 6.55257496e-03 -2.25481017e-01] [ 1.65612827e-02 -6.53159079e-03 9.99841519e-01 -3.20741942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.768241008 meters Centerline goodness : 0.829351 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.23, Z:-0.32 [[ 9.99831252e-01 9.88308421e-04 -1.83437080e-02 3.23555102e+00] [-7.56071454e-04 9.99919536e-01 1.26629267e-02 -2.28171643e-01] [ 1.83547469e-02 -1.26469207e-02 9.99751548e-01 -3.16194569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.798241008 meters Centerline goodness : 0.829211 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.23, Z:-0.32 [[ 9.99840213e-01 -2.52910245e-03 -1.76961170e-02 3.23394418e+00] [ 2.66326844e-03 9.99967859e-01 7.56220825e-03 -2.25463626e-01] [ 1.76764226e-02 -7.60812942e-03 9.99814813e-01 -3.17975717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.828241008 meters Centerline goodness : 0.828551 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.22, Z:-0.32 [[ 9.99922149e-01 -2.55286842e-03 -1.22138443e-02 3.24978685e+00] [ 2.52656412e-03 9.99994457e-01 -2.16859195e-03 -2.22317693e-01] [ 1.22193128e-02 2.13756407e-03 9.99923057e-01 -3.23331883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.858241008 meters Centerline goodness : 0.830580 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.22, Z:-0.32 [[ 9.99921962e-01 -2.19620640e-03 -1.22982166e-02 3.24896700e+00] [ 2.18334806e-03 9.99997056e-01 -1.05887310e-03 -2.23589882e-01] [ 1.23005059e-02 1.03193918e-03 9.99923813e-01 -3.20934020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.888241008 meters Centerline goodness : 0.835320 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.23, Z:-0.32 [[ 9.99910440e-01 1.07171659e-03 -1.33402719e-02 3.25134000e+00] [-9.92017607e-04 9.99981631e-01 5.97949882e-03 -2.28517395e-01] [ 1.33464352e-02 -5.96572951e-03 9.99893136e-01 -3.15264823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.918241008 meters Centerline goodness : 0.835153 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.23, Z:-0.32 [[ 9.99911289e-01 1.09100396e-03 -1.32749202e-02 3.25150598e+00] [-1.01818449e-03 9.99984406e-01 5.49101471e-03 -2.27423482e-01] [ 1.32807039e-02 -5.47701128e-03 9.99896807e-01 -3.16208606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.948241008 meters Centerline goodness : 0.836159 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.23, Z:-0.32 [[ 0.99989257 0.00451417 -0.01394522 3.25368915] [-0.00437477 0.99994032 0.01001055 -0.22851735] [ 0.01398958 -0.00994847 0.99985265 -0.31528606] [ 0. 0. 0. 1. ]] SLAMing on 33.978241008 meters Centerline goodness : 0.835773 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.23, Z:-0.31 [[ 0.99985513 0.00692849 -0.01554747 3.25851474] [-0.00668437 0.99985442 0.01569872 -0.23152731] [ 0.01565398 -0.01559252 0.99975588 -0.31192151] [ 0. 0. 0. 1. ]] SLAMing on 34.008241008 meters Centerline goodness : 0.839343 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.23, Z:-0.31 [[ 0.99988249 0.00352088 -0.01492026 3.25708261] [-0.0033688 0.99994224 0.0102058 -0.22801972] [ 0.01495533 -0.01015433 0.9998366 -0.31464222] [ 0. 0. 0. 1. ]] SLAMing on 34.038241008 meters Centerline goodness : 0.838730 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.23, Z:-0.31 [[ 0.99984921 0.00618976 -0.01622489 3.26126985] [-0.00594399 0.99986753 0.01515251 -0.23068119] [ 0.01631653 -0.01505378 0.99975355 -0.31288978] [ 0. 0. 0. 1. ]] SLAMing on 34.068241008 meters Centerline goodness : 0.841455 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.23, Z:-0.32 [[ 9.99866067e-01 1.68464849e-03 -1.62790994e-02 3.26232896e+00] [-1.52754168e-03 9.99952189e-01 9.65844957e-03 -2.28839212e-01] [ 1.62945921e-02 -9.63228899e-03 9.99820837e-01 -3.15444394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.098241008 meters Centerline goodness : 0.843115 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.23, Z:-0.32 [[ 9.99857311e-01 1.15020534e-03 -1.68533527e-02 3.26424895e+00] [-9.94228111e-04 9.99956627e-01 9.26042507e-03 -2.28877598e-01] [ 1.68632731e-02 -9.24234762e-03 9.99815087e-01 -3.16084010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.128241007999996 meters Centerline goodness : 0.842330 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.23, Z:-0.32 [[ 9.99922068e-01 1.41391510e-03 -1.24039800e-02 3.28185010e+00] [-1.42582680e-03 9.99998531e-01 -9.51521554e-04 -2.25231692e-01] [ 1.24026164e-02 9.69133327e-04 9.99922615e-01 -3.23353686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.158241008 meters Centerline goodness : 0.844286 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.22, Z:-0.32 [[ 9.99917548e-01 1.03220547e-03 -1.27996455e-02 3.28355682e+00] [-1.04998158e-03 9.99998494e-01 -1.38215511e-03 -2.24485278e-01] [ 1.27981995e-02 1.39548054e-03 9.99917126e-01 -3.24414553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.188241008 meters Centerline goodness : 0.838323 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.22, Z:-0.33 [[ 9.99894717e-01 3.74023925e-03 -1.40202124e-02 3.28848702e+00] [-3.71111529e-03 9.99990903e-01 2.10272540e-03 -2.24527253e-01] [ 1.40279495e-02 -2.05047339e-03 9.99899501e-01 -3.25983550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.218241008 meters Centerline goodness : 0.837692 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.22, Z:-0.33 [[ 9.99889408e-01 3.43566083e-03 -1.44695404e-02 3.28987665e+00] [-3.41075279e-03 9.99992660e-01 1.74573757e-03 -2.23637621e-01] [ 1.44754319e-02 -1.69619248e-03 9.99893787e-01 -3.26379581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.248241008 meters Centerline goodness : 0.839758 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.22, Z:-0.33 [[ 9.99887096e-01 3.54915049e-03 -1.46013071e-02 3.28993939e+00] [-3.52096359e-03 9.99991889e-01 1.95569083e-03 -2.24097721e-01] [ 1.46081297e-02 -1.90405935e-03 9.99891483e-01 -3.25875314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.278241008 meters Centerline goodness : 0.841427 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.22, Z:-0.32 [[ 9.99881020e-01 3.64465363e-03 -1.49887462e-02 3.29018425e+00] [-3.61211752e-03 9.99991062e-01 2.19720252e-03 -2.24445981e-01] [ 1.49966202e-02 -2.14279998e-03 9.99885248e-01 -3.24833336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.308241007999996 meters Centerline goodness : 0.843087 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.23, Z:-0.32 [[ 0.9998471 0.00671611 -0.01614517 3.29310722] [-0.0065839 0.99994448 0.00822792 -0.22877806] [ 0.01619953 -0.00812036 0.9998358 -0.32088449] [ 0. 0. 0. 1. ]] SLAMing on 34.338241008 meters Centerline goodness : 0.845655 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.23, Z:-0.32 [[ 9.99873462e-01 3.16139822e-03 -1.55905623e-02 3.29193424e+00] [-3.10594313e-03 9.99988769e-01 3.57989675e-03 -2.26004946e-01] [ 1.56017047e-02 -3.53102036e-03 9.99872051e-01 -3.22267676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.368241008 meters Centerline goodness : 0.842866 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.23, Z:-0.32 [[ 0.99984994 0.00503318 -0.01657606 3.29648569] [-0.0049015 0.99995619 0.00797466 -0.22849984] [ 0.01661548 -0.00789222 0.99983081 -0.32136033] [ 0. 0. 0. 1. ]] SLAMing on 34.398241008 meters Centerline goodness : 0.843565 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.23, Z:-0.32 [[ 0.9998219 0.00695732 -0.01754329 3.30094235] [-0.00673025 0.99989324 0.01296986 -0.23159011] [ 0.01763165 -0.01284948 0.99976198 -0.31946039] [ 0. 0. 0. 1. ]] SLAMing on 34.428241008 meters Centerline goodness : 0.843449 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.24, Z:-0.32 [[ 0.99978643 0.0090518 -0.01857865 3.3051496 ] [-0.00870347 0.99978642 0.01874456 -0.23547247] [ 0.01874435 -0.01857886 0.99965168 -0.31603553] [ 0. 0. 0. 1. ]] SLAMing on 34.458241008 meters Centerline goodness : 0.843599 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.23, Z:-0.32 [[ 0.99988207 0.00794945 -0.01313997 3.32125134] [-0.00785183 0.99994132 0.00746417 -0.23205173] [ 0.01319854 -0.00736012 0.99988581 -0.32242336] [ 0. 0. 0. 1. ]] SLAMing on 34.488241008 meters Centerline goodness : 0.844778 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.23, Z:-0.32 [[ 9.99910861e-01 4.72778060e-03 -1.24867441e-02 3.31912251e+00] [-4.69362946e-03 9.99985168e-01 2.76288164e-03 -2.29144520e-01] [ 1.24996212e-02 -2.70402721e-03 9.99918221e-01 -3.23353931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.518241008 meters Centerline goodness : 0.846609 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.23, Z:-0.32 [[ 9.99908323e-01 4.63874317e-03 -1.27211329e-02 3.31961585e+00] [-4.60053832e-03 9.99984824e-01 3.03087908e-03 -2.29434014e-01] [ 1.27349993e-02 -2.97207716e-03 9.99914490e-01 -3.22668381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.548241008 meters Centerline goodness : 0.847209 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.23, Z:-0.32 [[ 9.99907101e-01 4.61938213e-03 -1.28238246e-02 3.31991577e+00] [-4.58271894e-03 9.99985332e-01 2.88690441e-03 -2.29230426e-01] [ 1.28369722e-02 -2.82786823e-03 9.99913604e-01 -3.22867738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.578241008 meters Centerline goodness : 0.845205 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.23, Z:-0.33 [[ 9.99905464e-01 3.94185409e-03 -1.31728688e-02 3.32235710e+00] [-3.91992337e-03 9.99990889e-01 1.69024541e-03 -2.26744281e-01] [ 1.31794115e-02 -1.63844899e-03 9.99911805e-01 -3.25418763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.608241008 meters Centerline goodness : 0.845421 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.23, Z:-0.33 [[ 9.99902632e-01 3.46682247e-03 -1.35169151e-02 3.32415159e+00] [-3.45328067e-03 9.99993512e-01 1.02505245e-03 -2.25569149e-01] [ 1.35203811e-02 -9.78274943e-04 9.99908117e-01 -3.26843131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.638241008 meters Centerline goodness : 0.845090 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.22, Z:-0.33 [[ 9.99898945e-01 3.02667498e-03 -1.38902451e-02 3.32586697e+00] [-3.02232443e-03 9.99995377e-01 3.34190263e-04 -2.24581436e-01] [ 1.38911924e-02 -2.92175664e-04 9.99903470e-01 -3.28170925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.668241008 meters Centerline goodness : 0.844270 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.22, Z:-0.33 [[ 9.99898018e-01 3.02421787e-03 -1.39573636e-02 3.32633403e+00] [-3.02380477e-03 9.99995427e-01 5.07005712e-05 -2.23971353e-01] [ 1.39574531e-02 -8.49105807e-06 9.99902590e-01 -3.28785443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.698241008 meters Centerline goodness : 0.843769 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.23, Z:-0.33 [[ 0.99986857 0.00639812 -0.01489682 3.32916271] [-0.00633321 0.99997026 0.00440036 -0.22575708] [ 0.01492454 -0.00430544 0.99987935 -0.3282307 ] [ 0. 0. 0. 1. ]] SLAMing on 34.728241008 meters Centerline goodness : 0.841917 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.22, Z:-0.33 [[ 0.99986512 0.0061844 -0.01521468 3.33027303] [-0.00612785 0.99997415 0.00376057 -0.22432396] [ 0.01523755 -0.00366683 0.99987718 -0.32917258] [ 0. 0. 0. 1. ]] SLAMing on 34.758241008 meters Centerline goodness : 0.839012 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.22, Z:-0.33 [[ 9.99866598e-01 6.23689524e-03 -1.50959496e-02 3.33061842e+00] [-6.19617308e-03 9.99977042e-01 2.74282515e-03 -2.21586633e-01] [ 1.51127098e-02 -2.64892214e-03 9.99882288e-01 -3.31110368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.788241008 meters Centerline goodness : 0.838645 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.22, Z:-0.33 [[ 9.99866333e-01 5.96626913e-03 -1.52223493e-02 3.33139820e+00] [-5.92902697e-03 9.99979322e-01 2.49050281e-03 -2.20858232e-01] [ 1.52368936e-02 -2.39991619e-03 9.99881032e-01 -3.31529124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.818241008 meters Centerline goodness : 0.840258 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.22, Z:-0.33 [[ 9.99864734e-01 5.92852804e-03 -1.53416700e-02 3.33151433e+00] [-5.88922159e-03 9.99979263e-01 2.60598273e-03 -2.21075435e-01] [ 1.53568015e-02 -2.51527974e-03 9.99878914e-01 -3.31094229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.848241008 meters Centerline goodness : 0.843572 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.22, Z:-0.33 [[ 9.99861656e-01 5.85418393e-03 -1.55690891e-02 3.33188853e+00] [-5.80801809e-03 9.99978607e-01 3.00878918e-03 -2.22507474e-01] [ 1.55863700e-02 -2.91794738e-03 9.99874267e-01 -3.30271327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.878241007999996 meters Centerline goodness : 0.841806 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.22, Z:-0.33 [[ 9.99884351e-01 2.54174801e-03 -1.49941544e-02 3.32980310e+00] [-2.55263058e-03 9.99996492e-01 -7.06694060e-04 -2.22101184e-01] [ 1.49923056e-02 7.44886869e-04 9.99887332e-01 -3.29755374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.908241008 meters Centerline goodness : 0.845338 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.23, Z:-0.33 [[ 0.99985547 0.00482162 -0.01630334 3.33443322] [-0.00474215 0.9999767 0.00490991 -0.2252253 ] [ 0.01632663 -0.00483188 0.99985504 -0.32681318] [ 0. 0. 0. 1. ]] SLAMing on 34.938241008 meters Centerline goodness : 0.842894 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.23, Z:-0.33 [[ 0.99985539 0.00455242 -0.01638509 3.33487311] [-0.00447541 0.99997878 0.00473379 -0.22523308] [ 0.01640629 -0.00465978 0.99985455 -0.32695482] [ 0. 0. 0. 1. ]] SLAMing on 34.968241008 meters Centerline goodness : 0.842894 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.23, Z:-0.33 [[ 0.99985539 0.00455242 -0.01638509 3.33487311] [-0.00447541 0.99997878 0.00473379 -0.22523308] [ 0.01640629 -0.00465978 0.99985455 -0.32695482] [ 0. 0. 0. 1. ]] SLAMing on 34.998241008 meters Centerline goodness : 0.845180 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.23, Z:-0.33 [[ 0.99985375 0.00438966 -0.01652928 3.33522076] [-0.00430837 0.99997846 0.00495057 -0.22590866] [ 0.01655065 -0.00487863 0.99985113 -0.32645445] [ 0. 0. 0. 1. ]] SLAMing on 35.028241008 meters Centerline goodness : 0.846228 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.23, Z:-0.33 [[ 0.99984869 0.00369019 -0.01699934 3.33719171] [-0.00361395 0.99998329 0.00451292 -0.22556045] [ 0.01701571 -0.0044508 0.99984532 -0.32716558] [ 0. 0. 0. 1. ]] SLAMing on 35.058241008 meters Centerline goodness : 0.846345 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.22, Z:-0.33 [[ 0.99984902 0.00343154 -0.01703423 3.33784401] [-0.00336559 0.99998674 0.00389855 -0.22423427] [ 0.01704738 -0.00384064 0.99984731 -0.32819027] [ 0. 0. 0. 1. ]] SLAMing on 35.088241008 meters Centerline goodness : 0.843113 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.22, Z:-0.33 [[ 9.99845774e-01 2.87758121e-03 -1.73247578e-02 3.33940027e+00] [-2.82338929e-03 9.99991048e-01 3.15165181e-03 -2.22907710e-01] [ 1.73336718e-02 -3.10225121e-03 9.99844948e-01 -3.29428484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.118241008 meters Centerline goodness : 0.843705 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.22, Z:-0.33 [[ 9.99842188e-01 2.45657033e-03 -1.75944182e-02 3.34068237e+00] [-2.41021402e-03 9.99993570e-01 2.65543717e-03 -2.22251340e-01] [ 1.76008283e-02 -2.61261180e-03 9.99841680e-01 -3.30339975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.148241008 meters Centerline goodness : 0.842807 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.22, Z:-0.33 [[ 9.99839188e-01 1.78005829e-03 -1.78445732e-02 3.34212633e+00] [-1.73484669e-03 9.99995247e-01 2.54879286e-03 -2.22505823e-01] [ 1.78490254e-02 -2.51742538e-03 9.99837524e-01 -3.30589697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.178241008 meters Centerline goodness : 0.839115 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.22, Z:-0.33 [[ 9.99835952e-01 1.36962967e-03 -1.80608376e-02 3.34326885e+00] [-1.32874744e-03 9.99996529e-01 2.27539001e-03 -2.22260419e-01] [ 1.80638914e-02 -2.25101845e-03 9.99834301e-01 -3.31169289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.208241008 meters Centerline goodness : 0.843266 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.22, Z:-0.33 [[ 9.99832254e-01 9.06361571e-04 -1.82932576e-02 3.34475300e+00] [-8.74953029e-04 9.99998130e-01 1.72487686e-03 -2.21550998e-01] [ 1.82947868e-02 -1.70858178e-03 9.99831177e-01 -3.32399269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.238241008 meters Centerline goodness : 0.839853 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.22, Z:-0.33 [[ 9.99824409e-01 3.02348049e-04 -1.87366106e-02 3.34672755e+00] [-2.78602489e-04 9.99999155e-01 1.26993215e-03 -2.20839210e-01] [ 1.87369788e-02 -1.26448909e-03 9.99823648e-01 -3.33322230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.268241008 meters Centerline goodness : 0.841752 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.22, Z:-0.33 [[ 9.99819716e-01 -1.71116096e-04 -1.89870238e-02 3.34830080e+00] [ 1.86185182e-04 9.99999669e-01 7.91886983e-04 -2.20049734e-01] [ 1.89868820e-02 -7.95279320e-04 9.99819417e-01 -3.34544338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.298241008 meters Centerline goodness : 0.840521 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.22, Z:-0.33 [[ 9.99813599e-01 -5.30021535e-04 -1.92998979e-02 3.34955037e+00] [ 5.44039881e-04 9.99999592e-01 7.21099815e-04 -2.20361292e-01] [ 1.92995078e-02 -7.31465316e-04 9.99813480e-01 -3.34864248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.328241008 meters Centerline goodness : 0.843373 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.22, Z:-0.33 [[ 9.99803167e-01 -1.06800069e-03 -1.98112674e-02 3.35141269e+00] [ 1.08447506e-03 9.99999075e-01 8.20840617e-04 -2.21080450e-01] [ 1.98103724e-02 -8.42163874e-04 9.99803401e-01 -3.34910942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.358241008 meters Centerline goodness : 0.840972 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.22, Z:-0.33 [[ 9.99765798e-01 -3.05129543e-03 -2.14251919e-02 3.36307297e+00] [ 3.16901962e-03 9.99980057e-01 5.46286140e-03 -2.23190780e-01] [ 2.14080958e-02 -5.52947884e-03 9.99755529e-01 -3.32819733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.388241008 meters Centerline goodness : 0.840640 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.22, Z:-0.33 [[ 0.99974714 -0.00391149 -0.02214379 3.36577105] [ 0.00402917 0.99997799 0.00527191 -0.22357966] [ 0.02212269 -0.00535979 0.9997409 -0.33331324] [ 0. 0. 0. 1. ]] SLAMing on 35.418241008 meters Centerline goodness : 0.838457 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.22, Z:-0.33 [[ 0.99972855 -0.00467556 -0.02282455 3.36829277] [ 0.0047996 0.999974 0.0053826 -0.22477475] [ 0.02279879 -0.00549069 0.999725 -0.33339776] [ 0. 0. 0. 1. ]] SLAMing on 35.448241008 meters Centerline goodness : 0.838228 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.23, Z:-0.33 [[ 0.99972617 -0.00812297 -0.02194546 3.38866499] [ 0.00851427 0.99980538 0.01779636 -0.22938675] [ 0.02179663 -0.01797834 0.99960076 -0.32500384] [ 0. 0. 0. 1. ]] SLAMing on 35.478241008 meters Centerline goodness : 0.840238 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.23, Z:-0.33 [[ 0.99981701 -0.00874035 -0.01701647 3.40544272] [ 0.00885759 0.99993747 0.00682648 -0.22559601] [ 0.01695574 -0.00697595 0.99983191 -0.33168171] [ 0. 0. 0. 1. ]] SLAMing on 35.508241008 meters Centerline goodness : 0.837609 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.23, Z:-0.33 [[ 0.99979577 -0.00731252 -0.01884021 3.41213032] [ 0.00757016 0.99987831 0.01363996 -0.22892996] [ 0.01873818 -0.01377979 0.99972946 -0.32600645] [ 0. 0. 0. 1. ]] SLAMing on 35.538241008 meters Centerline goodness : 0.838407 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.23, Z:-0.33 [[ 0.9998803 -0.00707292 -0.01376094 3.42831701] [ 0.00712242 0.99996833 0.00355144 -0.22536547] [ 0.01373539 -0.00364903 0.99989901 -0.33228408] [ 0. 0. 0. 1. ]] SLAMing on 35.568241008 meters Centerline goodness : 0.838164 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.23, Z:-0.33 [[ 0.99988106 -0.00407355 -0.01487532 3.43153553] [ 0.00421396 0.99994675 0.00942017 -0.22889195] [ 0.01483615 -0.00948174 0.99984498 -0.32895031] [ 0. 0. 0. 1. ]] SLAMing on 35.598241008 meters Centerline goodness : 0.837828 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.23, Z:-0.33 [[ 0.99987923 -0.00400603 -0.01501584 3.43161106] [ 0.00415381 0.99994312 0.00982341 -0.22875299] [ 0.01497564 -0.0098846 0.999839 -0.32796572] [ 0. 0. 0. 1. ]] SLAMing on 35.628241007999996 meters Centerline goodness : 0.837880 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.23, Z:-0.32 [[ 9.99872263e-01 -1.00615933e-03 -1.59513270e-02 3.43473267e+00] [ 1.25685728e-03 9.99875734e-01 1.57142063e-02 -2.30681530e-01] [ 1.59335338e-02 -1.57322476e-02 9.99749278e-01 -3.24219849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.658241008 meters Centerline goodness : 0.839516 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.23, Z:-0.32 [[ 9.99849565e-01 2.37257180e-03 -1.71819004e-02 3.43757263e+00] [-1.99290152e-03 9.99754207e-01 2.20806142e-02 -2.34575814e-01] [ 1.72300651e-02 -2.20430507e-02 9.99608538e-01 -3.19932505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.688241008 meters Centerline goodness : 0.840611 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.23, Z:-0.33 [[ 9.99923896e-01 2.27536694e-03 -1.21254143e-02 3.45323824e+00] [-2.15005256e-03 9.99944251e-01 1.03378863e-02 -2.29929633e-01] [ 1.21482608e-02 -1.03110293e-02 9.99873043e-01 -3.27781538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.718241008 meters Centerline goodness : 0.840568 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.23, Z:-0.33 [[ 0.99989916 0.00563043 -0.01303692 3.45574395] [-0.00543532 0.99987342 0.01495361 -0.23138024] [ 0.01311947 -0.01488125 0.99980319 -0.32627818] [ 0. 0. 0. 1. ]] SLAMing on 35.748241008 meters Centerline goodness : 0.842513 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.23, Z:-0.33 [[ 0.99994019 0.00702245 -0.00838407 3.47345742] [-0.00696626 0.9999532 0.00671265 -0.22786474] [ 0.00843082 -0.00665384 0.99994232 -0.33218541] [ 0. 0. 0. 1. ]] SLAMing on 35.778241008 meters Centerline goodness : 0.844552 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.23, Z:-0.33 [[ 0.99993828 0.00701175 -0.00861834 3.47379606] [-0.00695628 0.99995501 0.00644907 -0.22712224] [ 0.00866317 -0.00638872 0.99994207 -0.33211795] [ 0. 0. 0. 1. ]] SLAMing on 35.808241008 meters Centerline goodness : 0.846371 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.23, Z:-0.33 [[ 0.99993569 0.00707746 -0.00886177 3.47395327] [-0.00702039 0.99995453 0.0064542 -0.22700654] [ 0.00890704 -0.00639157 0.9999399 -0.33154452] [ 0. 0. 0. 1. ]] SLAMing on 35.838241008 meters Centerline goodness : 0.847459 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.23, Z:-0.33 [[ 0.99993322 0.00740662 -0.00887134 3.47351802] [-0.00735294 0.99995455 0.00606874 -0.22514843] [ 0.00891589 -0.0060031 0.99994223 -0.33170693] [ 0. 0. 0. 1. ]] SLAMing on 35.868241008 meters Centerline goodness : 0.846439 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.22, Z:-0.33 [[ 0.99993611 0.0067856 -0.00904017 3.47524973] [-0.00674437 0.99996675 0.00458342 -0.2221685 ] [ 0.00907098 -0.00452216 0.99994863 -0.33433292] [ 0. 0. 0. 1. ]] SLAMing on 35.898241008 meters Centerline goodness : 0.844212 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.22, Z:-0.34 [[ 0.99993736 0.00616806 -0.00934009 3.47730437] [-0.00613484 0.99997477 0.00358084 -0.21992783] [ 0.00936195 -0.00352332 0.99994997 -0.3363973 ] [ 0. 0. 0. 1. ]] SLAMing on 35.928241008 meters Centerline goodness : 0.844764 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.22, Z:-0.34 [[ 9.99937618e-01 5.49906906e-03 -9.72211757e-03 3.47941261e+00] [-5.47460236e-03 9.99981785e-01 2.54142642e-03 -2.18273617e-01] [ 9.73591596e-03 -2.48804316e-03 9.99949510e-01 -3.38391969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.958241008 meters Centerline goodness : 0.845489 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.22, Z:-0.34 [[ 9.99932319e-01 4.69202829e-03 -1.06462680e-02 3.48264932e+00] [-4.67351026e-03 9.99987524e-01 1.76360345e-03 -2.17766681e-01] [ 1.06544101e-02 -1.71372864e-03 9.99941772e-01 -3.39856116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.988241008 meters Centerline goodness : 0.845749 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.22, Z:-0.34 [[ 9.99927004e-01 4.51670598e-03 -1.12065232e-02 3.48380347e+00] [-4.49289573e-03 9.99987598e-01 2.14894475e-03 -2.19112568e-01] [ 1.12160904e-02 -2.09843814e-03 9.99934896e-01 -3.39040799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.018241008 meters Centerline goodness : 0.843690 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.22, Z:-0.34 [[ 9.99923865e-01 4.54417188e-03 -1.14723365e-02 3.48407175e+00] [-4.51523805e-03 9.99986563e-01 2.54669496e-03 -2.20613315e-01] [ 1.14837550e-02 -2.49470074e-03 9.99930948e-01 -3.38227459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.048241008 meters Centerline goodness : 0.845326 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.22, Z:-0.34 [[ 9.99920231e-01 4.03298754e-03 -1.19694181e-02 3.48600711e+00] [-4.00524888e-03 9.99989240e-01 2.34052781e-03 -2.21259307e-01] [ 1.19787286e-02 -2.29240061e-03 9.99925625e-01 -3.38897468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.078241008 meters Centerline goodness : 0.844239 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.22, Z:-0.34 [[ 9.99911654e-01 2.63986633e-03 -1.30274966e-02 3.48981295e+00] [-2.60506531e-03 9.99992995e-01 2.68759815e-03 -2.22813663e-01] [ 1.30345002e-02 -2.65342323e-03 9.99911527e-01 -3.38323713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.108241008 meters Centerline goodness : 0.844508 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.22, Z:-0.34 [[ 9.99905023e-01 1.93204680e-03 -1.36459609e-02 3.49206623e+00] [-1.89375479e-03 9.99994235e-01 2.81846952e-03 -2.23813168e-01] [ 1.36513277e-02 -2.79235973e-03 9.99902917e-01 -3.38433953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.138241008 meters Centerline goodness : 0.845372 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.22, Z:-0.34 [[ 9.99903892e-01 1.73604762e-03 -1.37547053e-02 3.49291346e+00] [-1.69943377e-03 9.99994983e-01 2.67315615e-03 -2.23948860e-01] [ 1.37592770e-02 -2.64952403e-03 9.99901826e-01 -3.39152424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.168241008 meters Centerline goodness : 0.840181 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.22, Z:-0.34 [[ 9.99904317e-01 1.71625241e-03 -1.37263088e-02 3.49342627e+00] [-1.68426246e-03 9.99995840e-01 2.34177741e-03 -2.23153298e-01] [ 1.37302708e-02 -2.31843463e-03 9.99903048e-01 -3.40155983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.198241008 meters Centerline goodness : 0.842431 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.23, Z:-0.34 [[ 0.99987571 0.00402065 -0.01524489 3.49819739] [-0.00389297 0.99995718 0.00839579 -0.22660965] [ 0.015278 -0.0083354 0.99984854 -0.33619015] [ 0. 0. 0. 1. ]] SLAMing on 36.228241008 meters Centerline goodness : 0.846536 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.23, Z:-0.34 [[ 0.99987362 0.00379426 -0.01543841 3.49886689] [-0.00366857 0.99995996 0.00816163 -0.22649025] [ 0.01546875 -0.00810396 0.99984751 -0.33646003] [ 0. 0. 0. 1. ]] SLAMing on 36.258241008 meters Centerline goodness : 0.844543 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.22, Z:-0.34 [[ 9.99939325e-01 4.47735914e-03 -1.00647745e-02 3.51399851e+00] [-4.49863816e-03 9.99987692e-01 -2.09256341e-03 -2.23135371e-01] [ 1.00552814e-02 2.13771422e-03 9.99947159e-01 -3.43099355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.288241008 meters Centerline goodness : 0.848239 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.22, Z:-0.34 [[ 9.99939187e-01 4.68296212e-03 -9.98455963e-03 3.51358892e+00] [-4.70176241e-03 9.99987216e-01 -1.86029482e-03 -2.23389152e-01] [ 9.97572030e-03 1.90712671e-03 9.99948423e-01 -3.42706000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.318241008 meters Centerline goodness : 0.842858 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.22, Z:-0.34 [[ 9.99937644e-01 4.37125325e-03 -1.02762258e-02 3.51498086e+00] [-4.39628768e-03 9.99987421e-01 -2.41482460e-03 -2.21685302e-01] [ 1.02655407e-02 2.45985127e-03 9.99944282e-01 -3.43817172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.348241008 meters Centerline goodness : 0.846475 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.22, Z:-0.34 [[ 9.99909817e-01 7.18920232e-03 -1.13434422e-02 3.51858813e+00] [-7.16251260e-03 9.99971489e-01 2.39175036e-03 -2.24255302e-01] [ 1.13603135e-02 -2.31028712e-03 9.99932801e-01 -3.42566661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.378241007999996 meters Centerline goodness : 0.845219 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.22, Z:-0.34 [[ 9.99908312e-01 7.02960370e-03 -1.15737875e-02 3.51930405e+00] [-7.00269120e-03 9.99972686e-01 2.36418309e-03 -2.24061191e-01] [ 1.15900907e-02 -2.28291866e-03 9.99930227e-01 -3.42602203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.408241008 meters Centerline goodness : 0.842654 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.22, Z:-0.34 [[ 9.99908001e-01 6.58081958e-03 -1.18609370e-02 3.52059765e+00] [-6.55719685e-03 9.99976442e-01 2.02943100e-03 -2.23881413e-01] [ 1.18740129e-02 -1.95146980e-03 9.99927597e-01 -3.43208368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.438241008 meters Centerline goodness : 0.845670 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.22, Z:-0.34 [[ 9.99902617e-01 5.98258551e-03 -1.26081291e-02 3.52260484e+00] [-5.95470570e-03 9.99979745e-01 2.24763825e-03 -2.24557309e-01] [ 1.26213204e-02 -2.17234167e-03 9.99917988e-01 -3.42536756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.468241008 meters Centerline goodness : 0.841780 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.23, Z:-0.34 [[ 9.99901353e-01 3.19969937e-03 -1.36764644e-02 3.53550802e+00] [-3.07789219e-03 9.99955496e-01 8.91812362e-03 -2.27534319e-01] [ 1.37043910e-02 -8.87514919e-03 9.99866702e-01 -3.37009651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.498241008 meters Centerline goodness : 0.842927 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.23, Z:-0.34 [[ 9.99897914e-01 2.59362797e-03 -1.40511636e-02 3.53723675e+00] [-2.47714063e-03 9.99962475e-01 8.30129800e-03 -2.25853628e-01] [ 1.40721668e-02 -8.26564384e-03 9.99866818e-01 -3.37899863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.528241008 meters Centerline goodness : 0.841646 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.22, Z:-0.34 [[ 9.99867519e-01 3.71038854e-03 -1.58485836e-02 3.54480873e+00] [-3.51655433e-03 9.99918895e-01 1.22407882e-02 -2.24615187e-01] [ 1.58927163e-02 -1.21834341e-02 9.99799473e-01 -3.37266639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.558241008 meters Centerline goodness : 0.840328 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.22, Z:-0.34 [[ 9.99859392e-01 2.74673136e-03 -1.65424380e-02 3.54755387e+00] [-2.55238678e-03 9.99927616e-01 1.17579194e-02 -2.24057889e-01] [ 1.65735364e-02 -1.17140435e-02 9.99794028e-01 -3.37928553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.588241008 meters Centerline goodness : 0.843335 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.22, Z:-0.34 [[ 9.99848884e-01 1.89190291e-03 -1.72808833e-02 3.55006134e+00] [-1.69208712e-03 9.99931632e-01 1.15701349e-02 -2.24258382e-01] [ 1.73015914e-02 -1.15391457e-02 9.99783728e-01 -3.38038098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.618241008 meters Centerline goodness : 0.842017 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.23, Z:-0.33 [[ 9.99822055e-01 2.10015027e-03 -1.87469449e-02 3.55843196e+00] [-1.73748139e-03 9.99811438e-01 1.93408610e-02 -2.28428706e-01] [ 1.87840287e-02 -1.93048469e-02 9.99637176e-01 -3.30715076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.648241008 meters Centerline goodness : 0.842001 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.23, Z:-0.33 [[ 9.99820253e-01 -2.53539167e-03 -1.87891941e-02 3.55900671e+00] [ 2.80813257e-03 9.99890873e-01 1.45036998e-02 -2.27107724e-01] [ 1.87503712e-02 -1.45538554e-02 9.99718265e-01 -3.31402722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.678241008 meters Centerline goodness : 0.844956 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.22, Z:-0.34 [[ 0.99996357 -0.00584159 -0.00622412 3.56688677] [ 0.00590333 0.99993308 0.00994875 -0.22445735] [ 0.00616559 -0.00998513 0.99993114 -0.34055713] [ 0. 0. 0. 1. ]] SLAMing on 36.708241008 meters Centerline goodness : 0.845555 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.23, Z:-0.34 [[ 9.99965623e-01 -3.47531550e-03 -7.52830185e-03 3.57134988e+00] [ 3.59050580e-03 9.99875860e-01 1.53418790e-02 -2.26869374e-01] [ 7.47404942e-03 -1.53683820e-02 9.99853965e-01 -3.37986551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.738241008 meters Centerline goodness : 0.843638 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.23, Z:-0.34 [[ 9.99966545e-01 -3.53331339e-03 -7.37731405e-03 3.57148153e+00] [ 3.64369123e-03 9.99880819e-01 1.50023486e-02 -2.25075404e-01] [ 7.32342682e-03 -1.50287274e-02 9.99860243e-01 -3.38632045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.768241008 meters Centerline goodness : 0.841087 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.22, Z:-0.34 [[ 9.99970282e-01 -3.19406401e-03 -7.01657698e-03 3.57120120e+00] [ 3.28491598e-03 9.99910425e-01 1.29750534e-02 -2.20039321e-01] [ 6.97450531e-03 -1.29977167e-02 9.99891202e-01 -3.42288975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.798241008 meters Centerline goodness : 0.842056 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.22, Z:-0.35 [[ 9.99996107e-01 -7.42058564e-05 -2.78921111e-03 3.58590638e+00] [ 8.51134031e-05 9.99992350e-01 3.91070544e-03 -2.16094031e-01] [ 2.78889957e-03 -3.91092761e-03 9.99988463e-01 -3.48920308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.828241008 meters Centerline goodness : 0.842294 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.21, Z:-0.35 [[ 9.99996199e-01 2.15580091e-04 -2.74875636e-03 3.58575347e+00] [-2.06863867e-04 9.99994951e-01 3.17086015e-03 -2.13873352e-01] [ 2.74942605e-03 -3.17027947e-03 9.99991195e-01 -3.49899760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.858241008 meters Centerline goodness : 0.842294 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.21, Z:-0.35 [[ 9.99996199e-01 2.15580091e-04 -2.74875636e-03 3.58575347e+00] [-2.06863867e-04 9.99994951e-01 3.17086015e-03 -2.13873352e-01] [ 2.74942605e-03 -3.17027947e-03 9.99991195e-01 -3.49899760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.888241008 meters Centerline goodness : 0.840793 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.21, Z:-0.35 [[ 9.99994706e-01 1.63848972e-03 -2.81135315e-03 3.58423420e+00] [-1.62928762e-03 9.99993318e-01 3.27236676e-03 -2.12407734e-01] [ 2.81669611e-03 -3.26776894e-03 9.99990694e-01 -3.49388843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.918241008 meters Centerline goodness : 0.842305 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.21, Z:-0.35 [[ 9.99994174e-01 1.75959788e-03 -2.92517059e-03 3.58439242e+00] [-1.75040483e-03 9.99993531e-01 3.14233376e-03 -2.12082877e-01] [ 2.93068091e-03 -3.13719522e-03 9.99990785e-01 -3.49471820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.948241008 meters Centerline goodness : 0.841822 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.21, Z:-0.35 [[ 9.99993986e-01 1.71150274e-03 -3.01634231e-03 3.58495161e+00] [-1.70206132e-03 9.99993653e-01 3.12988313e-03 -2.12355883e-01] [ 3.02167997e-03 -3.12473031e-03 9.99990553e-01 -3.49752205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.978241008 meters Centerline goodness : 0.844499 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.21, Z:-0.35 [[ 9.99993267e-01 1.05412975e-03 -3.51499342e-03 3.58711886e+00] [-1.04328828e-03 9.99994698e-01 3.08475813e-03 -2.12932338e-01] [ 3.51822652e-03 -3.08107020e-03 9.99989064e-01 -3.50291777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.008241008 meters Centerline goodness : 0.839202 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.21, Z:-0.35 [[ 9.99990373e-01 -3.94846868e-04 -4.37008179e-03 3.59130954e+00] [ 4.07947737e-04 9.99995425e-01 2.99736924e-03 -2.14267147e-01] [ 4.36887830e-03 -2.99912315e-03 9.99985959e-01 -3.51478652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.038241008 meters Centerline goodness : 0.842543 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.22, Z:-0.35 [[ 9.99988279e-01 -7.38574514e-04 -4.78502466e-03 3.59277547e+00] [ 7.53728611e-04 9.99994704e-01 3.16595523e-03 -2.15029070e-01] [ 4.78266102e-03 -3.16952473e-03 9.99983540e-01 -3.51564506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.068241008 meters Centerline goodness : 0.842161 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.22, Z:-0.35 [[ 9.99984755e-01 -1.36316079e-03 -5.35090809e-03 3.59504773e+00] [ 1.37858979e-03 9.99994900e-01 2.88080798e-03 -2.15063960e-01] [ 5.34695380e-03 -2.88814076e-03 9.99981534e-01 -3.52333418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.098241008 meters Centerline goodness : 0.846258 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.21, Z:-0.35 [[ 9.99979933e-01 -2.07340063e-03 -5.98612132e-03 3.59765467e+00] [ 2.08757132e-03 9.99995032e-01 2.36198033e-03 -2.14467418e-01] [ 5.98119425e-03 -2.37442939e-03 9.99979293e-01 -3.53510909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.128241007999996 meters Centerline goodness : 0.847581 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.21, Z:-0.35 [[ 9.99978486e-01 -2.21535000e-03 -6.17409706e-03 3.59856217e+00] [ 2.22899836e-03 9.99995086e-01 2.20458120e-03 -2.14106441e-01] [ 6.16918280e-03 -2.21829582e-03 9.99978510e-01 -3.54083049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.158241008 meters Centerline goodness : 0.845729 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.22, Z:-0.35 [[ 9.99971085e-01 2.13231769e-04 -7.60150781e-03 3.60315129e+00] [-1.54984712e-04 9.99970632e-01 7.66233196e-03 -2.17266393e-01] [ 7.60291842e-03 -7.66093228e-03 9.99941751e-01 -3.51453926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.188241008 meters Centerline goodness : 0.845852 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.22, Z:-0.35 [[ 9.99969044e-01 1.82334524e-05 -7.86831916e-03 3.60395294e+00] [ 4.47842366e-05 9.99967928e-01 8.00879026e-03 -2.18277727e-01] [ 7.86821284e-03 -8.00889471e-03 9.99936972e-01 -3.50966899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.218241008 meters Centerline goodness : 0.850443 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.22, Z:-0.34 [[ 9.99964245e-01 -2.22966553e-03 -8.15706857e-03 3.61416933e+00] [ 2.35516697e-03 9.99878508e-01 1.54084901e-02 -2.21964106e-01] [ 8.12172178e-03 -1.54271505e-02 9.99848009e-01 -3.43889222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.248241008 meters Centerline goodness : 0.852300 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.22, Z:-0.34 [[ 9.99954649e-01 -1.71008146e-03 -9.36882457e-03 3.62147782e+00] [ 1.91997037e-03 9.99746350e-01 2.24399120e-02 -2.24922447e-01] [ 9.32807409e-03 -2.24568822e-02 9.99704294e-01 -3.37964330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.278241008 meters Centerline goodness : 0.852261 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.22, Z:-0.34 [[ 9.99950007e-01 -2.55381513e-03 -9.66752932e-03 3.62341864e+00] [ 2.76867407e-03 9.99748002e-01 2.22770550e-02 -2.23792388e-01] [ 9.60820164e-03 -2.23027076e-02 9.99705092e-01 -3.38106276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.308241008 meters Centerline goodness : 0.851571 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.22, Z:-0.34 [[ 9.99943918e-01 -3.34534063e-03 -1.00483331e-02 3.62540193e+00] [ 3.56346173e-03 9.99756692e-01 2.17683076e-02 -2.22949756e-01] [ 9.97306587e-03 -2.18028936e-02 9.99712545e-01 -3.39164669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.338241008 meters Centerline goodness : 0.852345 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.22, Z:-0.34 [[ 0.99991392 -0.00836738 -0.01010678 3.62699399] [ 0.00852926 0.99983431 0.01608121 -0.22044198] [ 0.00997055 -0.01616602 0.99981961 -0.34185812] [ 0. 0. 0. 1. ]] SLAMing on 37.368241008 meters Centerline goodness : 0.852535 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.22, Z:-0.34 [[ 0.99987559 -0.01241667 -0.00972775 3.62669263] [ 0.01252028 0.99986476 0.01066366 -0.21751898] [ 0.00959403 -0.01078413 0.99989582 -0.34413804] [ 0. 0. 0. 1. ]] SLAMing on 37.398241008 meters Centerline goodness : 0.852913 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.22, Z:-0.34 [[ 0.99986655 -0.01326996 -0.00952881 3.62675654] [ 0.01336229 0.99986375 0.00969181 -0.21775659] [ 0.0093989 -0.00981785 0.99990763 -0.34427072] [ 0. 0. 0. 1. ]] SLAMing on 37.428241008 meters Centerline goodness : 0.855534 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.21, Z:-0.35 [[ 0.99981664 -0.01693665 -0.00893521 3.62565339] [ 0.01698054 0.99984401 0.00485941 -0.21483231] [ 0.00885152 -0.00501024 0.99994827 -0.34570228] [ 0. 0. 0. 1. ]] SLAMing on 37.458241008 meters Centerline goodness : 0.855436 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.22, Z:-0.35 [[ 9.99924572e-01 -1.22119409e-02 1.31074685e-03 3.62941125e+00] [ 1.21997100e-02 9.99885387e-01 8.96544209e-03 -2.15216825e-01] [-1.42008207e-03 -8.94877512e-03 9.99958951e-01 -3.48085191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.488241008 meters Centerline goodness : 0.855045 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.22, Z:-0.34 [[ 9.99899056e-01 -1.40189308e-02 2.31233858e-03 3.58573462e+00] [ 1.39581998e-02 9.99603179e-01 2.44673950e-02 -2.17810156e-01] [-2.65442771e-03 -2.44326491e-02 9.99697954e-01 -3.39026202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.518241008 meters Centerline goodness : 0.858544 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.22, Z:-0.34 [[ 9.99914962e-01 -1.29228310e-02 1.75189693e-03 3.58801563e+00] [ 1.28771359e-02 9.99629596e-01 2.39760299e-02 -2.16728978e-01] [-2.06108620e-03 -2.39514316e-02 9.99710999e-01 -3.40367049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.548241008 meters Centerline goodness : 0.856727 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.21, Z:-0.34 [[ 9.99915548e-01 -1.28606732e-02 1.87098173e-03 3.58754250e+00] [ 1.28144046e-02 9.99654822e-01 2.29353163e-02 -2.12767909e-01] [-2.16529951e-03 -2.29094039e-02 9.99735200e-01 -3.41028200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.578241008 meters Centerline goodness : 0.861814 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.21, Z:-0.34 [[ 9.99912481e-01 -1.31311466e-02 1.61344947e-03 3.58850399e+00] [ 1.30921501e-02 9.99668266e-01 2.21800285e-02 -2.11101133e-01] [-1.90416344e-03 -2.21569638e-02 9.99752691e-01 -3.41917003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.608241008 meters Centerline goodness : 0.859286 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.21, Z:-0.33 [[ 9.99928279e-01 -1.16849933e-02 -2.62647458e-03 3.56924078e+00] [ 1.17658630e-02 9.99378315e-01 3.32347431e-02 -2.13976408e-01] [ 2.23649399e-03 -3.32632622e-02 9.99444122e-01 -3.33734092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.638241008 meters Centerline goodness : 0.858999 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.21, Z:-0.33 [[ 9.99932470e-01 -1.13679403e-02 -2.41359379e-03 3.56864297e+00] [ 1.14400129e-02 9.99412479e-01 3.23082439e-02 -2.11267133e-01] [ 2.04489757e-03 -3.23336736e-02 9.99475038e-01 -3.34812030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.668241008 meters Centerline goodness : 0.861237 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.20, Z:-0.34 [[ 9.99983089e-01 -5.52369864e-03 1.81922314e-03 3.58301471e+00] [ 5.47888341e-03 9.99702180e-01 2.37809311e-02 -2.04088865e-01] [-1.95004004e-03 -2.37705617e-02 9.99715538e-01 -3.44209035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.698241008 meters Centerline goodness : 0.860344 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.20, Z:-0.34 [[ 9.99997923e-01 -1.53167283e-03 1.34488875e-03 3.58391059e+00] [ 1.49344237e-03 9.99607323e-01 2.79815796e-02 -2.04017899e-01] [-1.38721927e-03 -2.79795130e-02 9.99607534e-01 -3.43567318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.728241008 meters Centerline goodness : 0.859157 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.20, Z:-0.35 [[ 9.99978735e-01 1.34210545e-03 6.38183411e-03 3.59709820e+00] [-1.45063567e-03 9.99853892e-01 1.70320109e-02 -1.98430091e-01] [-6.35804292e-03 -1.70409064e-02 9.99834578e-01 -3.52459375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.758241008 meters Centerline goodness : 0.858123 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.20, Z:-0.35 [[ 0.99996977 0.00512934 0.00584419 3.59838592] [-0.005255 0.99975087 0.02169303 -0.19975961] [-0.00573146 -0.02172308 0.9997476 -0.35131085] [ 0. 0. 0. 1. ]] SLAMing on 37.788241008 meters Centerline goodness : 0.856462 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.20, Z:-0.35 [[ 0.99991293 0.0080457 0.01045937 3.61646426] [-0.00821831 0.999829 0.01656604 -0.19709059] [-0.01032429 -0.01665055 0.99980807 -0.35497775] [ 0. 0. 0. 1. ]] SLAMing on 37.818241008 meters Centerline goodness : 0.857820 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.20, Z:-0.35 [[ 0.99990378 0.00855788 0.01091749 3.61513937] [-0.00874215 0.99981823 0.01694378 -0.19751149] [-0.0107705 -0.01703759 0.99979684 -0.3543195 ] [ 0. 0. 0. 1. ]] SLAMing on 37.848241008 meters Centerline goodness : 0.858223 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.20, Z:-0.35 [[ 0.99990503 0.00870879 0.01068118 3.61526323] [-0.00889544 0.99980635 0.01755388 -0.19938914] [-0.01052623 -0.01764723 0.99978886 -0.3532153 ] [ 0. 0. 0. 1. ]] SLAMing on 37.878241007999996 meters Centerline goodness : 0.860552 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.20, Z:-0.35 [[ 0.99990674 0.00867735 0.01054577 3.61552268] [-0.00886628 0.99979863 0.01800269 -0.20110489] [-0.01038743 -0.01809451 0.99978232 -0.35244849] [ 0. 0. 0. 1. ]] SLAMing on 37.908241008 meters Centerline goodness : 0.861749 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.20, Z:-0.35 [[ 0.99992831 0.00487579 0.01093612 3.61493397] [-0.00502493 0.99989418 0.01365214 -0.20180856] [-0.01086839 -0.01370612 0.999847 -0.35345615] [ 0. 0. 0. 1. ]] SLAMing on 37.938241008 meters Centerline goodness : 0.863809 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.20, Z:-0.35 [[ 0.9999389 0.00425033 0.01020439 3.61743341] [-0.00439331 0.99989192 0.01403041 -0.20421237] [-0.01014365 -0.01407439 0.9998495 -0.35348379] [ 0. 0. 0. 1. ]] SLAMing on 37.968241008 meters Centerline goodness : 0.864238 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.21, Z:-0.36 [[ 9.99948165e-01 3.37431691e-03 9.60631198e-03 3.62026082e+00] [-3.50578612e-03 9.99899978e-01 1.37019271e-02 -2.05793969e-01] [-9.55911649e-03 -1.37348946e-02 9.99859978e-01 -3.55006880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.998241008 meters Centerline goodness : 0.863411 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.21, Z:-0.35 [[ 0.99996963 0.00554481 0.00547586 3.64744525] [-0.00562216 0.99988319 0.01421235 -0.20945207] [-0.00539642 -0.0142427 0.99988401 -0.3523403 ] [ 0. 0. 0. 1. ]] SLAMing on 38.028241008 meters Centerline goodness : 0.860634 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.21, Z:-0.35 [[ 0.99997847 0.00457993 0.00469957 3.65074689] [-0.00464551 0.99989064 0.01404029 -0.21016129] [-0.00463475 -0.01406182 0.99989039 -0.35352013] [ 0. 0. 0. 1. ]] SLAMing on 38.058241008 meters Centerline goodness : 0.862012 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.21, Z:-0.35 [[ 9.99994404e-01 1.07550959e-03 3.16797661e-03 3.66595289e+00] [-1.13707654e-03 9.99809271e-01 1.94968972e-02 -2.13771062e-01] [-3.14640328e-03 -1.95003903e-02 9.99804898e-01 -3.51435756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.088241008 meters Centerline goodness : 0.862666 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.22, Z:-0.35 [[ 9.99996863e-01 5.28794265e-04 2.44817605e-03 3.66835329e+00] [-5.76172792e-04 9.99811782e-01 1.93924979e-02 -2.15303021e-01] [-2.43746061e-03 -1.93938476e-02 9.99808950e-01 -3.51994430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.118241008 meters Centerline goodness : 0.863339 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.22, Z:-0.35 [[ 9.99990063e-01 1.98031737e-03 3.99396059e-03 3.69382965e+00] [-2.05291730e-03 9.99831238e-01 1.82559967e-02 -2.17290272e-01] [-3.95713389e-03 -1.82640145e-02 9.99825368e-01 -3.50413713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.148241008 meters Centerline goodness : 0.866307 Centerline is valid? [False, False] Translation: X:3.70, Y:-0.22, Z:-0.35 [[ 9.99992173e-01 1.54244689e-03 3.64346432e-03 3.69520549e+00] [-1.60710552e-03 9.99840085e-01 1.78107166e-02 -2.16918636e-01] [-3.61540959e-03 -1.78164326e-02 9.99834738e-01 -3.51153736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.178241008 meters Centerline goodness : 0.861347 Centerline is valid? [False, False] Translation: X:3.70, Y:-0.22, Z:-0.35 [[ 9.99993606e-01 1.14422639e-03 3.38814407e-03 3.69645093e+00] [-1.20392315e-03 9.99843148e-01 1.76700070e-02 -2.16707446e-01] [-3.36739414e-03 -1.76739731e-02 9.99838133e-01 -3.51399306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.208241008 meters Centerline goodness : 0.863106 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.22, Z:-0.35 [[ 9.99979262e-01 2.30571389e-03 6.01318861e-03 3.71880658e+00] [-2.38415806e-03 9.99911729e-01 1.30709790e-02 -2.16350009e-01] [-5.98251988e-03 -1.30850443e-02 9.99896490e-01 -3.53323562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.238241008 meters Centerline goodness : 0.864229 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.22, Z:-0.35 [[ 9.99983991e-01 1.19461108e-03 5.53079676e-03 3.72128911e+00] [-1.26392048e-03 9.99920509e-01 1.25450508e-02 -2.16483048e-01] [-5.51537066e-03 -1.25518405e-02 9.99906012e-01 -3.54298346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.268241008 meters Centerline goodness : 0.865078 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.22, Z:-0.35 [[ 9.99990098e-01 2.32808732e-03 3.79256243e-03 3.72832579e+00] [-2.39841107e-03 9.99823295e-01 1.86447529e-02 -2.18241389e-01] [-3.74848565e-03 -1.86536644e-02 9.99818978e-01 -3.49865162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.298241008 meters Centerline goodness : 0.866416 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.22, Z:-0.34 [[ 9.99988471e-01 4.01357943e-03 2.63592875e-03 3.73363529e+00] [-4.08040213e-03 9.99657388e-01 2.58545519e-02 -2.21409628e-01] [-2.53125635e-03 -2.58650095e-02 9.99662240e-01 -3.43632525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.328241008 meters Centerline goodness : 0.867653 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.22, Z:-0.34 [[ 9.99987649e-01 4.88431183e-03 9.19247022e-04 3.74098035e+00] [-4.91142645e-03 9.99467434e-01 3.22602902e-02 -2.24139255e-01] [-7.61188145e-04 -3.22644066e-02 9.99479079e-01 -3.38734888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.358241008 meters Centerline goodness : 0.863901 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.22, Z:-0.34 [[ 9.99994952e-01 3.17698491e-03 5.81861758e-05 3.74510117e+00] [-3.17724825e-03 9.99504020e-01 3.13307970e-02 -2.22194969e-01] [ 4.13801526e-05 -3.13308237e-02 9.99509068e-01 -3.39925964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.388241008 meters Centerline goodness : 0.864063 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.22, Z:-0.34 [[ 9.99999019e-01 -1.39493007e-03 1.29301940e-04 3.74627367e+00] [ 1.39137516e-03 9.99703598e-01 2.43059823e-02 -2.16605200e-01] [-1.63168761e-04 -2.43057786e-02 9.99704558e-01 -3.44799600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.418241008 meters Centerline goodness : 0.864129 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.21, Z:-0.35 [[ 9.99982837e-01 -5.84363612e-03 4.22098277e-04 3.74695701e+00] [ 5.83528295e-03 9.99827417e-01 1.76376124e-02 -2.11503519e-01] [-5.25093219e-04 -1.76348466e-02 9.99844356e-01 -3.49191396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.448241008 meters Centerline goodness : 0.864055 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.21, Z:-0.35 [[ 9.99946641e-01 -1.03164953e-02 5.34290617e-04 3.74804043e+00] [ 1.03102953e-02 9.99891342e-01 1.05357190e-02 -2.05183322e-01] [-6.42924257e-04 -1.05296481e-02 9.99944355e-01 -3.54184553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.478241008 meters Centerline goodness : 0.866557 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.20, Z:-0.35 [[ 9.99899747e-01 -1.40262717e-02 1.93915798e-03 3.70519982e+00] [ 1.39806374e-02 9.99664033e-01 2.18257272e-02 -2.04936671e-01] [-2.24464007e-03 -2.17964284e-02 9.99759910e-01 -3.49158597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.508241008 meters Centerline goodness : 0.864709 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.20, Z:-0.35 [[ 9.99911011e-01 -1.33031535e-02 -9.97713124e-04 3.67670705e+00] [ 1.33238563e-02 9.99601902e-01 2.48699010e-02 -2.04699950e-01] [ 6.66467825e-04 -2.48809812e-02 9.99690198e-01 -3.47115669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.538241008 meters Centerline goodness : 0.865365 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.20, Z:-0.35 [[ 9.99918036e-01 -1.25899842e-02 -2.32669144e-03 3.64563474e+00] [ 1.26468346e-02 9.99574304e-01 2.62919769e-02 -2.03803135e-01] [ 1.99468540e-03 -2.63192472e-02 9.99651599e-01 -3.46930643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.568241008 meters Centerline goodness : 0.866810 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.20, Z:-0.35 [[ 9.99936803e-01 -1.11215713e-02 -1.64339029e-03 3.64548669e+00] [ 1.11607787e-02 9.99595270e-01 2.61674226e-02 -2.00901957e-01] [ 1.35170230e-03 -2.61841104e-02 9.99656224e-01 -3.47863556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.598241008 meters Centerline goodness : 0.871432 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.20, Z:-0.35 [[ 9.99938703e-01 -1.09861680e-02 -1.37649033e-03 3.64464026e+00] [ 1.10177869e-02 9.99612181e-01 2.55752898e-02 -1.98344743e-01] [ 1.09498207e-03 -2.55888880e-02 9.99671951e-01 -3.48092024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.628241008 meters Centerline goodness : 0.866718 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.20, Z:-0.34 [[ 9.99936963e-01 -1.09366421e-02 -2.54179154e-03 3.62597386e+00] [ 1.10210176e-02 9.99292188e-01 3.59674942e-02 -1.98860177e-01] [ 2.14662882e-03 -3.59932401e-02 9.99349728e-01 -3.43036604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.658241008 meters Centerline goodness : 0.866092 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.19, Z:-0.34 [[ 9.99954170e-01 -9.37897644e-03 -1.92139279e-03 3.62287693e+00] [ 9.44123561e-03 9.99326261e-01 3.54667032e-02 -1.93659244e-01] [ 1.58745689e-03 -3.54832181e-02 9.99369012e-01 -3.43032855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.688241008 meters Centerline goodness : 0.864622 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.19, Z:-0.34 [[ 9.99961949e-01 -8.61591472e-03 -1.36598569e-03 3.62126613e+00] [ 8.65832559e-03 9.99353945e-01 3.48816109e-02 -1.90150993e-01] [ 1.06456620e-03 -3.48921108e-02 9.99390518e-01 -3.43348187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.718241008 meters Centerline goodness : 0.866810 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.19, Z:-0.35 [[ 9.99979886e-01 -5.26737473e-03 3.53316705e-03 3.63528419e+00] [ 5.17185576e-03 9.99634902e-01 2.65200854e-02 -1.85274214e-01] [-3.67156832e-03 -2.65012790e-02 9.99642037e-01 -3.49144139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.748241008 meters Centerline goodness : 0.866177 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.18, Z:-0.36 [[ 9.99962014e-01 -2.61106067e-03 8.31583906e-03 3.64935915e+00] [ 2.47832351e-03 9.99869999e-01 1.59324707e-02 -1.79460735e-01] [-8.35635864e-03 -1.59112562e-02 9.99838489e-01 -3.57438346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.778241008 meters Centerline goodness : 0.866453 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.18, Z:-0.36 [[ 9.99968229e-01 1.17252543e-03 7.88459878e-03 3.65059642e+00] [-1.32407630e-03 9.99813951e-01 1.92434584e-02 -1.77578634e-01] [-7.86056841e-03 -1.92532868e-02 9.99783738e-01 -3.58001336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.808241008 meters Centerline goodness : 0.866453 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.18, Z:-0.36 [[ 9.99967875e-01 1.21920640e-03 7.92227952e-03 3.65050280e+00] [-1.37098749e-03 9.99815075e-01 1.91816643e-02 -1.77440030e-01] [-7.89742808e-03 -1.91919094e-02 9.99784627e-01 -3.58051969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.838241008 meters Centerline goodness : 0.863555 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.18, Z:-0.36 [[ 9.99970196e-01 7.78424269e-04 7.68126276e-03 3.65188566e+00] [-9.16202213e-04 9.99838471e-01 1.79497017e-02 -1.75138316e-01] [-7.66604953e-03 -1.79562043e-02 9.99809385e-01 -3.60009637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.868241008 meters Centerline goodness : 0.864064 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.18, Z:-0.36 [[ 9.99971330e-01 3.58143098e-03 6.67177534e-03 3.65553359e+00] [-3.72996569e-03 9.99742458e-01 2.23853681e-02 -1.76421343e-01] [-6.58988543e-03 -2.24096118e-02 9.99727154e-01 -3.59289513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.898241008 meters Centerline goodness : 0.861343 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.17, Z:-0.36 [[ 9.99979828e-01 2.34685456e-03 5.90221064e-03 3.65905760e+00] [-2.46876425e-03 9.99781997e-01 2.07331656e-02 -1.73837900e-01] [-5.85226621e-03 -2.07473185e-02 9.99767623e-01 -3.62113466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.928241008 meters Centerline goodness : 0.864462 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.18, Z:-0.36 [[ 9.99984209e-01 5.14022141e-03 2.27173694e-03 3.68557315e+00] [-5.18719724e-03 9.99762215e-01 2.11803532e-02 -1.76391647e-01] [-2.16232505e-03 -2.11918026e-02 9.99773090e-01 -3.58940901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.958241008 meters Centerline goodness : 0.861758 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.18, Z:-0.36 [[ 9.99990009e-01 4.24973722e-03 1.38597432e-03 3.68863066e+00] [-4.27732235e-03 9.99779725e-01 2.05476497e-02 -1.76683277e-01] [-1.29834691e-03 -2.05533727e-02 9.99787914e-01 -3.60184227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.988241008 meters Centerline goodness : 0.862923 Centerline is valid? [False, False] Translation: X:3.70, Y:-0.18, Z:-0.36 [[ 9.99989557e-01 4.53962613e-03 -5.27161561e-04 3.69722752e+00] [-4.52408113e-03 9.99639323e-01 2.64717907e-02 -1.79883406e-01] [ 6.47143459e-04 -2.64691293e-02 9.99649422e-01 -3.56411118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.018241008 meters Centerline goodness : 0.865160 Centerline is valid? [False, False] Translation: X:3.70, Y:-0.18, Z:-0.36 [[ 9.99999783e-01 1.95376643e-04 -6.28921528e-04 3.69877952e+00] [-1.82557866e-04 9.99793550e-01 2.03180841e-02 -1.76563509e-01] [ 6.32761366e-04 -2.03179649e-02 9.99793369e-01 -3.60609235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.048241008 meters Centerline goodness : 0.864236 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.18, Z:-0.36 [[ 9.99996222e-01 2.71877809e-03 4.04729558e-04 3.71904811e+00] [-2.72423861e-03 9.99895957e-01 1.41652526e-02 -1.75688533e-01] [-3.66175270e-04 -1.41663017e-02 9.99899586e-01 -3.63968517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.078241008 meters Centerline goodness : 0.864910 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.17, Z:-0.37 [[ 9.99999496e-01 -7.44863408e-04 6.72939361e-04 3.71872406e+00] [ 7.39141049e-04 9.99963905e-01 8.46412952e-03 -1.71227068e-01] [-6.79219692e-04 -8.46362786e-03 9.99963952e-01 -3.67035958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.108241008 meters Centerline goodness : 0.862044 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.17, Z:-0.36 [[ 9.99993271e-01 3.59496818e-03 -7.30944914e-04 3.74384710e+00] [-3.58744582e-03 9.99943117e-01 1.00445386e-02 -1.74134242e-01] [ 7.67013132e-04 -1.00418488e-02 9.99949285e-01 -3.64589431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.138241008 meters Centerline goodness : 0.861735 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.18, Z:-0.36 [[ 9.99970610e-01 7.60253045e-03 -9.90291548e-04 3.74442462e+00] [-7.58636981e-03 9.99852455e-01 1.54115096e-02 -1.78168464e-01] [ 1.10731191e-03 -1.54035439e-02 9.99880745e-01 -3.62599408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.168241008 meters Centerline goodness : 0.862634 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.18, Z:-0.36 [[ 9.99934680e-01 1.12960703e-02 -1.74184656e-03 3.74611743e+00] [-1.12562773e-02 9.99708165e-01 2.13747919e-02 -1.82902767e-01] [ 1.98278938e-03 -2.13537890e-02 9.99770016e-01 -3.59476479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.198241008 meters Centerline goodness : 0.861374 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.18, Z:-0.36 [[ 9.99965537e-01 8.20334183e-03 -1.27684835e-03 3.74511005e+00] [-8.18183753e-03 9.99838152e-01 1.60227183e-02 -1.79475840e-01] [ 1.40808153e-03 -1.60117192e-02 9.99870813e-01 -3.62420122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.228241008 meters Centerline goodness : 0.860368 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.17, Z:-0.37 [[ 9.99955759e-01 8.89213671e-03 3.06752179e-03 3.76083298e+00] [-8.90490870e-03 9.99951633e-01 4.17539286e-03 -1.74574862e-01] [-3.03024526e-03 -4.20252413e-03 9.99986578e-01 -3.71252060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.258241008 meters Centerline goodness : 0.860248 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.18, Z:-0.37 [[ 9.99921684e-01 1.22898348e-02 2.36364045e-03 3.76313679e+00] [-1.23106902e-02 9.99883526e-01 9.02113281e-03 -1.77661831e-01] [-2.25249692e-03 -9.04952435e-03 9.99956515e-01 -3.70368665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.288241008 meters Centerline goodness : 0.861748 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.18, Z:-0.37 [[ 9.99925707e-01 1.20376875e-02 1.91683236e-03 3.76470243e+00] [-1.20542847e-02 9.99887769e-01 8.89623528e-03 -1.78642630e-01] [-1.80952714e-03 -8.91868040e-03 9.99958591e-01 -3.71084135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.318241008 meters Centerline goodness : 0.860427 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.18, Z:-0.37 [[ 9.99965108e-01 8.11705161e-03 1.97408123e-03 3.76518509e+00] [-8.12408777e-03 9.99960581e-01 3.58276107e-03 -1.76531109e-01] [-1.94492196e-03 -3.59867367e-03 9.99991633e-01 -3.73772620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.348241008 meters Centerline goodness : 0.860268 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.18, Z:-0.37 [[ 9.99970722e-01 7.54305903e-03 1.28728754e-03 3.76766997e+00] [-7.54762572e-03 9.99965107e-01 3.58032407e-03 -1.78084481e-01] [-1.26023603e-03 -3.58993521e-03 9.99992762e-01 -3.74489714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.378241008 meters Centerline goodness : 0.862123 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.18, Z:-0.38 [[ 9.99981589e-01 6.06757530e-03 7.29416292e-05 3.77228626e+00] [-6.06780503e-03 9.99974645e-01 3.72712352e-03 -1.81141506e-01] [-5.03251771e-05 -3.72749750e-03 9.99993052e-01 -3.75244940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.408241008 meters Centerline goodness : 0.862663 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.18, Z:-0.37 [[ 9.99985629e-01 5.30788904e-03 -7.53865579e-04 3.77495759e+00] [-5.30468688e-03 9.99977160e-01 4.18797418e-03 -1.83230740e-01] [ 7.76077663e-04 -4.18391497e-03 9.99990946e-01 -3.74841060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.438241008 meters Centerline goodness : 0.864276 Centerline is valid? [False, False] Translation: X:3.78, Y:-0.19, Z:-0.37 [[ 9.99988724e-01 4.43590403e-03 -1.69560649e-03 3.77792997e+00] [-4.42776050e-03 9.99978789e-01 4.77667897e-03 -1.86087471e-01] [ 1.71675941e-03 -4.76911737e-03 9.99987154e-01 -3.74380520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.468241008 meters Centerline goodness : 0.864083 Centerline is valid? [False, False] Translation: X:3.78, Y:-0.19, Z:-0.37 [[ 9.99990822e-01 3.23932350e-03 -2.80410933e-03 3.78201054e+00] [-3.22553475e-03 9.99982754e-01 4.90797439e-03 -1.88233112e-01] [ 2.81995949e-03 -4.89888459e-03 9.99984024e-01 -3.74960451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.498241008 meters Centerline goodness : 0.862125 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.19, Z:-0.38 [[ 9.99988967e-01 -1.89692438e-04 -4.69356480e-03 3.79107974e+00] [ 2.10060576e-04 9.99990562e-01 4.33947584e-03 -1.90517175e-01] [ 4.69269734e-03 -4.34041390e-03 9.99979569e-01 -3.77404558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.528241008 meters Centerline goodness : 0.862541 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.19, Z:-0.38 [[ 9.99984403e-01 -9.10257713e-04 -5.51047726e-03 3.79407139e+00] [ 9.35606610e-04 9.99988985e-01 4.59929852e-03 -1.92219550e-01] [ 5.50623002e-03 -4.60438242e-03 9.99974240e-01 -3.77701119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.558241008 meters Centerline goodness : 0.863049 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.20, Z:-0.37 [[ 0.99997198 -0.00407689 -0.00627866 3.78751135] [ 0.00421769 0.99973621 0.02257684 -0.19921494] [ 0.00618496 -0.02260269 0.99972539 -0.366881 ] [ 0. 0. 0. 1. ]] SLAMing on 39.588241008 meters Centerline goodness : 0.865052 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.20, Z:-0.37 [[ 0.99996958 -0.00427175 -0.00652557 3.7883054 ] [ 0.00441974 0.99972948 0.02283487 -0.20091332] [ 0.00642626 -0.02286302 0.99971795 -0.36664876] [ 0. 0. 0. 1. ]] SLAMing on 39.618241008 meters Centerline goodness : 0.859093 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.20, Z:-0.37 [[ 9.99975397e-01 -3.50333600e-03 -6.07712254e-03 3.78683051e+00] [ 3.64811754e-03 9.99705810e-01 2.39788543e-02 -2.02428048e-01] [ 5.99132872e-03 -2.40004344e-02 9.99693995e-01 -3.65124035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.648241008 meters Centerline goodness : 0.861216 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.21, Z:-0.36 [[ 9.99978041e-01 8.96609512e-05 -6.62638543e-03 3.78821404e+00] [ 1.09784344e-04 9.99547122e-01 3.00921643e-02 -2.06189312e-01] [ 6.62608257e-03 -3.00922310e-02 9.99525164e-01 -3.61516565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.678241008 meters Centerline goodness : 0.860607 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.20, Z:-0.37 [[ 9.99998555e-01 3.51244832e-04 -1.66338396e-03 3.80066904e+00] [-3.24212856e-04 9.99868335e-01 1.62236734e-02 -2.01395331e-01] [ 1.66886343e-03 -1.62231107e-02 9.99867004e-01 -3.70021245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.708241008 meters Centerline goodness : 0.859703 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.20, Z:-0.37 [[ 9.99987241e-01 4.63852341e-03 -2.00028670e-03 3.80035226e+00] [-4.59492486e-03 9.99763080e-01 2.12760594e-02 -2.02573205e-01] [ 2.09850229e-03 -2.12665967e-02 9.99771638e-01 -3.67062333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.738241008 meters Centerline goodness : 0.859204 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.20, Z:-0.37 [[ 9.99988167e-01 4.41693223e-03 -2.03889806e-03 3.80094454e+00] [-4.37576371e-03 9.99794926e-01 1.97726906e-02 -1.99021619e-01] [ 2.12581457e-03 -1.97635349e-02 9.99802422e-01 -3.69140633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.768241008 meters Centerline goodness : 0.861784 Centerline is valid? [False, False] Translation: X:3.82, Y:-0.19, Z:-0.38 [[ 9.99972752e-01 7.05568286e-03 2.17074744e-03 3.81784052e+00] [-7.07904006e-03 9.99915018e-01 1.09473460e-02 -1.93171802e-01] [-2.09332196e-03 -1.09624145e-02 9.99937720e-01 -3.76655127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.798241008 meters Centerline goodness : 0.858935 Centerline is valid? [False, False] Translation: X:3.82, Y:-0.19, Z:-0.38 [[ 9.99973381e-01 6.99645357e-03 2.07058033e-03 3.81862572e+00] [-7.01547843e-03 9.99931882e-01 9.32815716e-03 -1.88667620e-01] [-2.00517527e-03 -9.34243496e-03 9.99954348e-01 -3.79078245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.828241008 meters Centerline goodness : 0.855537 Centerline is valid? [False, False] Translation: X:3.82, Y:-0.19, Z:-0.38 [[ 9.99933643e-01 1.13489233e-02 1.97798807e-03 3.81837863e+00] [-1.13729615e-02 9.99855966e-01 1.25977389e-02 -1.85628688e-01] [-1.83473240e-03 -1.26193985e-02 9.99918689e-01 -3.79463230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.858241008 meters Centerline goodness : 0.854896 Centerline is valid? [False, False] Translation: X:3.82, Y:-0.18, Z:-0.38 [[ 9.99936417e-01 1.11476095e-02 1.70053171e-03 3.81950534e+00] [-1.11661744e-02 9.99873477e-01 1.13290230e-02 -1.82542689e-01] [-1.57402503e-03 -1.13472911e-02 9.99934379e-01 -3.81294437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.888241008 meters Centerline goodness : 0.853464 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.18, Z:-0.38 [[ 9.99884517e-01 1.51967254e-02 -1.11680806e-04 3.84717531e+00] [-1.51938538e-02 9.99794310e-01 1.34344225e-02 -1.83642679e-01] [ 3.15817064e-04 -1.34311742e-02 9.99909748e-01 -3.78390052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.918241008 meters Centerline goodness : 0.853391 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.18, Z:-0.38 [[ 9.99925031e-01 1.22413430e-02 -2.85322884e-04 3.84675091e+00] [-1.22386204e-02 9.99892074e-01 8.12748306e-03 -1.79300558e-01] [ 3.84783398e-04 -8.12338179e-03 9.99966931e-01 -3.80714753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.948241008 meters Centerline goodness : 0.852149 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.18, Z:-0.38 [[ 9.99931944e-01 1.16374018e-02 -8.23205575e-04 3.84862427e+00] [-1.16306760e-02 9.99902320e-01 7.75096406e-03 -1.79212372e-01] [ 9.13326247e-04 -7.74086213e-03 9.99969622e-01 -3.81288734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.978241008 meters Centerline goodness : 0.854019 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.18, Z:-0.38 [[ 9.99936594e-01 1.11747079e-02 -1.39043673e-03 3.85037086e+00] [-1.11634794e-02 9.99906975e-01 7.83696814e-03 -1.79693950e-01] [ 1.47788321e-03 -7.82094912e-03 9.99968324e-01 -3.81147552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.008241008 meters Centerline goodness : 0.854322 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.18, Z:-0.38 [[ 9.99944713e-01 1.02542077e-02 -2.32871230e-03 3.85342318e+00] [-1.02358491e-02 9.99917477e-01 7.76320263e-03 -1.80395181e-01] [ 2.40812562e-03 -7.73893708e-03 9.99967154e-01 -3.81337019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.038241008 meters Centerline goodness : 0.852755 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.18, Z:-0.38 [[ 0.99997462 0.00597733 -0.00387577 3.8691256 ] [-0.005925 0.99989298 0.01337594 -0.18348416] [ 0.00395531 -0.01335264 0.99990303 -0.37757243] [ 0. 0. 0. 1. ]] SLAMing on 40.068241008 meters Centerline goodness : 0.850518 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.19, Z:-0.37 [[ 0.99997707 0.00474187 -0.00483518 3.87889396] [-0.00464072 0.99977452 0.02072118 -0.18701455] [ 0.00493235 -0.02069826 0.9997736 -0.37109395] [ 0. 0. 0. 1. ]] SLAMing on 40.098241008 meters Centerline goodness : 0.851934 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.19, Z:-0.37 [[ 9.99988930e-01 8.53124641e-04 -4.62726350e-03 3.87832562e+00] [-7.76254806e-04 9.99862095e-01 1.65888063e-02 -1.86877066e-01] [ 4.64077770e-03 -1.65850308e-02 9.99851689e-01 -3.71264087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.128241008 meters Centerline goodness : 0.849660 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.19, Z:-0.37 [[ 9.99986065e-01 2.82284433e-04 -5.27155948e-03 3.88017100e+00] [-1.86872403e-04 9.99836325e-01 1.80911229e-02 -1.90131344e-01] [ 5.27580350e-03 -1.80898857e-02 9.99822445e-01 -3.68577556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.158241008 meters Centerline goodness : 0.849117 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.19, Z:-0.36 [[ 9.99984950e-01 -1.76758272e-03 -5.19373368e-03 3.88964133e+00] [ 1.89854898e-03 9.99677584e-01 2.53204320e-02 -1.93822040e-01] [ 5.14730317e-03 -2.53299115e-02 9.99665895e-01 -3.62374836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.188241008 meters Centerline goodness : 0.851052 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.19, Z:-0.36 [[ 9.99984737e-01 -1.97771110e-03 -5.15885583e-03 3.89009565e+00] [ 2.10698934e-03 9.99680824e-01 2.51756070e-02 -1.93023701e-01] [ 5.10741917e-03 -2.51860924e-02 9.99669733e-01 -3.62671278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.218241008 meters Centerline goodness : 0.850774 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.19, Z:-0.36 [[ 9.99988057e-01 -1.06143699e-03 -4.77068672e-03 3.88819409e+00] [ 1.17897920e-03 9.99694126e-01 2.47035273e-02 -1.91384817e-01] [ 4.74300625e-03 -2.47088568e-02 9.99683438e-01 -3.63012598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.248241008 meters Centerline goodness : 0.850885 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.19, Z:-0.37 [[ 9.99997515e-01 2.15384685e-03 -5.76016267e-04 3.90540955e+00] [-2.14340103e-03 9.99843535e-01 1.75587957e-02 -1.87462264e-01] [ 6.13745098e-04 -1.75575174e-02 9.99845667e-01 -3.68945793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.278241008 meters Centerline goodness : 0.851961 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.18, Z:-0.37 [[ 9.99997352e-01 2.23348450e-03 -5.54501556e-04 3.90582438e+00] [-2.22431283e-03 9.99869135e-01 1.60239092e-02 -1.84013437e-01] [ 5.90218144e-04 -1.60226334e-02 9.99871455e-01 -3.71508184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.308241008 meters Centerline goodness : 0.852077 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.18, Z:-0.37 [[ 9.99996414e-01 2.56367029e-03 -7.74857209e-04 3.90628052e+00] [-2.55188060e-03 9.99886455e-01 1.48514375e-02 -1.80758605e-01] [ 8.12843417e-04 -1.48494069e-02 9.99889411e-01 -3.73318903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.338241008 meters Centerline goodness : 0.853175 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.18, Z:-0.38 [[ 9.99995675e-01 2.80880684e-03 -8.71598598e-04 3.90658342e+00] [-2.79655814e-03 9.99901557e-01 1.37497675e-02 -1.78166756e-01] [ 9.10133237e-04 -1.37472706e-02 9.99905088e-01 -3.75081320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.368241008 meters Centerline goodness : 0.854723 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.18, Z:-0.37 [[ 9.99975114e-01 6.84706836e-03 -1.69943869e-03 3.90819968e+00] [-6.81486717e-03 9.99809662e-01 1.82810517e-02 -1.80142148e-01] [ 1.82428683e-03 -1.82690153e-02 9.99831443e-01 -3.74136298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.398241008 meters Centerline goodness : 0.855771 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.18, Z:-0.38 [[ 9.99989952e-01 4.03464866e-03 -1.95391328e-03 3.90822363e+00] [-4.00944651e-03 9.99910870e-01 1.27348715e-02 -1.76273036e-01] [ 2.00511986e-03 -1.27269094e-02 9.99916999e-01 -3.77416545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.428241008 meters Centerline goodness : 0.856664 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.18, Z:-0.38 [[ 9.99989862e-01 3.87097096e-03 -2.30025947e-03 3.90955660e+00] [-3.84283708e-03 9.99919265e-01 1.21118131e-02 -1.75534758e-01] [ 2.34695823e-03 -1.21028508e-02 9.99924004e-01 -3.78752323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.458241008 meters Centerline goodness : 0.857397 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.18, Z:-0.38 [[ 9.99989496e-01 3.63124572e-03 -2.79691940e-03 3.91142729e+00] [-3.59855177e-03 9.99926162e-01 1.16069230e-02 -1.76216872e-01] [ 2.83886047e-03 -1.15967363e-02 9.99928726e-01 -3.80301921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.488241008 meters Centerline goodness : 0.857340 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.18, Z:-0.38 [[ 9.99989436e-01 3.14587849e-03 -3.35146745e-03 3.91325853e+00] [-3.10766877e-03 9.99930806e-01 1.13457396e-02 -1.76631061e-01] [ 3.38692787e-03 -1.13352045e-02 9.99930018e-01 -3.80812624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.518241008 meters Centerline goodness : 0.860318 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.18, Z:-0.38 [[ 9.99988772e-01 2.92652651e-03 -3.72722468e-03 3.91436417e+00] [-2.88565947e-03 9.99936178e-01 1.09230508e-02 -1.75924045e-01] [ 3.75895340e-03 -1.09121726e-02 9.99933395e-01 -3.81342128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.548241008 meters Centerline goodness : 0.857896 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.17, Z:-0.39 [[ 9.99993920e-01 3.46345462e-03 4.05686793e-04 3.93427240e+00] [-3.46468503e-03 9.99989278e-01 3.07253669e-03 -1.72515937e-01] [-3.95040852e-04 -3.07392359e-03 9.99995197e-01 -3.86393936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.578241008 meters Centerline goodness : 0.858852 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.17, Z:-0.39 [[ 9.99996186e-01 2.74746699e-03 -2.80921090e-04 3.93632725e+00] [-2.74648765e-03 9.99990349e-01 3.42907500e-03 -1.73437599e-01] [ 2.90339649e-04 -3.42829037e-03 9.99994081e-01 -3.85650781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.608241008 meters Centerline goodness : 0.861077 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.17, Z:-0.38 [[ 9.99997398e-01 2.10485362e-03 -8.79498535e-04 3.93822796e+00] [-2.10126717e-03 9.99989554e-01 4.05904586e-03 -1.74869078e-01] [ 8.88033045e-04 -4.05718723e-03 9.99991375e-01 -3.84626229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.638241008 meters Centerline goodness : 0.860667 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.18, Z:-0.38 [[ 9.99997832e-01 1.64419785e-03 -1.27795878e-03 3.93944541e+00] [-1.63859209e-03 9.99989086e-01 4.37523628e-03 -1.75438408e-01] [ 1.28513859e-03 -4.37313274e-03 9.99989612e-01 -3.84048031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.668241008 meters Centerline goodness : 0.860816 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.17, Z:-0.39 [[ 9.99998498e-01 7.95407166e-04 -1.53968153e-03 3.94092103e+00] [-7.90444071e-04 9.99994499e-01 3.22138498e-03 -1.71014456e-01] [ 1.54223538e-03 -3.22016311e-03 9.99993626e-01 -3.85048642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.698241008 meters Centerline goodness : 0.860816 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.17, Z:-0.39 [[ 9.99998498e-01 7.95407166e-04 -1.53968153e-03 3.94092103e+00] [-7.90444071e-04 9.99994499e-01 3.22138498e-03 -1.71014456e-01] [ 1.54223538e-03 -3.22016311e-03 9.99993626e-01 -3.85048642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.728241008 meters Centerline goodness : 0.861295 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.17, Z:-0.38 [[ 9.99997989e-01 2.00711554e-05 -2.00515326e-03 3.94196169e+00] [-1.36317064e-05 9.99994843e-01 3.21141185e-03 -1.69306296e-01] [ 2.00520737e-03 -3.21137806e-03 9.99992833e-01 -3.83420980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.758241008 meters Centerline goodness : 0.863912 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.17, Z:-0.38 [[ 9.99992314e-01 1.01084420e-03 -3.78823743e-03 3.94861815e+00] [-9.77305248e-04 9.99960406e-01 8.84486168e-03 -1.72195699e-01] [ 3.79702822e-03 -8.84109143e-03 9.99953708e-01 -3.79660552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.788241008 meters Centerline goodness : 0.862216 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.17, Z:-0.38 [[ 9.99987824e-01 -3.29054430e-04 -4.92380009e-03 3.95264262e+00] [ 3.68119600e-04 9.99968448e-01 7.93514563e-03 -1.70689612e-01] [ 4.92103364e-03 -7.93686155e-03 9.99956394e-01 -3.80907731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.818241008 meters Centerline goodness : 0.865265 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.17, Z:-0.38 [[ 9.99976777e-01 -2.72721025e-03 -6.24555921e-03 3.95849616e+00] [ 2.76747089e-03 9.99975390e-01 6.44673898e-03 -1.68814987e-01] [ 6.22782389e-03 -6.46387367e-03 9.99959715e-01 -3.83465967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.848241008 meters Centerline goodness : 0.861655 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.17, Z:-0.38 [[ 9.99970014e-01 -3.45112190e-03 -6.93263492e-03 3.96095731e+00] [ 3.49513965e-03 9.99973748e-01 6.34730470e-03 -1.69639526e-01] [ 6.91054760e-03 -6.37134490e-03 9.99955824e-01 -3.84037749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.878241008 meters Centerline goodness : 0.862822 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.17, Z:-0.39 [[ 0.99995748 -0.0044958 -0.00805106 3.96489563] [ 0.00454343 0.99997223 0.00590672 -0.17008655] [ 0.00802428 -0.00594305 0.99995014 -0.38532976] [ 0. 0. 0. 1. ]] SLAMing on 40.908241008 meters Centerline goodness : 0.865063 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.17, Z:-0.38 [[ 0.9999187 -0.00811911 -0.0098326 3.97815787] [ 0.00820742 0.99992604 0.0089748 -0.17121402] [ 0.009759 -0.00905477 0.99991138 -0.3846501 ] [ 0. 0. 0. 1. ]] SLAMing on 40.938241008 meters Centerline goodness : 0.863919 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.17, Z:-0.38 [[ 0.99990652 -0.00892455 -0.01035892 3.98019757] [ 0.00901941 0.99991749 0.0091468 -0.17241198] [ 0.01027644 -0.00923938 0.99990451 -0.38460362] [ 0. 0. 0. 1. ]] SLAMing on 40.968241008 meters Centerline goodness : 0.866796 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.18, Z:-0.38 [[ 0.99984204 -0.01136418 -0.01366591 3.95973465] [ 0.01159292 0.99979204 0.01677733 -0.175795 ] [ 0.0134724 -0.0169331 0.99976585 -0.37729805] [ 0. 0. 0. 1. ]] SLAMing on 40.998241008 meters Centerline goodness : 0.866245 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.18, Z:-0.37 [[ 0.99978285 -0.01327144 -0.01606616 3.93425157] [ 0.01360377 0.99969202 0.02075575 -0.1779823 ] [ 0.01578575 -0.0209698 0.99965548 -0.37332473] [ 0. 0. 0. 1. ]] SLAMing on 41.028241008 meters Centerline goodness : 0.868081 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.18, Z:-0.37 [[ 0.99978291 -0.01667411 -0.0124942 3.89977859] [ 0.01691894 0.99966173 0.01975264 -0.17866533] [ 0.01216062 -0.01995974 0.99972683 -0.37109618] [ 0. 0. 0. 1. ]] SLAMing on 41.058241008 meters Centerline goodness : 0.872813 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.18, Z:-0.37 [[ 0.9997434 -0.0194309 -0.01164383 3.89656364] [ 0.01960828 0.99969038 0.01531853 -0.17588038] [ 0.01134258 -0.01554291 0.99981486 -0.37108035] [ 0. 0. 0. 1. ]] SLAMing on 41.088241008 meters Centerline goodness : 0.873307 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.18, Z:-0.37 [[ 9.99918535e-01 -1.25088534e-02 -2.53988614e-03 3.90060244e+00] [ 1.25564957e-02 9.99727106e-01 1.96989109e-02 -1.78564959e-01] [ 2.29278223e-03 -1.97291982e-02 9.99802731e-01 -3.70044996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.118241008 meters Centerline goodness : 0.872842 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.18, Z:-0.37 [[ 9.99954068e-01 -8.71588746e-03 -3.98679404e-03 3.90410055e+00] [ 8.79364892e-03 9.99762867e-01 1.99218674e-02 -1.76908104e-01] [ 3.81221188e-03 -1.99560108e-02 9.99793591e-01 -3.70737893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.148241008 meters Centerline goodness : 0.877040 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.17, Z:-0.37 [[ 9.99986974e-01 -3.56092064e-03 -3.65661438e-03 3.90195915e+00] [ 3.64618121e-03 9.99715278e-01 2.35810879e-02 -1.73872803e-01] [ 3.57160288e-03 -2.35941134e-02 9.99715240e-01 -3.70458719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.178241008 meters Centerline goodness : 0.878431 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.17, Z:-0.37 [[ 9.99990140e-01 -2.85670532e-03 -3.39982957e-03 3.90070342e+00] [ 2.93436226e-03 9.99729777e-01 2.30599677e-02 -1.71751453e-01] [ 3.33303533e-03 -2.30697166e-02 9.99728303e-01 -3.70899039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.208241008 meters Centerline goodness : 0.879175 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.17, Z:-0.37 [[ 9.99991394e-01 -2.57623621e-03 -3.25181271e-03 3.90029225e+00] [ 2.64770146e-03 9.99750765e-01 2.21674981e-02 -1.69428149e-01] [ 3.19389354e-03 -2.21759172e-02 9.99748982e-01 -3.72103438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.238241008 meters Centerline goodness : 0.878272 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.16, Z:-0.37 [[ 9.99996132e-01 -1.06798930e-03 -2.56795720e-03 3.89751696e+00] [ 1.12334768e-03 9.99764906e-01 2.16534416e-02 -1.64992831e-01] [ 2.54422784e-03 -2.16562425e-02 9.99762239e-01 -3.72791569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.268241008 meters Centerline goodness : 0.880836 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.16, Z:-0.37 [[ 9.99996855e-01 -8.84114758e-04 -2.34709313e-03 3.89686859e+00] [ 9.33361243e-04 9.99777685e-01 2.10643969e-02 -1.62921890e-01] [ 2.32794800e-03 -2.10665213e-02 9.99775366e-01 -3.73300887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.298241008 meters Centerline goodness : 0.880220 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.16, Z:-0.38 [[ 9.99996461e-01 1.04136937e-03 2.44813182e-03 3.91141552e+00] [-1.06741543e-03 9.99942589e-01 1.06620356e-02 -1.58721006e-01] [-2.43688815e-03 -1.06646111e-02 9.99940162e-01 -3.80816004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.328241008 meters Centerline goodness : 0.882308 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.16, Z:-0.38 [[ 9.99983450e-01 5.43725940e-03 1.88028209e-03 3.91152567e+00] [-5.46952564e-03 9.99830086e-01 1.76035258e-02 -1.63503962e-01] [-1.78424767e-03 -1.76135187e-02 9.99843278e-01 -3.75548702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.358241008 meters Centerline goodness : 0.883113 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.16, Z:-0.38 [[ 9.99993085e-01 2.99425700e-03 2.20545336e-03 3.90977831e+00] [-3.02240910e-03 9.99912559e-01 1.28740076e-02 -1.59904891e-01] [-2.16671242e-03 -1.28805844e-02 9.99914694e-01 -3.77204400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.388241008 meters Centerline goodness : 0.881777 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.16, Z:-0.38 [[ 9.99977083e-01 6.62252111e-03 1.40528516e-03 3.91168496e+00] [-6.64633991e-03 9.99821572e-01 1.76819106e-02 -1.62088517e-01] [-1.28793559e-03 -1.76908454e-02 9.99842675e-01 -3.75812582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.418241008 meters Centerline goodness : 0.883640 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.16, Z:-0.38 [[ 9.99975472e-01 6.83566415e-03 1.52604103e-03 3.91167651e+00] [-6.86033747e-03 9.99835416e-01 1.67951559e-02 -1.59640126e-01] [-1.41098382e-03 -1.68052132e-02 9.99857787e-01 -3.77375797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.448241008 meters Centerline goodness : 0.882020 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.16, Z:-0.38 [[ 9.99910090e-01 1.34089664e-02 -1.10209958e-04 3.93822557e+00] [-1.34043353e-02 9.99723524e-01 1.93183544e-02 -1.59531492e-01] [ 3.69218653e-04 -1.93151402e-02 9.99813377e-01 -3.76576485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.478241008 meters Centerline goodness : 0.883974 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.16, Z:-0.38 [[ 9.99943095e-01 1.06679864e-02 -2.95966756e-05 3.93768835e+00] [-1.06665997e-02 9.99850809e-01 1.35861190e-02 -1.55328402e-01] [ 1.74528793e-04 -1.35850302e-02 9.99907704e-01 -3.80330744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.508241008 meters Centerline goodness : 0.885339 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.15, Z:-0.38 [[ 9.99947049e-01 1.02842252e-02 -3.65118030e-04 3.93940733e+00] [-1.02787517e-02 9.99866315e-01 1.27160985e-02 -1.54526934e-01] [ 4.95844440e-04 -1.27116723e-02 9.99919080e-01 -3.82220960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.538241008 meters Centerline goodness : 0.882933 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.15, Z:-0.39 [[ 9.99978137e-01 6.59772610e-03 -4.43157042e-04 3.94017493e+00] [-6.59456031e-03 9.99955128e-01 6.80101719e-03 -1.50608547e-01] [ 4.88008405e-04 -6.79794607e-03 9.99976775e-01 -3.86109618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.568241008 meters Centerline goodness : 0.882070 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.16, Z:-0.38 [[ 9.99982547e-01 5.59019252e-03 -1.91209214e-03 3.95666891e+00] [-5.55789291e-03 9.99848421e-01 1.64998621e-02 -1.55253381e-01] [ 2.00403972e-03 -1.64889469e-02 9.99862040e-01 -3.82020096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.598241008 meters Centerline goodness : 0.883422 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.16, Z:-0.38 [[ 0.99995317 0.00801425 -0.00542441 3.98562111] [-0.00790893 0.999785 0.01916752 -0.15972813] [ 0.00557686 -0.01912372 0.99980157 -0.37774727] [ 0. 0. 0. 1. ]] SLAMing on 41.628241008 meters Centerline goodness : 0.884845 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.16, Z:-0.38 [[ 0.9999545 0.00707852 -0.00639501 3.9890365 ] [-0.00695284 0.99978636 0.01946523 -0.16219414] [ 0.00653143 -0.01941988 0.99979008 -0.37792443] [ 0. 0. 0. 1. ]] SLAMing on 41.658241008 meters Centerline goodness : 0.885001 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.17, Z:-0.37 [[ 9.99974456e-01 2.46123505e-03 -6.71041689e-03 4.00445576e+00] [-2.27783192e-03 9.99627332e-01 2.72030926e-02 -1.68827580e-01] [ 6.77486934e-03 -2.71871125e-02 9.99607404e-01 -3.71067246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.688241008 meters Centerline goodness : 0.887060 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.17, Z:-0.38 [[ 9.99994587e-01 2.31885571e-03 -2.33427448e-03 4.02257771e+00] [-2.27455328e-03 9.99820562e-01 1.88061222e-02 -1.67704824e-01] [ 2.37746431e-03 -1.88007110e-02 9.99820424e-01 -3.75120138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.718241008 meters Centerline goodness : 0.886353 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.17, Z:-0.38 [[ 9.99992396e-01 3.83566684e-03 -7.04203579e-04 4.04553597e+00] [-3.82404093e-03 9.99867410e-01 1.58284046e-02 -1.69378370e-01] [ 7.64822695e-04 -1.58255913e-02 9.99874475e-01 -3.75109221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.748241008 meters Centerline goodness : 0.888285 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.17, Z:-0.38 [[ 9.99999944e-01 2.41270690e-04 -2.31066471e-04 4.04477638e+00] [-2.38784664e-04 9.99942734e-01 1.06991818e-02 -1.66494667e-01] [ 2.33634638e-04 -1.06991260e-02 9.99942735e-01 -3.77379315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.778241008 meters Centerline goodness : 0.885638 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.16, Z:-0.38 [[ 9.99999448e-01 1.04641266e-03 9.35019268e-05 4.04341690e+00] [-1.04731471e-03 9.99947090e-01 1.02333366e-02 -1.64208112e-01] [-8.27886866e-05 -1.02334288e-02 9.99947634e-01 -3.78022079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.808241008 meters Centerline goodness : 0.886641 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.16, Z:-0.38 [[ 9.99999172e-01 1.27941484e-03 1.41171354e-04 4.04313988e+00] [-1.28074253e-03 9.99950728e-01 9.84381503e-03 -1.63127490e-01] [-1.28570075e-04 -9.84398767e-03 9.99951539e-01 -3.78506655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.838241008 meters Centerline goodness : 0.887227 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.16, Z:-0.38 [[ 9.99999132e-01 1.31652546e-03 -6.01809628e-05 4.04355745e+00] [-1.31589461e-03 9.99954044e-01 9.49623554e-03 -1.62118402e-01] [ 7.26802330e-05 -9.49614810e-03 9.99954908e-01 -3.78809395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.868241008 meters Centerline goodness : 0.883572 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.16, Z:-0.38 [[ 9.99998769e-01 1.56888853e-03 1.29520014e-05 4.04324750e+00] [-1.56894116e-03 9.99955656e-01 9.28571592e-03 -1.61401044e-01] [ 1.61682614e-06 -9.28572482e-03 9.99956887e-01 -3.79077084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.898241008 meters Centerline goodness : 0.886057 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.16, Z:-0.38 [[ 9.99986906e-01 5.09873487e-03 -4.35824177e-04 4.04480835e+00] [-5.09209983e-03 9.99888078e-01 1.40677361e-02 -1.63830407e-01] [ 5.07503056e-04 -1.40653326e-02 9.99900950e-01 -3.78015783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.928241008 meters Centerline goodness : 0.884355 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.16, Z:-0.38 [[ 9.99998741e-01 1.54254971e-03 -3.72299009e-04 4.04490980e+00] [-1.53926093e-03 9.99961161e-01 8.67799383e-03 -1.60113261e-01] [ 3.85670786e-04 -8.67740983e-03 9.99962276e-01 -3.80792076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.958241008 meters Centerline goodness : 0.883896 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.16, Z:-0.38 [[ 9.99999201e-01 6.52016302e-04 -1.08272224e-03 4.04733214e+00] [-6.42040810e-04 9.99957581e-01 9.18827197e-03 -1.62702084e-01] [ 1.08866721e-03 -9.18756948e-03 9.99957201e-01 -3.79950475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.988241008 meters Centerline goodness : 0.883389 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.17, Z:-0.37 [[ 9.99991216e-01 2.06972081e-03 -3.64487612e-03 4.07906732e+00] [-2.02056171e-03 9.99907643e-01 1.34396033e-02 -1.67172519e-01] [ 3.67235572e-03 -1.34321206e-02 9.99903041e-01 -3.73338503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.018241008 meters Centerline goodness : 0.884093 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.17, Z:-0.37 [[ 9.99989202e-01 1.24245025e-03 -4.47789221e-03 4.08155337e+00] [-1.18180941e-03 9.99907908e-01 1.35195700e-02 -1.68817954e-01] [ 4.49427722e-03 -1.35141320e-02 9.99898580e-01 -3.73143415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.048241008 meters Centerline goodness : 0.883696 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.17, Z:-0.38 [[ 9.99998350e-01 5.13067552e-04 -1.74239349e-03 4.10372439e+00] [-5.01839677e-04 9.99979148e-01 6.43827270e-03 -1.67958561e-01] [ 1.74566043e-03 -6.43738768e-03 9.99977756e-01 -3.76037973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.078241008 meters Centerline goodness : 0.885561 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.17, Z:-0.37 [[ 9.99994054e-01 3.44725142e-04 -3.43111350e-03 4.11266675e+00] [-2.98295258e-04 9.99908511e-01 1.35233412e-02 -1.72220174e-01] [ 3.43546142e-03 -1.35222374e-02 9.99902669e-01 -3.70189831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.108241008 meters Centerline goodness : 0.881161 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.17, Z:-0.37 [[ 9.99981411e-01 -2.64692245e-03 -5.49281655e-03 4.12674497e+00] [ 2.74358340e-03 9.99840190e-01 1.76654286e-02 -1.73446790e-01] [ 5.44517972e-03 -1.76801703e-02 9.99828866e-01 -3.69230107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.138241008 meters Centerline goodness : 0.882901 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.17, Z:-0.37 [[ 9.99968055e-01 -2.52808293e-03 -7.58267277e-03 4.13629477e+00] [ 2.70342360e-03 9.99727108e-01 2.32034540e-02 -1.74917224e-01] [ 7.52194326e-03 -2.32232120e-02 9.99702007e-01 -3.66105194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.168241008 meters Centerline goodness : 0.885331 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.17, Z:-0.37 [[ 0.9999514 -0.00676324 -0.00717332 4.13649344] [ 0.00688629 0.99982714 0.01727062 -0.17089655] [ 0.00705528 -0.01731917 0.99982512 -0.36968233] [ 0. 0. 0. 1. ]] SLAMing on 42.198241008000004 meters Centerline goodness : 0.889121 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.18, Z:-0.36 [[ 0.99986667 -0.0126633 -0.01030946 4.13676889] [ 0.01300949 0.99932913 0.03423518 -0.17636651] [ 0.00986901 -0.03436473 0.99936063 -0.3589412 ] [ 0. 0. 0. 1. ]] SLAMing on 42.228241008 meters Centerline goodness : 0.885123 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.18, Z:-0.36 [[ 0.99983275 -0.01416106 -0.01157317 4.14042733] [ 0.01450408 0.99944125 0.03011339 -0.17661065] [ 0.01114027 -0.03027621 0.99947949 -0.36029381] [ 0. 0. 0. 1. ]] SLAMing on 42.258241008 meters Centerline goodness : 0.889935 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.18, Z:-0.36 [[ 0.99980281 -0.01555564 -0.01234337 4.14304275] [ 0.01586674 0.9995484 0.02551929 -0.17542436] [ 0.01194083 -0.02571011 0.99959812 -0.36132091] [ 0. 0. 0. 1. ]] SLAMing on 42.288241008 meters Centerline goodness : 0.889106 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.17, Z:-0.37 [[ 0.99984848 -0.01606749 -0.00669795 4.15544207] [ 0.01614339 0.99980427 0.01143748 -0.16913155] [ 0.00651287 -0.01154387 0.99991216 -0.36971849] [ 0. 0. 0. 1. ]] SLAMing on 42.318241008 meters Centerline goodness : 0.889744 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.17, Z:-0.37 [[ 0.99984403 -0.01656181 -0.00613296 4.15633583] [ 0.01661744 0.9998202 0.00913407 -0.16515599] [ 0.00598058 -0.00923456 0.99993948 -0.37199307] [ 0. 0. 0. 1. ]] SLAMing on 42.348241008 meters Centerline goodness : 0.890212 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.16, Z:-0.37 [[ 0.99986512 -0.01546333 -0.00553371 4.15550547] [ 0.01551818 0.99982948 0.01001015 -0.16292621] [ 0.00537798 -0.01009468 0.99993459 -0.37199384] [ 0. 0. 0. 1. ]] SLAMing on 42.378241008 meters Centerline goodness : 0.888318 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.16, Z:-0.37 [[ 0.99992332 -0.011032 -0.0056252 4.1544574 ] [ 0.01111958 0.99981361 0.01578271 -0.16422617] [ 0.00545004 -0.01584405 0.99985962 -0.36808858] [ 0. 0. 0. 1. ]] SLAMing on 42.408241008 meters Centerline goodness : 0.889561 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.16, Z:-0.37 [[ 9.99968726e-01 -7.90713306e-03 -1.57849177e-04 4.16700742e+00] [ 7.90801819e-03 9.99945967e-01 6.74729817e-03 -1.59617191e-01] [ 1.04488863e-04 -6.74833543e-03 9.99977224e-01 -3.73717274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.438241008 meters Centerline goodness : 0.891760 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.15, Z:-0.38 [[ 9.99983494e-01 -9.25024911e-04 5.67070442e-03 4.17821608e+00] [ 9.14797119e-04 9.99997951e-01 1.80594786e-03 -1.54887079e-01] [-5.67236335e-03 -1.80073050e-03 9.99982291e-01 -3.77507031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.468241008 meters Centerline goodness : 0.890818 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.16, Z:-0.38 [[ 9.99982327e-01 3.00700604e-03 5.12867575e-03 4.17883568e+00] [-3.03962775e-03 9.99975125e-01 6.36476063e-03 -1.55079619e-01] [-5.10940930e-03 -6.38023741e-03 9.99966593e-01 -3.75753684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.498241008 meters Centerline goodness : 0.889666 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.15, Z:-0.38 [[ 9.99981096e-01 3.36221834e-03 5.14811792e-03 4.17836847e+00] [-3.39120232e-03 9.99978392e-01 5.63167592e-03 -1.52315500e-01] [-5.12907175e-03 -5.64902777e-03 9.99970890e-01 -3.76257908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.528241008 meters Centerline goodness : 0.890867 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.15, Z:-0.38 [[ 9.99981799e-01 3.39720762e-03 4.98600621e-03 4.17868014e+00] [-3.42140355e-03 9.99982374e-01 4.85228778e-03 -1.50325815e-01] [-4.96943410e-03 -4.86925860e-03 9.99975797e-01 -3.77030702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.558241008 meters Centerline goodness : 0.893210 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.15, Z:-0.38 [[ 9.99976161e-01 5.89458863e-03 3.59607039e-03 4.18379241e+00] [-5.92332012e-03 9.99950199e-01 8.03205474e-03 -1.49265967e-01] [-3.54854565e-03 -8.05316394e-03 9.99961276e-01 -3.78622451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.588241008 meters Centerline goodness : 0.893210 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.15, Z:-0.38 [[ 9.99976161e-01 5.89458863e-03 3.59607039e-03 4.18379241e+00] [-5.92332012e-03 9.99950199e-01 8.03205474e-03 -1.49265967e-01] [-3.54854565e-03 -8.05316394e-03 9.99961276e-01 -3.78622451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.618241008 meters Centerline goodness : 0.889519 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.15, Z:-0.38 [[ 9.99969720e-01 7.56798797e-03 1.81246771e-03 4.19065105e+00] [-7.58818212e-03 9.99906147e-01 1.14069087e-02 -1.49178006e-01] [-1.72597025e-03 -1.14203166e-02 9.99933296e-01 -3.79917634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.648241008 meters Centerline goodness : 0.888942 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.15, Z:-0.38 [[ 9.99979697e-01 6.30800022e-03 9.02814084e-04 4.19468807e+00] [-6.31661020e-03 9.99931292e-01 9.87484200e-03 -1.46639392e-01] [-8.40461548e-04 -9.88034424e-03 9.99950835e-01 -3.82802906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.678241008 meters Centerline goodness : 0.889085 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.14, Z:-0.39 [[ 9.99998941e-01 1.34617749e-03 5.53020114e-04 4.19737570e+00] [-1.34812959e-03 9.99992808e-01 3.54482640e-03 -1.42001477e-01] [-5.48244171e-04 -3.54556819e-03 9.99993564e-01 -3.86950697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.708241008 meters Centerline goodness : 0.887525 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.14, Z:-0.38 [[ 9.99998848e-01 -7.72931295e-04 -1.30606473e-03 4.20996788e+00] [ 7.85897694e-04 9.99950122e-01 9.95666267e-03 -1.43782510e-01] [ 1.29830377e-03 -9.95767763e-03 9.99949578e-01 -3.81723243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.738241008 meters Centerline goodness : 0.885035 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.15, Z:-0.38 [[ 9.99995432e-01 -1.81332117e-03 -2.41821556e-03 4.21318059e+00] [ 1.83907304e-03 9.99941172e-01 1.06897618e-02 -1.45859203e-01] [ 2.39868933e-03 -1.06941603e-02 9.99939939e-01 -3.80384563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.768241008 meters Centerline goodness : 0.884506 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.15, Z:-0.37 [[ 9.99983818e-01 -4.46811715e-03 -3.52120626e-03 4.22441660e+00] [ 4.52864780e-03 9.99838804e-01 1.73740472e-02 -1.49042720e-01] [ 3.44300938e-03 -1.73897123e-02 9.99842859e-01 -3.74104082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.798241008 meters Centerline goodness : 0.886632 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.15, Z:-0.37 [[ 9.99971509e-01 -6.49550979e-03 -3.84575569e-03 4.23358503e+00] [ 6.58925070e-03 9.99668576e-01 2.48861216e-02 -1.52350521e-01] [ 3.68283307e-03 -2.49107532e-02 9.99682895e-01 -3.66529530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.828241008 meters Centerline goodness : 0.884647 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.15, Z:-0.37 [[ 9.99925332e-01 -1.16060253e-02 -3.82498297e-03 4.23502615e+00] [ 1.16796603e-02 9.99735212e-01 1.98265161e-02 -1.50168979e-01] [ 3.59386311e-03 -1.98697102e-02 9.99796119e-01 -3.68028528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.858241008 meters Centerline goodness : 0.884334 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.15, Z:-0.37 [[ 9.99945621e-01 -9.53085756e-03 -4.23293086e-03 4.23757143e+00] [ 9.63225920e-03 9.99650511e-01 2.46185875e-02 -1.52743011e-01] [ 3.99681524e-03 -2.46580215e-02 9.99687955e-01 -3.66306774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.888241008 meters Centerline goodness : 0.881523 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.16, Z:-0.35 [[ 0.99991006 -0.01064303 -0.00816116 4.2269686 ] [ 0.01097301 0.99907762 0.04151518 -0.15810694] [ 0.00771179 -0.041601 0.99910454 -0.35339161] [ 0. 0. 0. 1. ]] SLAMing on 42.918241008 meters Centerline goodness : 0.885506 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.16, Z:-0.35 [[ 0.99991624 -0.01026466 -0.00788344 4.22582421] [ 0.01058379 0.99907966 0.04156707 -0.15692916] [ 0.00744952 -0.04164702 0.99910461 -0.35263111] [ 0. 0. 0. 1. ]] SLAMing on 42.948241008000004 meters Centerline goodness : 0.883300 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.16, Z:-0.35 [[ 0.99994418 -0.0065352 -0.0083025 4.22674578] [ 0.00691653 0.99888205 0.04676337 -0.15858523] [ 0.00798761 -0.04681818 0.99887149 -0.35029334] [ 0. 0. 0. 1. ]] SLAMing on 42.978241008 meters Centerline goodness : 0.884310 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.16, Z:-0.35 [[ 9.99957813e-01 -2.79658468e-03 -8.74932202e-03 4.22788304e+00] [ 3.24602688e-03 9.98653050e-01 5.17836836e-02 -1.59833994e-01] [ 8.59271966e-03 -5.18098995e-02 9.98619998e-01 -3.48161539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.008241008 meters Centerline goodness : 0.887736 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.15, Z:-0.36 [[ 9.99990144e-01 -1.33626607e-03 -4.23382832e-03 4.24167824e+00] [ 1.49825245e-03 9.99257832e-01 3.84907788e-02 -1.53602913e-01] [ 4.17925219e-03 -3.84967428e-02 9.99249986e-01 -3.58741077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.038241008 meters Centerline goodness : 0.886290 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.15, Z:-0.37 [[ 9.99997776e-01 2.02524687e-03 -5.88995495e-04 4.25607079e+00] [-2.00898997e-03 9.99649362e-01 2.64029902e-02 -1.46565112e-01] [ 6.42261544e-04 -2.64017482e-02 9.99651207e-01 -3.69433326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.068241008 meters Centerline goodness : 0.885275 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.14, Z:-0.37 [[ 9.99975131e-01 6.72162608e-03 -2.13489299e-03 4.26430308e+00] [-6.69349826e-03 9.99894131e-01 1.29199264e-02 -1.42019379e-01] [ 2.22150989e-03 -1.29053151e-02 9.99914255e-01 -3.74938731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.098241008 meters Centerline goodness : 0.882456 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.14, Z:-0.37 [[ 9.99945755e-01 9.90389770e-03 -3.22494189e-03 4.26741077e+00] [-9.84537285e-03 9.99795150e-01 1.76840708e-02 -1.43559689e-01] [ 3.39942249e-03 -1.76513608e-02 9.99838424e-01 -3.73462689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.128241008 meters Centerline goodness : 0.888892 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.15, Z:-0.37 [[ 0.99990834 0.01276916 -0.0045019 4.27124233] [-0.01266423 0.99966407 0.02261335 -0.1457671 ] [ 0.00478914 -0.02255426 0.99973415 -0.37170143] [ 0. 0. 0. 1. ]] SLAMing on 43.158241008 meters Centerline goodness : 0.887371 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.14, Z:-0.38 [[ 9.99914687e-01 1.29442459e-02 -1.75050718e-03 4.29457206e+00] [-1.29143730e-02 9.99786701e-01 1.61174048e-02 -1.43427420e-01] [ 1.95876145e-03 -1.60934231e-02 9.99868574e-01 -3.75731121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.188241008 meters Centerline goodness : 0.887222 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.15, Z:-0.37 [[ 9.99898158e-01 1.39192097e-02 -3.15099838e-03 4.30119076e+00] [-1.38426248e-02 9.99636265e-01 2.31456060e-02 -1.46928262e-01] [ 3.47202080e-03 -2.30996308e-02 9.99727139e-01 -3.69910925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.218241008 meters Centerline goodness : 0.887887 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.15, Z:-0.36 [[ 0.99989899 0.01334832 -0.00488236 4.31106843] [-0.01319404 0.99945155 0.03037312 -0.14972418] [ 0.00528512 -0.03030563 0.99952671 -0.36335348] [ 0. 0. 0. 1. ]] SLAMing on 43.248241008 meters Centerline goodness : 0.890448 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.15, Z:-0.35 [[ 0.99994575 0.0093655 -0.00456 4.32581239] [-0.00917002 0.99911083 0.04115179 -0.15410812] [ 0.00494135 -0.04110774 0.9991425 -0.35180477] [ 0. 0. 0. 1. ]] SLAMing on 43.278241008 meters Centerline goodness : 0.893071 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.16, Z:-0.35 [[ 0.99993298 0.01058887 -0.00468006 4.32943768] [-0.01035091 0.99878221 0.04823845 -0.15758762] [ 0.00518516 -0.04818678 0.99882488 -0.34559639] [ 0. 0. 0. 1. ]] SLAMing on 43.308241008 meters Centerline goodness : 0.892700 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.15, Z:-0.36 [[ 9.99965074e-01 8.35212723e-03 -3.04912456e-04 4.34416627e+00] [-8.33800263e-03 9.99448006e-01 3.21583671e-02 -1.52209434e-01] [ 5.73334919e-04 -3.21547016e-02 9.99482739e-01 -3.55677813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.338241008 meters Centerline goodness : 0.892311 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.16, Z:-0.34 [[ 9.99985159e-01 4.68636870e-03 -2.77835446e-03 4.33573883e+00] [-4.54558157e-03 9.98804086e-01 4.86799290e-02 -1.57162892e-01] [ 3.00316388e-03 -4.86665773e-02 9.98810565e-01 -3.42770734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.368241008 meters Centerline goodness : 0.891009 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.15, Z:-0.35 [[ 9.99999026e-01 -1.28348681e-03 5.48382339e-04 4.30451462e+00] [ 1.25991427e-03 9.99157680e-01 4.10163736e-02 -1.52387161e-01] [-6.00564400e-04 -4.10156427e-02 9.99158324e-01 -3.48805748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.398241008 meters Centerline goodness : 0.892299 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.15, Z:-0.35 [[ 9.99986006e-01 -4.98820462e-03 1.76219775e-03 4.27692746e+00] [ 4.91720518e-03 9.99257014e-01 3.82261789e-02 -1.48575167e-01] [-1.95156847e-03 -3.82169788e-02 9.99267559e-01 -3.52575605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.428241008 meters Centerline goodness : 0.891618 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.14, Z:-0.36 [[ 9.99967189e-01 -7.27049153e-03 3.57216388e-03 4.24367606e+00] [ 7.15091157e-03 9.99448776e-01 3.24192623e-02 -1.44194127e-01] [-3.80589879e-03 -3.23926544e-02 9.99467974e-01 -3.58804274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.458241008 meters Centerline goodness : 0.894334 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.14, Z:-0.36 [[ 9.99986006e-01 -5.08078505e-03 1.47426211e-03 4.20874577e+00] [ 5.03345148e-03 9.99521889e-01 3.05066722e-02 -1.42945371e-01] [-1.62855509e-03 -3.04988246e-02 9.99533476e-01 -3.61547774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.488241008 meters Centerline goodness : 0.893968 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.14, Z:-0.37 [[ 9.99980211e-01 -5.66696835e-03 2.73178745e-03 4.17763215e+00] [ 5.58762315e-03 9.99585931e-01 2.82266651e-02 -1.38909115e-01] [-2.89061592e-03 -2.82108423e-02 9.99597815e-01 -3.65784934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.518241008 meters Centerline goodness : 0.893019 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.14, Z:-0.37 [[ 9.99992835e-01 -3.67650519e-03 9.02059534e-04 4.18250892e+00] [ 3.65031505e-03 9.99615283e-01 2.74947350e-02 -1.38976641e-01] [-1.00279703e-03 -2.74912452e-02 9.99621541e-01 -3.67613565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.548241008 meters Centerline goodness : 0.893663 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.14, Z:-0.37 [[ 9.99998910e-01 -8.84888719e-04 1.18206763e-03 4.15383685e+00] [ 8.46460003e-04 9.99483536e-01 3.21239026e-02 -1.37354882e-01] [-1.20988321e-03 -3.21228670e-02 9.99483195e-01 -3.66667555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.578241008 meters Centerline goodness : 0.892403 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.14, Z:-0.37 [[ 9.99998665e-01 -2.56273900e-05 1.63382274e-03 4.15210842e+00] [-2.61395906e-05 9.99498168e-01 3.16766830e-02 -1.35197612e-01] [-1.63381463e-03 -3.16766835e-02 9.99496833e-01 -3.67103942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.608241008 meters Centerline goodness : 0.891269 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.13, Z:-0.37 [[ 9.99998231e-01 7.35154962e-04 1.73125293e-03 4.15114719e+00] [-7.88601464e-04 9.99516714e-01 3.10759891e-02 -1.32692281e-01] [-1.70757057e-03 -3.10772994e-02 9.99515525e-01 -3.67661387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.638241008 meters Centerline goodness : 0.889572 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.13, Z:-0.38 [[ 0.9999714 0.0045508 0.00603989 4.16417302] [-0.00467462 0.99977589 0.02064742 -0.12765419] [-0.00594457 -0.02067506 0.99976858 -0.37591822] [ 0. 0. 0. 1. ]] SLAMing on 43.668241008 meters Centerline goodness : 0.890752 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.12, Z:-0.38 [[ 0.99989358 0.0137013 0.00500939 4.17122648] [-0.01374846 0.99986032 0.00950382 -0.12257849] [-0.00487847 -0.00957168 0.99994229 -0.38323625] [ 0. 0. 0. 1. ]] SLAMing on 43.698241008000004 meters Centerline goodness : 0.889390 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.12, Z:-0.38 [[ 0.99988445 0.01432181 0.00509599 4.17088645] [-0.01436569 0.99985911 0.00868203 -0.11962084] [-0.00497093 -0.00875423 0.99994933 -0.38470541] [ 0. 0. 0. 1. ]] SLAMing on 43.728241008 meters Centerline goodness : 0.891920 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.12, Z:-0.38 [[ 9.99826389e-01 1.81038701e-02 4.40921637e-03 4.17238950e+00] [-1.81608836e-02 9.99747234e-01 1.32532944e-02 -1.20485736e-01] [-4.16816595e-03 -1.33310688e-02 9.99902450e-01 -3.83393457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.758241008 meters Centerline goodness : 0.888567 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.12, Z:-0.38 [[ 0.99980511 0.01922011 0.00450919 4.17134194] [-0.01927613 0.99973319 0.01272694 -0.11800704] [-0.00426337 -0.01281138 0.99990884 -0.38437406] [ 0. 0. 0. 1. ]] SLAMing on 43.788241008 meters Centerline goodness : 0.888107 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.12, Z:-0.38 [[ 9.99806995e-01 1.91513144e-02 4.38171238e-03 4.17188519e+00] [-1.92042262e-02 9.99739054e-01 1.23702232e-02 -1.17453091e-01] [-4.14366296e-03 -1.24519831e-02 9.99913885e-01 -3.84992344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.818241008 meters Centerline goodness : 0.890377 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.12, Z:-0.39 [[ 9.99809476e-01 1.90911764e-02 4.06687600e-03 4.17271558e+00] [-1.91396599e-02 9.99741940e-01 1.22363268e-02 -1.17659398e-01] [-3.83222063e-03 -1.23118342e-02 9.99916863e-01 -3.85232322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.848241008 meters Centerline goodness : 0.893926 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.12, Z:-0.39 [[ 9.99863161e-01 1.60232922e-02 4.11267208e-03 4.17205909e+00] [-1.60542950e-02 9.99842089e-01 7.61942924e-03 -1.15744498e-01] [-3.98993431e-03 -7.68441266e-03 9.99962514e-01 -3.86667088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.878241008 meters Centerline goodness : 0.891057 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.12, Z:-0.39 [[ 9.99868447e-01 1.58255733e-02 3.55540434e-03 4.17375637e+00] [-1.58528069e-02 9.99844170e-01 7.76681542e-03 -1.17560805e-01] [-3.43193600e-03 -7.82215681e-03 9.99963517e-01 -3.87052898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.908241008 meters Centerline goodness : 0.890325 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.11, Z:-0.39 [[ 9.99915621e-01 1.24302755e-02 3.77355718e-03 4.17342549e+00] [-1.24404634e-02 9.99919000e-01 2.68844898e-03 -1.14236416e-01] [-3.73983336e-03 -2.73516693e-03 9.99989266e-01 -3.89492886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.938241008 meters Centerline goodness : 0.890915 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.11, Z:-0.39 [[ 9.99921243e-01 1.20613395e-02 3.46867149e-03 4.17487261e+00] [-1.20701769e-02 9.99923931e-01 2.53822593e-03 -1.14520658e-01] [-3.43779323e-03 -2.57989351e-03 9.99990763e-01 -3.90263465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.968241008 meters Centerline goodness : 0.891020 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.12, Z:-0.39 [[ 9.99927270e-01 1.16830738e-02 2.99353147e-03 4.17644814e+00] [-1.16909621e-02 9.99928196e-01 2.63132034e-03 -1.15558690e-01] [-2.96257461e-03 -2.66612623e-03 9.99992057e-01 -3.90489107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.998241008 meters Centerline goodness : 0.891763 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.12, Z:-0.39 [[ 9.99931089e-01 1.14771974e-02 2.46817900e-03 4.17792774e+00] [-1.14871422e-02 9.99925805e-01 4.05349101e-03 -1.21339171e-01] [-2.42147316e-03 -4.08156400e-03 9.99988739e-01 -3.89188932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.028241008 meters Centerline goodness : 0.889023 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.12, Z:-0.39 [[ 9.99936492e-01 1.11023906e-02 1.93636968e-03 4.17952393e+00] [-1.11108675e-02 9.99928489e-01 4.42335749e-03 -1.23252407e-01] [-1.88712136e-03 -4.44459131e-03 9.99988342e-01 -3.88923809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.058241008 meters Centerline goodness : 0.891705 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.13, Z:-0.39 [[ 9.99942466e-01 1.06291573e-02 1.44391392e-03 4.18116450e+00] [-1.06362320e-02 9.99931014e-01 4.98374899e-03 -1.25275025e-01] [-1.39084126e-03 -4.99882006e-03 9.99986539e-01 -3.88366127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.088241008 meters Centerline goodness : 0.890956 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.13, Z:-0.39 [[ 9.99945200e-01 1.04046419e-02 1.15744761e-03 4.18194976e+00] [-1.04109204e-02 9.99930361e-01 5.55753964e-03 -1.27331764e-01] [-1.09954279e-03 -5.56928519e-03 9.99983887e-01 -3.87634986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.118241008 meters Centerline goodness : 0.890176 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.13, Z:-0.39 [[ 9.99956576e-01 9.30861130e-03 4.41782505e-04 4.18481404e+00] [-9.31136609e-03 9.99934149e-01 6.70789300e-03 -1.32870979e-01] [-3.79312245e-04 -6.71171532e-03 9.99977404e-01 -3.86515580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.148241008 meters Centerline goodness : 0.889399 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.13, Z:-0.39 [[ 9.99987044e-01 5.06495891e-03 5.08394512e-04 4.18570581e+00] [-5.06580831e-03 9.99985751e-01 1.68358919e-03 -1.31483786e-01] [-4.99859958e-04 -1.68614281e-03 9.99998454e-01 -3.88954939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.178241008 meters Centerline goodness : 0.890193 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.13, Z:-0.39 [[ 9.99991693e-01 4.06465155e-03 -3.02615907e-04 4.18890040e+00] [-4.06406153e-03 9.99989888e-01 1.92546303e-03 -1.33557812e-01] [ 3.10439184e-04 -1.92421719e-03 9.99998101e-01 -3.89319236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.208241008 meters Centerline goodness : 0.890906 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.14, Z:-0.39 [[ 9.99995077e-01 2.83165571e-03 -1.35187648e-03 4.19313498e+00] [-2.82883000e-03 9.99993820e-01 2.08756987e-03 -1.36377885e-01] [ 1.35777940e-03 -2.08373537e-03 9.99996907e-01 -3.90126828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.238241008 meters Centerline goodness : 0.886854 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.14, Z:-0.39 [[ 9.99986016e-01 4.12876051e-03 -3.30460849e-03 4.20016033e+00] [-4.10012906e-03 9.99954403e-01 8.62447939e-03 -1.40768947e-01] [ 3.34006621e-03 -8.61080946e-03 9.99957348e-01 -3.85412815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.268241008 meters Centerline goodness : 0.890041 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.14, Z:-0.39 [[ 9.99985854e-01 3.47581562e-03 -4.02633057e-03 4.20267340e+00] [-3.44232336e-03 9.99959666e-01 8.29558227e-03 -1.41044783e-01] [ 4.05500209e-03 -8.28160499e-03 9.99957485e-01 -3.86202195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.298241008 meters Centerline goodness : 0.887035 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.14, Z:-0.39 [[ 9.99982043e-01 5.21204537e-04 -5.97012797e-03 4.21579792e+00] [-4.48786190e-04 9.99926388e-01 1.21250398e-02 -1.42507315e-01] [ 5.97600813e-03 -1.21221428e-02 9.99908666e-01 -3.85087776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.328241008 meters Centerline goodness : 0.884901 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.14, Z:-0.38 [[ 9.99949755e-01 1.51287795e-03 -9.90954059e-03 4.24284183e+00] [-1.41967312e-03 9.99954756e-01 9.40585587e-03 -1.43948889e-01] [ 9.92332216e-03 -9.39131496e-03 9.99906661e-01 -3.84146306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.358241008 meters Centerline goodness : 0.884825 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.14, Z:-0.38 [[ 9.99940511e-01 2.87914182e-04 -1.09037586e-02 4.24652666e+00] [-1.86633440e-04 9.99956844e-01 9.28848695e-03 -1.44545846e-01] [ 1.09059624e-02 -9.28589938e-03 9.99897411e-01 -3.84589502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.388241008 meters Centerline goodness : 0.884288 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.15, Z:-0.38 [[ 9.99920357e-01 2.26772903e-04 -1.26185396e-02 4.25532994e+00] [-3.50241212e-05 9.99884565e-01 1.51939448e-02 -1.46888822e-01] [ 1.26205285e-02 -1.51922927e-02 9.99804939e-01 -3.80550323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.418241008 meters Centerline goodness : 0.882277 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.14, Z:-0.38 [[ 9.99919913e-01 -3.57722653e-03 -1.21396752e-02 4.25440838e+00] [ 3.69906682e-03 9.99942867e-01 1.00289685e-02 -1.43132396e-01] [ 1.21031058e-02 -1.00730708e-02 9.99876016e-01 -3.82342014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.448241008000004 meters Centerline goodness : 0.882091 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.15, Z:-0.38 [[ 0.9999005 -0.00506802 -0.01316435 4.25738993] [ 0.00523174 0.99990903 0.01243214 -0.14580505] [ 0.01310014 -0.01249978 0.99983606 -0.37696505] [ 0. 0. 0. 1. ]] SLAMing on 44.478241008 meters Centerline goodness : 0.882091 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.15, Z:-0.38 [[ 0.99990074 -0.00505191 -0.0131527 4.25735592] [ 0.00521525 0.99990934 0.01241448 -0.14576444] [ 0.0130888 -0.01248185 0.99983643 -0.37698063] [ 0. 0. 0. 1. ]] SLAMing on 44.508241008 meters Centerline goodness : 0.881314 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.15, Z:-0.37 [[ 0.99988158 -0.00640507 -0.01399256 4.26718309] [ 0.00669934 0.99975523 0.02108575 -0.1501923 ] [ 0.01385408 -0.02117699 0.99967975 -0.36787884] [ 0. 0. 0. 1. ]] SLAMing on 44.538241008 meters Centerline goodness : 0.880110 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.15, Z:-0.37 [[ 0.99993177 -0.00801458 -0.00849833 4.28169135] [ 0.00808453 0.99993347 0.00822814 -0.14567055] [ 0.00843182 -0.00829629 0.99993004 -0.37467954] [ 0. 0. 0. 1. ]] SLAMing on 44.568241008 meters Centerline goodness : 0.877517 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.15, Z:-0.37 [[ 0.99989684 -0.01076419 -0.00951003 4.29502301] [ 0.01091898 0.99980627 0.01637651 -0.1473029 ] [ 0.00933191 -0.01647866 0.99982067 -0.36672792] [ 0. 0. 0. 1. ]] SLAMing on 44.598241008 meters Centerline goodness : 0.874245 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.15, Z:-0.37 [[ 0.99988711 -0.01129537 -0.0099087 4.29647916] [ 0.01145425 0.99980434 0.01612718 -0.14644664] [ 0.0097246 -0.01623885 0.99982085 -0.36689006] [ 0. 0. 0. 1. ]] SLAMing on 44.628241008 meters Centerline goodness : 0.876536 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.14, Z:-0.37 [[ 0.99987213 -0.01210847 -0.01044578 4.2987886 ] [ 0.01226699 0.99980849 0.01524786 -0.14482997] [ 0.01025915 -0.01537405 0.99982918 -0.36821222] [ 0. 0. 0. 1. ]] SLAMing on 44.658241008 meters Centerline goodness : 0.873825 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.15, Z:-0.37 [[ 0.9998918 -0.00932223 -0.01137913 4.301815 ] [ 0.00954803 0.99975534 0.01995251 -0.14670216] [ 0.01119034 -0.020059 0.99973617 -0.3667356 ] [ 0. 0. 0. 1. ]] SLAMing on 44.688241008 meters Centerline goodness : 0.870493 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.14, Z:-0.37 [[ 0.99986284 -0.01264289 -0.01069878 4.30020161] [ 0.01279912 0.99981058 0.0146627 -0.1426152 ] [ 0.01051138 -0.01479762 0.99983526 -0.36895622] [ 0. 0. 0. 1. ]] SLAMing on 44.718241008 meters Centerline goodness : 0.870061 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.15, Z:-0.36 [[ 0.99980874 -0.01419839 -0.01344945 4.29323594] [ 0.01464109 0.99933448 0.0334102 -0.14761564] [ 0.01296613 -0.03360073 0.99935122 -0.35638701] [ 0. 0. 0. 1. ]] SLAMing on 44.748241008 meters Centerline goodness : 0.869966 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.15, Z:-0.36 [[ 0.99980305 -0.01452157 -0.01352738 4.29398442] [ 0.01496067 0.99934517 0.03294568 -0.14630586] [ 0.0130401 -0.03314157 0.99936559 -0.3571122 ] [ 0. 0. 0. 1. ]] SLAMing on 44.778241008 meters Centerline goodness : 0.869902 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.15, Z:-0.34 [[ 0.99975174 -0.01361223 -0.0176399 4.28664474] [ 0.01452921 0.99849185 0.05294261 -0.14974668] [ 0.01689263 -0.05318576 0.99844174 -0.34394037] [ 0. 0. 0. 1. ]] SLAMing on 44.808241008 meters Centerline goodness : 0.866751 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.14, Z:-0.36 [[ 0.99982123 -0.01310498 -0.01362945 4.30234946] [ 0.01363005 0.99913947 0.03917331 -0.14289117] [ 0.01310435 -0.03935207 0.99913947 -0.35507478] [ 0. 0. 0. 1. ]] SLAMing on 44.838241008 meters Centerline goodness : 0.867325 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.14, Z:-0.37 [[ 0.99988181 -0.01212227 -0.00945555 4.31733604] [ 0.01236412 0.9995867 0.02595302 -0.13666982] [ 0.00913703 -0.02606686 0.99961844 -0.3654201 ] [ 0. 0. 0. 1. ]] SLAMing on 44.868241008 meters Centerline goodness : 0.868405 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.13, Z:-0.37 [[ 0.99994372 -0.00936367 -0.00498691 4.33418692] [ 0.00945877 0.99976704 0.01940083 -0.13362955] [ 0.00480409 -0.01944691 0.99979935 -0.36954751] [ 0. 0. 0. 1. ]] SLAMing on 44.898241008 meters Centerline goodness : 0.867200 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.13, Z:-0.38 [[ 9.99985065e-01 -5.46471606e-03 8.59045580e-05 4.34697451e+00] [ 5.46356863e-03 9.99933989e-01 1.01077256e-02 -1.27399212e-01] [-1.41134738e-04 -1.01071053e-02 9.99948912e-01 -3.76367288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.928241008 meters Centerline goodness : 0.868473 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.13, Z:-0.38 [[ 9.99998389e-01 -1.73992935e-03 -4.41054682e-04 4.34831626e+00] [ 1.74603617e-03 9.99896997e-01 1.42459062e-02 -1.26825955e-01] [ 4.16222382e-04 -1.42466533e-02 9.99898425e-01 -3.75785769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.958241008 meters Centerline goodness : 0.866293 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.13, Z:-0.38 [[ 9.99997845e-01 1.81787022e-03 -1.00241560e-03 4.34987474e+00] [-1.79938042e-03 9.99833701e-01 1.81475353e-02 -1.26149378e-01] [ 1.03523876e-03 -1.81456924e-02 9.99834817e-01 -3.75596638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.988241008 meters Centerline goodness : 0.866747 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.12, Z:-0.38 [[ 9.99975645e-01 6.14657997e-03 3.30589342e-03 4.36746586e+00] [-6.18469977e-03 9.99913045e-01 1.16469730e-02 -1.20247453e-01] [-3.23401691e-03 -1.16671353e-02 9.99926707e-01 -3.82209023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.018241008 meters Centerline goodness : 0.866549 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.12, Z:-0.38 [[ 9.99973349e-01 6.50258891e-03 3.31931950e-03 4.36717433e+00] [-6.53933121e-03 9.99916107e-01 1.11810711e-02 -1.18332310e-01] [-3.24633513e-03 -1.12024792e-02 9.99931981e-01 -3.82625766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.048241008 meters Centerline goodness : 0.866303 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.12, Z:-0.38 [[ 9.99945907e-01 1.01060271e-02 2.45997358e-03 4.36910005e+00] [-1.01438177e-02 9.99822643e-01 1.58677195e-02 -1.20212747e-01] [-2.29917769e-03 -1.58918147e-02 9.99871074e-01 -3.81133968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.078241008 meters Centerline goodness : 0.866453 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.12, Z:-0.38 [[ 9.99932660e-01 1.12594929e-02 2.81045070e-03 4.36683686e+00] [-1.13022765e-02 9.99812834e-01 1.57020961e-02 -1.17604088e-01] [-2.63312704e-03 -1.57328032e-02 9.99872765e-01 -3.80453381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.108241008 meters Centerline goodness : 0.867159 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.12, Z:-0.38 [[ 9.99930265e-01 1.14767497e-02 2.78387854e-03 4.36658612e+00] [-1.15186276e-02 9.99813133e-01 1.55248560e-02 -1.16629073e-01] [-2.60518343e-03 -1.55558398e-02 9.99875607e-01 -3.80329719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.138241008 meters Centerline goodness : 0.865977 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.12, Z:-0.38 [[ 9.99931853e-01 1.13720451e-02 2.63934552e-03 4.36717022e+00] [-1.14106162e-02 9.99821023e-01 1.50904038e-02 -1.15508466e-01] [-2.46726439e-03 -1.51194920e-02 9.99882650e-01 -3.80928680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.168241008 meters Centerline goodness : 0.866348 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.11, Z:-0.38 [[ 9.99933722e-01 1.12121327e-02 2.61534161e-03 4.36779979e+00] [-1.12489530e-02 9.99831352e-01 1.45164988e-02 -1.14232869e-01] [-2.45213962e-03 -1.45449565e-02 9.99891210e-01 -3.82085960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.198241008000004 meters Centerline goodness : 0.866088 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.11, Z:-0.38 [[ 9.99939581e-01 1.07241671e-02 2.41396035e-03 4.36939302e+00] [-1.07559994e-02 9.99849874e-01 1.35844450e-02 -1.12636422e-01] [-2.26791609e-03 -1.36095888e-02 9.99904813e-01 -3.84012559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.228241008 meters Centerline goodness : 0.863809 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.11, Z:-0.39 [[ 9.99969811e-01 7.34298499e-03 2.54109483e-03 4.37002936e+00] [-7.36276560e-03 9.99941968e-01 7.86450990e-03 -1.07894693e-01] [-2.48319839e-03 -7.88298196e-03 9.99965846e-01 -3.88329420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.258241008 meters Centerline goodness : 0.862412 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.11, Z:-0.39 [[ 9.99975685e-01 6.64525694e-03 2.11425585e-03 4.37214339e+00] [-6.66034803e-03 9.99951808e-01 7.21265188e-03 -1.07296001e-01] [-2.06622403e-03 -7.22655818e-03 9.99971753e-01 -3.89802036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.288241008 meters Centerline goodness : 0.861620 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.11, Z:-0.39 [[ 9.99981465e-01 5.89185449e-03 1.53504425e-03 4.37458308e+00] [-5.90203561e-03 9.99960039e-01 6.71457196e-03 -1.07685531e-01] [-1.49542163e-03 -6.72350739e-03 9.99976279e-01 -3.91027903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.318241008 meters Centerline goodness : 0.862752 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.11, Z:-0.39 [[ 9.99996253e-01 2.28816461e-03 1.50271811e-03 4.37469412e+00] [-2.29117433e-03 9.99995367e-01 2.00418859e-03 -1.05040596e-01] [-1.49812523e-03 -2.00762406e-03 9.99996863e-01 -3.92331247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.348241008 meters Centerline goodness : 0.864645 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.11, Z:-0.39 [[ 9.99997714e-01 1.90982597e-03 9.61164335e-04 4.37633919e+00] [-1.91166662e-03 9.99996334e-01 1.91776127e-03 -1.05750859e-01] [-9.57498221e-04 -1.91959431e-03 9.99997699e-01 -3.92571131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.378241008 meters Centerline goodness : 0.862789 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.11, Z:-0.39 [[ 9.99999069e-01 1.31492125e-03 3.64326294e-04 4.37849967e+00] [-1.31546146e-03 9.99998030e-01 1.48651286e-03 -1.05926404e-01] [-3.62370929e-04 -1.48699073e-03 9.99998829e-01 -3.93476728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.408241008 meters Centerline goodness : 0.860164 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.11, Z:-0.39 [[ 9.99999459e-01 1.02738467e-03 1.60497990e-04 4.37982523e+00] [-1.02754452e-03 9.99998973e-01 9.99057480e-04 -1.05689931e-01] [-1.59471409e-04 -9.99221859e-04 9.99999488e-01 -3.94872185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.438241008 meters Centerline goodness : 0.861703 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.11, Z:-0.40 [[ 9.99999882e-01 3.91264074e-04 -2.89034203e-04 4.38193734e+00] [-3.91115686e-04 9.99999792e-01 5.13270446e-04 -1.05280535e-01] [ 2.89234967e-04 -5.13157340e-04 9.99999827e-01 -3.96048452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.468241008 meters Centerline goodness : 0.863831 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.11, Z:-0.40 [[ 9.99999794e-01 -4.82374494e-05 -6.40144119e-04 4.38366994e+00] [ 4.83291643e-05 9.99999989e-01 1.43257598e-04 -1.05018155e-01] [ 6.40137201e-04 -1.43288506e-04 9.99999785e-01 -3.97136259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.498241008 meters Centerline goodness : 0.861281 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.10, Z:-0.40 [[ 9.99999403e-01 -4.13111161e-04 -1.01202906e-03 4.38543031e+00] [ 4.12844920e-04 9.99999880e-01 -2.63270870e-04 -1.04490650e-01] [ 1.01213770e-03 2.62852901e-04 9.99999453e-01 -3.98352936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.528241008 meters Centerline goodness : 0.859243 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.10, Z:-0.40 [[ 9.99999175e-01 -6.95960806e-04 -1.08007979e-03 4.38721629e+00] [ 6.94435561e-04 9.99998762e-01 -1.41189291e-03 -1.02944183e-01] [ 1.08106107e-03 1.41114170e-03 9.99998420e-01 -4.01405702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.558241008 meters Centerline goodness : 0.855359 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.10, Z:-0.40 [[ 9.99998885e-01 -7.73427981e-04 -1.27761060e-03 4.38816927e+00] [ 7.71788653e-04 9.99998879e-01 -1.28311469e-03 -1.03754284e-01] [ 1.27860157e-03 1.28212721e-03 9.99998361e-01 -4.01767909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.588241008 meters Centerline goodness : 0.856812 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.11, Z:-0.40 [[ 9.99998703e-01 -6.87559643e-04 -1.45654680e-03 4.38878302e+00] [ 6.86560399e-04 9.99999529e-01 -6.86425363e-04 -1.05673428e-01] [ 1.45701807e-03 6.85424466e-04 9.99998704e-01 -4.01417010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.618241008 meters Centerline goodness : 0.853346 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.11, Z:-0.40 [[ 9.99999208e-01 -2.95361857e-05 -1.25784494e-03 4.38832940e+00] [ 2.95992337e-05 9.99999998e-01 5.01052345e-05 -1.08158512e-01] [ 1.25784345e-03 -5.01424261e-05 9.99999208e-01 -4.01297934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.648241008 meters Centerline goodness : 0.855235 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.11, Z:-0.40 [[ 9.99999082e-01 -2.03425493e-04 -1.33928766e-03 4.38958421e+00] [ 2.03043355e-04 9.99999939e-01 -2.85459181e-04 -1.07508935e-01] [ 1.33934565e-03 2.85186986e-04 9.99999062e-01 -4.02759978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.678241008 meters Centerline goodness : 0.853124 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.11, Z:-0.40 [[ 9.99998853e-01 -2.06117302e-04 -1.50047686e-03 4.39051825e+00] [ 2.05745583e-04 9.99999948e-01 -2.47883689e-04 -1.07342069e-01] [ 1.50052788e-03 2.47574688e-04 9.99998844e-01 -4.03373188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.708241008 meters Centerline goodness : 0.853427 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.11, Z:-0.40 [[ 9.99998668e-01 5.87970511e-05 -1.63105732e-03 4.39094115e+00] [-5.82091993e-05 9.99999933e-01 3.60456604e-04 -1.08633536e-01] [ 1.63107841e-03 -3.60361181e-04 9.99998605e-01 -4.03076829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.738241008 meters Centerline goodness : 0.852138 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.11, Z:-0.40 [[ 9.99994580e-01 -1.86629356e-03 -2.71229239e-03 4.39615590e+00] [ 1.86921265e-03 9.99997676e-01 1.07410867e-03 -1.14099490e-01] [ 2.71028148e-03 -1.07917270e-03 9.99995745e-01 -4.03082089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.768241008000004 meters Centerline goodness : 0.852953 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.12, Z:-0.40 [[ 9.99991502e-01 -2.51338839e-03 -3.26778565e-03 4.39814831e+00] [ 2.52054521e-03 9.99994430e-01 2.18784437e-03 -1.18254490e-01] [ 3.26226854e-03 -2.19606238e-03 9.99992267e-01 -4.01958228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.798241008 meters Centerline goodness : 0.850898 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.12, Z:-0.40 [[ 9.99987750e-01 -3.14569819e-03 -3.82168647e-03 4.40017430e+00] [ 3.15649897e-03 9.99991032e-01 2.82344360e-03 -1.21397149e-01] [ 3.81277049e-03 -2.83547216e-03 9.99988711e-01 -4.01383187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.828241008 meters Centerline goodness : 0.852188 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.12, Z:-0.40 [[ 9.99985560e-01 -3.43620739e-03 -4.13185870e-03 4.40145356e+00] [ 3.45043511e-03 9.99988126e-01 3.44123446e-03 -1.23797787e-01] [ 4.11998484e-03 -3.45544148e-03 9.99985543e-01 -4.01024220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.858241008 meters Centerline goodness : 0.847633 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.12, Z:-0.40 [[ 9.99981818e-01 -4.13664740e-03 -4.38766388e-03 4.40442170e+00] [ 4.15087633e-03 9.99986140e-01 3.23880456e-03 -1.24868924e-01] [ 4.37420527e-03 -3.25695832e-03 9.99985129e-01 -4.03402224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.888241008 meters Centerline goodness : 0.848752 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.13, Z:-0.40 [[ 9.99975158e-01 -5.02032778e-03 -4.94765164e-03 4.40714609e+00] [ 5.04010284e-03 9.99979328e-01 3.99252687e-03 -1.28153109e-01] [ 4.92750557e-03 -4.01736436e-03 9.99979790e-01 -4.03346810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.918241008 meters Centerline goodness : 0.847359 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.13, Z:-0.40 [[ 0.99997009 -0.00557944 -0.00535642 4.40905311] [ 0.00560333 0.99997438 0.00445466 -0.1312302 ] [ 0.00533143 -0.00448454 0.99997573 -0.40296359] [ 0. 0. 0. 1. ]] SLAMing on 45.948241008000004 meters Centerline goodness : 0.847605 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.13, Z:-0.40 [[ 0.99997202 -0.00535112 -0.00522703 4.40851908] [ 0.00537573 0.99997448 0.00470526 -0.13103545] [ 0.00520172 -0.00473323 0.99997527 -0.40228468] [ 0. 0. 0. 1. ]] SLAMing on 45.978241008 meters Centerline goodness : 0.847832 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.13, Z:-0.40 [[ 0.99997137 -0.00541868 -0.00528159 4.40906165] [ 0.0054426 0.99997495 0.00452572 -0.13031512] [ 0.00525693 -0.00455433 0.99997581 -0.40282717] [ 0. 0. 0. 1. ]] SLAMing on 46.008241008 meters Centerline goodness : 0.847183 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.13, Z:-0.40 [[ 9.99967578e-01 -5.91610171e-03 -5.46288689e-03 4.41082433e+00] [ 5.93838351e-03 9.99974079e-01 4.07158731e-03 -1.29025162e-01] [ 5.43865736e-03 -4.10389602e-03 9.99976789e-01 -4.04267867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.038241008 meters Centerline goodness : 0.844712 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.13, Z:-0.41 [[ 9.99972925e-01 -4.07061977e-03 -6.13021933e-03 4.41584005e+00] [ 4.11659157e-03 9.99963361e-01 7.50535720e-03 -1.30337123e-01] [ 6.09944327e-03 -7.53038961e-03 9.99953044e-01 -4.05905010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.068241008 meters Centerline goodness : 0.843642 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.13, Z:-0.41 [[ 9.99970247e-01 -4.35532172e-03 -6.36679923e-03 4.41696890e+00] [ 4.40272752e-03 9.99962550e-01 7.45082614e-03 -1.30553322e-01] [ 6.33411005e-03 -7.47863574e-03 9.99951973e-01 -4.06205975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.098241008 meters Centerline goodness : 0.845096 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.13, Z:-0.41 [[ 9.99969203e-01 -4.39068325e-03 -6.50499239e-03 4.41729501e+00] [ 4.44053926e-03 9.99960727e-01 7.66975299e-03 -1.31346921e-01] [ 6.47106146e-03 -7.69840246e-03 9.99949429e-01 -4.05722809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.128241008 meters Centerline goodness : 0.846048 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.13, Z:-0.41 [[ 9.99992297e-01 -3.23554012e-03 -2.22201392e-03 4.43384187e+00] [ 3.23214323e-03 9.99993605e-01 -1.53063600e-03 -1.28718519e-01] [ 2.22695215e-03 1.52344234e-03 9.99996360e-01 -4.11388275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.158241008 meters Centerline goodness : 0.844225 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.13, Z:-0.41 [[ 9.99990809e-01 -2.38062592e-03 -3.56564906e-03 4.44128242e+00] [ 2.39516045e-03 9.99988818e-01 4.07755579e-03 -1.31552740e-01] [ 3.55590206e-03 -4.08605861e-03 9.99985330e-01 -4.08828734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.188241008 meters Centerline goodness : 0.842650 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.13, Z:-0.41 [[ 9.99987575e-01 -3.03964177e-03 -3.95095842e-03 4.44328505e+00] [ 3.05525107e-03 9.99987528e-01 3.95075167e-03 -1.32235159e-01] [ 3.93890028e-03 -3.96277375e-03 9.99984391e-01 -4.09438543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.218241008 meters Centerline goodness : 0.845998 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.13, Z:-0.41 [[ 9.99984440e-01 -3.60182353e-03 -4.25987549e-03 4.44511688e+00] [ 3.61814050e-03 9.99986124e-01 3.82890361e-03 -1.32624277e-01] [ 4.24602535e-03 -3.84425686e-03 9.99983596e-01 -4.10228366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.248241008 meters Centerline goodness : 0.848167 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.13, Z:-0.41 [[ 9.99982924e-01 -3.91565186e-03 -4.33820304e-03 4.44635592e+00] [ 3.93055034e-03 9.99986389e-01 3.43106524e-03 -1.32107588e-01] [ 4.32470914e-03 -3.44805817e-03 9.99984704e-01 -4.11562278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.278241008 meters Centerline goodness : 0.846771 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.13, Z:-0.41 [[ 9.99985886e-01 -1.63582803e-03 -5.05483474e-03 4.45097057e+00] [ 1.67224709e-03 9.99972617e-01 7.20899056e-03 -1.33585377e-01] [ 5.04290366e-03 -7.21734174e-03 9.99961239e-01 -4.12483884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.308241008 meters Centerline goodness : 0.848229 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.13, Z:-0.42 [[ 9.99999705e-01 -3.76786411e-04 -6.69815533e-04 4.46910131e+00] [ 3.76463482e-04 9.99999813e-01 -4.82176647e-04 -1.31106767e-01] [ 6.69997085e-04 4.81924344e-04 9.99999659e-01 -4.17306248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.338241008 meters Centerline goodness : 0.848067 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.13, Z:-0.42 [[ 9.99999562e-01 -3.72287076e-04 -8.58704615e-04 4.46967765e+00] [ 3.72498705e-04 9.99999900e-01 2.46304762e-04 -1.31725524e-01] [ 8.58612833e-04 -2.46624520e-04 9.99999601e-01 -4.16174504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.368241008 meters Centerline goodness : 0.850582 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.13, Z:-0.42 [[ 9.99999335e-01 -6.55179577e-04 -9.49086402e-04 4.47077790e+00] [ 6.55887827e-04 9.99999507e-01 7.46124119e-04 -1.31159959e-01] [ 9.48597088e-04 -7.46746117e-04 9.99999271e-01 -4.15488862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.398241008 meters Centerline goodness : 0.850582 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.13, Z:-0.42 [[ 9.99999335e-01 -6.55179577e-04 -9.49086402e-04 4.47077790e+00] [ 6.55887827e-04 9.99999507e-01 7.46124119e-04 -1.31159959e-01] [ 9.48597088e-04 -7.46746117e-04 9.99999271e-01 -4.15488862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.428241008 meters Centerline goodness : 0.847070 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.13, Z:-0.41 [[ 9.99996156e-01 2.03751371e-03 -1.88053145e-03 4.47461793e+00] [-2.02673980e-03 9.99981624e-01 5.71341433e-03 -1.32945850e-01] [ 1.89213806e-03 -5.70958102e-03 9.99981910e-01 -4.14182705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.458241008 meters Centerline goodness : 0.846147 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.13, Z:-0.41 [[ 9.99996299e-01 1.54938704e-03 -2.23619691e-03 4.47645232e+00] [-1.53742618e-03 9.99984557e-01 5.34059853e-03 -1.31493290e-01] [ 2.24443703e-03 -5.33714078e-03 9.99983239e-01 -4.14994329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.488241008 meters Centerline goodness : 0.846679 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.13, Z:-0.42 [[ 9.99995709e-01 5.03664685e-04 -2.88578215e-03 4.48008667e+00] [-4.90987272e-04 9.99990234e-01 4.39208501e-03 -1.30179166e-01] [ 2.88796611e-03 -4.39064928e-03 9.99986191e-01 -4.16782615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.518241008000004 meters Centerline goodness : 0.848848 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.13, Z:-0.42 [[ 9.99987919e-01 2.86533441e-03 -3.99401532e-03 4.48476540e+00] [-2.83091225e-03 9.99959033e-01 8.59760906e-03 -1.32015516e-01] [ 4.01848672e-03 -8.58619848e-03 9.99955063e-01 -4.16715599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.548241008 meters Centerline goodness : 0.845342 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.13, Z:-0.42 [[ 9.99988259e-01 2.16950257e-03 -4.33292625e-03 4.48700695e+00] [-2.13564855e-03 9.99967279e-01 7.80260459e-03 -1.30400686e-01] [ 4.34971224e-03 -7.79325938e-03 9.99960172e-01 -4.18370208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.578241008 meters Centerline goodness : 0.844295 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.13, Z:-0.42 [[ 9.99987402e-01 1.64662250e-03 -4.74181701e-03 4.48877759e+00] [-1.60941927e-03 9.99967980e-01 7.83893168e-03 -1.29813777e-01] [ 4.75457294e-03 -7.83120135e-03 9.99958032e-01 -4.18222774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.608241008 meters Centerline goodness : 0.848251 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.13, Z:-0.42 [[ 9.99985933e-01 1.00968707e-03 -5.20712336e-03 4.49074913e+00] [-9.69396780e-04 9.99969620e-01 7.73426096e-03 -1.29318048e-01] [ 5.21477435e-03 -7.72910439e-03 9.99956533e-01 -4.18182481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.638241008 meters Centerline goodness : 0.848441 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.13, Z:-0.42 [[ 9.99982748e-01 -2.18710719e-04 -5.86992010e-03 4.49410721e+00] [ 2.63067784e-04 9.99971411e-01 7.55696469e-03 -1.28029145e-01] [ 5.86809950e-03 -7.55837850e-03 9.99954217e-01 -4.18143575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.668241008 meters Centerline goodness : 0.847173 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.13, Z:-0.42 [[ 9.99969718e-01 5.23140892e-05 -7.78205637e-03 4.50325835e+00] [ 4.45998929e-05 9.99922460e-01 1.24528236e-02 -1.28835605e-01] [ 7.78210441e-03 -1.24527936e-02 9.99892178e-01 -4.16256823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.698241008000004 meters Centerline goodness : 0.846641 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.13, Z:-0.41 [[ 9.99952508e-01 7.12055176e-05 -9.74564378e-03 4.51303545e+00] [ 1.14048788e-04 9.99819343e-01 1.90070589e-02 -1.31298549e-01] [ 9.74523657e-03 -1.90072677e-02 9.99771851e-01 -4.11545693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.728241008 meters Centerline goodness : 0.848814 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.14, Z:-0.40 [[ 9.99960116e-01 -3.39740031e-03 -8.25982775e-03 4.53247076e+00] [ 3.65718621e-03 9.99492550e-01 3.16427962e-02 -1.35557451e-01] [ 8.14813306e-03 -3.16717419e-02 9.99465111e-01 -4.02669783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.758241008 meters Centerline goodness : 0.850694 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.14, Z:-0.40 [[ 9.99948256e-01 -3.56068399e-03 -9.52930556e-03 4.54022055e+00] [ 3.89734235e-03 9.99360422e-01 3.55465594e-02 -1.36592502e-01] [ 9.39664076e-03 -3.55818591e-02 9.99322588e-01 -4.01670643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.788241008 meters Centerline goodness : 0.849384 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.14, Z:-0.40 [[ 9.99944397e-01 -3.95913698e-03 -9.77388018e-03 4.54151006e+00] [ 4.30303099e-03 9.99363307e-01 3.54184306e-02 -1.36291434e-01] [ 9.62743080e-03 -3.54585185e-02 9.99324775e-01 -4.02013238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.818241008 meters Centerline goodness : 0.849965 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.13, Z:-0.41 [[ 0.99992183 -0.00821863 -0.0094227 4.54202391] [ 0.00849075 0.99953718 0.02921195 -0.13153703] [ 0.00917826 -0.02928967 0.99952883 -0.40594062] [ 0. 0. 0. 1. ]] SLAMing on 46.848241008 meters Centerline goodness : 0.848103 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.13, Z:-0.40 [[ 0.9998723 -0.00914086 -0.01310862 4.52313367] [ 0.00961 0.99929892 0.03618435 -0.1311526 ] [ 0.01276868 -0.03630571 0.99925915 -0.4022637 ] [ 0. 0. 0. 1. ]] SLAMing on 46.878241008 meters Centerline goodness : 0.849665 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.13, Z:-0.41 [[ 0.99983742 -0.01257737 -0.01292101 4.52352791] [ 0.0129667 0.99945057 0.03050287 -0.12589915] [ 0.01253026 -0.03066546 0.99945116 -0.40591025] [ 0. 0. 0. 1. ]] SLAMing on 46.908241008 meters Centerline goodness : 0.854179 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.13, Z:-0.41 [[ 0.9998414 -0.0119272 -0.0132259 4.52598982] [ 0.01231898 0.99947555 0.02994773 -0.12521135] [ 0.01286177 -0.03010591 0.99946396 -0.40807047] [ 0. 0. 0. 1. ]] SLAMing on 46.938241008 meters Centerline goodness : 0.853089 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.13, Z:-0.41 [[ 0.99996428 -0.00698537 -0.00475795 4.53390179] [ 0.00712584 0.99951922 0.03017518 -0.1274803 ] [ 0.00454488 -0.03020801 0.9995333 -0.41379087] [ 0. 0. 0. 1. ]] SLAMing on 46.968241008 meters Centerline goodness : 0.854356 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.12, Z:-0.41 [[ 0.99996078 -0.00550665 -0.00693658 4.49987677] [ 0.00570577 0.99956251 0.02902121 -0.1243135 ] [ 0.00677373 -0.02905966 0.99955473 -0.41448037] [ 0. 0. 0. 1. ]] SLAMing on 46.998241008 meters Centerline goodness : 0.854736 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.12, Z:-0.42 [[ 9.99987776e-01 -4.29924017e-03 -2.44217271e-03 4.51519010e+00] [ 4.33973244e-03 9.99849041e-01 1.68244590e-02 -1.18134718e-01] [ 2.36947165e-03 -1.68348517e-02 9.99855476e-01 -4.24098209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.028241008 meters Centerline goodness : 0.856507 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.12, Z:-0.43 [[ 9.99991924e-01 -2.83108537e-03 -2.85269154e-03 4.51730364e+00] [ 2.87837513e-03 9.99856205e-01 1.67117986e-02 -1.16186204e-01] [ 2.80496881e-03 -1.67198748e-02 9.99856279e-01 -4.25127444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.058241008 meters Centerline goodness : 0.857552 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.11, Z:-0.43 [[ 9.99997349e-01 -6.51042752e-04 2.20856472e-03 4.53221960e+00] [ 6.35777546e-04 9.99975955e-01 6.90549718e-03 -1.10637629e-01] [-2.21300738e-03 -6.90407471e-03 9.99973718e-01 -4.32396195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.088241008 meters Centerline goodness : 0.857357 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.11, Z:-0.43 [[ 9.99996864e-01 9.59706403e-04 2.31316047e-03 4.53093547e+00] [-9.75506959e-04 9.99976136e-01 6.83930050e-03 -1.06377616e-01] [-2.30654155e-03 -6.84153556e-03 9.99973936e-01 -4.32385135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.118241008 meters Centerline goodness : 0.856643 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.11, Z:-0.43 [[ 9.99989327e-01 4.38863699e-03 1.44412741e-03 4.53338333e+00] [-4.40515426e-03 9.99922545e-01 1.16403677e-02 -1.07619165e-01] [-1.39293020e-03 -1.16466050e-02 9.99931206e-01 -4.30692385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.148241008 meters Centerline goodness : 0.857404 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.11, Z:-0.43 [[ 9.99987892e-01 4.73019111e-03 1.35674873e-03 4.53342030e+00] [-4.74520743e-03 9.99925042e-01 1.12868597e-02 -1.05920857e-01] [-1.30325803e-03 -1.12931611e-02 9.99935381e-01 -4.30836615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.178241008 meters Centerline goodness : 0.862527 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.11, Z:-0.43 [[ 9.99980243e-01 6.04945074e-03 1.70794964e-03 4.53155071e+00] [-6.06921463e-03 9.99911794e-01 1.18139182e-02 -1.05210729e-01] [-1.63633127e-03 -1.18240507e-02 9.99928755e-01 -4.29182170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.208241008 meters Centerline goodness : 0.866609 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.10, Z:-0.43 [[ 9.99982679e-01 5.71998235e-03 1.38723857e-03 4.53338783e+00] [-5.73493847e-03 9.99922742e-01 1.10281639e-02 -1.04072709e-01] [-1.32405050e-03 -1.10359286e-02 9.99938226e-01 -4.30922019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.238241008 meters Centerline goodness : 0.863420 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.11, Z:-0.43 [[ 9.99964793e-01 8.38773862e-03 2.41855367e-04 4.53789145e+00] [-8.39040460e-03 9.99854630e-01 1.48431750e-02 -1.05236306e-01] [-1.17319537e-04 -1.48446817e-02 9.99889805e-01 -4.31844444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.268241008000004 meters Centerline goodness : 0.862358 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.10, Z:-0.44 [[ 9.99971494e-01 7.54897592e-03 -1.55930841e-04 4.54088703e+00] [-7.54620266e-03 9.99881419e-01 1.34239480e-02 -1.03030945e-01] [ 2.57249411e-04 -1.34223887e-02 9.99909883e-01 -4.35151780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.298241008 meters Centerline goodness : 0.863369 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.10, Z:-0.44 [[ 9.99976514e-01 6.81390431e-03 -7.36609603e-04 4.54404956e+00] [-6.80402534e-03 9.99896563e-01 1.26715286e-02 -1.02110500e-01] [ 8.22875994e-04 -1.26662191e-02 9.99919442e-01 -4.37402850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.328241008 meters Centerline goodness : 0.867405 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.11, Z:-0.44 [[ 9.99988337e-01 4.74101078e-03 -9.20874826e-04 4.56410651e+00] [-4.71964571e-03 9.99747676e-01 2.19615490e-02 -1.06708501e-01] [ 1.02476241e-03 -2.19569467e-02 9.99758392e-01 -4.36075784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.358241008 meters Centerline goodness : 0.867709 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.10, Z:-0.44 [[ 9.99984300e-01 4.62801437e-03 3.15946132e-03 4.58114255e+00] [-4.66292620e-03 9.99927149e-01 1.11334731e-02 -1.04152338e-01] [-3.10770528e-03 -1.11480306e-02 9.99933030e-01 -4.42621687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.388241008 meters Centerline goodness : 0.867962 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.11, Z:-0.44 [[ 9.99973167e-01 7.21650719e-03 1.25987103e-03 4.60647838e+00] [-7.22988795e-03 9.99913794e-01 1.09605397e-02 -1.07440619e-01] [-1.18066560e-03 -1.09693543e-02 9.99939138e-01 -4.39525491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.418241008 meters Centerline goodness : 0.872834 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.11, Z:-0.44 [[ 9.99991458e-01 3.82750099e-03 1.55993964e-03 4.60617962e+00] [-3.83785863e-03 9.99970245e-01 6.69176106e-03 -1.08448776e-01] [-1.53428050e-03 -6.69769073e-03 9.99976393e-01 -4.40948831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.448241008000004 meters Centerline goodness : 0.873691 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.11, Z:-0.44 [[ 9.99994091e-01 3.29226091e-03 9.89587910e-04 4.60865676e+00] [-3.29881645e-03 9.99972130e-01 6.69753978e-03 -1.09849704e-01] [-9.67510282e-04 -6.70076467e-03 9.99977082e-01 -4.41762285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.478241008 meters Centerline goodness : 0.874345 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.11, Z:-0.44 [[ 9.99996296e-01 2.68245910e-03 4.60174964e-04 4.61115000e+00] [-2.68549475e-03 9.99973760e-01 6.72806707e-03 -1.10918387e-01] [-4.42115124e-04 -6.72927795e-03 9.99977260e-01 -4.42493105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.508241008 meters Centerline goodness : 0.875437 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.12, Z:-0.43 [[ 9.99994294e-01 -1.03152773e-04 3.37662727e-03 4.63674593e+00] [ 9.28457138e-06 9.99613850e-01 2.77876161e-02 -1.19499986e-01] [-3.37818976e-03 -2.77874261e-02 9.99608147e-01 -4.28037175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.538241008 meters Centerline goodness : 0.874628 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.12, Z:-0.43 [[ 9.99995560e-01 -5.78274935e-04 2.92330548e-03 4.63881285e+00] [ 4.96101606e-04 9.99606883e-01 2.80327192e-02 -1.20811315e-01] [-2.93836689e-03 -2.80311445e-02 9.99602732e-01 -4.28152059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.568241008 meters Centerline goodness : 0.872275 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.12, Z:-0.43 [[ 9.99996805e-01 -1.14601075e-03 2.25311041e-03 4.64145117e+00] [ 1.08197280e-03 9.99601132e-01 2.82206730e-02 -1.22105363e-01] [-2.28455291e-03 -2.82181450e-02 9.99599178e-01 -4.28343582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.598241008 meters Centerline goodness : 0.874763 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.12, Z:-0.43 [[ 9.99997060e-01 1.61123192e-03 -1.81212003e-03 4.66533055e+00] [-1.56845984e-03 9.99725838e-01 2.33621150e-02 -1.23520059e-01] [ 1.84926500e-03 -2.33592041e-02 9.99725426e-01 -4.29919257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.628241008 meters Centerline goodness : 0.874496 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.12, Z:-0.44 [[ 9.99995134e-01 2.61347373e-03 1.70330074e-03 4.68325864e+00] [-2.63304123e-03 9.99929381e-01 1.15888201e-02 -1.18853984e-01] [-1.67289338e-03 -1.15932486e-02 9.99931397e-01 -4.39601292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.658241008 meters Centerline goodness : 0.874221 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.12, Z:-0.44 [[ 9.99977999e-01 5.01252113e-03 4.34463034e-03 4.70282508e+00] [-5.03571421e-03 9.99973042e-01 5.34393283e-03 -1.17770167e-01] [-4.31772664e-03 -5.36569357e-03 9.99976283e-01 -4.43206480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.688241008 meters Centerline goodness : 0.877591 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.12, Z:-0.44 [[ 9.99981956e-01 4.58918908e-03 3.87656740e-03 4.70472537e+00] [-4.60795638e-03 9.99977640e-01 4.84623709e-03 -1.17508690e-01] [-3.85424042e-03 -4.86401269e-03 9.99980743e-01 -4.44266664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.718241008 meters Centerline goodness : 0.875433 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.12, Z:-0.45 [[ 9.99984406e-01 4.25897260e-03 3.61222261e-03 4.70688523e+00] [-4.27424360e-03 9.99981917e-01 4.23046216e-03 -1.15757030e-01] [-3.59413987e-03 -4.24583571e-03 9.99984527e-01 -4.46050244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.748241008 meters Centerline goodness : 0.874384 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.12, Z:-0.45 [[ 9.99974028e-01 6.78594249e-03 2.42765934e-03 4.71161871e+00] [-6.80619095e-03 9.99941287e-01 8.43203965e-03 -1.16147096e-01] [-2.37029746e-03 -8.44834377e-03 9.99961503e-01 -4.46046007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.778241008 meters Centerline goodness : 0.871489 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.11, Z:-0.45 [[ 9.99978950e-01 6.13684798e-03 2.10702573e-03 4.71390190e+00] [-6.15180599e-03 9.99955390e-01 7.16758437e-03 -1.13346288e-01] [-2.06294536e-03 -7.18039551e-03 9.99972093e-01 -4.48570407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.808241008 meters Centerline goodness : 0.872464 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.11, Z:-0.45 [[ 9.99982108e-01 5.73106136e-03 1.71412612e-03 4.71555185e+00] [-5.74231547e-03 9.99961505e-01 6.63427397e-03 -1.12105526e-01] [-1.67603871e-03 -6.64399833e-03 9.99976524e-01 -4.49508838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.838241008 meters Centerline goodness : 0.869180 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.11, Z:-0.45 [[ 9.99983434e-01 5.57495297e-03 1.43221423e-03 4.71685679e+00] [-5.58454067e-03 9.99961422e-01 6.77989193e-03 -1.12609514e-01] [-1.39436140e-03 -6.78777788e-03 9.99975991e-01 -4.49175164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.868241008 meters Centerline goodness : 0.870462 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.11, Z:-0.45 [[ 9.99985543e-01 5.27171434e-03 1.05978351e-03 4.71827965e+00] [-5.27836908e-03 9.99965731e-01 6.37780438e-03 -1.12001966e-01] [-1.02612523e-03 -6.38330611e-03 9.99979100e-01 -4.49781988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.898241008 meters Centerline goodness : 0.871953 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.11, Z:-0.45 [[ 9.99986983e-01 5.06375543e-03 6.26959347e-04 4.71971787e+00] [-5.06750039e-03 9.99968413e-01 6.12311150e-03 -1.11605594e-01] [-5.95933604e-04 -6.12620891e-03 9.99981057e-01 -4.50166050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.928241008 meters Centerline goodness : 0.871309 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.11, Z:-0.45 [[ 9.99989434e-01 4.59692843e-03 3.02268680e-05 4.72173456e+00] [-4.59702564e-03 9.99973719e-01 5.60605223e-03 -1.10829939e-01] [-4.45545281e-06 -5.60613194e-03 9.99984286e-01 -4.50872676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.958241008 meters Centerline goodness : 0.871054 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.11, Z:-0.45 [[ 9.99993277e-01 3.56647005e-03 -8.51642496e-04 4.72557201e+00] [-3.56200209e-03 9.99980181e-01 5.19140694e-03 -1.10132633e-01] [ 8.70140614e-04 -5.18833849e-03 9.99986162e-01 -4.51906044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.988241008 meters Centerline goodness : 0.868277 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.11, Z:-0.45 [[ 9.99995522e-01 1.80093585e-03 -2.39003817e-03 4.73095814e+00] [-1.78850838e-03 9.99984924e-01 5.19168501e-03 -1.11450988e-01] [ 2.39935203e-03 -5.18738716e-03 9.99983667e-01 -4.52024763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.018241008000004 meters Centerline goodness : 0.868820 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.11, Z:-0.45 [[ 9.99992632e-01 -6.38302458e-04 -3.78529665e-03 4.74299614e+00] [ 6.81604153e-04 9.99934223e-01 1.14492105e-02 -1.14669415e-01] [ 3.77773961e-03 -1.14517063e-02 9.99927291e-01 -4.47212990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.048241008 meters Centerline goodness : 0.867225 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.12, Z:-0.45 [[ 9.99964303e-01 -8.26923307e-04 -8.40891175e-03 4.77780041e+00] [ 9.24770558e-04 9.99931838e-01 1.16389144e-02 -1.17252112e-01] [ 8.39871409e-03 -1.16462752e-02 9.99896908e-01 -4.46217339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.078241008 meters Centerline goodness : 0.864906 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.12, Z:-0.45 [[ 9.99958581e-01 -1.44463441e-03 -8.98608740e-03 4.78054308e+00] [ 1.54361310e-03 9.99938114e-01 1.10174930e-02 -1.16507315e-01] [ 8.96961504e-03 -1.10309077e-02 9.99898927e-01 -4.48076013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.108241008 meters Centerline goodness : 0.863749 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.12, Z:-0.45 [[ 9.99944774e-01 2.10583175e-03 -1.02963229e-02 4.80670990e+00] [-1.98579182e-03 9.99930108e-01 1.16548810e-02 -1.17744933e-01] [ 1.03201465e-02 -1.16337910e-02 9.99879067e-01 -4.46571825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.138241008 meters Centerline goodness : 0.864249 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.12, Z:-0.45 [[ 9.99940021e-01 1.74427512e-03 -1.08126039e-02 4.80871680e+00] [-1.62739489e-03 9.99940257e-01 1.08090180e-02 -1.16063311e-01] [ 1.08308118e-02 -1.07907733e-02 9.99883120e-01 -4.48126158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.168241008 meters Centerline goodness : 0.862321 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.12, Z:-0.45 [[ 9.99935525e-01 2.14923221e-03 -1.11502108e-02 4.80898551e+00] [-2.02962039e-03 9.99940398e-01 1.07275630e-02 -1.15521973e-01] [ 1.11726022e-02 -1.07042407e-02 9.99880289e-01 -4.47757639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.198241008000004 meters Centerline goodness : 0.866316 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.11, Z:-0.45 [[ 9.99972793e-01 4.13063497e-03 -6.11154737e-03 4.82385334e+00] [-4.11274002e-03 9.99987227e-01 2.93773186e-03 -1.13219389e-01] [ 6.12360401e-03 -2.91251672e-03 9.99977009e-01 -4.51446168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.228241008 meters Centerline goodness : 0.863942 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.11, Z:-0.45 [[ 9.99970264e-01 4.31798032e-03 -6.38961020e-03 4.82419754e+00] [-4.29535135e-03 9.99984470e-01 3.55102222e-03 -1.13403813e-01] [ 6.40484421e-03 -3.52347100e-03 9.99973281e-01 -4.50138743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.258241008 meters Centerline goodness : 0.870473 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.11, Z:-0.45 [[ 9.99977047e-01 6.16838957e-03 -2.80307134e-03 4.84683121e+00] [-6.16456506e-03 9.99980059e-01 1.37099722e-03 -1.12963262e-01] [ 2.81147229e-03 -1.35368603e-03 9.99995132e-01 -4.49425605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.288241008 meters Centerline goodness : 0.870473 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.11, Z:-0.45 [[ 9.99977041e-01 6.16993072e-03 -2.80167367e-03 4.84682768e+00] [-6.16611101e-03 9.99980051e-01 1.36996452e-03 -1.12960726e-01] [ 2.81007036e-03 -1.35265763e-03 9.99995137e-01 -4.49426312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.318241008 meters Centerline goodness : 0.869947 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.11, Z:-0.45 [[ 9.99975777e-01 6.45075139e-03 -2.61414768e-03 4.84657391e+00] [-6.44726516e-03 9.99978319e-01 1.33984164e-03 -1.11681093e-01] [ 2.62273399e-03 -1.32295508e-03 9.99995686e-01 -4.49471539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.348241008 meters Centerline goodness : 0.871973 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.11, Z:-0.45 [[ 9.99977472e-01 5.90827181e-03 -3.18566646e-03 4.84871576e+00] [-5.90483981e-03 9.99981977e-01 1.08565735e-03 -1.10815972e-01] [ 3.19202341e-03 -1.06682204e-03 9.99994336e-01 -4.49985922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.378241008 meters Centerline goodness : 0.872784 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.11, Z:-0.45 [[ 9.99978780e-01 5.30713839e-03 -3.77817433e-03 4.85095068e+00] [-5.30399315e-03 9.99985579e-01 8.42009892e-04 -1.10332802e-01] [ 3.78258851e-03 -8.21952613e-04 9.99992508e-01 -4.50554409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.408241008 meters Centerline goodness : 0.871773 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.11, Z:-0.45 [[ 9.99978997e-01 4.58695938e-03 -4.57885597e-03 4.85391137e+00] [-4.58149405e-03 9.99988781e-01 1.20337824e-03 -1.11626988e-01] [ 4.58432445e-03 -1.18237497e-03 9.99988793e-01 -4.50395724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.438241008 meters Centerline goodness : 0.872206 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.11, Z:-0.45 [[ 9.99977012e-01 3.25859833e-03 -5.94613069e-03 4.85836860e+00] [-3.24926876e-03 9.99993476e-01 1.57800246e-03 -1.13411220e-01] [ 5.95123398e-03 -1.55864561e-03 9.99981077e-01 -4.50050856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.468241008 meters Centerline goodness : 0.871666 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.12, Z:-0.45 [[ 9.99974217e-01 2.36330520e-03 -6.78080802e-03 4.86114789e+00] [-2.35000630e-03 9.99995301e-01 1.96855344e-03 -1.15424232e-01] [ 6.78542845e-03 -1.95256775e-03 9.99975072e-01 -4.49685139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.498241008 meters Centerline goodness : 0.871944 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.12, Z:-0.45 [[ 9.99967024e-01 1.28949420e-03 -8.01799232e-03 4.86504505e+00] [-1.27089501e-03 9.99996491e-01 2.32434431e-03 -1.16859779e-01] [ 8.02096142e-03 -2.31407763e-03 9.99965154e-01 -4.49304968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.528241008 meters Centerline goodness : 0.872962 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.12, Z:-0.44 [[ 9.99956096e-01 -3.49585523e-03 -8.69395042e-03 4.89059641e+00] [ 3.63364038e-03 9.99867248e-01 1.58834246e-02 -1.22294566e-01] [ 8.63727013e-03 -1.59143179e-02 9.99836053e-01 -4.40193112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.558241008 meters Centerline goodness : 0.873046 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.12, Z:-0.44 [[ 9.99942732e-01 -4.59610845e-03 -9.66480854e-03 4.89443524e+00] [ 4.74022042e-03 9.99877136e-01 1.49413420e-02 -1.21716244e-01] [ 9.59494905e-03 -1.49862997e-02 9.99841661e-01 -4.42238817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.588241008 meters Centerline goodness : 0.872666 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.12, Z:-0.44 [[ 9.99933456e-01 -2.19100218e-03 -1.13261713e-02 4.92091875e+00] [ 2.35944750e-03 9.99886498e-01 1.48803146e-02 -1.22707549e-01] [ 1.12922829e-02 -1.49060479e-02 9.99825132e-01 -4.40212398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.618241008 meters Centerline goodness : 0.870569 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.12, Z:-0.44 [[ 9.99905351e-01 -1.75014187e-03 -1.36464564e-02 4.93045878e+00] [ 2.02508472e-03 9.99794719e-01 2.01598456e-02 -1.24100429e-01] [ 1.36083724e-02 -2.01855728e-02 9.99703634e-01 -4.37510425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.648241008 meters Centerline goodness : 0.872024 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.12, Z:-0.44 [[ 9.99938462e-01 4.43056025e-05 -1.10936745e-02 4.95203076e+00] [ 1.28159086e-04 9.99879161e-01 1.55450250e-02 -1.22678063e-01] [ 1.10930227e-02 -1.55454902e-02 9.99817625e-01 -4.39418486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.678241008 meters Centerline goodness : 0.875464 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.12, Z:-0.44 [[ 9.99931159e-01 -3.59935005e-04 -1.17280820e-02 4.95389273e+00] [ 5.42272383e-04 9.99878982e-01 1.55476067e-02 -1.21985321e-01] [ 1.17210665e-02 -1.55528962e-02 9.99810344e-01 -4.39236912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.708241008 meters Centerline goodness : 0.877387 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.12, Z:-0.44 [[ 9.99910056e-01 1.94052598e-03 -1.32708261e-02 4.95887335e+00] [-1.66376371e-03 9.99781559e-01 2.08342742e-02 -1.24469591e-01] [ 1.33083566e-02 -2.08103207e-02 9.99694863e-01 -4.36584427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.738241008 meters Centerline goodness : 0.874673 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.12, Z:-0.44 [[ 9.99898975e-01 1.31614844e-03 -1.41529862e-02 4.96157640e+00] [-1.03910774e-03 9.99808061e-01 1.95642851e-02 -1.22360758e-01] [ 1.41760192e-02 -1.95476021e-02 9.99708423e-01 -4.38273039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.768241008000004 meters Centerline goodness : 0.874056 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.12, Z:-0.44 [[ 9.99872121e-01 3.98132016e-03 -1.54883774e-02 4.96586468e+00] [-3.60698869e-03 9.99702519e-01 2.41218525e-02 -1.23638144e-01] [ 1.55798068e-02 -2.40629015e-02 9.99589039e-01 -4.36800439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.798241008 meters Centerline goodness : 0.874054 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.12, Z:-0.44 [[ 9.99923840e-01 5.08314156e-03 -1.12461659e-02 4.98240780e+00] [-4.92889419e-03 9.99893988e-01 1.37010141e-02 -1.19053067e-01] [ 1.13146178e-02 -1.36445395e-02 9.99842891e-01 -4.44152472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.828241008 meters Centerline goodness : 0.876186 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.12, Z:-0.45 [[ 0.99993122 0.00839156 -0.0081934 5.00436904] [-0.00831684 0.9999239 0.00911124 -0.11571173] [ 0.00826924 -0.00904247 0.99992492 -0.4482258 ] [ 0. 0. 0. 1. ]] SLAMing on 48.858241008 meters Centerline goodness : 0.877363 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.11, Z:-0.45 [[ 0.99992611 0.00885101 -0.00833292 5.00442402] [-0.00877806 0.99992317 0.0087517 -0.11293119] [ 0.00840974 -0.0086779 0.99992698 -0.44863667] [ 0. 0. 0. 1. ]] SLAMing on 48.888241008 meters Centerline goodness : 0.875781 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.11, Z:-0.45 [[ 0.99987976 0.01250705 -0.00916692 5.00655573] [-0.01238355 0.99983344 0.01340696 -0.11333846] [ 0.00933307 -0.01329183 0.9998681 -0.44723969] [ 0. 0. 0. 1. ]] SLAMing on 48.918241008 meters Centerline goodness : 0.877623 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.11, Z:-0.45 [[ 0.99982157 0.01593974 -0.01013637 5.00917394] [-0.01575781 0.99971772 0.01778135 -0.11380385] [ 0.01041694 -0.01761845 0.99979052 -0.44612911] [ 0. 0. 0. 1. ]] SLAMing on 48.948241008000004 meters Centerline goodness : 0.879242 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.11, Z:-0.45 [[ 0.99980406 0.01681146 -0.01045061 5.0093127 ] [-0.01663414 0.99972001 0.01682868 -0.11073327] [ 0.0107306 -0.01665155 0.99980377 -0.44765225] [ 0. 0. 0. 1. ]] SLAMing on 48.978241008 meters Centerline goodness : 0.877947 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.11, Z:-0.45 [[ 0.99980247 0.01914673 -0.00533127 5.02491637] [-0.01909388 0.99976973 0.0097932 -0.10861107] [ 0.00551755 -0.00968947 0.99993783 -0.45144884] [ 0. 0. 0. 1. ]] SLAMing on 49.008241008 meters Centerline goodness : 0.877390 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.11, Z:-0.45 [[ 0.9997976 0.01927849 -0.00575244 5.02525895] [-0.01921973 0.99976425 0.01010177 -0.10892382] [ 0.00594583 -0.00998917 0.99993243 -0.4502518 ] [ 0. 0. 0. 1. ]] SLAMing on 49.038241008 meters Centerline goodness : 0.881573 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.11, Z:-0.45 [[ 0.99979471 0.01924178 -0.00634722 5.02606382] [-0.01917481 0.99976155 0.01044851 -0.10943387] [ 0.00654675 -0.01032465 0.99992527 -0.44887418] [ 0. 0. 0. 1. ]] SLAMing on 49.068241008 meters Centerline goodness : 0.883752 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.11, Z:-0.45 [[ 0.99972712 0.02205514 -0.00769743 5.0300631 ] [-0.02192743 0.99962669 0.01629908 -0.11376951] [ 0.00805404 -0.01612585 0.99983753 -0.44539152] [ 0. 0. 0. 1. ]] SLAMing on 49.098241008 meters Centerline goodness : 0.883851 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.11, Z:-0.45 [[ 0.99980991 0.01790894 -0.00770851 5.0311752 ] [-0.01783327 0.99979318 0.00977658 -0.1092348 ] [ 0.00788201 -0.00963726 0.9999225 -0.45020182] [ 0. 0. 0. 1. ]] SLAMing on 49.128241008 meters Centerline goodness : 0.878762 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.11, Z:-0.45 [[ 0.99981948 0.01697323 -0.00853916 5.03455614] [-0.016896 0.99981641 0.00903732 -0.10830016] [ 0.00869098 -0.00889141 0.9999227 -0.45189624] [ 0. 0. 0. 1. ]] SLAMing on 49.158241008 meters Centerline goodness : 0.883684 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.11, Z:-0.45 [[ 0.99983581 0.01484093 -0.01039757 5.04157867] [-0.01475288 0.99985509 0.00849458 -0.10855034] [ 0.01052213 -0.0083398 0.99990986 -0.45348877] [ 0. 0. 0. 1. ]] SLAMing on 49.188241008 meters Centerline goodness : 0.884337 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.11, Z:-0.45 [[ 0.99980614 0.01568212 -0.01190637 5.04944492] [-0.01549052 0.99975171 0.01601774 -0.11230268] [ 0.01215461 -0.0158302 0.99980082 -0.44697477] [ 0. 0. 0. 1. ]] SLAMing on 49.218241008 meters Centerline goodness : 0.885335 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.11, Z:-0.45 [[ 0.9997993 0.01514644 -0.01311286 5.05234857] [-0.01492258 0.99974405 0.01700459 -0.11431504] [ 0.01336707 -0.0168055 0.99976942 -0.44509866] [ 0. 0. 0. 1. ]] SLAMing on 49.248241008 meters Centerline goodness : 0.886219 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.12, Z:-0.45 [[ 0.99984543 0.01073765 -0.0139221 5.05441157] [-0.01055844 0.99986127 0.01288233 -0.11594604] [ 0.01405849 -0.01273335 0.99982009 -0.4453738 ] [ 0. 0. 0. 1. ]] SLAMing on 49.278241008 meters Centerline goodness : 0.889876 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.12, Z:-0.44 [[ 0.99982537 0.01046526 -0.0154825 5.06332525] [-0.01016063 0.99975578 0.01962529 -0.1202693 ] [ 0.0156841 -0.01946455 0.99968752 -0.43973821] [ 0. 0. 0. 1. ]] SLAMing on 49.308241008 meters Centerline goodness : 0.890821 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.12, Z:-0.44 [[ 0.99981922 0.00965788 -0.01637826 5.06659973] [-0.00933732 0.99976552 0.01953749 -0.12071917] [ 0.01656311 -0.01938103 0.99967497 -0.44037144] [ 0. 0. 0. 1. ]] SLAMing on 49.338241008000004 meters Centerline goodness : 0.887658 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.12, Z:-0.44 [[ 0.99981715 0.00849849 -0.01713017 5.07029702] [-0.00818926 0.99980369 0.01804209 -0.11829968] [ 0.01728014 -0.0178985 0.99969047 -0.44333372] [ 0. 0. 0. 1. ]] SLAMing on 49.368241008 meters Centerline goodness : 0.885047 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.12, Z:-0.44 [[ 0.99977024 0.0106735 -0.01858877 5.07602026] [-0.01027042 0.99971294 0.0216462 -0.11743352] [ 0.01881448 -0.02145031 0.99959287 -0.44403578] [ 0. 0. 0. 1. ]] SLAMing on 49.398241008 meters Centerline goodness : 0.885319 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.12, Z:-0.44 [[ 0.9997132 0.01302297 -0.02009773 5.08097047] [-0.01248178 0.99956228 0.02682245 -0.1200836 ] [ 0.02043825 -0.02656391 0.99943816 -0.44153356] [ 0. 0. 0. 1. ]] SLAMing on 49.428241008 meters Centerline goodness : 0.886499 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.12, Z:-0.45 [[ 0.99980107 0.01235123 -0.01566122 5.09721029] [-0.01212306 0.9998202 0.01458111 -0.11599927] [ 0.0158385 -0.01438835 0.99977103 -0.44913327] [ 0. 0. 0. 1. ]] SLAMing on 49.458241008 meters Centerline goodness : 0.892005 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.12, Z:-0.44 [[ 0.99980852 0.00956406 -0.01707215 5.10981787] [-0.0091985 0.99972944 0.0213642 -0.119436 ] [ 0.01727186 -0.02120307 0.99962599 -0.44191579] [ 0. 0. 0. 1. ]] SLAMing on 49.488241008 meters Centerline goodness : 0.891303 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.12, Z:-0.44 [[ 0.99976099 0.01040507 -0.01922764 5.11833128] [-0.00987405 0.9995728 0.0275087 -0.12167006] [ 0.01950565 -0.02731227 0.99943663 -0.43711296] [ 0. 0. 0. 1. ]] SLAMing on 49.518241008000004 meters Centerline goodness : 0.894169 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.12, Z:-0.44 [[ 0.99970235 0.01284116 -0.02074414 5.12325737] [-0.01217007 0.99940865 0.03215952 -0.12300729] [ 0.02114484 -0.03189749 0.99926745 -0.43541553] [ 0. 0. 0. 1. ]] SLAMing on 49.548241008 meters Centerline goodness : 0.891746 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.12, Z:-0.44 [[ 0.99974547 0.00884292 -0.02075568 5.1240469 ] [-0.00831923 0.99964823 0.02518351 -0.11699198] [ 0.02097107 -0.02500443 0.99946735 -0.44077946] [ 0. 0. 0. 1. ]] SLAMing on 49.578241008 meters Centerline goodness : 0.893313 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.11, Z:-0.44 [[ 0.99972484 0.00671541 -0.02247558 5.13091835] [-0.00620067 0.99971867 0.02289399 -0.1134941 ] [ 0.022623 -0.02274832 0.99948522 -0.44487363] [ 0. 0. 0. 1. ]] SLAMing on 49.608241008 meters Centerline goodness : 0.890958 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.11, Z:-0.45 [[ 0.99980166 0.00597444 -0.01899877 5.1509282 ] [-0.00574665 0.99991122 0.01202185 -0.10892815] [ 0.0190689 -0.01191029 0.99974723 -0.45264563] [ 0. 0. 0. 1. ]] SLAMing on 49.638241008 meters Centerline goodness : 0.890050 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.11, Z:-0.45 [[ 0.99975457 0.00731908 -0.02091018 5.15801458] [-0.00694141 0.9998125 0.01807725 -0.1117782 ] [ 0.02103856 -0.01792767 0.99961792 -0.44826626] [ 0. 0. 0. 1. ]] SLAMing on 49.668241008 meters Centerline goodness : 0.890298 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.11, Z:-0.45 [[ 0.9997391 0.00690949 -0.02177128 5.15972212] [-0.00649825 0.99980019 0.01890371 -0.11313742] [ 0.02189754 -0.0187573 0.99958424 -0.44622511] [ 0. 0. 0. 1. ]] SLAMing on 49.698241008000004 meters Centerline goodness : 0.895373 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.12, Z:-0.44 [[ 0.99970734 0.00574167 -0.02350029 5.16338946] [-0.00523136 0.99975042 0.02171932 -0.11676999] [ 0.02361913 -0.02159002 0.99948787 -0.43976215] [ 0. 0. 0. 1. ]] SLAMing on 49.728241008 meters Centerline goodness : 0.896062 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.12, Z:-0.44 [[ 0.99964927 0.00804876 -0.02523002 5.16847646] [-0.00735179 0.9995921 0.02759665 -0.1194682 ] [ 0.02544184 -0.02740148 0.99930069 -0.43551577] [ 0. 0. 0. 1. ]] SLAMing on 49.758241008 meters Centerline goodness : 0.896308 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.11, Z:-0.44 [[ 0.99964482 0.00698225 -0.02571946 5.17149314] [-0.00635437 0.99968174 0.0244141 -0.11254169] [ 0.02588174 -0.024242 0.99937103 -0.44063216] [ 0. 0. 0. 1. ]] SLAMing on 49.788241008 meters Centerline goodness : 0.896482 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.11, Z:-0.44 [[ 0.99958607 0.00989388 -0.02701466 5.17572862] [-0.00913318 0.99956232 0.02813823 -0.11158602] [ 0.02728123 -0.02787985 0.99923893 -0.44073678] [ 0. 0. 0. 1. ]] SLAMing on 49.818241008 meters Centerline goodness : 0.896747 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.11, Z:-0.45 [[ 0.99966144 0.01201859 -0.02307725 5.19302108] [-0.01157142 0.99974457 0.01941379 -0.10692325] [ 0.02330468 -0.01914018 0.99954517 -0.44723253] [ 0. 0. 0. 1. ]] SLAMing on 49.848241008 meters Centerline goodness : 0.895616 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.10, Z:-0.45 [[ 0.99973421 0.01302749 -0.01902099 5.20935028] [-0.01286239 0.99987876 0.00877668 -0.10244512] [ 0.01913302 -0.00852969 0.99978056 -0.45409785] [ 0. 0. 0. 1. ]] SLAMing on 49.878241008 meters Centerline goodness : 0.895654 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.11, Z:-0.45 [[ 0.99966088 0.01641524 -0.02021551 5.21186395] [-0.0161223 0.99976387 0.01456985 -0.10602608] [ 0.0204499 -0.01423899 0.99968948 -0.45039442] [ 0. 0. 0. 1. ]] SLAMing on 49.908241008 meters Centerline goodness : 0.898977 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.10, Z:-0.45 [[ 9.99738571e-01 1.69500897e-02 -1.53454861e-02 5.22670804e+00] [-1.68790484e-02 9.99846269e-01 4.74721047e-03 -1.02764838e-01] [ 1.54235926e-02 -4.48695221e-03 9.99870982e-01 -4.54195546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.938241008 meters Centerline goodness : 0.903596 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.11, Z:-0.45 [[ 0.99966489 0.01966179 -0.01683791 5.23064435] [-0.01948756 0.99975549 0.01044932 -0.1060733 ] [ 0.01703925 -0.01011769 0.99980363 -0.45056168] [ 0. 0. 0. 1. ]] SLAMing on 49.968241008 meters Centerline goodness : 0.903710 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.11, Z:-0.45 [[ 0.99958775 0.02187192 -0.01859962 5.23614404] [-0.02157103 0.99963563 0.01622674 -0.10901963] [ 0.01894775 -0.01581884 0.99969533 -0.44699499] [ 0. 0. 0. 1. ]] SLAMing on 49.998241008 meters Centerline goodness : 0.901867 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.11, Z:-0.45 [[ 0.99958851 0.02118195 -0.01934244 5.23887337] [-0.02088657 0.99966404 0.01534771 -0.10758361] [ 0.01966104 -0.0149374 0.99969511 -0.44853633] [ 0. 0. 0. 1. ]] SLAMing on 50.028241008 meters Centerline goodness : 0.903555 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.10, Z:-0.45 [[ 0.99959578 0.01952425 -0.020666 5.24419105] [-0.01925133 0.99972589 0.01332389 -0.10414116] [ 0.02092047 -0.01292065 0.99969765 -0.45199625] [ 0. 0. 0. 1. ]] SLAMing on 50.058241008 meters Centerline goodness : 0.903929 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.11, Z:-0.45 [[ 0.99952799 0.02071611 -0.02268579 5.25176575] [-0.02030525 0.99962827 0.01819389 -0.10618801] [ 0.02305427 -0.01772466 0.99957708 -0.44988597] [ 0. 0. 0. 1. ]] SLAMing on 50.088241008000004 meters Centerline goodness : 0.906242 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.11, Z:-0.45 [[ 0.99955151 0.01694709 -0.02468965 5.26787401] [-0.01636825 0.99959075 0.02346091 -0.1080101 ] [ 0.02507714 -0.02304626 0.99941984 -0.44609095] [ 0. 0. 0. 1. ]] SLAMing on 50.118241008 meters Centerline goodness : 0.906375 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.11, Z:-0.45 [[ 0.99953981 0.01606471 -0.02573099 5.27115198] [-0.01546695 0.9996097 0.02326428 -0.10837491] [ 0.02609468 -0.0228556 0.99939816 -0.44633896] [ 0. 0. 0. 1. ]] SLAMing on 50.148241008 meters Centerline goodness : 0.906583 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.11, Z:-0.45 [[ 0.99952846 0.01533571 -0.02660212 5.27374733] [-0.01471379 0.99961746 0.02341889 -0.10890066] [ 0.02695109 -0.02301643 0.99937174 -0.44574894] [ 0. 0. 0. 1. ]] SLAMing on 50.178241008 meters Centerline goodness : 0.908904 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.11, Z:-0.44 [[ 0.99947955 0.01625954 -0.02786139 5.28047208] [-0.01541811 0.99942635 0.03015388 -0.11227549] [ 0.0283357 -0.02970861 0.99915689 -0.44027063] [ 0. 0. 0. 1. ]] SLAMing on 50.208241008 meters Centerline goodness : 0.906931 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.11, Z:-0.44 [[ 0.99954435 0.01243021 -0.02750617 5.27945488] [-0.01171847 0.99959618 0.02588734 -0.11069638] [ 0.02781685 -0.02555322 0.99928637 -0.44056248] [ 0. 0. 0. 1. ]] SLAMing on 50.238241008 meters Centerline goodness : 0.906931 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.11, Z:-0.44 [[ 0.99954435 0.01243021 -0.02750617 5.27945488] [-0.01171847 0.99959618 0.02588734 -0.11069638] [ 0.02781685 -0.02555322 0.99928637 -0.44056248] [ 0. 0. 0. 1. ]] SLAMing on 50.268241008000004 meters Centerline goodness : 0.907313 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.11, Z:-0.44 [[ 0.99959717 0.00864538 -0.02703263 5.2786282 ] [-0.00809512 0.99975915 0.02039877 -0.10696601] [ 0.02720247 -0.02017172 0.9994264 -0.44308465] [ 0. 0. 0. 1. ]] SLAMing on 50.298241008 meters Centerline goodness : 0.910206 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.11, Z:-0.44 [[ 0.99959593 0.00867893 -0.02706749 5.27876926] [-0.00812713 0.99975826 0.02042979 -0.10650074] [ 0.02723825 -0.02020156 0.99942482 -0.44304903] [ 0. 0. 0. 1. ]] SLAMing on 50.328241008 meters Centerline goodness : 0.909283 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.11, Z:-0.44 [[ 0.99959705 0.00864387 -0.02703752 5.27898926] [-0.00810713 0.99976913 0.01989871 -0.10534648] [ 0.02720328 -0.01967149 0.99943635 -0.44394104] [ 0. 0. 0. 1. ]] SLAMing on 50.358241008 meters Centerline goodness : 0.906878 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.10, Z:-0.45 [[ 0.99959495 0.0098252 -0.02670942 5.27762674] [-0.00931278 0.99977148 0.01924229 -0.10103787] [ 0.02689237 -0.01898576 0.99945802 -0.44510416] [ 0. 0. 0. 1. ]] SLAMing on 50.388241008 meters Centerline goodness : 0.909158 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.10, Z:-0.45 [[ 0.99959707 0.01006736 -0.02653942 5.27737125] [-0.00958549 0.99978802 0.01822193 -0.09817427] [ 0.02671724 -0.01796019 0.99948168 -0.44657145] [ 0. 0. 0. 1. ]] SLAMing on 50.418241008 meters Centerline goodness : 0.905672 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.09, Z:-0.45 [[ 0.99966514 0.01293296 -0.02241317 5.29157813] [-0.01276541 0.99988962 0.00760229 -0.09340857] [ 0.02250902 -0.00731363 0.99971989 -0.45435273] [ 0. 0. 0. 1. ]] SLAMing on 50.448241008000004 meters Centerline goodness : 0.908043 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.09, Z:-0.46 [[ 9.99627784e-01 2.02922196e-02 -1.82350996e-02 5.30680936e+00] [-2.02313729e-02 9.99789146e-01 3.51511379e-03 -9.02646586e-02] [ 1.83025841e-02 -3.14488431e-03 9.99827548e-01 -4.58957627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.478241008 meters Centerline goodness : 0.911030 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.09, Z:-0.46 [[ 9.99615437e-01 2.09266667e-02 -1.81948770e-02 5.30622708e+00] [-2.08787035e-02 9.99778033e-01 2.82207842e-03 -8.76014146e-02] [ 1.82498950e-02 -2.44110770e-03 9.99830477e-01 -4.59698365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.508241008 meters Centerline goodness : 0.909978 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.08, Z:-0.46 [[ 9.99603711e-01 2.15483357e-02 -1.81132550e-02 5.30594680e+00] [-2.15139887e-02 9.99766365e-01 2.08898926e-03 -8.45951965e-02] [ 1.81540374e-02 -1.69847305e-03 9.99833759e-01 -4.61002464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.538241008 meters Centerline goodness : 0.905969 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.08, Z:-0.46 [[ 9.99587721e-01 2.22742594e-02 -1.81175384e-02 5.30571770e+00] [-2.22493026e-02 9.99751208e-01 1.57792018e-03 -8.14960181e-02] [ 1.81481779e-02 -1.17416704e-03 9.99834619e-01 -4.62072092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.568241008 meters Centerline goodness : 0.901550 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.08, Z:-0.46 [[ 9.99486025e-01 2.64418852e-02 -1.81248897e-02 5.30642271e+00] [-2.63517704e-02 9.99639244e-01 5.19285416e-03 -7.95882921e-02] [ 1.82556599e-02 -4.71256223e-03 9.99822246e-01 -4.62992475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.598241008 meters Centerline goodness : 0.899978 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.08, Z:-0.46 [[ 9.99477546e-01 2.66378122e-02 -1.83046781e-02 5.30669510e+00] [-2.65484422e-02 9.99634477e-01 5.10818025e-03 -7.93758429e-02] [ 1.84340580e-02 -4.61955077e-03 9.99819406e-01 -4.63075870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.628241008 meters Centerline goodness : 0.900429 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.08, Z:-0.46 [[ 9.99536905e-01 2.43546762e-02 -1.82435033e-02 5.30491083e+00] [-2.43342152e-02 9.99702977e-01 1.34273380e-03 -7.76871372e-02] [ 1.82707864e-02 -8.98170656e-04 9.99832672e-01 -4.63204425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.658241008 meters Centerline goodness : 0.903485 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.08, Z:-0.46 [[ 9.99525299e-01 2.45371861e-02 -1.86306885e-02 5.30527869e+00] [-2.45125894e-02 9.99698324e-01 1.54747359e-03 -7.84272570e-02] [ 1.86630387e-02 -1.09005258e-03 9.99825236e-01 -4.62554529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.688241008 meters Centerline goodness : 0.904959 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.08, Z:-0.46 [[ 9.99512210e-01 2.51783059e-02 -1.84768850e-02 5.30456049e+00] [-2.51535781e-02 9.99682367e-01 1.56953126e-03 -7.84562777e-02] [ 1.85105343e-02 -1.10400588e-03 9.99828056e-01 -4.62765552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.718241008 meters Centerline goodness : 0.904762 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.08, Z:-0.46 [[ 0.99940775 0.02847928 -0.01931503 5.3073816 ] [-0.02835983 0.9995771 0.00643045 -0.08190535] [ 0.01948999 -0.00587887 0.99979277 -0.4618429 ] [ 0. 0. 0. 1. ]] SLAMing on 50.748241008 meters Centerline goodness : 0.905252 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.08, Z:-0.46 [[ 9.99515607e-01 2.45620998e-02 -1.91116177e-02 5.30724284e+00] [-2.45354468e-02 9.99697635e-01 1.62786210e-03 -8.04159892e-02] [ 1.91458227e-02 -1.15816150e-03 9.99816031e-01 -4.63679296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.778241008 meters Centerline goodness : 0.906348 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.08, Z:-0.46 [[ 9.99514768e-01 2.40664002e-02 -1.97746456e-02 5.30940293e+00] [-2.40291207e-02 9.99709010e-01 2.12069912e-03 -8.32052263e-02] [ 1.98199290e-02 -1.64450275e-03 9.99802213e-01 -4.63628944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.808241008 meters Centerline goodness : 0.905221 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.09, Z:-0.46 [[ 9.99527425e-01 2.29546985e-02 -2.04452650e-02 5.31216259e+00] [-2.28942869e-02 9.99732821e-01 3.18400692e-03 -8.84889330e-02] [ 2.05128904e-02 -2.71442248e-03 9.99785904e-01 -4.62717351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.838241008000004 meters Centerline goodness : 0.902230 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.09, Z:-0.46 [[ 9.99527298e-01 2.25093581e-02 -2.09406305e-02 5.31381303e+00] [-2.24393336e-02 9.99741822e-01 3.57296649e-03 -9.01175652e-02] [ 2.10156493e-02 -3.10138375e-03 9.99774336e-01 -4.62525343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.868241008 meters Centerline goodness : 0.904168 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.09, Z:-0.46 [[ 9.99533605e-01 2.16330603e-02 -2.15541991e-02 5.31633615e+00] [-2.15401701e-02 9.99757709e-01 4.53252613e-03 -9.47233615e-02] [ 2.16470292e-02 -4.06613106e-03 9.99757407e-01 -4.61856707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.898241008 meters Centerline goodness : 0.906534 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.09, Z:-0.46 [[ 9.99613599e-01 1.78377824e-02 -2.13182079e-02 5.31578167e+00] [-1.78374106e-02 9.99840879e-01 2.07604859e-04 -9.45563426e-02] [ 2.13185190e-02 1.72736988e-04 9.99772720e-01 -4.62855185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.928241008 meters Centerline goodness : 0.906134 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.10, Z:-0.46 [[ 9.99604437e-01 1.73738879e-02 -2.21159960e-02 5.31767504e+00] [-1.73536698e-02 9.99848802e-01 1.10579205e-03 -9.76118786e-02] [ 2.21318640e-02 -7.21560949e-04 9.99754800e-01 -4.61510679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.958241008 meters Centerline goodness : 0.905835 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.10, Z:-0.46 [[ 9.99599413e-01 1.68874568e-02 -2.27118213e-02 5.31940685e+00] [-1.68553827e-02 9.99856653e-01 1.60292460e-03 -9.94728977e-02] [ 2.27356350e-02 -1.21946604e-03 9.99740768e-01 -4.60917814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.988241008 meters Centerline goodness : 0.904676 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.10, Z:-0.46 [[ 0.99961137 0.01408142 -0.0240586 5.33170838] [-0.01394341 0.99988541 0.00589444 -0.1009866 ] [ 0.02413884 -0.00555669 0.99969317 -0.45928859] [ 0. 0. 0. 1. ]] SLAMing on 51.018241008000004 meters Centerline goodness : 0.903752 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.10, Z:-0.46 [[ 9.99608657e-01 1.29922724e-02 -2.47736498e-02 5.33500203e+00] [-1.28701462e-02 9.99904258e-01 5.08277610e-03 -1.00438354e-01] [ 2.48373147e-02 -4.76194650e-03 9.99680165e-01 -4.61146269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.048241008 meters Centerline goodness : 0.906254 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.10, Z:-0.46 [[ 0.99953902 0.01585689 -0.02589023 5.33860984] [-0.01560451 0.99982902 0.00992086 -0.10351263] [ 0.02604312 -0.00951228 0.99961556 -0.4597402 ] [ 0. 0. 0. 1. ]] SLAMing on 51.078241008 meters Centerline goodness : 0.904646 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.10, Z:-0.46 [[ 0.99953119 0.01551048 -0.02639732 5.33990564] [-0.01525761 0.99983602 0.00975422 -0.1033128 ] [ 0.02654428 -0.00934689 0.99960394 -0.45961305] [ 0. 0. 0. 1. ]] SLAMing on 51.108241008 meters Centerline goodness : 0.905609 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.10, Z:-0.46 [[ 9.99617488e-01 1.61368696e-02 -2.24606176e-02 5.35798956e+00] [-1.61260562e-02 9.99869747e-01 6.62492513e-04 -1.00525321e-01] [ 2.24683826e-02 -3.00037920e-04 9.99747509e-01 -4.64715887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.138241008 meters Centerline goodness : 0.902104 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.10, Z:-0.47 [[ 9.99613710e-01 1.56893381e-02 -2.29406917e-02 5.35972785e+00] [-1.56857817e-02 9.99876914e-01 3.34970765e-04 -1.00127722e-01] [ 2.29431235e-02 2.50013139e-05 9.99736772e-01 -4.65354993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.168241008 meters Centerline goodness : 0.905423 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.10, Z:-0.47 [[ 9.99608738e-01 1.48870032e-02 -2.36801261e-02 5.36252329e+00] [-1.48968830e-02 9.99889006e-01 -2.40859791e-04 -9.94657379e-02] [ 2.36739121e-02 5.93525618e-04 9.99719557e-01 -4.66465559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.198241008000004 meters Centerline goodness : 0.900915 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.10, Z:-0.47 [[ 9.99563433e-01 1.48372403e-02 -2.55499379e-02 5.37229674e+00] [-1.47670095e-02 9.99886653e-01 2.93526427e-03 -9.96068528e-02] [ 2.55905931e-02 -2.55668665e-03 9.99669238e-01 -4.67758864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.228241008 meters Centerline goodness : 0.899791 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.10, Z:-0.47 [[ 0.99949109 0.01682444 -0.02710151 5.37811131] [-0.01660634 0.99982805 0.00825237 -0.10150182] [ 0.02723569 -0.00779811 0.99959862 -0.46514279] [ 0. 0. 0. 1. ]] SLAMing on 51.258241008 meters Centerline goodness : 0.900447 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.10, Z:-0.46 [[ 0.99942643 0.01821803 -0.02854653 5.38456725] [-0.01779733 0.99973025 0.01492271 -0.10373863] [ 0.02881069 -0.01440609 0.99948107 -0.45946136] [ 0. 0. 0. 1. ]] SLAMing on 51.288241008 meters Centerline goodness : 0.899446 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.11, Z:-0.45 [[ 0.9993837 0.01900098 -0.02951594 5.3912369 ] [-0.01832957 0.99957077 0.02285376 -0.107685 ] [ 0.02993752 -0.02229867 0.99930301 -0.45174796] [ 0. 0. 0. 1. ]] SLAMing on 51.318241008 meters Centerline goodness : 0.903165 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.11, Z:-0.44 [[ 0.99942146 0.016191 -0.02990991 5.39545697] [-0.01538647 0.99951875 0.02693544 -0.11197095] [ 0.03033163 -0.02645965 0.99918961 -0.44331533] [ 0. 0. 0. 1. ]] SLAMing on 51.348241008 meters Centerline goodness : 0.903017 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.11, Z:-0.44 [[ 0.99942024 0.01522049 -0.03045532 5.39745219] [-0.01438904 0.99952274 0.02733599 -0.11281256] [ 0.03085685 -0.02688192 0.99916226 -0.44212537] [ 0. 0. 0. 1. ]] SLAMing on 51.378241008 meters Centerline goodness : 0.902622 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.11, Z:-0.44 [[ 0.99948749 0.0109855 -0.03006775 5.39698445] [-0.01032197 0.99970171 0.02213494 -0.10897448] [ 0.03030194 -0.02181323 0.99930274 -0.4437129 ] [ 0. 0. 0. 1. ]] SLAMing on 51.408241008 meters Centerline goodness : 0.902431 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.10, Z:-0.45 [[ 0.99953768 0.00672761 -0.02965081 5.3966575 ] [-0.00623154 0.9998396 0.01679127 -0.10499116] [ 0.02975902 -0.01659874 0.99941927 -0.44577514] [ 0. 0. 0. 1. ]] SLAMing on 51.438241008 meters Centerline goodness : 0.899920 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.11, Z:-0.44 [[ 9.99635042e-01 5.10324594e-04 -2.70096831e-02 5.36720329e+00] [ 4.48624744e-04 9.99370075e-01 3.54859454e-02 -1.06698169e-01] [ 2.70107784e-02 -3.54851118e-02 9.99005117e-01 -4.37999454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.468241008 meters Centerline goodness : 0.902835 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.10, Z:-0.45 [[ 9.99698769e-01 -3.20204458e-03 -2.43334853e-02 5.33655942e+00] [ 3.90369331e-03 9.99576357e-01 2.88421212e-02 -9.95916218e-02] [ 2.42308229e-02 -2.89284235e-02 9.99287753e-01 -4.47361419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.498241008 meters Centerline goodness : 0.900562 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.09, Z:-0.45 [[ 9.99751264e-01 -5.05135381e-03 -2.17231051e-02 5.30551632e+00] [ 5.60856059e-03 9.99654829e-01 2.56664649e-02 -9.44901290e-02] [ 2.15859566e-02 -2.57819160e-02 9.99434510e-01 -4.53445777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.528241008 meters Centerline goodness : 0.902875 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.09, Z:-0.46 [[ 9.99728442e-01 -1.04201143e-03 -2.32799399e-02 5.31034685e+00] [ 1.55801012e-03 9.99753271e-01 2.21578188e-02 -9.11938139e-02] [ 2.32511074e-02 -2.21880720e-02 9.99483404e-01 -4.55252949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.558241008 meters Centerline goodness : 0.901739 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.09, Z:-0.46 [[ 9.99735549e-01 -5.88099160e-04 -2.29888252e-02 5.30914583e+00] [ 1.07952919e-03 9.99771045e-01 2.13703480e-02 -8.77206892e-02] [ 2.29709940e-02 -2.13895137e-02 9.99507290e-01 -4.55716599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.588241008000004 meters Centerline goodness : 0.902245 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.08, Z:-0.46 [[ 9.99743988e-01 -2.38862167e-04 -2.26252298e-02 5.30816987e+00] [ 6.98924400e-04 9.99793114e-01 2.03283114e-02 -8.38751572e-02] [ 2.26156933e-02 -2.03389205e-02 9.99537322e-01 -4.56903427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.618241008 meters Centerline goodness : 0.902033 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.08, Z:-0.46 [[ 9.99739267e-01 3.78989940e-03 -2.25174426e-02 5.30807685e+00] [-3.27006143e-03 9.99728316e-01 2.30781505e-02 -7.89775929e-02] [ 2.25987888e-02 -2.29984998e-02 9.99480047e-01 -4.58017608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.648241008 meters Centerline goodness : 0.900749 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.08, Z:-0.46 [[ 0.99979439 0.00721419 -0.01895057 5.32740932] [-0.00687749 0.99981839 0.01777305 -0.07512187] [ 0.01907534 -0.01763906 0.99966244 -0.46205105] [ 0. 0. 0. 1. ]] SLAMing on 51.678241008 meters Centerline goodness : 0.900849 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.08, Z:-0.46 [[ 0.99974751 0.01095475 -0.01961889 5.32915067] [-0.01051173 0.99969059 0.02254374 -0.0762048 ] [ 0.01985978 -0.02233182 0.99955334 -0.46033963] [ 0. 0. 0. 1. ]] SLAMing on 51.708241008 meters Centerline goodness : 0.900901 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.07, Z:-0.47 [[ 0.99980595 0.0121368 -0.01551657 5.34388953] [-0.01197763 0.99987511 0.01031031 -0.07060046] [ 0.01563977 -0.01012246 0.99982645 -0.46860116] [ 0. 0. 0. 1. ]] SLAMing on 51.738241008 meters Centerline goodness : 0.901333 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.07, Z:-0.47 [[ 0.99979868 0.01258963 -0.01562351 5.34349582] [-0.01245099 0.99988252 0.00893976 -0.06539842] [ 0.01573423 -0.00874343 0.99983798 -0.46967543] [ 0. 0. 0. 1. ]] SLAMing on 51.768241008000004 meters Centerline goodness : 0.900440 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.06, Z:-0.47 [[ 0.999797 0.01241631 -0.01586797 5.34420575] [-0.0122878 0.99989112 0.00817072 -0.06326608] [ 0.01596769 -0.00797408 0.99984071 -0.4703675 ] [ 0. 0. 0. 1. ]] SLAMing on 51.798241008 meters Centerline goodness : 0.901419 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.06, Z:-0.47 [[ 0.99979692 0.01208177 -0.01612929 5.34528512] [-0.0119631 0.99990081 0.00743375 -0.06169332] [ 0.0162175 -0.00723928 0.99984228 -0.47131697] [ 0. 0. 0. 1. ]] SLAMing on 51.828241008 meters Centerline goodness : 0.899364 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.06, Z:-0.47 [[ 0.99975258 0.0144824 -0.01688293 5.3486706 ] [-0.0142776 0.99982378 0.0121887 -0.06429178] [ 0.01705647 -0.01194463 0.99978318 -0.46984085] [ 0. 0. 0. 1. ]] SLAMing on 51.858241008 meters Centerline goodness : 0.898099 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.06, Z:-0.47 [[ 0.99980756 0.01028439 -0.01670558 5.34909361] [-0.0101713 0.99992487 0.00684094 -0.0606292 ] [ 0.01677468 -0.00666971 0.99983705 -0.4723293 ] [ 0. 0. 0. 1. ]] SLAMing on 51.888241008 meters Centerline goodness : 0.895975 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.06, Z:-0.47 [[ 0.99977996 0.01198314 -0.01721754 5.3525794 ] [-0.01179771 0.99987174 0.010831 -0.06342166] [ 0.01734512 -0.01062549 0.9997931 -0.47191564] [ 0. 0. 0. 1. ]] SLAMing on 51.918241008 meters Centerline goodness : 0.896176 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.06, Z:-0.47 [[ 9.99825579e-01 7.71457909e-03 -1.70087136e-02 5.35294246e+00] [-7.62232038e-03 9.99955921e-01 5.48237549e-03 -6.04498306e-02] [ 1.70502581e-02 -5.35177338e-03 9.99840311e-01 -4.74338475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.948241008000004 meters Centerline goodness : 0.891397 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.06, Z:-0.48 [[ 9.99820906e-01 6.68638524e-03 -1.77044594e-02 5.35600937e+00] [-6.59070388e-03 9.99963390e-01 5.45720801e-03 -6.22038865e-02] [ 1.77403002e-02 -5.33954581e-03 9.99828371e-01 -4.75078491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.978241008 meters Centerline goodness : 0.892020 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.06, Z:-0.47 [[ 0.99981412 0.00637849 -0.01819464 5.35724563] [-0.00627671 0.99996436 0.00564571 -0.06351172] [ 0.01823001 -0.00553046 0.99981852 -0.47471074] [ 0. 0. 0. 1. ]] SLAMing on 52.008241008 meters Centerline goodness : 0.891797 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.07, Z:-0.47 [[ 0.99977415 0.00891608 -0.01929109 5.36080674] [-0.00868225 0.99988823 0.01217142 -0.06893703] [ 0.01939745 -0.01200118 0.99973982 -0.47014913] [ 0. 0. 0. 1. ]] SLAMing on 52.038241008 meters Centerline goodness : 0.891666 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.07, Z:-0.48 [[ 9.99849647e-01 9.30789677e-03 -1.46303425e-02 5.37674676e+00] [-9.28330393e-03 9.99955381e-01 1.74796347e-03 -6.61301812e-02] [ 1.46459596e-02 -1.61188274e-03 9.99891443e-01 -4.76702595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.068241008 meters Centerline goodness : 0.892184 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.07, Z:-0.48 [[ 0.99980518 0.01220226 -0.01551467 5.38056176] [-0.01211711 0.99991107 0.00557101 -0.06697885] [ 0.01558127 -0.00538193 0.99986412 -0.47768949] [ 0. 0. 0. 1. ]] SLAMing on 52.098241008 meters Centerline goodness : 0.888945 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.07, Z:-0.48 [[ 9.99802809e-01 1.19483994e-02 -1.58612530e-02 5.38195415e+00] [-1.18690458e-02 9.99916617e-01 5.08772609e-03 -6.63665472e-02] [ 1.59207206e-02 -4.89846490e-03 9.99861258e-01 -4.78760342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.128241008 meters Centerline goodness : 0.888945 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.07, Z:-0.48 [[ 9.99802809e-01 1.19483994e-02 -1.58612530e-02 5.38195415e+00] [-1.18690458e-02 9.99916617e-01 5.08772609e-03 -6.63665472e-02] [ 1.59207206e-02 -4.89846490e-03 9.99861258e-01 -4.78760342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.158241008 meters Centerline goodness : 0.885608 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.07, Z:-0.48 [[ 9.99798181e-01 1.18178965e-02 -1.62460497e-02 5.38324249e+00] [-1.17394645e-02 9.99919012e-01 4.91467824e-03 -6.66748046e-02] [ 1.63028152e-02 -4.72296644e-03 9.99855946e-01 -4.79385337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.188241008 meters Centerline goodness : 0.886411 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.07, Z:-0.48 [[ 0.99973406 0.01551691 -0.01705976 5.38531116] [-0.01531832 0.99981409 0.01171011 -0.07219539] [ 0.01723829 -0.01144567 0.9997859 -0.47515788] [ 0. 0. 0. 1. ]] SLAMing on 52.218241008 meters Centerline goodness : 0.885105 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.07, Z:-0.48 [[ 9.99786373e-01 1.65954268e-02 -1.23207308e-02 5.40131609e+00] [-1.65743742e-02 9.99860999e-01 1.80886070e-03 -6.89953613e-02] [ 1.23490370e-02 -1.60426587e-03 9.99922461e-01 -4.82063820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.248241008 meters Centerline goodness : 0.886584 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.07, Z:-0.48 [[ 0.9997154 0.01981405 -0.01328652 5.40434071] [-0.01972131 0.99978048 0.00707527 -0.0730608 ] [ 0.01342379 -0.00681123 0.9998867 -0.48038013] [ 0. 0. 0. 1. ]] SLAMing on 52.278241008 meters Centerline goodness : 0.882126 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.08, Z:-0.48 [[ 0.99970406 0.02004767 -0.01377965 5.40532261] [-0.01994352 0.99977181 0.00765431 -0.07622092] [ 0.01392996 -0.00737723 0.99987576 -0.48004254] [ 0. 0. 0. 1. ]] SLAMing on 52.308241008 meters Centerline goodness : 0.882047 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.08, Z:-0.48 [[ 0.9997022 0.01976315 -0.0143156 5.40732573] [-0.01965703 0.99977853 0.00751575 -0.07688534] [ 0.01446097 -0.00723211 0.99986928 -0.48102588] [ 0. 0. 0. 1. ]] SLAMing on 52.338241008000004 meters Centerline goodness : 0.881908 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.08, Z:-0.48 [[ 0.99970959 0.01904868 -0.01476116 5.41002595] [-0.01895409 0.99979908 0.00652223 -0.07646508] [ 0.01488244 -0.00624055 0.99986978 -0.48369536] [ 0. 0. 0. 1. ]] SLAMing on 52.368241008 meters Centerline goodness : 0.883144 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.08, Z:-0.49 [[ 0.99971525 0.01816159 -0.0154784 5.41339816] [-0.01807517 0.99982035 0.00570518 -0.07628147] [ 0.01557923 -0.00542378 0.99986393 -0.48601273] [ 0. 0. 0. 1. ]] SLAMing on 52.398241008 meters Centerline goodness : 0.881057 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.08, Z:-0.48 [[ 0.99974329 0.0163174 -0.01571934 5.43103229] [-0.01605901 0.9997361 0.01642656 -0.08329616] [ 0.01598323 -0.01616991 0.9997415 -0.48082956] [ 0. 0. 0. 1. ]] SLAMing on 52.428241008 meters Centerline goodness : 0.881083 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.09, Z:-0.48 [[ 0.99974241 0.01570804 -0.01638193 5.433426 ] [-0.0154375 0.99974448 0.01651211 -0.08536204] [ 0.01663712 -0.01625496 0.99972945 -0.48127841] [ 0. 0. 0. 1. ]] SLAMing on 52.458241008 meters Centerline goodness : 0.879795 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.08, Z:-0.49 [[ 9.99926821e-01 1.14231147e-02 -3.98303027e-03 5.44142283e+00] [-1.13825435e-02 9.99884569e-01 1.00640838e-02 -8.28503075e-02] [ 4.09753369e-03 -1.00180103e-02 9.99941423e-01 -4.92414604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.488241008 meters Centerline goodness : 0.881085 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.09, Z:-0.49 [[ 9.99929002e-01 1.09967958e-02 -4.58934438e-03 5.44330096e+00] [-1.09481155e-02 9.99884929e-01 1.05008746e-02 -8.52224590e-02] [ 4.70429225e-03 -1.04498844e-02 9.99934333e-01 -4.92219984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.518241008000004 meters Centerline goodness : 0.882050 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.09, Z:-0.49 [[ 9.99941363e-01 1.08100574e-02 6.42951694e-04 5.45890440e+00] [-1.08114248e-02 9.99939216e-01 2.16277923e-03 -8.59571390e-02] [-6.19532845e-04 -2.16960363e-03 9.99997454e-01 -4.94102676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.548241008 meters Centerline goodness : 0.883348 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.09, Z:-0.49 [[ 9.99909118e-01 1.34785873e-02 -2.88822411e-04 5.46208877e+00] [-1.34750754e-02 9.99860364e-01 9.88308828e-03 -9.10883372e-02] [ 4.21992150e-04 -9.87829818e-03 9.99951119e-01 -4.87352951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.578241008 meters Centerline goodness : 0.885399 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.09, Z:-0.49 [[ 9.99915014e-01 1.30200886e-02 -6.65332834e-04 5.46347471e+00] [-1.30130660e-02 9.99868769e-01 9.64912778e-03 -9.07396594e-02] [ 7.90878020e-04 -9.63964972e-03 9.99953225e-01 -4.87682496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.608241008 meters Centerline goodness : 0.883534 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.09, Z:-0.49 [[ 9.99926678e-01 1.20381822e-02 -1.31164024e-03 5.46671253e+00] [-1.20272816e-02 9.99895477e-01 8.02364133e-03 -8.76074883e-02] [ 1.40809320e-03 -8.00727756e-03 9.99966950e-01 -4.90815386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.638241008 meters Centerline goodness : 0.882187 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.09, Z:-0.49 [[ 9.99896780e-01 1.39848151e-02 -3.29471253e-03 5.47342099e+00] [-1.39398163e-02 9.99814294e-01 1.33063585e-02 -8.93128818e-02] [ 3.48018765e-03 -1.32590573e-02 9.99906038e-01 -4.88574866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.668241008 meters Centerline goodness : 0.881459 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.09, Z:-0.49 [[ 9.99851289e-01 1.66057640e-02 -4.65283035e-03 5.47788605e+00] [-1.65202771e-02 9.99704263e-01 1.78456271e-02 -9.16843117e-02] [ 4.94779461e-03 -1.77661072e-02 9.99829928e-01 -4.87752754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.698241008000004 meters Centerline goodness : 0.880488 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.09, Z:-0.48 [[ 0.99980257 0.01882603 -0.00635546 5.48343836] [-0.01867028 0.99954392 0.02373542 -0.09430627] [ 0.0067994 -0.02361207 0.99969807 -0.48410987] [ 0. 0. 0. 1. ]] SLAMing on 52.728241008 meters Centerline goodness : 0.881641 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.09, Z:-0.49 [[ 0.99980905 0.01833688 -0.00675512 5.48485406] [-0.01817722 0.9995706 0.02298266 -0.0929679 ] [ 0.00717365 -0.02285548 0.99971304 -0.48501825] [ 0. 0. 0. 1. ]] SLAMing on 52.758241008 meters Centerline goodness : 0.881951 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.09, Z:-0.49 [[ 9.99819428e-01 1.88403361e-02 -2.48040770e-03 5.50266528e+00] [-1.88065183e-02 9.99738413e-01 1.30161718e-02 -8.88047029e-02] [ 2.72498791e-03 -1.29671736e-02 9.99912210e-01 -4.92026008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.788241008 meters Centerline goodness : 0.881909 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.08, Z:-0.49 [[ 9.99874275e-01 1.56309723e-02 -2.66583339e-03 5.50243365e+00] [-1.56094886e-02 9.99846973e-01 7.89781051e-03 -8.46462309e-02] [ 2.78887590e-03 -7.85520526e-03 9.99965258e-01 -4.93859101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.818241008 meters Centerline goodness : 0.882513 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.08, Z:-0.49 [[ 9.99876017e-01 1.54774893e-02 -2.89792802e-03 5.50306784e+00] [-1.54548520e-02 9.99851091e-01 7.67746138e-03 -8.43369185e-02] [ 3.01632432e-03 -7.63172245e-03 9.99966329e-01 -4.93989694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.848241008 meters Centerline goodness : 0.881215 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.08, Z:-0.49 [[ 9.99869210e-01 1.58908654e-02 -3.00725782e-03 5.50243158e+00] [-1.58650490e-02 9.99838670e-01 8.42220499e-03 -8.49818185e-02] [ 3.14060879e-03 -8.37339316e-03 9.99960011e-01 -4.92020181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.878241008 meters Centerline goodness : 0.880673 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.09, Z:-0.49 [[ 9.99808047e-01 1.91679871e-02 -4.05670323e-03 5.50520240e+00] [-1.91087599e-02 9.99717036e-01 1.41670119e-02 -8.82111506e-02] [ 4.32710843e-03 -1.40867739e-02 9.99891414e-01 -4.88881697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.908241008000005 meters Centerline goodness : 0.885338 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.09, Z:-0.49 [[ 9.99809739e-01 1.90278203e-02 -4.29279960e-03 5.50601447e+00] [-1.89675097e-02 9.99726538e-01 1.36777975e-02 -8.75704781e-02] [ 4.55188436e-03 -1.35937714e-02 9.99897240e-01 -4.89685592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.938241008 meters Centerline goodness : 0.882796 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.08, Z:-0.49 [[ 9.99860652e-01 1.61109551e-02 -4.37182351e-03 5.50570728e+00] [-1.60744043e-02 9.99836591e-01 8.27070839e-03 -8.39064984e-02] [ 4.50435812e-03 -8.19928143e-03 9.99956240e-01 -4.92869557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.968241008 meters Centerline goodness : 0.879175 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.08, Z:-0.49 [[ 9.99866569e-01 1.55709363e-02 -4.93866017e-03 5.50807043e+00] [-1.55342825e-02 9.99852135e-01 7.37530524e-03 -8.27214418e-02] [ 5.05277032e-03 -7.29760261e-03 9.99960606e-01 -4.94806148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.998241008 meters Centerline goodness : 0.879588 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.08, Z:-0.50 [[ 9.99871942e-01 1.51178685e-02 -5.24880869e-03 5.50984902e+00] [-1.50843313e-02 9.99865925e-01 6.37134125e-03 -8.14182096e-02] [ 5.34442606e-03 -6.29135058e-03 9.99965927e-01 -4.96921198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.028241008 meters Centerline goodness : 0.878252 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.08, Z:-0.50 [[ 0.9998732 0.01492863 -0.00554251 5.51101477] [-0.01489515 0.99987086 0.00603333 -0.08113704] [ 0.00563187 -0.00595001 0.99996644 -0.49776668] [ 0. 0. 0. 1. ]] SLAMing on 53.058241008 meters Centerline goodness : 0.878721 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.08, Z:-0.50 [[ 0.99987472 0.01451095 -0.00632284 5.51284967] [-0.01446692 0.99987116 0.00695446 -0.08372654] [ 0.00642294 -0.00686212 0.99995583 -0.49596891] [ 0. 0. 0. 1. ]] SLAMing on 53.088241008000004 meters Centerline goodness : 0.876942 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.08, Z:-0.50 [[ 9.99925963e-01 1.03263773e-02 -6.43690749e-03 5.51330621e+00] [-1.03136097e-02 9.99944786e-01 2.01355163e-03 -8.21040355e-02] [ 6.45734477e-03 -1.94701480e-03 9.99977256e-01 -4.97324082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.118241008 meters Centerline goodness : 0.876741 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.08, Z:-0.50 [[ 9.99959605e-01 6.42847579e-03 -6.28197542e-03 5.51228859e+00] [-6.43907392e-03 9.99977877e-01 -1.66830313e-03 -8.22759314e-02] [ 6.27111180e-03 1.70868584e-03 9.99978877e-01 -4.96121765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.148241008 meters Centerline goodness : 0.879044 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.09, Z:-0.49 [[ 9.99960116e-01 5.55390501e-03 -6.99427567e-03 5.51403345e+00] [-5.54953447e-03 9.99984394e-01 6.44127434e-04 -8.60592103e-02] [ 6.99774394e-03 -6.05286770e-04 9.99975332e-01 -4.91602327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.178241008 meters Centerline goodness : 0.874494 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.08, Z:-0.49 [[ 9.99958183e-01 2.41614781e-03 -8.82010365e-03 5.52250395e+00] [-2.42347854e-03 9.99996727e-01 -8.20545658e-04 -8.42041178e-02] [ 8.81809222e-03 8.41886677e-04 9.99960765e-01 -4.94813687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.208241008 meters Centerline goodness : 0.874603 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.09, Z:-0.49 [[ 9.99931654e-01 2.89666727e-03 -1.13267841e-02 5.53250220e+00] [-2.84696631e-03 9.99986260e-01 4.40158018e-03 -8.51083910e-02] [ 1.13393784e-02 -4.36903238e-03 9.99926162e-01 -4.92377994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.238241008 meters Centerline goodness : 0.873266 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.09, Z:-0.50 [[ 9.99918834e-01 3.51629224e-03 -1.22458808e-02 5.53891156e+00] [-3.43530227e-03 9.99972131e-01 6.62841715e-03 -8.53965734e-02] [ 1.22688470e-02 -6.58581085e-03 9.99903047e-01 -4.95446927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.268241008000004 meters Centerline goodness : 0.870812 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.09, Z:-0.49 [[ 9.99884480e-01 5.37632747e-03 -1.42169369e-02 5.54559067e+00] [-5.20421675e-03 9.99913062e-01 1.21154446e-02 -8.77792976e-02] [ 1.42808375e-02 -1.20400570e-02 9.99825532e-01 -4.92703419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.298241008 meters Centerline goodness : 0.869954 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.09, Z:-0.49 [[ 0.99984496 0.00817664 -0.01559488 5.54950186] [-0.00789968 0.99981144 0.01773925 -0.09154882] [ 0.01573699 -0.01761331 0.99972102 -0.48974589] [ 0. 0. 0. 1. ]] SLAMing on 53.328241008 meters Centerline goodness : 0.870719 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.09, Z:-0.50 [[ 0.99989895 0.00857456 -0.01133881 5.5659845 ] [-0.00848979 0.99993581 0.00750367 -0.08891476] [ 0.01140242 -0.00740665 0.99990756 -0.49564823] [ 0. 0. 0. 1. ]] SLAMing on 53.358241008 meters Centerline goodness : 0.869632 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.09, Z:-0.49 [[ 0.99985711 0.01076497 -0.01303357 5.57150476] [-0.01056303 0.99982461 0.01546532 -0.09439128] [ 0.01319777 -0.01532544 0.99979545 -0.4880271 ] [ 0. 0. 0. 1. ]] SLAMing on 53.388241008 meters Centerline goodness : 0.873665 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.10, Z:-0.48 [[ 0.99980244 0.01422711 -0.01388088 5.57392759] [-0.01393184 0.99967941 0.02114202 -0.09641727] [ 0.01417722 -0.02094445 0.99968012 -0.48471946] [ 0. 0. 0. 1. ]] SLAMing on 53.418241008 meters Centerline goodness : 0.870797 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.09, Z:-0.49 [[ 0.99983767 0.01560429 -0.00900776 5.58932257] [-0.01551022 0.99982541 0.01042026 -0.09150779] [ 0.00916879 -0.01027885 0.99990513 -0.4930063 ] [ 0. 0. 0. 1. ]] SLAMing on 53.448241008000004 meters Centerline goodness : 0.873912 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.09, Z:-0.49 [[ 0.99984002 0.01535166 -0.00917974 5.59009466] [-0.0152605 0.99983434 0.00991991 -0.09037978] [ 0.00933051 -0.00977823 0.99990866 -0.49371173] [ 0. 0. 0. 1. ]] SLAMing on 53.478241008 meters Centerline goodness : 0.871463 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.09, Z:-0.49 [[ 0.9998406 0.01532708 -0.00915693 5.58995953] [-0.01523775 0.9998364 0.00974626 -0.08970336] [ 0.00930481 -0.00960517 0.99991058 -0.49366593] [ 0. 0. 0. 1. ]] SLAMing on 53.508241008 meters Centerline goodness : 0.873088 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.09, Z:-0.49 [[ 0.99978051 0.01838868 -0.01003953 5.59288848] [-0.01824212 0.99972846 0.01449935 -0.09221322] [ 0.01030342 -0.01431302 0.99984448 -0.49231371] [ 0. 0. 0. 1. ]] SLAMing on 53.538241008 meters Centerline goodness : 0.873066 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.09, Z:-0.49 [[ 0.99982217 0.01578954 -0.01031138 5.59273615] [-0.01568687 0.99982732 0.00996265 -0.0884574 ] [ 0.01046691 -0.00979912 0.99989721 -0.49421963] [ 0. 0. 0. 1. ]] SLAMing on 53.568241008 meters Centerline goodness : 0.875754 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.09, Z:-0.50 [[ 0.99981481 0.01620552 -0.01037888 5.59273616] [-0.01610905 0.99982688 0.00931171 -0.08750193] [ 0.01052799 -0.00914279 0.99990278 -0.4954817 ] [ 0. 0. 0. 1. ]] SLAMing on 53.598241008 meters Centerline goodness : 0.873977 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.09, Z:-0.50 [[ 0.99981076 0.01631874 -0.01058964 5.59318309] [-0.01622464 0.99982865 0.00891235 -0.08664715] [ 0.01073327 -0.00873885 0.99990421 -0.49604896] [ 0. 0. 0. 1. ]] SLAMing on 53.628241008 meters Centerline goodness : 0.876749 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.09, Z:-0.50 [[ 0.99980683 0.01649699 -0.0106843 5.59327941] [-0.01640571 0.99982864 0.00857525 -0.08569031] [ 0.01082393 -0.00839831 0.99990615 -0.49644511] [ 0. 0. 0. 1. ]] SLAMing on 53.658241008000005 meters Centerline goodness : 0.874511 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.09, Z:-0.50 [[ 0.99980161 0.01687833 -0.01057632 5.5926257 ] [-0.01678899 0.9998231 0.00847988 -0.08515211] [ 0.01071757 -0.00830063 0.99990811 -0.49642246] [ 0. 0. 0. 1. ]] SLAMing on 53.688241008 meters Centerline goodness : 0.874243 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.08, Z:-0.50 [[ 9.99800271e-01 1.91486419e-02 -5.72249219e-03 5.60985479e+00] [-1.91441437e-02 9.99816381e-01 8.39809639e-04 -8.25174898e-02] [ 5.73752265e-03 -7.30089692e-04 9.99983274e-01 -5.02587135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.718241008 meters Centerline goodness : 0.871722 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.08, Z:-0.50 [[ 9.99806079e-01 1.87150058e-02 -6.12800831e-03 5.61094617e+00] [-1.87061821e-02 9.99823908e-01 1.49406137e-03 -8.43040974e-02] [ 6.15489058e-03 -1.37914000e-03 9.99980107e-01 -5.01425607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.748241008 meters Centerline goodness : 0.876573 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.09, Z:-0.49 [[ 0.99982591 0.017175 -0.00729139 5.6211747 ] [-0.01711025 0.99981442 0.00885211 -0.0878067 ] [ 0.00744207 -0.00872581 0.99993424 -0.49443133] [ 0. 0. 0. 1. ]] SLAMing on 53.778241008 meters Centerline goodness : 0.877199 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.09, Z:-0.50 [[ 9.99896603e-01 1.24510705e-02 -7.19403729e-03 5.62194896e+00] [-1.24235852e-02 9.99915402e-01 3.85271055e-03 -8.61420839e-02] [ 7.24139906e-03 -3.76293645e-03 9.99966701e-01 -4.96159754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.808241008 meters Centerline goodness : 0.878631 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.09, Z:-0.50 [[ 9.99901800e-01 1.14330188e-02 -8.10410222e-03 5.62518074e+00] [-1.14045723e-02 9.99928672e-01 3.54770296e-03 -8.59567643e-02] [ 8.14408513e-03 -3.45493076e-03 9.99960868e-01 -4.96808105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.838241008000004 meters Centerline goodness : 0.878018 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.08, Z:-0.50 [[ 9.99905909e-01 1.04588669e-02 -8.87604992e-03 5.62807343e+00] [-1.04354750e-02 9.99941964e-01 2.67762862e-03 -8.42744467e-02] [ 8.90353975e-03 -2.58475088e-03 9.99957022e-01 -4.98059994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.868241008 meters Centerline goodness : 0.876722 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.08, Z:-0.50 [[ 9.99908785e-01 9.74388975e-03 -9.35298733e-03 5.63015494e+00] [-9.72784325e-03 9.99951135e-01 1.75961859e-03 -8.23598145e-02] [ 9.36967583e-03 -1.66847369e-03 9.99954712e-01 -4.99473148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.898241008 meters Centerline goodness : 0.876871 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.08, Z:-0.50 [[ 9.99908087e-01 9.39093479e-03 -9.77891569e-03 5.63118607e+00] [-9.37615635e-03 9.99954832e-01 1.55600745e-03 -8.10634410e-02] [ 9.79308636e-03 -1.46417579e-03 9.99950975e-01 -4.99125714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.928241008 meters Centerline goodness : 0.880906 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.08, Z:-0.49 [[ 0.99987216 0.01085256 -0.01174217 5.63797158] [-0.0107521 0.99990534 0.00858489 -0.08479692] [ 0.01183423 -0.00845754 0.9998942 -0.49304328] [ 0. 0. 0. 1. ]] SLAMing on 53.958241008 meters Centerline goodness : 0.878791 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.09, Z:-0.49 [[ 0.99983632 0.01190066 -0.0136273 5.64561659] [-0.01168654 0.99980866 0.01568642 -0.08809059] [ 0.01381137 -0.01552459 0.99978409 -0.48694424] [ 0. 0. 0. 1. ]] SLAMing on 53.988241008 meters Centerline goodness : 0.878412 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.08, Z:-0.49 [[ 0.99988046 0.00731055 -0.01362458 5.64713436] [-0.00717848 0.99992702 0.00971732 -0.08304186] [ 0.01369463 -0.00961835 0.99985996 -0.49067655] [ 0. 0. 0. 1. ]] SLAMing on 54.018241008000004 meters Centerline goodness : 0.877908 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.09, Z:-0.49 [[ 0.99984479 0.00814043 -0.0156246 5.65540054] [-0.00789009 0.99984058 0.01601725 -0.08534701] [ 0.0157525 -0.01589148 0.99974963 -0.486095 ] [ 0. 0. 0. 1. ]] SLAMing on 54.048241008 meters Centerline goodness : 0.877908 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.09, Z:-0.49 [[ 0.99984501 0.00820882 -0.01557489 5.65526242] [-0.00796077 0.99984155 0.01592172 -0.08514772] [ 0.01570312 -0.01579527 0.99975193 -0.48618975] [ 0. 0. 0. 1. ]] SLAMing on 54.078241008 meters Centerline goodness : 0.877185 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.08, Z:-0.49 [[ 0.99983829 0.0073606 -0.016408 5.6579015 ] [-0.00710777 0.99985593 0.01541448 -0.08471377] [ 0.01651909 -0.01529536 0.99974655 -0.48670819] [ 0. 0. 0. 1. ]] SLAMing on 54.108241008 meters Centerline goodness : 0.878586 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.09, Z:-0.48 [[ 0.9997997 0.00809061 -0.01830553 5.66634731] [-0.00767365 0.99971209 0.02273436 -0.08761783] [ 0.0184842 -0.02258934 0.99957394 -0.4801037 ] [ 0. 0. 0. 1. ]] SLAMing on 54.138241008 meters Centerline goodness : 0.879153 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.09, Z:-0.48 [[ 0.99979032 0.00726623 -0.01914469 5.66898924] [-0.00682613 0.99971322 0.02295411 -0.08779711] [ 0.01930599 -0.02281861 0.99955319 -0.47933427] [ 0. 0. 0. 1. ]] SLAMing on 54.168241008 meters Centerline goodness : 0.880965 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.09, Z:-0.47 [[ 0.99974306 0.00814448 -0.02115384 5.67723148] [-0.00750785 0.99952163 0.03000239 -0.09025123] [ 0.02138808 -0.02983587 0.99932596 -0.47302128] [ 0. 0. 0. 1. ]] SLAMing on 54.198241008000004 meters Centerline goodness : 0.878505 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.09, Z:-0.47 [[ 0.99973766 0.00756219 -0.02161989 5.67883832] [-0.00690426 0.9995156 0.03034615 -0.08993325] [ 0.0218389 -0.03018892 0.9993056 -0.47176126] [ 0. 0. 0. 1. ]] SLAMing on 54.228241008 meters Centerline goodness : 0.880387 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.09, Z:-0.47 [[ 0.9996898 0.00926339 -0.02311922 5.68474841] [-0.00839847 0.99927136 0.03723187 -0.09297766] [ 0.02344727 -0.03702616 0.99903918 -0.46577442] [ 0. 0. 0. 1. ]] SLAMing on 54.258241008 meters Centerline goodness : 0.874415 Centerline is valid? [False, False] Translation: X:5.69, Y:-0.09, Z:-0.46 [[ 0.99964635 0.0124756 -0.02348482 5.68655684] [-0.01145475 0.99900455 0.04311253 -0.09449899] [ 0.0239993 -0.04282827 0.99879416 -0.46170028] [ 0. 0. 0. 1. ]] SLAMing on 54.288241008 meters Centerline goodness : 0.875941 Centerline is valid? [False, False] Translation: X:5.70, Y:-0.09, Z:-0.47 [[ 0.99973222 0.01361501 -0.01871145 5.70124998] [-0.01302815 0.99943025 0.03113603 -0.08918733] [ 0.01912471 -0.03088392 0.99934 -0.47065761] [ 0. 0. 0. 1. ]] SLAMing on 54.318241008 meters Centerline goodness : 0.876108 Centerline is valid? [False, False] Translation: X:5.72, Y:-0.09, Z:-0.48 [[ 0.99976857 0.01644837 -0.01386555 5.71632234] [-0.01612501 0.99960267 0.02311904 -0.08519686] [ 0.01424031 -0.02289011 0.99963656 -0.47595401] [ 0. 0. 0. 1. ]] SLAMing on 54.348241008 meters Centerline goodness : 0.872368 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.08, Z:-0.48 [[ 0.99975013 0.02044921 -0.00902859 5.72916651] [-0.0203313 0.99970925 0.0129636 -0.07925009] [ 0.00929106 -0.0127768 0.99987521 -0.48413186] [ 0. 0. 0. 1. ]] SLAMing on 54.378241008 meters Centerline goodness : 0.871192 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.08, Z:-0.48 [[ 0.99966264 0.02411572 -0.00964515 5.73099821] [-0.02394573 0.99956238 0.01736806 -0.08033385] [ 0.01005978 -0.01713124 0.99980264 -0.48333222] [ 0. 0. 0. 1. ]] SLAMing on 54.408241008000005 meters Centerline goodness : 0.872109 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.08, Z:-0.49 [[ 9.99755806e-01 2.20698365e-02 1.11795653e-03 5.74126053e+00] [-2.20854055e-02 9.99617320e-01 1.66567855e-02 -7.64758270e-02] [-7.49916178e-04 -1.66774085e-02 9.99860641e-01 -4.92286487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.438241008 meters Centerline goodness : 0.873024 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.07, Z:-0.49 [[ 9.99718804e-01 2.36810746e-02 1.23257110e-03 5.74019646e+00] [-2.36975156e-02 9.99595962e-01 1.56952068e-02 -7.17959181e-02] [-8.60393737e-04 -1.57200022e-02 9.99876063e-01 -4.94517145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.468241008 meters Centerline goodness : 0.874670 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.07, Z:-0.50 [[ 9.99713805e-01 2.38961553e-02 1.13209829e-03 5.74073166e+00] [-2.39103212e-02 9.99604216e-01 1.48225529e-02 -6.95270076e-02] [-7.77448202e-04 -1.48453796e-02 9.99889499e-01 -4.96112662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.498241008 meters Centerline goodness : 0.871005 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.07, Z:-0.50 [[ 9.99713091e-01 2.39299273e-02 1.04641599e-03 5.74125337e+00] [-2.39421501e-02 9.99617086e-01 1.38728275e-02 -6.75843193e-02] [-7.14039548e-04 -1.38939007e-02 9.99903220e-01 -4.97646669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.528241008 meters Centerline goodness : 0.871310 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.07, Z:-0.50 [[ 9.99711031e-01 2.40195661e-02 9.56587518e-04 5.74167741e+00] [-2.40301547e-02 9.99623111e-01 1.32735829e-02 -6.62516188e-02] [-6.37401288e-04 -1.32927342e-02 9.99911445e-01 -4.98617931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.558241008 meters Centerline goodness : 0.870797 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.07, Z:-0.50 [[ 9.99704910e-01 2.42680726e-02 1.07439133e-03 5.74128702e+00] [-2.42799053e-02 9.99622265e-01 1.28768675e-02 -6.52742218e-02] [-7.61488744e-04 -1.28991538e-02 9.99916512e-01 -4.99098482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.588241008000004 meters Centerline goodness : 0.873189 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.06, Z:-0.50 [[ 9.99687907e-01 2.49503883e-02 1.25192180e-03 5.74054197e+00] [-2.49639151e-02 9.99612671e-01 1.23008716e-02 -6.38573668e-02] [-9.44525371e-04 -1.23282854e-02 9.99923558e-01 -5.00194458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.618241008 meters Centerline goodness : 0.873611 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.06, Z:-0.50 [[ 9.99768096e-01 2.14796296e-02 1.54281337e-03 5.74021365e+00] [-2.14884752e-02 9.99751295e-01 5.96597863e-03 -5.90088218e-02] [-1.41428266e-03 -5.99774780e-03 9.99981013e-01 -5.04590076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.648241008 meters Centerline goodness : 0.871317 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.06, Z:-0.51 [[ 9.99779476e-01 2.09626371e-02 1.25227214e-03 5.74203331e+00] [-2.09689982e-02 9.99766062e-01 5.30306747e-03 -5.84470762e-02] [-1.14081291e-03 -5.32815690e-03 9.99985155e-01 -5.06261638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.678241008 meters Centerline goodness : 0.873477 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.06, Z:-0.51 [[ 9.99794882e-01 2.02394691e-02 7.46601684e-04 5.74480720e+00] [-2.02428015e-02 9.99783741e-01 4.76448604e-03 -5.92860790e-02] [-6.50009557e-04 -4.77862207e-03 9.99988371e-01 -5.08219515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.708241008 meters Centerline goodness : 0.872539 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.06, Z:-0.51 [[ 9.99804353e-01 1.97790011e-02 2.16080836e-04 5.74669068e+00] [-1.97798208e-02 9.99792431e-01 4.88391769e-03 -6.05804926e-02] [-1.19436971e-04 -4.88723620e-03 9.99988050e-01 -5.08385659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.738241008 meters Centerline goodness : 0.872157 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.06, Z:-0.51 [[ 9.99865996e-01 1.63603108e-02 5.74925419e-04 5.74576612e+00] [-1.63604762e-02 9.99866118e-01 2.84255838e-04 -5.89920722e-02] [-5.70197933e-04 -2.93623800e-04 9.99999794e-01 -5.09834047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.768241008000004 meters Centerline goodness : 0.870943 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.06, Z:-0.51 [[ 9.99873988e-01 1.58747714e-02 1.12448476e-05 5.74766398e+00] [-1.58747751e-02 9.99873592e-01 8.90190480e-04 -6.10075868e-02] [ 2.88814412e-06 -8.90256814e-04 9.99999604e-01 -5.09202450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.798241008 meters Centerline goodness : 0.869039 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.07, Z:-0.51 [[ 9.99908634e-01 1.34583664e-02 -1.26347606e-03 5.75370819e+00] [-1.34557188e-02 9.99907302e-01 2.08115069e-03 -6.58749389e-02] [ 1.29136783e-03 -2.06395957e-03 9.99997036e-01 -5.08045384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.828241008 meters Centerline goodness : 0.870597 Centerline is valid? [False, False] Translation: X:5.76, Y:-0.07, Z:-0.51 [[ 9.99929210e-01 1.16209540e-02 -2.55507442e-03 5.75906948e+00] [-1.16158271e-02 9.99930509e-01 2.01233691e-03 -6.78857913e-02] [ 2.57828214e-03 -1.98251516e-03 9.99994711e-01 -5.09119653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.858241008 meters Centerline goodness : 0.867854 Centerline is valid? [False, False] Translation: X:5.76, Y:-0.07, Z:-0.51 [[ 9.99940048e-01 1.03721936e-02 -3.50969915e-03 5.76286760e+00] [-1.03639696e-02 9.99943523e-01 2.35336312e-03 -6.99469478e-02] [ 3.53391048e-03 -2.31684761e-03 9.99991072e-01 -5.09273655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.888241008 meters Centerline goodness : 0.870924 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.08, Z:-0.50 [[ 9.99975786e-01 6.07699574e-03 -3.39079230e-03 5.77593513e+00] [-6.04352916e-03 9.99933772e-01 9.79430275e-03 -7.58133228e-02] [ 3.45008767e-03 -9.77357324e-03 9.99946286e-01 -5.02428625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.918241008 meters Centerline goodness : 0.874168 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.08, Z:-0.50 [[ 9.99974828e-01 6.10978434e-03 -3.60740942e-03 5.77615277e+00] [-6.07048610e-03 9.99923187e-01 1.08060191e-02 -7.77733904e-02] [ 3.67315477e-03 -1.07838484e-02 9.99935106e-01 -5.00527472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.948241008000004 meters Centerline goodness : 0.873863 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.08, Z:-0.49 [[ 9.99957511e-01 8.06458850e-03 -4.46534420e-03 5.78076035e+00] [-7.97429078e-03 9.99770506e-01 1.98832971e-02 -8.34712964e-02] [ 4.62467004e-03 -1.98468443e-02 9.99792336e-01 -4.90951832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.978241008 meters Centerline goodness : 0.876117 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.08, Z:-0.49 [[ 9.99979334e-01 5.29959207e-03 -3.63945111e-03 5.77649582e+00] [-5.23798865e-03 9.99846282e-01 1.67324749e-02 -8.30232895e-02] [ 3.72756696e-03 -1.67130657e-02 9.99853379e-01 -4.87785797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.008241008 meters Centerline goodness : 0.877640 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.08, Z:-0.49 [[ 9.99981462e-01 4.80962455e-03 -3.73405099e-03 5.77786824e+00] [-4.75183757e-03 9.99871147e-01 1.53333027e-02 -8.02707615e-02] [ 3.80731727e-03 -1.53152749e-02 9.99875466e-01 -4.90291057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.038241008 meters Centerline goodness : 0.878824 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.08, Z:-0.49 [[ 9.99984466e-01 3.89254143e-03 -3.98949407e-03 5.78031078e+00] [-3.83901330e-03 9.99903672e-01 1.33382339e-02 -7.62992427e-02] [ 4.04102940e-03 -1.33227110e-02 9.99903083e-01 -4.93912243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.068241008 meters Centerline goodness : 0.877039 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.07, Z:-0.50 [[ 9.99987079e-01 2.85399112e-03 -4.20679861e-03 5.78289689e+00] [-2.80727865e-03 9.99934802e-01 1.10684329e-02 -7.22233807e-02] [ 4.23811355e-03 -1.10564802e-02 9.99929894e-01 -4.98048808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.098241008 meters Centerline goodness : 0.876200 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.07, Z:-0.50 [[ 9.99973035e-01 5.28139139e-03 -5.10251848e-03 5.80949277e+00] [-5.24480329e-03 9.99960630e-01 7.15756261e-03 -6.97140265e-02] [ 5.14011949e-03 -7.13060790e-03 9.99961366e-01 -5.01497703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.128241008 meters Centerline goodness : 0.877208 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.07, Z:-0.50 [[ 9.99972920e-01 4.81668750e-03 -5.56414294e-03 5.81124702e+00] [-4.78058309e-03 9.99967552e-01 6.48394192e-03 -6.90813740e-02] [ 5.59519351e-03 -6.45716649e-03 9.99963499e-01 -5.02643998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.158241008000005 meters Centerline goodness : 0.873834 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.07, Z:-0.50 [[ 0.99991429 0.00859101 -0.00987929 5.84121745] [-0.00849177 0.9999135 0.01004414 -0.07308597] [ 0.00996473 -0.00995939 0.99990075 -0.49755619] [ 0. 0. 0. 1. ]] SLAMing on 55.188241008 meters Centerline goodness : 0.878074 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.07, Z:-0.50 [[ 0.99991115 0.00792161 -0.01072139 5.84412751] [-0.00782421 0.99992802 0.00909628 -0.07185368] [ 0.01079267 -0.00901159 0.99990115 -0.4990703 ] [ 0. 0. 0. 1. ]] SLAMing on 55.218241008 meters Centerline goodness : 0.880652 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.07, Z:-0.50 [[ 0.99990915 0.00746945 -0.01122064 5.84590281] [-0.00737144 0.99993453 0.00875144 -0.07088725] [ 0.01128527 -0.00866794 0.99989875 -0.49955324] [ 0. 0. 0. 1. ]] SLAMing on 55.248241008 meters Centerline goodness : 0.880524 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.07, Z:-0.50 [[ 0.99987226 0.00954298 -0.0128213 5.8516796 ] [-0.00936244 0.99985721 0.01406756 -0.07284988] [ 0.01295372 -0.01394573 0.99981884 -0.49708894] [ 0. 0. 0. 1. ]] SLAMing on 55.278241008 meters Centerline goodness : 0.878123 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.07, Z:-0.50 [[ 0.99987412 0.00876428 -0.01322651 5.85390746] [-0.00859173 0.99987798 0.01304671 -0.07127241] [ 0.01333924 -0.01293143 0.99982741 -0.49901305] [ 0. 0. 0. 1. ]] SLAMing on 55.308241008 meters Centerline goodness : 0.878321 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.07, Z:-0.50 [[ 9.99902676e-01 5.14571843e-03 -1.29676460e-02 5.85309652e+00] [-5.04143986e-03 9.99954798e-01 8.06134226e-03 -6.79541127e-02] [ 1.30085413e-02 -7.99518209e-03 9.99883421e-01 -5.00514933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.338241008000004 meters Centerline goodness : 0.878636 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.07, Z:-0.50 [[ 9.99899471e-01 5.12082623e-03 -1.32221553e-02 5.85325111e+00] [-5.00376831e-03 9.99948131e-01 8.87112106e-03 -6.91113861e-02] [ 1.32668969e-02 -8.80406865e-03 9.99873231e-01 -4.98654811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.368241008 meters Centerline goodness : 0.883076 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.07, Z:-0.50 [[ 9.99957036e-01 5.40879120e-03 -7.52807905e-03 5.86747307e+00] [-5.41790149e-03 9.99984615e-01 -1.19030785e-03 -6.66816635e-02] [ 7.52152510e-03 1.23104310e-03 9.99970955e-01 -5.03820565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.398241008 meters Centerline goodness : 0.884236 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.07, Z:-0.50 [[ 9.99955114e-01 5.57591810e-03 -7.66020827e-03 5.86719897e+00] [-5.57840952e-03 9.99984394e-01 -3.03912897e-04 -6.78591208e-02] [ 7.65839413e-03 3.46631035e-04 9.99970614e-01 -5.01905238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.428241008 meters Centerline goodness : 0.883217 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.07, Z:-0.50 [[ 9.99924788e-01 8.83485315e-03 -8.50663972e-03 5.86952044e+00] [-8.78924863e-03 9.99946882e-01 5.38359322e-03 -7.03394276e-02] [ 8.55375112e-03 -5.30842134e-03 9.99949326e-01 -4.98399181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.458241008 meters Centerline goodness : 0.881656 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.07, Z:-0.50 [[ 9.99927119e-01 8.11168506e-03 -8.94188848e-03 5.87178651e+00] [-8.07370483e-03 9.99958267e-01 4.27539688e-03 -6.74349221e-02] [ 8.97619599e-03 -4.20289112e-03 9.99950881e-01 -5.00301826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.488241008 meters Centerline goodness : 0.887059 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.06, Z:-0.50 [[ 9.99929001e-01 7.40184279e-03 -9.33841184e-03 5.87412173e+00] [-7.37464506e-03 9.99968475e-01 2.94353897e-03 -6.47850567e-02] [ 9.35990505e-03 -2.87446251e-03 9.99952064e-01 -5.02757378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.518241008000004 meters Centerline goodness : 0.883749 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.06, Z:-0.50 [[ 9.99928441e-01 6.83176103e-03 -9.82034703e-03 5.87622034e+00] [-6.81201722e-03 9.99974712e-01 2.04254613e-03 -6.26568976e-02] [ 9.83405288e-03 -1.97550360e-03 9.99949693e-01 -5.04271290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.548241008 meters Centerline goodness : 0.883918 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.06, Z:-0.51 [[ 9.99924150e-01 6.62356575e-03 -1.03837377e-02 5.87787277e+00] [-6.60969154e-03 9.99977217e-01 1.36989663e-03 -6.06022526e-02] [ 1.03925748e-02 -1.30115942e-03 9.99945149e-01 -5.05108435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.578241008 meters Centerline goodness : 0.884487 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.06, Z:-0.50 [[ 9.99920496e-01 6.64500223e-03 -1.07166157e-02 5.87829613e+00] [-6.62899296e-03 9.99976859e-01 1.52870414e-03 -6.01753608e-02] [ 1.07265260e-02 -1.45754223e-03 9.99941407e-01 -5.04229277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.608241008 meters Centerline goodness : 0.886948 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.06, Z:-0.50 [[ 9.99918589e-01 6.70094293e-03 -1.08587261e-02 5.87850049e+00] [-6.68343153e-03 9.99976307e-01 1.64814318e-03 -5.98257941e-02] [ 1.08695129e-02 -1.57543545e-03 9.99939684e-01 -5.03711791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.638241008 meters Centerline goodness : 0.889891 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.06, Z:-0.50 [[ 9.99918397e-01 6.79848655e-03 -1.08157325e-02 5.87829008e+00] [-6.78007025e-03 9.99975504e-01 1.73848978e-03 -5.94414027e-02] [ 1.08272867e-02 -1.66501649e-03 9.99939997e-01 -5.03378336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.668241008 meters Centerline goodness : 0.887112 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.06, Z:-0.50 [[ 9.99919531e-01 6.36935680e-03 -1.09709848e-02 5.87940753e+00] [-6.35298079e-03 9.99978654e-01 1.52686963e-03 -5.91344117e-02] [ 1.09804758e-02 -1.45704831e-03 9.99938651e-01 -5.04003706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.698241008000004 meters Centerline goodness : 0.888550 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.06, Z:-0.50 [[ 9.99916888e-01 5.42050190e-03 -1.16976964e-02 5.88212287e+00] [-5.39962020e-03 9.99983773e-01 1.81595793e-03 -6.01236191e-02] [ 1.17073500e-02 -1.75264388e-03 9.99929931e-01 -5.03635133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.728241008 meters Centerline goodness : 0.886099 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.06, Z:-0.50 [[ 9.99919678e-01 1.82948265e-03 -1.25415511e-02 5.89635452e+00] [-1.70494863e-03 9.99949211e-01 9.93322475e-03 -6.39925818e-02] [ 1.25590868e-02 -9.91104419e-03 9.99872012e-01 -4.95880557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.758241008 meters Centerline goodness : 0.888708 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.07, Z:-0.50 [[ 9.99904437e-01 -3.61349978e-03 -1.33439020e-02 5.89985328e+00] [ 3.69706320e-03 9.99973678e-01 6.24294389e-03 -6.67602079e-02] [ 1.33209919e-02 -6.29168055e-03 9.99891477e-01 -4.95661400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.788241008 meters Centerline goodness : 0.886096 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.07, Z:-0.49 [[ 0.99987107 -0.00636206 -0.01474321 5.91185131] [ 0.0065282 0.99991543 0.01124822 -0.06938978] [ 0.0146704 -0.01134301 0.99982804 -0.49239244] [ 0. 0. 0. 1. ]] SLAMing on 55.818241008 meters Centerline goodness : 0.887170 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.07, Z:-0.50 [[ 9.99833757e-01 -1.09740329e-02 -1.45612485e-02 5.91312664e+00] [ 1.10587077e-02 9.99922333e-01 5.74735327e-03 -6.64810141e-02] [ 1.44970459e-02 -5.90742640e-03 9.99877461e-01 -4.95570303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.848241008 meters Centerline goodness : 0.888418 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.07, Z:-0.49 [[ 0.99978201 -0.01465611 -0.01487064 5.93601569] [ 0.01491084 0.99974146 0.01716637 -0.06937912] [ 0.01461521 -0.01738436 0.99974206 -0.48995636] [ 0. 0. 0. 1. ]] SLAMing on 55.878241008 meters Centerline goodness : 0.887444 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.07, Z:-0.48 [[ 0.99975112 -0.01480502 -0.01668857 5.94587096] [ 0.01520986 0.99958661 0.024398 -0.07134503] [ 0.01632046 -0.02464575 0.99956302 -0.48356303] [ 0. 0. 0. 1. ]] SLAMing on 55.908241008000005 meters Centerline goodness : 0.889393 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.07, Z:-0.48 [[ 0.9997581 -0.01308135 -0.0176813 5.95051341] [ 0.01361051 0.99945283 0.0301461 -0.07422343] [ 0.01727728 -0.03037946 0.99938911 -0.47998385] [ 0. 0. 0. 1. ]] SLAMing on 55.938241008 meters Centerline goodness : 0.889393 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.07, Z:-0.48 [[ 0.99976168 -0.01300449 -0.01753477 5.95021036] [ 0.01352493 0.99946151 0.02989606 -0.07366405] [ 0.01713655 -0.03012609 0.9993992 -0.48025533] [ 0. 0. 0. 1. ]] SLAMing on 55.968241008 meters Centerline goodness : 0.889945 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.07, Z:-0.48 [[ 0.99970855 -0.01696685 -0.01717402 5.94989561] [ 0.01738815 0.99954399 0.02468716 -0.06984608] [ 0.01674732 -0.02497859 0.9995477 -0.48200842] [ 0. 0. 0. 1. ]] SLAMing on 55.998241008 meters Centerline goodness : 0.889434 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.07, Z:-0.48 [[ 0.99989123 -0.01322652 -0.00652612 5.95323351] [ 0.01340869 0.9994979 0.02870824 -0.07313507] [ 0.00614314 -0.02879262 0.99956653 -0.48463752] [ 0. 0. 0. 1. ]] SLAMing on 56.028241008 meters Centerline goodness : 0.888084 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.07, Z:-0.48 [[ 0.99984011 -0.01495281 -0.00980657 5.93440111] [ 0.01529339 0.99924813 0.03562711 -0.07335067] [ 0.00926647 -0.03577139 0.99931704 -0.48031232] [ 0. 0. 0. 1. ]] SLAMing on 56.058241008 meters Centerline goodness : 0.888679 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.07, Z:-0.48 [[ 0.99976759 -0.01752102 -0.01256121 5.91369086] [ 0.01800816 0.99904623 0.0397785 -0.07224204] [ 0.01185227 -0.03999546 0.99912956 -0.47807072] [ 0. 0. 0. 1. ]] SLAMing on 56.088241008000004 meters Centerline goodness : 0.885931 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.07, Z:-0.48 [[ 0.99975214 -0.0186804 -0.01211231 5.9151182 ] [ 0.01915511 0.99900241 0.04033946 -0.07147696] [ 0.01134667 -0.04056148 0.99911262 -0.48097512] [ 0. 0. 0. 1. ]] SLAMing on 56.118241008 meters Centerline goodness : 0.887639 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.07, Z:-0.48 [[ 0.99974912 -0.01860897 -0.01246627 5.91691197] [ 0.01907966 0.99906609 0.03876751 -0.07141369] [ 0.0117332 -0.03899563 0.99917049 -0.48210668] [ 0. 0. 0. 1. ]] SLAMing on 56.148241008 meters Centerline goodness : 0.891574 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.07, Z:-0.48 [[ 9.99894914e-01 -1.43156860e-02 -2.28517580e-03 5.92014953e+00] [ 1.43978687e-02 9.99043261e-01 4.12948471e-02 -7.46253542e-02] [ 1.69182542e-03 -4.13234092e-02 9.99144391e-01 -4.82328878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.178241008 meters Centerline goodness : 0.888908 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.07, Z:-0.48 [[ 9.99890072e-01 -1.43970453e-02 -3.54535094e-03 5.92452867e+00] [ 1.45205647e-02 9.99183382e-01 3.77057388e-02 -7.36856059e-02] [ 2.99960451e-03 -3.77530743e-02 9.99282597e-01 -4.84763703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.208241008 meters Centerline goodness : 0.895455 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.07, Z:-0.49 [[ 9.99888906e-01 -1.45203996e-02 -3.36651519e-03 5.92405093e+00] [ 1.46340941e-02 9.99221043e-01 3.66490138e-02 -6.98483322e-02] [ 2.83173449e-03 -3.66942082e-02 9.99322529e-01 -4.85171533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.238241008 meters Centerline goodness : 0.893446 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.07, Z:-0.49 [[ 9.99884856e-01 -1.48099416e-02 -3.30752832e-03 5.92469153e+00] [ 1.49172817e-02 9.99268643e-01 3.52087175e-02 -6.64493925e-02] [ 2.78367028e-03 -3.52540028e-02 9.99374508e-01 -4.87385381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.268241008000004 meters Centerline goodness : 0.897050 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.07, Z:-0.49 [[ 9.99916526e-01 -1.23881673e-02 -3.67068234e-03 5.92707373e+00] [ 1.25134859e-02 9.99260745e-01 3.63507412e-02 -6.58171750e-02] [ 3.21764971e-03 -3.63936399e-02 9.99332352e-01 -4.89556863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.298241008 meters Centerline goodness : 0.894818 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.06, Z:-0.49 [[ 9.99916531e-01 -1.24442832e-02 -3.47424291e-03 5.92731966e+00] [ 1.25575799e-02 9.99316953e-01 3.47553520e-02 -6.18982635e-02] [ 3.03936440e-03 -3.47960791e-02 9.99389811e-01 -4.92091004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.328241008 meters Centerline goodness : 0.894025 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.06, Z:-0.49 [[ 9.99968803e-01 -4.57438385e-03 -6.43956960e-03 5.93485627e+00] [ 4.78489357e-03 9.99441804e-01 3.30633657e-02 -6.01195522e-02] [ 6.28473053e-03 -3.30931469e-02 9.99432512e-01 -4.94728567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.358241008 meters Centerline goodness : 0.894752 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.06, Z:-0.50 [[ 9.99971751e-01 -4.17635388e-03 -6.24944062e-03 5.93441296e+00] [ 4.37178490e-03 9.99491288e-01 3.15919610e-02 -5.61155555e-02] [ 6.11432225e-03 -3.16183898e-02 9.99481312e-01 -4.96839896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.388241008 meters Centerline goodness : 0.894928 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.05, Z:-0.50 [[ 9.99998339e-01 6.15249575e-04 -1.71547163e-03 5.94968757e+00] [-5.70248587e-04 9.99658896e-01 2.61106455e-02 -5.32138979e-02] [ 1.73095104e-03 -2.61096239e-02 9.99657587e-01 -5.01011686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.418241008 meters Centerline goodness : 0.898785 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.05, Z:-0.51 [[ 9.99990380e-01 3.39773117e-03 2.77415699e-03 5.96371725e+00] [-3.44063135e-03 9.99872256e-01 1.56087503e-02 -4.80749709e-02] [-2.72076827e-03 -1.56181450e-02 9.99874328e-01 -5.08533355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.448241008000004 meters Centerline goodness : 0.895194 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.05, Z:-0.51 [[ 9.99989940e-01 3.62000688e-03 2.64848829e-03 5.96373606e+00] [-3.65907541e-03 9.99882320e-01 1.48982078e-02 -4.56788956e-02] [-2.59424500e-03 -1.49077490e-02 9.99885508e-01 -5.09072404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.478241008000005 meters Centerline goodness : 0.896069 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.04, Z:-0.51 [[ 9.99985204e-01 4.46932565e-03 3.10105683e-03 5.96188441e+00] [-4.51408206e-03 9.99883532e-01 1.45789514e-02 -4.27123111e-02] [-3.03553757e-03 -1.45927341e-02 9.99888913e-01 -5.08954917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.508241008 meters Centerline goodness : 0.895305 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.04, Z:-0.51 [[ 9.99987137e-01 4.05262939e-03 3.04989082e-03 5.96276478e+00] [-4.09383451e-03 9.99898759e-01 1.36276187e-02 -4.03564820e-02] [-2.99435436e-03 -1.36399291e-02 9.99902488e-01 -5.10317923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.538241008 meters Centerline goodness : 0.898658 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.04, Z:-0.51 [[ 9.99990222e-01 3.41863876e-03 2.80528543e-03 5.96445089e+00] [-3.45374719e-03 9.99914562e-01 1.26071819e-02 -3.80033041e-02] [-2.76194635e-03 -1.26167474e-02 9.99916591e-01 -5.11978960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.568241008 meters Centerline goodness : 0.896343 Centerline is valid? [False, False] Translation: X:5.97, Y:-0.04, Z:-0.51 [[ 9.99991945e-01 3.05783452e-03 2.59983583e-03 5.96542214e+00] [-3.08923241e-03 9.99921294e-01 1.21598731e-02 -3.68106422e-02] [-2.56244833e-03 -1.21678066e-02 9.99922686e-01 -5.12312565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.598241008 meters Centerline goodness : 0.898182 Centerline is valid? [False, False] Translation: X:5.97, Y:-0.04, Z:-0.51 [[ 9.99993337e-01 2.90915280e-03 2.20502523e-03 5.96628382e+00] [-2.93599019e-03 9.99920446e-01 1.22670977e-02 -3.75015425e-02] [-2.16916295e-03 -1.22734899e-02 9.99922325e-01 -5.11837811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.628241008 meters Centerline goodness : 0.898010 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.04, Z:-0.51 [[ 9.99977213e-01 4.31733540e-03 5.18989028e-03 5.98681659e+00] [-4.35212985e-03 9.99968005e-01 6.71178232e-03 -3.72204802e-02] [-5.16074721e-03 -6.73421645e-03 9.99964008e-01 -5.14173841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.658241008000005 meters Centerline goodness : 0.897007 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.04, Z:-0.51 [[ 9.99983105e-01 3.67457241e-03 4.50420976e-03 5.98905507e+00] [-3.70374926e-03 9.99972103e-01 6.48655067e-03 -3.75157984e-02] [-4.48024881e-03 -6.50312354e-03 9.99968818e-01 -5.14461015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.688241008 meters Centerline goodness : 0.899841 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.04, Z:-0.52 [[ 9.99990460e-01 2.37763609e-03 3.66415367e-03 5.99282164e+00] [-2.39893955e-03 9.99980182e-01 5.82063535e-03 -3.67087659e-02] [-3.65024170e-03 -5.82936991e-03 9.99976347e-01 -5.15897378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.718241008 meters Centerline goodness : 0.902051 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.04, Z:-0.52 [[ 9.99994304e-01 1.65217636e-03 2.94301606e-03 5.99544624e+00] [-1.66952976e-03 9.99981179e-01 5.90380351e-03 -3.72261373e-02] [-2.93320654e-03 -5.90868334e-03 9.99978242e-01 -5.16081933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.748241008 meters Centerline goodness : 0.899989 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.04, Z:-0.52 [[ 9.99997853e-01 5.39676198e-04 2.00066455e-03 5.99907338e+00] [-5.50987714e-04 9.99983844e-01 5.65764607e-03 -3.83575712e-02] [-1.99757893e-03 -5.65873626e-03 9.99981994e-01 -5.17084432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.778241008 meters Centerline goodness : 0.898351 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.04, Z:-0.51 [[ 9.99989437e-01 -4.44216218e-03 1.18052236e-03 6.02337932e+00] [ 4.42116069e-03 9.99841710e-01 1.72339317e-02 -4.30770989e-02] [-1.25689141e-03 -1.72285304e-02 9.99850788e-01 -5.10627623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.808241008 meters Centerline goodness : 0.898021 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.05, Z:-0.51 [[ 9.99984248e-01 -5.60270182e-03 -3.37908373e-04 6.03364410e+00] [ 5.60901111e-03 9.99717597e-01 2.30925451e-02 -4.51524995e-02] [ 2.08432303e-04 -2.30940766e-02 9.99733275e-01 -5.06781242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.838241008000004 meters Centerline goodness : 0.902292 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.05, Z:-0.51 [[ 9.99978462e-01 -6.47151904e-03 -1.09317531e-03 6.03633109e+00] [ 6.49522719e-03 9.99707648e-01 2.32901560e-02 -4.58323481e-02] [ 9.42133032e-04 -2.32967548e-02 9.99728150e-01 -5.06392571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.868241008 meters Centerline goodness : 0.900724 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.05, Z:-0.51 [[ 9.99972875e-01 -7.17013282e-03 -1.68471498e-03 6.03844606e+00] [ 7.20825701e-03 9.99689969e-01 2.38328926e-02 -4.70493562e-02] [ 1.51330767e-03 -2.38443900e-02 9.99714537e-01 -5.05378177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.898241008 meters Centerline goodness : 0.901494 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.05, Z:-0.50 [[ 9.99965446e-01 -8.10031128e-03 -1.86839785e-03 6.04053234e+00] [ 8.14400732e-03 9.99661657e-01 2.47031517e-02 -4.91895335e-02] [ 1.66766247e-03 -2.47175144e-02 9.99693085e-01 -5.03946673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.928241008 meters Centerline goodness : 0.901681 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.05, Z:-0.49 [[ 9.99940116e-01 -1.00114233e-02 -4.41996366e-03 6.03309500e+00] [ 1.01932168e-02 9.99013278e-01 4.32269463e-02 -5.45503673e-02] [ 3.98283913e-03 -4.32694114e-02 9.99055501e-01 -4.91329250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.958241008 meters Centerline goodness : 0.901897 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.05, Z:-0.49 [[ 9.99934364e-01 -1.04577389e-02 -4.68004187e-03 6.03432989e+00] [ 1.06471780e-02 9.99040930e-01 4.24718481e-02 -5.33335998e-02] [ 4.23139389e-03 -4.25188897e-02 9.99086703e-01 -4.92285175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.988241008 meters Centerline goodness : 0.899747 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.06, Z:-0.49 [[ 9.99963951e-01 -6.83442684e-03 -5.03866907e-03 6.03521914e+00] [ 7.06614659e-03 9.98846108e-01 4.75028635e-02 -5.51630216e-02] [ 4.70820015e-03 -4.75367550e-02 9.98858393e-01 -4.90139854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.018241008000004 meters Centerline goodness : 0.900176 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.05, Z:-0.50 [[ 9.99996764e-01 -2.54394197e-03 -2.05432901e-05 6.04801872e+00] [ 2.54292639e-03 9.99295088e-01 3.74547726e-02 -4.87979427e-02] [-7.47539591e-05 -3.74547036e-02 9.99298324e-01 -4.99171961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.048241008 meters Centerline goodness : 0.896277 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.04, Z:-0.51 [[ 9.99989800e-01 6.63675347e-04 4.46762576e-03 6.06229556e+00] [-7.86405302e-04 9.99620792e-01 2.75254934e-02 -4.33747459e-02] [-4.44766361e-03 -2.75287260e-02 9.99611118e-01 -5.07007846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.078241008 meters Centerline goodness : 0.897818 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.04, Z:-0.52 [[ 9.99953128e-01 3.73853658e-03 8.93110427e-03 6.07629613e+00] [-3.89026875e-03 9.99847366e-01 1.70326601e-02 -3.79699651e-02] [-8.86606385e-03 -1.70666062e-02 9.99815045e-01 -5.15363688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.108241008 meters Centerline goodness : 0.893304 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.04, Z:-0.52 [[ 0.9999311 0.00797597 0.00861242 6.07670772] [-0.00815433 0.99974881 0.02087625 -0.03703643] [-0.00844375 -0.02094504 0.99974497 -0.51514283] [ 0. 0. 0. 1. ]] SLAMing on 57.138241008 meters Centerline goodness : 0.894262 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.04, Z:-0.52 [[ 0.9999348 0.00782283 0.00831914 6.07747935] [-0.00799118 0.99975997 0.02039981 -0.03566421] [-0.00815756 -0.02046496 0.99975729 -0.51545787] [ 0. 0. 0. 1. ]] SLAMing on 57.168241008 meters Centerline goodness : 0.895570 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.03, Z:-0.52 [[ 0.99994299 0.00729516 0.00779723 6.0791824 ] [-0.0074476 0.99977813 0.01970344 -0.03474927] [-0.00765176 -0.01976038 0.99977546 -0.5162946 ] [ 0. 0. 0. 1. ]] SLAMing on 57.198241008000004 meters Centerline goodness : 0.895372 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.03, Z:-0.52 [[ 9.99964998e-01 3.18689554e-03 7.73601537e-03 6.08001036e+00] [-3.29167924e-03 9.99902503e-01 1.35701902e-02 -3.02871411e-02] [-7.69201435e-03 -1.35951797e-02 9.99877995e-01 -5.19744873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.228241008000005 meters Centerline goodness : 0.894709 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.03, Z:-0.52 [[ 9.99992268e-01 2.87195911e-03 2.68633842e-03 6.11175039e+00] [-2.90597493e-03 9.99914550e-01 1.27455091e-02 -3.27663144e-02] [-2.64950429e-03 -1.27532170e-02 9.99915164e-01 -5.17416602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.258241008 meters Centerline goodness : 0.892522 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.03, Z:-0.52 [[ 9.99997490e-01 1.56241260e-03 1.60569258e-03 6.11567499e+00] [-1.58212276e-03 9.99922508e-01 1.23481089e-02 -3.34895190e-02] [-1.58627531e-03 -1.23506183e-02 9.99922470e-01 -5.18305860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.288241008 meters Centerline goodness : 0.892989 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.04, Z:-0.51 [[ 9.99992641e-01 3.39057943e-03 -1.79483997e-03 6.14649798e+00] [-3.35935082e-03 9.99847710e-01 1.71251922e-02 -3.78654765e-02] [ 1.85263096e-03 -1.71190367e-02 9.99851742e-01 -5.11345123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.318241008 meters Centerline goodness : 0.894294 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.04, Z:-0.51 [[ 9.99994150e-01 2.23682084e-03 -2.58762046e-03 6.14952927e+00] [-2.19364748e-03 9.99860322e-01 1.65687953e-02 -3.78320908e-02] [ 2.62432045e-03 -1.65630220e-02 9.99859380e-01 -5.12230925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.348241008 meters Centerline goodness : 0.892587 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.04, Z:-0.51 [[ 9.99993382e-01 6.85605047e-04 -3.57283132e-03 6.15320039e+00] [-6.26142688e-04 9.99861723e-01 1.66175489e-02 -3.81738718e-02] [ 3.58373035e-03 -1.66152018e-02 9.99855536e-01 -5.11682577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.378241008 meters Centerline goodness : 0.894995 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.04, Z:-0.52 [[ 9.99998696e-01 1.61462813e-03 2.77770481e-05 6.17212607e+00] [-1.61481656e-03 9.99955499e-01 9.29470909e-03 -3.56919780e-02] [-1.27683133e-05 -9.29474182e-03 9.99956803e-01 -5.15546179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.408241008000005 meters Centerline goodness : 0.895721 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.04, Z:-0.51 [[ 9.99992315e-01 3.54746188e-03 -1.66876409e-03 6.17755286e+00] [-3.52181738e-03 9.99879376e-01 1.51271581e-02 -3.83951598e-02] [ 1.72222582e-03 -1.51211648e-02 9.99884185e-01 -5.11831368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.438241008 meters Centerline goodness : 0.896416 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.04, Z:-0.51 [[ 9.99992707e-01 3.02725745e-03 -2.32841573e-03 6.17927351e+00] [-2.99211551e-03 9.99883753e-01 1.49508743e-02 -3.78032871e-02] [ 2.37340520e-03 -1.49437984e-02 9.99885518e-01 -5.11474301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.468241008 meters Centerline goodness : 0.894569 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.04, Z:-0.51 [[ 9.99977287e-01 5.61366419e-03 -3.72986704e-03 6.18340496e+00] [-5.53634571e-03 9.99776035e-01 2.04261879e-02 -4.03565466e-02] [ 3.84369744e-03 -2.04050741e-02 9.99784406e-01 -5.08486546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.498241008 meters Centerline goodness : 0.897340 Centerline is valid? [False, False] Translation: X:6.19, Y:-0.04, Z:-0.51 [[ 9.99977778e-01 5.11471809e-03 -4.27583232e-03 6.18524402e+00] [-5.02885717e-03 9.99790209e-01 1.98557014e-02 -3.85942027e-02] [ 4.37649161e-03 -1.98337576e-02 9.99793713e-01 -5.09090917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.528241008 meters Centerline goodness : 0.895813 Centerline is valid? [False, False] Translation: X:6.19, Y:-0.04, Z:-0.51 [[ 9.99952932e-01 8.18092899e-03 -5.21601784e-03 6.18834806e+00] [-8.05531635e-03 9.99687499e-01 2.36646500e-02 -3.78591086e-02] [ 5.40798665e-03 -2.36215195e-02 9.99706346e-01 -5.08992835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.558241008 meters Centerline goodness : 0.894490 Centerline is valid? [False, False] Translation: X:6.19, Y:-0.03, Z:-0.51 [[ 9.99954111e-01 7.84342427e-03 -5.50062260e-03 6.18973888e+00] [-7.71869888e-03 9.99720616e-01 2.23407923e-02 -3.48842752e-02] [ 5.67431413e-03 -2.22973094e-02 9.99735281e-01 -5.11017905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.588241008000004 meters Centerline goodness : 0.894894 Centerline is valid? [False, False] Translation: X:6.19, Y:-0.04, Z:-0.51 [[ 0.99991697 0.01118032 -0.00640731 6.19234149] [-0.01100392 0.99957662 0.02693515 -0.03577188] [ 0.00670574 -0.02686241 0.99961665 -0.50966101] [ 0. 0. 0. 1. ]] SLAMing on 57.618241008 meters Centerline goodness : 0.896806 Centerline is valid? [False, False] Translation: X:6.19, Y:-0.03, Z:-0.51 [[ 0.99991696 0.01105692 -0.00662008 6.19303284] [-0.01088186 0.99960478 0.02592027 -0.03347853] [ 0.00690407 -0.02584608 0.99964209 -0.51089661] [ 0. 0. 0. 1. ]] SLAMing on 57.648241008 meters Centerline goodness : 0.896376 Centerline is valid? [False, False] Translation: X:6.21, Y:-0.03, Z:-0.52 [[ 9.99913997e-01 1.29570262e-02 -2.02829403e-03 6.20966340e+00] [-1.29218521e-02 9.99780564e-01 1.64878336e-02 -2.82619116e-02] [ 2.24148224e-03 -1.64602062e-02 9.99862009e-01 -5.18296929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.678241008 meters Centerline goodness : 0.898730 Centerline is valid? [False, False] Translation: X:6.21, Y:-0.03, Z:-0.52 [[ 9.99914995e-01 1.28411982e-02 -2.25991450e-03 6.21033357e+00] [-1.28033893e-02 9.99789741e-01 1.60170928e-02 -2.65874888e-02] [ 2.46511800e-03 -1.59867967e-02 9.99869164e-01 -5.18591661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.708241008 meters Centerline goodness : 0.899155 Centerline is valid? [False, False] Translation: X:6.21, Y:-0.03, Z:-0.52 [[ 9.99917823e-01 1.25328700e-02 -2.69696081e-03 6.21140934e+00] [-1.24893731e-02 9.99800589e-01 1.55819781e-02 -2.54946680e-02] [ 2.89170991e-03 -1.55470143e-02 9.99874956e-01 -5.18739954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.738241008 meters Centerline goodness : 0.897716 Centerline is valid? [False, False] Translation: X:6.21, Y:-0.02, Z:-0.52 [[ 9.99923319e-01 1.19775391e-02 -3.14559903e-03 6.21315735e+00] [-1.19298038e-02 9.99819611e-01 1.47792201e-02 -2.44419984e-02] [ 3.32205029e-03 -1.47405604e-02 9.99885833e-01 -5.19827649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.768241008000004 meters Centerline goodness : 0.897705 Centerline is valid? [False, False] Translation: X:6.22, Y:-0.02, Z:-0.52 [[ 9.99930166e-01 1.12087009e-02 -3.74532330e-03 6.21570902e+00] [-1.11550739e-02 9.99839139e-01 1.40449703e-02 -2.36002010e-02] [ 3.90214669e-03 -1.40022101e-02 9.99894350e-01 -5.21292968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.798241008 meters Centerline goodness : 0.895211 Centerline is valid? [False, False] Translation: X:6.22, Y:-0.03, Z:-0.52 [[ 9.99900994e-01 1.30437857e-02 -5.27848204e-03 6.22148989e+00] [-1.29352531e-02 9.99714334e-01 2.00980246e-02 -2.68637894e-02] [ 5.53912848e-03 -2.00277562e-02 9.99784080e-01 -5.17700842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.828241008 meters Centerline goodness : 0.895211 Centerline is valid? [False, False] Translation: X:6.22, Y:-0.03, Z:-0.52 [[ 9.99900693e-01 1.30757286e-02 -5.25631234e-03 6.22142285e+00] [-1.29679582e-02 9.99715089e-01 2.00392833e-02 -2.67357550e-02] [ 5.51684299e-03 -1.99691296e-02 9.99785376e-01 -5.17750387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.858241008 meters Centerline goodness : 0.894694 Centerline is valid? [False, False] Translation: X:6.22, Y:-0.02, Z:-0.52 [[ 9.99946225e-01 8.99817063e-03 -5.15559910e-03 6.22163622e+00] [-8.92057612e-03 9.99849480e-01 1.48808729e-02 -2.43895120e-02] [ 5.28872372e-03 -1.48340817e-02 9.99875982e-01 -5.19714286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.888241008 meters Centerline goodness : 0.899228 Centerline is valid? [False, False] Translation: X:6.22, Y:-0.03, Z:-0.52 [[ 9.99948733e-01 8.22406974e-03 -5.90733102e-03 6.22393436e+00] [-8.13437620e-03 9.99853650e-01 1.50502771e-02 -2.59255548e-02] [ 6.03024101e-03 -1.50014531e-02 9.99869288e-01 -5.19370037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.918241008 meters Centerline goodness : 0.897161 Centerline is valid? [False, False] Translation: X:6.23, Y:-0.03, Z:-0.52 [[ 9.99958485e-01 4.91033906e-03 -7.67576153e-03 6.23162687e+00] [-4.77803283e-03 9.99841319e-01 1.71612172e-02 -2.98552587e-02] [ 7.75881092e-03 -1.71238297e-02 9.99823272e-01 -5.15790362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.948241008000004 meters Centerline goodness : 0.900502 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.03, Z:-0.52 [[ 9.99954634e-01 3.81134941e-03 -8.72943476e-03 6.23507651e+00] [-3.65629372e-03 9.99836480e-01 1.77100043e-02 -3.17638989e-02] [ 8.79550634e-03 -1.76772835e-02 9.99805057e-01 -5.15064459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.978241008000005 meters Centerline goodness : 0.898853 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.03, Z:-0.51 [[ 9.99950067e-01 2.89210546e-03 -9.56550414e-03 6.23800596e+00] [-2.71931883e-03 9.99833794e-01 1.80274589e-02 -3.33575614e-02] [ 9.61605161e-03 -1.80005471e-02 9.99791734e-01 -5.14726851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.008241008 meters Centerline goodness : 0.900490 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.03, Z:-0.51 [[ 9.99944081e-01 1.85278768e-03 -1.04116592e-02 6.24114125e+00] [-1.66271326e-03 9.99832346e-01 1.82350161e-02 -3.45038196e-02] [ 1.04436992e-02 -1.82166848e-02 9.99779516e-01 -5.14584686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.038241008 meters Centerline goodness : 0.899323 Centerline is valid? [False, False] Translation: X:6.25, Y:-0.03, Z:-0.51 [[ 9.99927931e-01 4.20284381e-04 -1.19981393e-02 6.25215876e+00] [-1.49335017e-04 9.99745150e-01 2.25745853e-02 -3.45525271e-02] [ 1.20045693e-02 -2.25711666e-02 9.99673163e-01 -5.13591875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.068241008 meters Centerline goodness : 0.897777 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.04, Z:-0.50 [[ 9.99882441e-01 7.59496676e-05 -1.53329395e-02 6.23859950e+00] [ 4.97483200e-04 9.99300570e-01 3.73914774e-02 -3.83303223e-02] [ 1.53250551e-02 -3.73947096e-02 9.99183055e-01 -5.03329334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.098241008 meters Centerline goodness : 0.899592 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.03, Z:-0.51 [[ 9.99886222e-01 -3.30033835e-03 -1.47190408e-02 6.23714506e+00] [ 3.76562082e-03 9.99490460e-01 3.16960660e-02 -3.40033390e-02] [ 1.46069331e-02 -3.17478860e-02 9.99389168e-01 -5.05957832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.128241008 meters Centerline goodness : 0.901080 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.03, Z:-0.51 [[ 9.99884492e-01 -3.25990914e-03 -1.48450503e-02 6.23717272e+00] [ 3.73099027e-03 9.99486751e-01 3.18168885e-02 -3.35274504e-02] [ 1.47337109e-02 -3.18686002e-02 9.99383465e-01 -5.05123581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.158241008000005 meters Centerline goodness : 0.898115 Centerline is valid? [False, False] Translation: X:6.21, Y:-0.03, Z:-0.50 [[ 9.99926077e-01 -5.17878989e-03 -1.10009497e-02 6.21478984e+00] [ 5.59048349e-03 9.99272392e-01 3.77284212e-02 -3.16063834e-02] [ 1.07975578e-02 -3.77871328e-02 9.99227474e-01 -5.03323641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.188241008 meters Centerline goodness : 0.898755 Centerline is valid? [False, False] Translation: X:6.19, Y:-0.03, Z:-0.51 [[ 9.99942366e-01 -6.08627382e-03 -8.84431168e-03 6.18551926e+00] [ 6.41538824e-03 9.99269532e-01 3.76728590e-02 -2.84382925e-02] [ 8.60856386e-03 -3.77274275e-02 9.99250986e-01 -5.06358754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.218241008 meters Centerline goodness : 0.895287 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.02, Z:-0.51 [[ 9.99955824e-01 -5.99618750e-03 -7.23854264e-03 6.14986864e+00] [ 6.23282134e-03 9.99431834e-01 3.31234253e-02 -2.35701453e-02] [ 7.03581568e-03 -3.31670786e-02 9.99425056e-01 -5.11749276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.248241008 meters Centerline goodness : 0.896026 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.02, Z:-0.51 [[ 0.99995385 -0.00630963 -0.0072449 6.15044864] [ 0.00653761 0.99947008 0.03188773 -0.02062793] [ 0.00703986 -0.03193362 0.9994652 -0.51332369] [ 0. 0. 0. 1. ]] SLAMing on 58.278241008 meters Centerline goodness : 0.893116 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.02, Z:-0.51 [[ 9.99958103e-01 -5.92397770e-03 -6.97847103e-03 6.14970718e+00] [ 6.13470430e-03 9.99513721e-01 3.05726390e-02 -1.65250034e-02] [ 6.79396592e-03 -3.06141690e-02 9.99508186e-01 -5.14856760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.308241008 meters Centerline goodness : 0.894376 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.02, Z:-0.51 [[ 0.99994107 -0.00680723 -0.00845634 6.12681103] [ 0.00710889 0.99932038 0.03616957 -0.01600763] [ 0.00820438 -0.03622756 0.99930989 -0.51159541] [ 0. 0. 0. 1. ]] SLAMing on 58.338241008000004 meters Centerline goodness : 0.894144 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.01, Z:-0.51 [[ 0.99991854 -0.00986528 -0.00809866 6.12567778] [ 0.01010869 0.99948102 0.03058599 -0.01122597] [ 0.00779271 -0.03066537 0.99949933 -0.51426433] [ 0. 0. 0. 1. ]] SLAMing on 58.368241008 meters Centerline goodness : 0.896425 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.01, Z:-0.51 [[ 0.99991882 -0.00989282 -0.00803079 6.12560276] [ 0.01012792 0.99950508 0.02978277 -0.00786237] [ 0.00773218 -0.02986168 0.99952413 -0.51490355] [ 0. 0. 0. 1. ]] SLAMing on 58.398241008 meters Centerline goodness : 0.897569 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.01, Z:-0.51 [[ 0.99989072 -0.00993432 -0.01094826 6.10276824] [ 0.01031485 0.99932472 0.03526624 -0.00805389] [ 0.01059052 -0.03537531 0.99931798 -0.51223524] [ 0. 0. 0. 1. ]] SLAMing on 58.428241008 meters Centerline goodness : 0.892983 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.01, Z:-0.51 [[ 0.99988237 -0.01021605 -0.0114406 6.10505412] [ 0.01061555 0.99931611 0.03542072 -0.00789266] [ 0.01107092 -0.03553801 0.999307 -0.51399354] [ 0. 0. 0. 1. ]] SLAMing on 58.458241008 meters Centerline goodness : 0.890459 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.01, Z:-0.52 [[ 9.99859083e-01 -1.22792991e-02 -1.14469617e-02 6.07623477e+00] [ 1.26584723e-02 9.99353091e-01 3.36624750e-02 -5.21501498e-03] [ 1.10262050e-02 -3.38026324e-02 9.99367703e-01 -5.16467733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.488241008 meters Centerline goodness : 0.889086 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.01, Z:-0.52 [[ 9.99842751e-01 -1.37037977e-02 -1.12551688e-02 6.07717041e+00] [ 1.40652482e-02 9.99366603e-01 3.26888679e-02 -5.29307317e-03] [ 1.08000782e-02 -3.28420343e-02 9.99402201e-01 -5.18079525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.518241008000004 meters Centerline goodness : 0.890243 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.00, Z:-0.52 [[ 9.99796449e-01 -1.71344355e-02 -1.06523497e-02 6.07583102e+00] [ 1.74211462e-02 9.99471858e-01 2.74318868e-02 -1.22903219e-03] [ 1.01766939e-02 -2.76118791e-02 9.99566916e-01 -5.19986609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.548241008 meters Centerline goodness : 0.891942 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.00, Z:-0.52 [[ 9.99791219e-01 -1.62140124e-02 -1.24348232e-02 6.04639359e+00] [ 1.65996701e-02 9.99363845e-01 3.15651074e-02 -2.53351820e-03] [ 1.19151157e-02 -3.17649312e-02 9.99424344e-01 -5.16059036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.578241008 meters Centerline goodness : 0.888456 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.00, Z:-0.52 [[ 9.99798887e-01 -1.51729260e-02 -1.31136420e-02 6.04851535e+00] [ 1.55631599e-02 9.99423110e-01 3.01866596e-02 -2.44038221e-03] [ 1.26480570e-02 -3.03846783e-02 9.99458252e-01 -5.16587040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.608241008 meters Centerline goodness : 0.890469 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.00, Z:-0.52 [[ 9.99833546e-01 -1.03233295e-02 -1.50435988e-02 6.05337753e+00] [ 1.07526783e-02 9.99528954e-01 2.87445608e-02 -5.60839580e-04] [ 1.47397730e-02 -2.89015352e-02 9.99473582e-01 -5.17426358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.638241008 meters Centerline goodness : 0.887567 Centerline is valid? [False, False] Translation: X:6.03, Y:0.00, Z:-0.52 [[ 9.99859407e-01 -8.05122234e-03 -1.47086456e-02 6.02795027e+00] [ 8.56370541e-03 9.99346475e-01 3.51181720e-02 1.24492927e-03] [ 1.44162889e-02 -3.52391952e-02 9.99274922e-01 -5.16714639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.668241008 meters Centerline goodness : 0.886691 Centerline is valid? [False, False] Translation: X:6.03, Y:0.00, Z:-0.52 [[ 9.99853213e-01 1.26693780e-03 -1.70864944e-02 6.03396576e+00] [-6.27233820e-04 9.99300452e-01 3.73926770e-02 3.38934355e-03] [ 1.71219158e-02 -3.73764710e-02 9.99154562e-01 -5.18107159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.698241008000004 meters Centerline goodness : 0.888118 Centerline is valid? [False, False] Translation: X:6.05, Y:0.01, Z:-0.53 [[ 9.99904145e-01 4.24037703e-03 -1.31803157e-02 6.04830312e+00] [-3.88767762e-03 9.99636707e-01 2.66709515e-02 9.02959603e-03] [ 1.32886223e-02 -2.66171541e-02 9.99557372e-01 -5.25989203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.728241008000005 meters Centerline goodness : 0.888293 Centerline is valid? [False, False] Translation: X:6.06, Y:0.01, Z:-0.53 [[ 0.99993295 0.00687555 -0.00931776 6.0630302 ] [-0.00673292 0.99986099 0.01525324 0.01487962] [ 0.00942134 -0.01518948 0.99984025 -0.53488026] [ 0. 0. 0. 1. ]] SLAMing on 58.758241008 meters Centerline goodness : 0.887977 Centerline is valid? [False, False] Translation: X:6.06, Y:0.02, Z:-0.54 [[ 0.99993269 0.00693004 -0.00930556 6.06340451] [-0.00679851 0.99987759 0.01409205 0.01807332] [ 0.00940208 -0.01402784 0.9998574 -0.536578 ] [ 0. 0. 0. 1. ]] SLAMing on 58.788241008 meters Centerline goodness : 0.888082 Centerline is valid? [False, False] Translation: X:6.06, Y:0.02, Z:-0.54 [[ 0.99992933 0.0073677 -0.00932967 6.06345065] [-0.00724865 0.9998927 0.01273006 0.02223526] [ 0.00942246 -0.01266153 0.99987544 -0.5385908 ] [ 0. 0. 0. 1. ]] SLAMing on 58.818241008 meters Centerline goodness : 0.887433 Centerline is valid? [False, False] Translation: X:6.08, Y:0.03, Z:-0.54 [[ 9.99948776e-01 8.76422994e-03 -5.06298580e-03 6.08059302e+00] [-8.74425882e-03 9.99953954e-01 3.95329407e-03 2.58151448e-02] [ 5.09740025e-03 -3.90881951e-03 9.99979369e-01 -5.44796432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.848241008 meters Centerline goodness : 0.889348 Centerline is valid? [False, False] Translation: X:6.08, Y:0.02, Z:-0.54 [[ 0.99991384 0.01160206 -0.00613982 6.08402202] [-0.01154785 0.99989467 0.00879182 0.02303968] [ 0.00624118 -0.00872016 0.9999425 -0.54341855] [ 0. 0. 0. 1. ]] SLAMing on 58.878241008 meters Centerline goodness : 0.886375 Centerline is valid? [False, False] Translation: X:6.09, Y:0.02, Z:-0.54 [[ 0.99991599 0.01117516 -0.00656692 6.08557515] [-0.01111958 0.99990256 0.00843974 0.02330352] [ 0.00666059 -0.00836601 0.99994282 -0.54403998] [ 0. 0. 0. 1. ]] SLAMing on 58.908241008000005 meters Centerline goodness : 0.888131 Centerline is valid? [False, False] Translation: X:6.09, Y:0.02, Z:-0.54 [[ 0.99988048 0.01309529 -0.00821867 6.09108623] [-0.01297591 0.99981191 0.01441457 0.01941843] [ 0.00840588 -0.0143062 0.99986233 -0.54031726] [ 0. 0. 0. 1. ]] SLAMing on 58.938241008 meters Centerline goodness : 0.887825 Centerline is valid? [False, False] Translation: X:6.09, Y:0.02, Z:-0.54 [[ 0.99992466 0.00894508 -0.00840546 6.09207164] [-0.008863 0.99991316 0.00975252 0.01989347] [ 0.00849197 -0.00967729 0.99991711 -0.54182327] [ 0. 0. 0. 1. ]] SLAMing on 58.968241008 meters Centerline goodness : 0.887992 Centerline is valid? [False, False] Translation: X:6.09, Y:0.02, Z:-0.54 [[ 0.99992438 0.00836085 -0.00901837 6.09421711] [-0.00827132 0.99991659 0.00991961 0.01904827] [ 0.00910055 -0.00984426 0.99991013 -0.5418885 ] [ 0. 0. 0. 1. ]] SLAMing on 58.998241008 meters Centerline goodness : 0.885058 Centerline is valid? [False, False] Translation: X:6.10, Y:0.02, Z:-0.54 [[ 0.99992864 0.00717809 -0.0095497 6.09693012] [-0.0070845 0.9999269 0.00979832 0.01700469] [ 0.00961934 -0.00972997 0.99990639 -0.54250404] [ 0. 0. 0. 1. ]] SLAMing on 59.028241008 meters Centerline goodness : 0.886595 Centerline is valid? [False, False] Translation: X:6.10, Y:0.01, Z:-0.54 [[ 0.99992467 0.00692476 -0.01013453 6.09837884] [-0.00681511 0.9999183 0.01081383 0.01425195] [ 0.01020859 -0.01074395 0.99989017 -0.54115921] [ 0. 0. 0. 1. ]] SLAMing on 59.058241008 meters Centerline goodness : 0.882915 Centerline is valid? [False, False] Translation: X:6.10, Y:0.01, Z:-0.54 [[ 9.99921376e-01 6.21037531e-03 -1.08936776e-02 6.10100613e+00] [-6.08835169e-03 9.99918754e-01 1.11989500e-02 1.21100821e-02] [ 1.09623422e-02 -1.11317449e-02 9.99877948e-01 -5.41031046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.088241008000004 meters Centerline goodness : 0.888278 Centerline is valid? [False, False] Translation: X:6.10, Y:0.01, Z:-0.54 [[ 9.99917444e-01 5.39187359e-03 -1.16633028e-02 6.10397104e+00] [-5.26252930e-03 9.99924631e-01 1.10922573e-02 1.05008218e-02] [ 1.17222318e-02 -1.10299631e-02 9.99870456e-01 -5.41937069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.118241008 meters Centerline goodness : 0.885169 Centerline is valid? [False, False] Translation: X:6.11, Y:0.01, Z:-0.54 [[ 9.99901067e-01 4.27587904e-03 -1.34005077e-02 6.11432397e+00] [-4.06992369e-03 9.99873761e-01 1.53589862e-02 7.82745466e-03] [ 1.34644892e-02 -1.53029277e-02 9.99792242e-01 -5.41315157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.148241008 meters Centerline goodness : 0.884578 Centerline is valid? [False, False] Translation: X:6.12, Y:0.01, Z:-0.54 [[ 9.99896723e-01 3.96521917e-03 -1.38137893e-02 6.11591254e+00] [-3.75088997e-03 9.99872722e-01 1.55071063e-02 7.01997772e-03] [ 1.38735201e-02 -1.54536908e-02 9.99784331e-01 -5.41600888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.178241008 meters Centerline goodness : 0.885910 Centerline is valid? [False, False] Translation: X:6.13, Y:0.01, Z:-0.55 [[ 9.99944315e-01 4.47058646e-03 -9.55930782e-03 6.13303060e+00] [-4.40944285e-03 9.99969748e-01 6.40777610e-03 8.52714737e-03] [ 9.58766515e-03 -6.36526806e-03 9.99933778e-01 -5.46915091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.208241008 meters Centerline goodness : 0.886383 Centerline is valid? [False, False] Translation: X:6.14, Y:0.00, Z:-0.54 [[ 9.99921323e-01 5.79722058e-03 -1.11238336e-02 6.13943245e+00] [-5.64075667e-03 9.99885442e-01 1.40458400e-02 3.15843305e-03] [ 1.12039861e-02 -1.39819881e-02 9.99839474e-01 -5.40304129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.238241008 meters Centerline goodness : 0.888741 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.00, Z:-0.54 [[ 9.99918925e-01 4.90587091e-03 -1.17505565e-02 6.14197367e+00] [-4.73373036e-03 9.99881729e-01 1.46328487e-02 -7.67722600e-04] [ 1.18209536e-02 -1.45760384e-02 9.99823887e-01 -5.40020033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.268241008000004 meters Centerline goodness : 0.890620 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.00, Z:-0.54 [[ 9.99913504e-01 4.13338631e-03 -1.24859444e-02 6.14466758e+00] [-3.94919582e-03 9.99883552e-01 1.47406351e-02 -1.95972947e-03] [ 1.25454192e-02 -1.46900506e-02 9.99813390e-01 -5.40256325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.298241008 meters Centerline goodness : 0.889885 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.01, Z:-0.54 [[ 9.99888271e-01 4.47053081e-03 -1.42639445e-02 6.15314498e+00] [-4.16464634e-03 9.99762262e-01 2.14027028e-02 -5.80250382e-03] [ 1.43562349e-02 -2.13409072e-02 9.99669177e-01 -5.35414702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.328241008 meters Centerline goodness : 0.889007 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.01, Z:-0.54 [[ 9.99898719e-01 1.72189490e-04 -1.42310070e-02 6.15419088e+00] [ 7.18591176e-05 9.99852980e-01 1.71467849e-02 -6.41947946e-03] [ 1.42318672e-02 -1.71460709e-02 9.99751702e-01 -5.36854530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.358241008 meters Centerline goodness : 0.888855 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.01, Z:-0.54 [[ 9.99886061e-01 -7.61201480e-04 -1.50759751e-02 6.15737125e+00] [ 1.01717852e-03 9.99855333e-01 1.69787534e-02 -7.52083093e-03] [ 1.50608698e-02 -1.69921538e-02 9.99742185e-01 -5.37602956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.388241008 meters Centerline goodness : 0.892459 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.01, Z:-0.53 [[ 9.99868713e-01 1.12663060e-04 -1.62031973e-02 6.16392874e+00] [ 2.56913803e-04 9.99739899e-01 2.28049949e-02 -1.05595749e-02] [ 1.62015521e-02 -2.28061637e-02 9.99608618e-01 -5.34158768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.418241008 meters Centerline goodness : 0.895327 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.02, Z:-0.53 [[ 9.99853876e-01 -8.64962673e-04 -1.70727612e-02 6.16710352e+00] [ 1.27948938e-03 9.99704281e-01 2.42840351e-02 -1.56174561e-02] [ 1.70467076e-02 -2.43023310e-02 9.99559306e-01 -5.32315948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.448241008000004 meters Centerline goodness : 0.896838 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.01, Z:-0.54 [[ 9.99916796e-01 -1.02734869e-03 -1.28587010e-02 6.18297715e+00] [ 1.20024384e-03 9.99908888e-01 1.34452845e-02 -1.42914087e-02] [ 1.28437164e-02 -1.34595994e-02 9.99826924e-01 -5.38089067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.478241008000005 meters Centerline goodness : 0.895256 Centerline is valid? [False, False] Translation: X:6.19, Y:-0.02, Z:-0.53 [[ 9.99903528e-01 1.76536767e-03 -1.37774656e-02 6.18602110e+00] [-1.47934496e-03 9.99783750e-01 2.07428328e-02 -1.94991746e-02] [ 1.38111049e-02 -2.07204501e-02 9.99689910e-01 -5.32151488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.508241008 meters Centerline goodness : 0.896732 Centerline is valid? [False, False] Translation: X:6.19, Y:-0.02, Z:-0.53 [[ 9.99903155e-01 1.83692612e-03 -1.37951199e-02 6.18619399e+00] [-1.54314833e-03 9.99772443e-01 2.12763087e-02 -1.96341546e-02] [ 1.38310638e-02 -2.12529603e-02 9.99678455e-01 -5.31227303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.538241008 meters Centerline goodness : 0.896533 Centerline is valid? [False, False] Translation: X:6.19, Y:-0.02, Z:-0.53 [[ 9.99885842e-01 5.14876191e-03 -1.42054013e-02 6.18823484e+00] [-4.76821516e-03 9.99632282e-01 2.66939156e-02 -2.20801085e-02] [ 1.43376183e-02 -2.66231339e-02 9.99542716e-01 -5.28992057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.568241008 meters Centerline goodness : 0.896173 Centerline is valid? [False, False] Translation: X:6.19, Y:-0.02, Z:-0.53 [[ 9.99887080e-01 5.87505463e-03 -1.38314952e-02 6.18763748e+00] [-5.51071744e-03 9.99640654e-01 2.62334823e-02 -2.16883715e-02] [ 1.39806480e-02 -2.61542985e-02 9.99560150e-01 -5.30882717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.598241008 meters Centerline goodness : 0.895390 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.02, Z:-0.54 [[ 0.99992655 0.00750735 -0.00951462 6.20257307] [-0.00736585 0.99986304 0.01482075 -0.0177499 ] [ 0.00962458 -0.01474958 0.9998449 -0.5394104 ] [ 0. 0. 0. 1. ]] SLAMing on 59.628241008 meters Centerline goodness : 0.895173 Centerline is valid? [False, False] Translation: X:6.22, Y:-0.02, Z:-0.55 [[ 9.99936089e-01 1.04587995e-02 -4.29317113e-03 6.21678923e+00] [-1.04299028e-02 9.99923168e-01 6.69895081e-03 -1.52982531e-02] [ 4.36290426e-03 -6.65374532e-03 9.99968346e-01 -5.45171879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.658241008000005 meters Centerline goodness : 0.895111 Centerline is valid? [False, False] Translation: X:6.22, Y:-0.02, Z:-0.54 [[ 9.99929611e-01 1.11584551e-02 -4.03248965e-03 6.21551021e+00] [-1.11300976e-02 9.99913644e-01 6.98756570e-03 -1.50680892e-02] [ 4.11011186e-03 -6.94219185e-03 9.99967456e-01 -5.44539987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.688241008 meters Centerline goodness : 0.896470 Centerline is valid? [False, False] Translation: X:6.21, Y:-0.02, Z:-0.54 [[ 9.99908157e-01 1.31064726e-02 -3.44919563e-03 6.21219611e+00] [-1.30793396e-02 9.99884235e-01 7.77485777e-03 -1.57729911e-02] [ 3.55069729e-03 -7.72903050e-03 9.99963827e-01 -5.43296757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.718241008 meters Centerline goodness : 0.896470 Centerline is valid? [False, False] Translation: X:6.21, Y:-0.02, Z:-0.54 [[ 9.99908157e-01 1.31064726e-02 -3.44919563e-03 6.21219611e+00] [-1.30793396e-02 9.99884235e-01 7.77485777e-03 -1.57729911e-02] [ 3.55069729e-03 -7.72903050e-03 9.99963827e-01 -5.43296757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.748241008 meters Centerline goodness : 0.895550 Centerline is valid? [False, False] Translation: X:6.21, Y:-0.01, Z:-0.54 [[ 9.99905450e-01 1.33147261e-02 -3.43658614e-03 6.21246406e+00] [-1.32897825e-02 9.99885895e-01 7.18180053e-03 -1.44099749e-02] [ 3.53181772e-03 -7.13545001e-03 9.99968305e-01 -5.44577654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.778241008 meters Centerline goodness : 0.895272 Centerline is valid? [False, False] Translation: X:6.21, Y:-0.01, Z:-0.55 [[ 9.99903518e-01 1.34298539e-02 -3.54871501e-03 6.21322203e+00] [-1.34073278e-02 9.99890289e-01 6.29702528e-03 -1.24096766e-02] [ 3.63289381e-03 -6.24883894e-03 9.99973877e-01 -5.46379856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.808241008 meters Centerline goodness : 0.894238 Centerline is valid? [False, False] Translation: X:6.21, Y:-0.01, Z:-0.55 [[ 9.99888374e-01 1.45374419e-02 -3.44984976e-03 6.21208338e+00] [-1.45150561e-02 9.99873992e-01 6.42758916e-03 -1.29670710e-02] [ 3.54285576e-03 -6.37679692e-03 9.99973392e-01 -5.46626155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.838241008000004 meters Centerline goodness : 0.893341 Centerline is valid? [False, False] Translation: X:6.21, Y:-0.02, Z:-0.55 [[ 9.99892269e-01 1.40579836e-02 -4.22186079e-03 6.21404479e+00] [-1.40268893e-02 9.99874923e-01 7.30650049e-03 -1.59605612e-02] [ 4.32404740e-03 -7.24649378e-03 9.99964395e-01 -5.45208410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.868241008 meters Centerline goodness : 0.894713 Centerline is valid? [False, False] Translation: X:6.22, Y:-0.02, Z:-0.54 [[ 9.99897863e-01 1.34347094e-02 -4.87576729e-03 6.21614841e+00] [-1.33971433e-02 9.99880935e-01 7.65721959e-03 -1.73464720e-02] [ 4.97805928e-03 -7.59111615e-03 9.99958796e-01 -5.44747200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.898241008 meters Centerline goodness : 0.894947 Centerline is valid? [False, False] Translation: X:6.22, Y:-0.02, Z:-0.55 [[ 9.99905552e-01 1.26403665e-02 -5.39520723e-03 6.21866961e+00] [-1.26019564e-02 9.99895421e-01 7.09489678e-03 -1.72923283e-02] [ 5.48432510e-03 -7.02623652e-03 9.99960276e-01 -5.46282022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.928241008 meters Centerline goodness : 0.894074 Centerline is valid? [False, False] Translation: X:6.22, Y:-0.02, Z:-0.55 [[ 0.99991473 0.01147583 -0.00623202 6.22242116] [-0.0114357 0.99991389 0.00643675 -0.01721959] [ 0.00630535 -0.00636494 0.99995986 -0.54814771] [ 0. 0. 0. 1. ]] SLAMing on 59.958241008 meters Centerline goodness : 0.895795 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.02, Z:-0.55 [[ 0.99993383 0.00815035 -0.00811788 6.23652098] [-0.00808003 0.99992987 0.00865839 -0.0186 ] [ 0.00818788 -0.00859223 0.99992956 -0.55046524] [ 0. 0. 0. 1. ]] SLAMing on 59.988241008 meters Centerline goodness : 0.892070 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.02, Z:-0.55 [[ 0.99993529 0.00706021 -0.00891964 6.24005836] [-0.00698775 0.99994255 0.00812805 -0.01906143] [ 0.00897651 -0.0080652 0.99992718 -0.55207101] [ 0. 0. 0. 1. ]] SLAMing on 60.018241008000004 meters Centerline goodness : 0.891310 Centerline is valid? [False, False] Translation: X:6.25, Y:-0.02, Z:-0.55 [[ 0.99991418 0.00749112 -0.01074762 6.24817334] [-0.00734399 0.99987967 0.01366404 -0.02300193] [ 0.01084869 -0.01358394 0.99984888 -0.54895845] [ 0. 0. 0. 1. ]] SLAMing on 60.048241008000005 meters Centerline goodness : 0.890961 Centerline is valid? [False, False] Translation: X:6.25, Y:-0.02, Z:-0.55 [[ 0.99990996 0.00663705 -0.01166301 6.25119279] [-0.00647668 0.99988469 0.01373525 -0.02496655] [ 0.01175283 -0.01365848 0.99983765 -0.54910578] [ 0. 0. 0. 1. ]] SLAMing on 60.078241008 meters Centerline goodness : 0.894262 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.03, Z:-0.55 [[ 9.99902646e-01 5.27532907e-03 -1.29177564e-02 6.25506633e+00] [-5.07344307e-03 9.99865257e-01 1.56117746e-02 -3.07104828e-02] [ 1.29983731e-02 -1.55447172e-02 9.99794681e-01 -5.45857812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.108241008 meters Centerline goodness : 0.892869 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.03, Z:-0.55 [[ 9.99916904e-01 1.11777592e-03 -1.28427504e-02 6.25545601e+00] [-9.81622432e-04 9.99943305e-01 1.06030001e-02 -2.94739532e-02] [ 1.28538741e-02 -1.05895123e-02 9.99861310e-01 -5.47794143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.138241008 meters Centerline goodness : 0.891847 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.03, Z:-0.55 [[ 9.99905551e-01 1.33638623e-04 -1.37430785e-02 6.25849801e+00] [ 1.78557677e-05 9.99939249e-01 1.10226093e-02 -3.10790441e-02] [ 1.37437167e-02 -1.10218137e-02 9.99844803e-01 -5.47245506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.168241008 meters Centerline goodness : 0.891074 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.03, Z:-0.54 [[ 9.99882494e-01 2.45936767e-04 -1.53276801e-02 6.26753426e+00] [ 3.24439886e-05 9.99835110e-01 1.81590684e-02 -3.46248848e-02] [ 1.53296187e-02 -1.81574319e-02 9.99717615e-01 -5.41706799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.198241008000004 meters Centerline goodness : 0.886731 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.03, Z:-0.54 [[ 9.99871725e-01 -1.02343583e-03 -1.59839073e-02 6.27093550e+00] [ 1.29161847e-03 9.99858422e-01 1.67769905e-02 -3.18945915e-02] [ 1.59644741e-02 -1.67954835e-02 9.99731488e-01 -5.44081341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.228241008000005 meters Centerline goodness : 0.886267 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.03, Z:-0.54 [[ 9.99848664e-01 1.75976796e-03 -1.73075890e-02 6.27500368e+00] [-1.38400621e-03 9.99763594e-01 2.16988731e-02 -3.32382167e-02] [ 1.73416824e-02 -2.16716355e-02 9.99614729e-01 -5.42134968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.258241008 meters Centerline goodness : 0.885947 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.03, Z:-0.54 [[ 9.99855260e-01 -1.16886915e-03 -1.69732888e-02 6.27292137e+00] [ 1.44737645e-03 9.99864372e-01 1.64055623e-02 -2.91586831e-02] [ 1.69518107e-02 -1.64277545e-02 9.99721344e-01 -5.43623583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.288241008 meters Centerline goodness : 0.884987 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.03, Z:-0.54 [[ 9.99828010e-01 8.44550393e-04 -1.85266565e-02 6.27806240e+00] [-4.08859294e-04 9.99723561e-01 2.35081787e-02 -3.28988531e-02] [ 1.85413888e-02 -2.34965608e-02 9.99551964e-01 -5.37094324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.318241008 meters Centerline goodness : 0.884202 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.04, Z:-0.53 [[ 9.99792464e-01 2.55244401e-03 -2.02117278e-02 6.28395617e+00] [-1.95258379e-03 9.99558639e-01 2.96431315e-02 -3.58671950e-02] [ 2.02784696e-02 -2.95975144e-02 9.99356178e-01 -5.32378530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.348241008 meters Centerline goodness : 0.883028 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.03, Z:-0.54 [[ 9.99865497e-01 1.97979112e-03 -1.62809322e-02 6.29846095e+00] [-1.74648314e-03 9.99895768e-01 1.43318900e-02 -2.99558004e-02] [ 1.63076094e-02 -1.43015280e-02 9.99764736e-01 -5.43098196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.378241008 meters Centerline goodness : 0.883050 Centerline is valid? [False, False] Translation: X:6.31, Y:-0.03, Z:-0.54 [[ 9.99841518e-01 1.89053660e-03 -1.77021383e-02 6.31362042e+00] [-1.46835254e-03 9.99714899e-01 2.38320230e-02 -3.12891321e-02] [ 1.77421467e-02 -2.38022531e-02 9.99559237e-01 -5.39028164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.408241008000005 meters Centerline goodness : 0.882423 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.03, Z:-0.54 [[ 9.99806472e-01 4.19214558e-03 -1.92209488e-02 6.31895111e+00] [-3.64710431e-03 9.99592694e-01 2.83045129e-02 -3.21178555e-02] [ 1.93317767e-02 -2.82289344e-02 9.99414533e-01 -5.38018130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.438241008 meters Centerline goodness : 0.881625 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.03, Z:-0.55 [[ 9.99879295e-01 4.74512028e-03 -1.47945911e-02 6.33521812e+00] [-4.50319063e-03 9.99856300e-01 1.63432252e-02 -2.67572377e-02] [ 1.48700157e-02 -1.62746297e-02 9.99756980e-01 -5.47500953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.468241008 meters Centerline goodness : 0.879212 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.03, Z:-0.54 [[ 0.99984226 0.00705463 -0.01629965 6.34029858] [-0.00669657 0.99973732 0.02191896 -0.02827952] [ 0.01645 -0.02180635 0.99962687 -0.5440228 ] [ 0. 0. 0. 1. ]] SLAMing on 60.498241008 meters Centerline goodness : 0.876329 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.03, Z:-0.54 [[ 0.99980232 0.00951369 -0.01745865 6.34446092] [-0.00902285 0.99956773 0.02798102 -0.03033456] [ 0.0177173 -0.02781796 0.99945598 -0.53964925] [ 0. 0. 0. 1. ]] SLAMing on 60.528241008 meters Centerline goodness : 0.874975 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.03, Z:-0.54 [[ 0.99983219 0.0069074 -0.01696689 6.34148034] [-0.00651544 0.99971311 0.02304896 -0.02654342] [ 0.01712123 -0.02293455 0.99959035 -0.54032924] [ 0. 0. 0. 1. ]] SLAMing on 60.558241008 meters Centerline goodness : 0.873393 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.03, Z:-0.54 [[ 0.99982674 0.0069854 -0.01725377 6.34131393] [-0.00657184 0.99969249 0.02391081 -0.02716273] [ 0.01741549 -0.02379328 0.9995652 -0.53782921] [ 0. 0. 0. 1. ]] SLAMing on 60.588241008000004 meters Centerline goodness : 0.877654 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.02, Z:-0.54 [[ 0.99990926 0.0072871 -0.01133043 6.35460826] [-0.00713518 0.99988487 0.01339134 -0.02333958] [ 0.01142671 -0.01330928 0.99984613 -0.54275495] [ 0. 0. 0. 1. ]] SLAMing on 60.618241008 meters Centerline goodness : 0.876729 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.02, Z:-0.54 [[ 0.99990989 0.00676225 -0.01159702 6.35592457] [-0.00661264 0.99989504 0.01289088 -0.02177068] [ 0.01168298 -0.01281303 0.99984966 -0.54337196] [ 0. 0. 0. 1. ]] SLAMing on 60.648241008 meters Centerline goodness : 0.874395 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.02, Z:-0.55 [[ 9.99911040e-01 5.92421342e-03 -1.19505577e-02 6.35800227e+00] [-5.78406408e-03 9.99914494e-01 1.17281001e-02 -1.96821071e-02] [ 1.20190156e-02 -1.16579340e-02 9.99859808e-01 -5.45342160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.678241008 meters Centerline goodness : 0.873795 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.02, Z:-0.55 [[ 9.99909138e-01 4.86870492e-03 -1.25702797e-02 6.36110126e+00] [-4.73606202e-03 9.99933022e-01 1.05603957e-02 -1.78302847e-02] [ 1.26208532e-02 -1.04999026e-02 9.99865224e-01 -5.47615231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.708241008 meters Centerline goodness : 0.870239 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.02, Z:-0.55 [[ 9.99904852e-01 3.70623450e-03 -1.32872539e-02 6.36438973e+00] [-3.58367456e-03 9.99950927e-01 9.23584701e-03 -1.57257027e-02] [ 1.33208321e-02 -9.18735104e-03 9.99869065e-01 -5.49911935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.738241008 meters Centerline goodness : 0.865802 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.02, Z:-0.55 [[ 9.99877010e-01 4.12884617e-03 -1.51300454e-02 6.37295375e+00] [-3.90530567e-03 9.99883225e-01 1.47744877e-02 -1.75019243e-02] [ 1.51892802e-02 -1.47135831e-02 9.99776373e-01 -5.46601767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.768241008000004 meters Centerline goodness : 0.867206 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.02, Z:-0.55 [[ 9.99869337e-01 3.59807218e-03 -1.57595535e-02 6.37469676e+00] [-3.36943236e-03 9.99889038e-01 1.45106166e-02 -1.75801192e-02] [ 1.58100150e-02 -1.44556198e-02 9.99770513e-01 -5.46647840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.798241008000005 meters Centerline goodness : 0.864536 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.02, Z:-0.54 [[ 9.99838029e-01 5.14502504e-03 -1.72465838e-02 6.38019589e+00] [-4.80250740e-03 9.99791575e-01 1.98429536e-02 -2.06681808e-02] [ 1.73450817e-02 -1.97569127e-02 9.99654347e-01 -5.43248789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.828241008 meters Centerline goodness : 0.864980 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.02, Z:-0.55 [[ 9.99907668e-01 4.68980317e-03 -1.27538524e-02 6.39647076e+00] [-4.58646754e-03 9.99956518e-01 8.11952165e-03 -1.70426457e-02] [ 1.27913768e-02 -8.06027683e-03 9.99885700e-01 -5.50495707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.858241008 meters Centerline goodness : 0.859987 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.02, Z:-0.54 [[ 9.99910070e-01 3.41838584e-03 -1.29678713e-02 6.41319173e+00] [-3.16159494e-03 9.99799533e-01 1.97711667e-02 -1.97570574e-02] [ 1.30328572e-02 -1.97283895e-02 9.99720429e-01 -5.43117417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.888241008 meters Centerline goodness : 0.854247 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.02, Z:-0.54 [[ 9.99881686e-01 5.97426164e-03 -1.41747042e-02 6.41746002e+00] [-5.62099949e-03 9.99675828e-01 2.48322995e-02 -2.11876067e-02] [ 1.43184638e-02 -2.47496855e-02 9.99591134e-01 -5.41030002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.918241008 meters Centerline goodness : 0.852664 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.02, Z:-0.55 [[ 9.99896471e-01 2.55761400e-03 -1.41600075e-02 6.41743142e+00] [-2.29489637e-03 9.99825509e-01 1.85387569e-02 -1.53007880e-02] [ 1.42049517e-02 -1.85043418e-02 9.99727867e-01 -5.45081153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.948241008000004 meters Centerline goodness : 0.852256 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.01, Z:-0.55 [[ 9.99945540e-01 3.77320567e-03 -9.73031554e-03 6.43411472e+00] [-3.68793517e-03 9.99954773e-01 8.76648782e-03 -1.07825381e-02] [ 9.76295323e-03 -8.73012563e-03 9.99914231e-01 -5.52069427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.978241008000005 meters Centerline goodness : 0.848131 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.01, Z:-0.56 [[ 9.99959476e-01 6.76830191e-03 -5.93601703e-03 6.45176477e+00] [-6.76164907e-03 9.99976490e-01 1.14011138e-03 -7.02275374e-03] [ 5.94359409e-03 -1.09992792e-03 9.99981732e-01 -5.58034030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.008241008 meters Centerline goodness : 0.846421 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.01, Z:-0.56 [[ 9.99958241e-01 6.64220193e-03 -6.27669182e-03 6.45270915e+00] [-6.63932892e-03 9.99977845e-01 4.78451880e-04 -5.39267911e-03] [ 6.27973074e-03 -4.36758879e-04 9.99980187e-01 -5.58842316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.038241008 meters Centerline goodness : 0.843915 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.01, Z:-0.56 [[ 9.99923699e-01 1.00246653e-02 -7.21813348e-03 6.45517972e+00] [-9.98482457e-03 9.99934834e-01 5.53457580e-03 -7.39356088e-03] [ 7.27314537e-03 -5.46208171e-03 9.99958633e-01 -5.56842116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.068241008 meters Centerline goodness : 0.841451 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.01, Z:-0.56 [[ 9.99923544e-01 9.88343015e-03 -7.43128040e-03 6.45584236e+00] [-9.84893649e-03 9.99940621e-01 4.66404179e-03 -5.10954031e-03] [ 7.47693586e-03 -4.59049499e-03 9.99961511e-01 -5.57854900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.098241008 meters Centerline goodness : 0.841567 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.01, Z:-0.56 [[ 9.99874944e-01 1.35026668e-02 -8.23248214e-03 6.45777264e+00] [-1.34254464e-02 9.99866026e-01 9.36416991e-03 -6.21489746e-03] [ 8.35782047e-03 -9.25247412e-03 9.99922266e-01 -5.56094683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.128241008 meters Centerline goodness : 0.841194 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.01, Z:-0.56 [[ 9.99873661e-01 1.34387458e-02 -8.48896958e-03 6.45849996e+00] [-1.33627936e-02 9.99870735e-01 8.94140876e-03 -5.36175843e-03] [ 8.60803357e-03 -8.82684276e-03 9.99923991e-01 -5.56687461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.158241008000005 meters Centerline goodness : 0.838571 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.00, Z:-0.56 [[ 9.99873293e-01 1.33544584e-02 -8.66355997e-03 6.45915966e+00] [-1.32826663e-02 9.99877400e-01 8.29195573e-03 -4.10870238e-03] [ 8.77323239e-03 -8.17582990e-03 9.99928091e-01 -5.57675988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.188241008 meters Centerline goodness : 0.835931 Centerline is valid? [False, False] Translation: X:6.46, Y:0.00, Z:-0.56 [[ 9.99862963e-01 1.42899352e-02 -8.35785435e-03 6.45797953e+00] [-1.42293963e-02 9.99872411e-01 7.25851204e-03 5.26169074e-04] [ 8.46051164e-03 -7.13859013e-03 9.99938728e-01 -5.59236187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.218241008 meters Centerline goodness : 0.834967 Centerline is valid? [False, False] Translation: X:6.46, Y:0.00, Z:-0.56 [[ 9.99858736e-01 1.46322338e-02 -8.27075798e-03 6.45769471e+00] [-1.45790851e-02 9.99872914e-01 6.45027229e-03 3.30332302e-03] [ 8.36408878e-03 -6.32878101e-03 9.99944993e-01 -5.60323889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.248241008 meters Centerline goodness : 0.832556 Centerline is valid? [False, False] Translation: X:6.46, Y:0.01, Z:-0.56 [[ 9.99854811e-01 1.48964509e-02 -8.27363731e-03 6.45764226e+00] [-1.48500191e-02 9.99873795e-01 5.64538513e-03 5.80894011e-03] [ 8.35668934e-03 -5.52170180e-03 9.99949837e-01 -5.61398768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.278241008 meters Centerline goodness : 0.833333 Centerline is valid? [False, False] Translation: X:6.46, Y:0.01, Z:-0.56 [[ 9.99849116e-01 1.51690595e-02 -8.46431353e-03 6.45792504e+00] [-1.51277158e-02 9.99873429e-01 4.92729544e-03 7.90407042e-03] [ 8.53798463e-03 -4.79850627e-03 9.99952037e-01 -5.62326994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.308241008 meters Centerline goodness : 0.829467 Centerline is valid? [False, False] Translation: X:6.46, Y:0.01, Z:-0.56 [[ 9.99826053e-01 1.65380859e-02 -8.62294788e-03 6.45702862e+00] [-1.65008916e-02 9.99854315e-01 4.36685991e-03 1.01407946e-02] [ 8.69391115e-03 -4.22381398e-03 9.99953287e-01 -5.63203309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.338241008000004 meters Centerline goodness : 0.829221 Centerline is valid? [False, False] Translation: X:6.46, Y:0.01, Z:-0.56 [[ 9.99820914e-01 1.67794952e-02 -8.75151358e-03 6.45734033e+00] [-1.67460909e-02 9.99852260e-01 3.87638854e-03 1.12840500e-02] [ 8.81526448e-03 -3.72914069e-03 9.99954191e-01 -5.64106005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.368241008 meters Centerline goodness : 0.830652 Centerline is valid? [False, False] Translation: X:6.46, Y:0.01, Z:-0.57 [[ 9.99816139e-01 1.70815823e-02 -8.71248226e-03 6.45725604e+00] [-1.70528446e-02 9.99848937e-01 3.36214790e-03 1.24669074e-02] [ 8.76859693e-03 -3.21295713e-03 9.99956393e-01 -5.65084336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.398241008 meters Centerline goodness : 0.827774 Centerline is valid? [False, False] Translation: X:6.46, Y:0.01, Z:-0.57 [[ 9.99812627e-01 1.72963681e-02 -8.69169764e-03 6.45726878e+00] [-1.72722898e-02 9.99846796e-01 2.83773931e-03 1.40766207e-02] [ 8.73944862e-03 -2.68708207e-03 9.99958200e-01 -5.65946330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.428241008 meters Centerline goodness : 0.824359 Centerline is valid? [False, False] Translation: X:6.46, Y:0.02, Z:-0.57 [[ 9.99804076e-01 1.77723632e-02 -8.71512826e-03 6.45724670e+00] [-1.77526830e-02 9.99839693e-01 2.33035405e-03 1.59099228e-02] [ 8.75514706e-03 -2.17518056e-03 9.99959307e-01 -5.67026720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.458241008 meters Centerline goodness : 0.826398 Centerline is valid? [False, False] Translation: X:6.46, Y:0.02, Z:-0.57 [[ 9.99803875e-01 1.77129945e-02 -8.85784528e-03 6.45787001e+00] [-1.76961995e-02 9.99841468e-01 1.97086009e-03 1.63164598e-02] [ 8.89135086e-03 -1.81372336e-03 9.99958826e-01 -5.67807639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.488241008 meters Centerline goodness : 0.826337 Centerline is valid? [False, False] Translation: X:6.46, Y:0.02, Z:-0.57 [[ 9.99805895e-01 1.74388342e-02 -9.16844499e-03 6.45906236e+00] [-1.74252861e-02 9.99846958e-01 1.55551460e-03 1.67620586e-02] [ 9.19416819e-03 -1.39544989e-03 9.99956759e-01 -5.68611329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.518241008000004 meters Centerline goodness : 0.825754 Centerline is valid? [False, False] Translation: X:6.46, Y:0.01, Z:-0.57 [[ 9.99806091e-01 1.72972941e-02 -9.41195663e-03 6.45950862e+00] [-1.72784388e-02 9.99848551e-01 2.08097713e-03 1.48020298e-02] [ 9.44652647e-03 -1.91794969e-03 9.99953541e-01 -5.67761054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.548241008000005 meters Centerline goodness : 0.825856 Centerline is valid? [False, False] Translation: X:6.46, Y:0.01, Z:-0.57 [[ 9.99807562e-01 1.68450071e-02 -1.00541296e-02 6.46112243e+00] [-1.68203337e-02 9.99855318e-01 2.53359388e-03 1.27254110e-02] [ 1.00953533e-02 -2.36399250e-03 9.99946246e-01 -5.67031093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.578241008 meters Centerline goodness : 0.825271 Centerline is valid? [False, False] Translation: X:6.46, Y:0.01, Z:-0.57 [[ 9.99810854e-01 1.61342963e-02 -1.08600942e-02 6.46351881e+00] [-1.61053457e-02 9.99866524e-01 2.74798119e-03 1.07809793e-02] [ 1.09029813e-02 -2.57255585e-03 9.99937252e-01 -5.66834260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.608241008 meters Centerline goodness : 0.825584 Centerline is valid? [False, False] Translation: X:6.46, Y:0.01, Z:-0.57 [[ 9.99871954e-01 1.18691725e-02 -1.07330613e-02 6.46438732e+00] [-1.18943483e-02 9.99926649e-01 -2.28483989e-03 1.23961770e-02] [ 1.07051548e-02 2.41221009e-03 9.99939789e-01 -5.69589910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.638241008 meters Centerline goodness : 0.825828 Centerline is valid? [False, False] Translation: X:6.47, Y:0.01, Z:-0.57 [[ 9.99873306e-01 1.10967594e-02 -1.14119688e-02 6.46693955e+00] [-1.11256092e-02 9.99935064e-01 -2.46765477e-03 1.20005308e-02] [ 1.13838448e-02 2.59430724e-03 9.99931837e-01 -5.70295879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.668241008 meters Centerline goodness : 0.825828 Centerline is valid? [False, False] Translation: X:6.47, Y:0.01, Z:-0.57 [[ 9.99873306e-01 1.10967594e-02 -1.14119688e-02 6.46693955e+00] [-1.11256092e-02 9.99935064e-01 -2.46765477e-03 1.20005308e-02] [ 1.13838448e-02 2.59430724e-03 9.99931837e-01 -5.70295879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.698241008000004 meters Centerline goodness : 0.825034 Centerline is valid? [False, False] Translation: X:6.47, Y:0.01, Z:-0.57 [[ 9.99872396e-01 1.07620347e-02 -1.18054947e-02 6.46840806e+00] [-1.07911726e-02 9.99938876e-01 -2.40724441e-03 1.09541158e-02] [ 1.17788662e-02 2.53433237e-03 9.99927415e-01 -5.70712183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.728241008000005 meters Centerline goodness : 0.823329 Centerline is valid? [False, False] Translation: X:6.47, Y:0.01, Z:-0.57 [[ 9.99869907e-01 1.02696270e-02 -1.24380193e-02 6.47037967e+00] [-1.02991570e-02 9.99944288e-01 -2.31244841e-03 1.00704033e-02] [ 1.24135784e-02 2.44024869e-03 9.99919971e-01 -5.70760930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.758241008 meters Centerline goodness : 0.824768 Centerline is valid? [False, False] Translation: X:6.47, Y:0.01, Z:-0.57 [[ 9.99867980e-01 9.91877610e-03 -1.28701589e-02 6.47172032e+00] [-9.94742074e-03 9.99948183e-01 -2.16355843e-03 9.79938644e-03] [ 1.28480322e-02 2.29129768e-03 9.99914835e-01 -5.70600331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.788241008 meters Centerline goodness : 0.826905 Centerline is valid? [False, False] Translation: X:6.47, Y:0.01, Z:-0.57 [[ 9.99867454e-01 9.64095636e-03 -1.31196653e-02 6.47242406e+00] [-9.66247498e-03 9.99952072e-01 -1.57778130e-03 9.27375789e-03] [ 1.31038252e-02 1.70434061e-03 9.99912689e-01 -5.69492245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.818241008 meters Centerline goodness : 0.827684 Centerline is valid? [False, False] Translation: X:6.47, Y:0.01, Z:-0.57 [[ 9.99865142e-01 9.29690013e-03 -1.35375483e-02 6.47357513e+00] [-9.31638562e-03 9.99955653e-01 -1.37701318e-03 9.09144182e-03] [ 1.35241460e-02 1.50294850e-03 9.99907415e-01 -5.69038821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.848241008 meters Centerline goodness : 0.828698 Centerline is valid? [False, False] Translation: X:6.47, Y:0.01, Z:-0.57 [[ 9.99861608e-01 9.02778326e-03 -1.39736555e-02 6.47466803e+00] [-9.04512317e-03 9.99958398e-01 -1.17819721e-03 8.96154386e-03] [ 1.39624376e-02 1.30442759e-03 9.99901670e-01 -5.68513427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.878241008 meters Centerline goodness : 0.827936 Centerline is valid? [False, False] Translation: X:6.48, Y:0.01, Z:-0.57 [[ 9.99859595e-01 8.10265141e-03 -1.46675633e-02 6.47716266e+00] [-8.12623790e-03 9.99965782e-01 -1.54918590e-03 9.97056175e-03] [ 1.46545089e-02 1.66816049e-03 9.99891225e-01 -5.68911681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.908241008000005 meters Centerline goodness : 0.825533 Centerline is valid? [False, False] Translation: X:6.48, Y:0.01, Z:-0.57 [[ 9.99831324e-01 9.74834643e-03 -1.55657969e-02 6.48179162e+00] [-9.71468537e-03 9.99950310e-01 2.23665356e-03 7.95377985e-03] [ 1.55868271e-02 -2.08505947e-03 9.99876344e-01 -5.69035537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.938241008 meters Centerline goodness : 0.827560 Centerline is valid? [False, False] Translation: X:6.48, Y:0.01, Z:-0.57 [[ 9.99829658e-01 9.17820770e-03 -1.60129663e-02 6.48361548e+00] [-9.14822363e-03 9.99956263e-01 1.94473454e-03 7.91013343e-03] [ 1.60301151e-02 -1.79791308e-03 9.99869893e-01 -5.69782784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.968241008 meters Centerline goodness : 0.830429 Centerline is valid? [False, False] Translation: X:6.49, Y:0.01, Z:-0.57 [[ 9.99824994e-01 7.96205226e-03 -1.69288608e-02 6.48720919e+00] [-7.94426839e-03 9.99967819e-01 1.11749619e-03 7.56371962e-03] [ 1.69372136e-02 -9.82813203e-04 9.99856072e-01 -5.71426093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.998241008 meters Centerline goodness : 0.827761 Centerline is valid? [False, False] Translation: X:6.49, Y:0.01, Z:-0.57 [[ 9.99799964e-01 8.85734559e-03 -1.79326281e-02 6.49256151e+00] [-8.78782263e-03 9.99953577e-01 3.95199493e-03 5.45560710e-03] [ 1.79667998e-02 -3.79361563e-03 9.99831387e-01 -5.72361543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.028241008 meters Centerline goodness : 0.829164 Centerline is valid? [False, False] Translation: X:6.49, Y:0.00, Z:-0.57 [[ 9.99797179e-01 8.35024775e-03 -1.83268625e-02 6.49437685e+00] [-8.28480332e-03 9.99959041e-01 3.64398137e-03 4.79761634e-03] [ 1.83565400e-02 -3.49140784e-03 9.99825409e-01 -5.73372996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.058241008 meters Centerline goodness : 0.829124 Centerline is valid? [False, False] Translation: X:6.50, Y:0.00, Z:-0.57 [[ 9.99791481e-01 7.76291511e-03 -1.88873447e-02 6.49659462e+00] [-7.70116402e-03 9.99964768e-01 3.33998378e-03 4.43700405e-03] [ 1.89126073e-02 -3.19383279e-03 9.99816039e-01 -5.74298606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.088241008000004 meters Centerline goodness : 0.828710 Centerline is valid? [False, False] Translation: X:6.50, Y:0.00, Z:-0.57 [[ 9.99780837e-01 6.81005415e-03 -1.97965062e-02 6.49976313e+00] [-6.74754442e-03 9.99972042e-01 3.22269720e-03 3.47753367e-03] [ 1.98178995e-02 -3.08841310e-03 9.99798836e-01 -5.74803071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.118241008 meters Centerline goodness : 0.830881 Centerline is valid? [False, False] Translation: X:6.50, Y:0.00, Z:-0.57 [[ 9.99772114e-01 6.18073280e-03 -2.04332603e-02 6.50191048e+00] [-6.10915868e-03 9.99974990e-01 3.56339286e-03 2.16474984e-03] [ 2.04547737e-02 -3.43775078e-03 9.99784869e-01 -5.74541540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.148241008 meters Centerline goodness : 0.831032 Centerline is valid? [False, False] Translation: X:6.50, Y:0.00, Z:-0.58 [[ 9.99771444e-01 5.98263429e-03 -2.05248304e-02 6.50258605e+00] [-5.91757880e-03 9.99977278e-01 3.22887219e-03 2.50985554e-03] [ 2.05436812e-02 -3.10667691e-03 9.99784130e-01 -5.75264079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.178241008 meters Centerline goodness : 0.831650 Centerline is valid? [False, False] Translation: X:6.50, Y:-0.00, Z:-0.57 [[ 9.99760385e-01 6.17873755e-03 -2.09998949e-02 6.50293019e+00] [-6.08317225e-03 9.99970864e-01 4.61158928e-03 -1.08125108e-04] [ 2.10277768e-02 -4.48273830e-03 9.99768842e-01 -5.72816378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.208241008 meters Centerline goodness : 0.831170 Centerline is valid? [False, False] Translation: X:6.50, Y:-0.00, Z:-0.57 [[ 9.99751378e-01 5.91704840e-03 -2.14981724e-02 6.50403173e+00] [-5.81695075e-03 9.99971962e-01 4.71565511e-03 -8.39973440e-04] [ 2.15254724e-02 -4.58942888e-03 9.99757766e-01 -5.72333223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.238241008 meters Centerline goodness : 0.829921 Centerline is valid? [False, False] Translation: X:6.52, Y:0.00, Z:-0.58 [[ 9.99845948e-01 6.72220491e-03 -1.62139493e-02 6.52048126e+00] [-6.79447127e-03 9.99967210e-01 -4.40608759e-03 2.46595407e-03] [ 1.61837990e-02 4.51557404e-03 9.99858837e-01 -5.78518102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.268241008000004 meters Centerline goodness : 0.830781 Centerline is valid? [False, False] Translation: X:6.52, Y:0.00, Z:-0.58 [[ 9.99846171e-01 6.69582741e-03 -1.62111422e-02 6.52072833e+00] [-6.77230716e-03 9.99966175e-01 -4.66743527e-03 3.49409402e-03] [ 1.61793416e-02 4.77650411e-03 9.99857697e-01 -5.79020034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.298241008000005 meters Centerline goodness : 0.828395 Centerline is valid? [False, False] Translation: X:6.52, Y:0.01, Z:-0.58 [[ 9.99844648e-01 6.37283792e-03 -1.64336863e-02 6.52219656e+00] [-6.46051937e-03 9.99965149e-01 -5.28791304e-03 5.30629215e-03] [ 1.63994146e-02 5.39326170e-03 9.99850975e-01 -5.80519802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.328241008 meters Centerline goodness : 0.828099 Centerline is valid? [False, False] Translation: X:6.52, Y:0.00, Z:-0.58 [[ 9.99838913e-01 6.31426436e-03 -1.68011359e-02 6.52302067e+00] [-6.39779960e-03 9.99967416e-01 -4.92290421e-03 4.47602455e-03] [ 1.67695039e-02 5.02960149e-03 9.99846732e-01 -5.80008760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.358241008 meters Centerline goodness : 0.830059 Centerline is valid? [False, False] Translation: X:6.52, Y:0.00, Z:-0.58 [[ 9.99832101e-01 6.28321211e-03 -1.72130957e-02 6.52377321e+00] [-6.36003476e-03 9.99970042e-01 -4.41193396e-03 3.23630902e-03] [ 1.71848589e-02 4.52066909e-03 9.99842110e-01 -5.79126800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.388241008 meters Centerline goodness : 0.828732 Centerline is valid? [False, False] Translation: X:6.53, Y:-0.00, Z:-0.57 [[ 9.99788747e-01 8.69894239e-03 -1.86222956e-02 6.52813179e+00] [-8.66489055e-03 9.99960638e-01 1.90846039e-03 -1.15945866e-03] [ 1.86381642e-02 -1.74669707e-03 9.99824769e-01 -5.74769131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.418241008 meters Centerline goodness : 0.827525 Centerline is valid? [False, False] Translation: X:6.53, Y:-0.00, Z:-0.57 [[ 9.99788310e-01 8.83252305e-03 -1.85828511e-02 6.52784943e+00] [-8.79805837e-03 9.99959423e-01 1.93558838e-03 -1.09028757e-03] [ 1.85991932e-02 -1.77168563e-03 9.99825450e-01 -5.74620426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.448241008000004 meters Centerline goodness : 0.824616 Centerline is valid? [False, False] Translation: X:6.53, Y:-0.00, Z:-0.58 [[ 9.99784576e-01 8.20434214e-03 -1.90654076e-02 6.52971723e+00] [-8.17696783e-03 9.99965423e-01 1.51332402e-03 -4.39958304e-04] [ 1.90771642e-02 -1.35710079e-03 9.99817093e-01 -5.75242133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.478241008000005 meters Centerline goodness : 0.821254 Centerline is valid? [False, False] Translation: X:6.53, Y:-0.00, Z:-0.58 [[ 9.99784988e-01 7.84067221e-03 -1.91963998e-02 6.53092480e+00] [-7.81649408e-03 9.99968561e-01 1.33422233e-03 -6.27866662e-04] [ 1.92062575e-02 -1.18388691e-03 9.99814842e-01 -5.76153106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.508241008 meters Centerline goodness : 0.822335 Centerline is valid? [False, False] Translation: X:6.53, Y:-0.00, Z:-0.58 [[ 9.99778432e-01 6.95113192e-03 -1.98687807e-02 6.53382553e+00] [-6.92902647e-03 9.99975296e-01 1.18119889e-03 -7.11616849e-04] [ 1.98765005e-02 -1.04326587e-03 9.99801899e-01 -5.76955346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.538241008 meters Centerline goodness : 0.819144 Centerline is valid? [False, False] Translation: X:6.53, Y:-0.00, Z:-0.58 [[ 9.99774189e-01 7.07597521e-03 -2.00374943e-02 6.53385741e+00] [-7.04330641e-03 9.99973750e-01 1.70048778e-03 -2.03790482e-03] [ 2.00490009e-02 -1.55897358e-03 9.99797783e-01 -5.76072885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.568241008 meters Centerline goodness : 0.821521 Centerline is valid? [False, False] Translation: X:6.53, Y:-0.00, Z:-0.57 [[ 9.99763019e-01 7.00564446e-03 -2.06113101e-02 6.53466398e+00] [-6.95739239e-03 9.99972889e-01 2.41182640e-03 -3.54040791e-03] [ 2.06276476e-02 -2.26785387e-03 9.99784655e-01 -5.74454040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.598241008 meters Centerline goodness : 0.822704 Centerline is valid? [False, False] Translation: X:6.53, Y:-0.01, Z:-0.57 [[ 9.99754330e-01 7.22833608e-03 -2.09530532e-02 6.53450221e+00] [-7.15883674e-03 9.99968629e-01 3.39002095e-03 -5.24819339e-03] [ 2.09769001e-02 -3.23918863e-03 9.99774713e-01 -5.72255436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.628241008 meters Centerline goodness : 0.824136 Centerline is valid? [False, False] Translation: X:6.55, Y:-0.00, Z:-0.58 [[ 9.99826431e-01 9.64193402e-03 -1.59417807e-02 6.54992307e+00] [-9.71241620e-03 9.99943373e-01 -4.34972753e-03 -3.19259274e-03] [ 1.58989382e-02 4.50380576e-03 9.99863460e-01 -5.77051269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.658241008000005 meters Centerline goodness : 0.822259 Centerline is valid? [False, False] Translation: X:6.55, Y:-0.00, Z:-0.58 [[ 9.99773134e-01 1.28771049e-02 -1.69664701e-02 6.55280494e+00] [-1.28748073e-02 9.99917086e-01 2.44642705e-04 -4.58990246e-03] [ 1.69682136e-02 -2.61471704e-05 9.99856029e-01 -5.75808070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.688241008 meters Centerline goodness : 0.823107 Centerline is valid? [False, False] Translation: X:6.55, Y:-0.00, Z:-0.58 [[ 9.99774165e-01 1.28630073e-02 -1.69163542e-02 6.55332474e+00] [-1.28750262e-02 9.99916932e-01 -6.01771306e-04 -1.77627100e-03] [ 1.69072084e-02 8.19433908e-04 9.99856727e-01 -5.77392314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.718241008 meters Centerline goodness : 0.821327 Centerline is valid? [False, False] Translation: X:6.55, Y:0.00, Z:-0.58 [[ 9.99775404e-01 1.25384329e-02 -1.70859528e-02 6.55499597e+00] [-1.25747151e-02 9.99918899e-01 -2.01772797e-03 2.05074375e-03] [ 1.70592680e-02 2.23212579e-03 9.99851989e-01 -5.80173921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.748241008 meters Centerline goodness : 0.820834 Centerline is valid? [False, False] Translation: X:6.56, Y:0.00, Z:-0.58 [[ 9.99775181e-01 1.23059194e-02 -1.72670961e-02 6.55591667e+00] [-1.23503086e-02 9.99920690e-01 -2.46646160e-03 3.10037620e-03] [ 1.72353746e-02 2.67916106e-03 9.99847870e-01 -5.81010184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.778241008 meters Centerline goodness : 0.820221 Centerline is valid? [False, False] Translation: X:6.56, Y:0.00, Z:-0.58 [[ 9.99716418e-01 1.49071734e-02 -1.85704112e-02 6.56004799e+00] [-1.48622155e-02 9.99886283e-01 2.55661340e-03 4.79204282e-05] [ 1.86064113e-02 -2.27989094e-03 9.99824286e-01 -5.79114727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.808241008 meters Centerline goodness : 0.822067 Centerline is valid? [False, False] Translation: X:6.56, Y:0.00, Z:-0.58 [[ 9.99764797e-01 1.17949325e-02 -1.81997055e-02 6.55843772e+00] [-1.18291227e-02 9.99928463e-01 -1.77210469e-03 2.38941003e-03] [ 1.81775017e-02 1.98697444e-03 9.99832801e-01 -5.79797553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.838241008000004 meters Centerline goodness : 0.822537 Centerline is valid? [False, False] Translation: X:6.56, Y:0.00, Z:-0.58 [[ 9.99760798e-01 1.12656118e-02 -1.87465463e-02 6.56022933e+00] [-1.12971351e-02 9.99934943e-01 -1.57649860e-03 1.69734772e-03] [ 1.87275665e-02 1.78790377e-03 9.99823025e-01 -5.79605384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.868241008 meters Centerline goodness : 0.823598 Centerline is valid? [False, False] Translation: X:6.56, Y:0.00, Z:-0.58 [[ 9.99753906e-01 1.07031115e-02 -1.94311598e-02 6.56219174e+00] [-1.07291625e-02 9.99941676e-01 -1.23692063e-03 7.26971332e-04] [ 1.94167876e-02 1.44509630e-03 9.99810432e-01 -5.79032727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.898241008 meters Centerline goodness : 0.825164 Centerline is valid? [False, False] Translation: X:6.56, Y:-0.00, Z:-0.58 [[ 9.99747189e-01 1.03684234e-02 -1.99512898e-02 6.56346628e+00] [-1.03814980e-02 9.99945959e-01 -5.51862557e-04 -1.09578102e-03] [ 1.99444896e-02 7.58847315e-04 9.99800801e-01 -5.77914360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.928241008 meters Centerline goodness : 0.822587 Centerline is valid? [False, False] Translation: X:6.56, Y:-0.00, Z:-0.58 [[ 9.99737943e-01 1.00480798e-02 -2.05689575e-02 6.56475643e+00] [-1.00431400e-02 9.99949507e-01 3.43443701e-04 -3.20342919e-03] [ 2.05713699e-02 -1.36776779e-04 9.99788378e-01 -5.76270176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.958241008 meters Centerline goodness : 0.822126 Centerline is valid? [False, False] Translation: X:6.56, Y:-0.01, Z:-0.57 [[ 9.99734082e-01 1.05847161e-02 -2.04872845e-02 6.56362708e+00] [-1.05477588e-02 9.99942545e-01 1.91113365e-03 -6.27893881e-03] [ 2.05063362e-02 -1.69453051e-03 9.99788287e-01 -5.73796614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.988241008 meters Centerline goodness : 0.824284 Centerline is valid? [False, False] Translation: X:6.57, Y:-0.01, Z:-0.57 [[ 9.99677264e-01 1.35224379e-02 -2.15060717e-02 6.56706219e+00] [-1.33874155e-02 9.99889839e-01 6.40997364e-03 -8.43991983e-03] [ 2.15903810e-02 -6.11999420e-03 9.99748169e-01 -5.73021189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.018241008000004 meters Centerline goodness : 0.821840 Centerline is valid? [False, False] Translation: X:6.57, Y:-0.01, Z:-0.57 [[ 9.99678640e-01 1.32262692e-02 -2.16259544e-02 6.56808338e+00] [-1.31077020e-02 9.99898324e-01 5.61522797e-03 -7.22830225e-03] [ 2.16980241e-02 -5.32995689e-03 9.99750362e-01 -5.74593538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.048241008000005 meters Centerline goodness : 0.822282 Centerline is valid? [False, False] Translation: X:6.57, Y:-0.01, Z:-0.58 [[ 9.99674666e-01 1.25805281e-02 -2.21876777e-02 6.57032560e+00] [-1.24699055e-02 9.99909154e-01 5.11709919e-03 -6.88962292e-03] [ 2.22500378e-02 -4.83875617e-03 9.99740728e-01 -5.75613847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.078241008 meters Centerline goodness : 0.822624 Centerline is valid? [False, False] Translation: X:6.58, Y:-0.01, Z:-0.58 [[ 0.99962161 0.01446309 -0.02339763 6.57513367] [-0.01425458 0.99985741 0.00905364 -0.00986336] [ 0.02352524 -0.00871669 0.99968524 -0.57527726] [ 0. 0. 0. 1. ]] SLAMing on 63.108241008 meters Centerline goodness : 0.819506 Centerline is valid? [False, False] Translation: X:6.58, Y:-0.01, Z:-0.58 [[ 0.99961282 0.0134023 -0.02438434 6.57891168] [-0.01320073 0.99987751 0.00840884 -0.01081308] [ 0.02449405 -0.0080837 0.99966729 -0.57695528] [ 0. 0. 0. 1. ]] SLAMing on 63.138241008 meters Centerline goodness : 0.819771 Centerline is valid? [False, False] Translation: X:6.58, Y:-0.01, Z:-0.58 [[ 0.99960714 0.01270272 -0.02498428 6.58124589] [-0.01251179 0.99989143 0.00778346 -0.01031352] [ 0.02508044 -0.0074678 0.99965754 -0.57812805] [ 0. 0. 0. 1. ]] SLAMing on 63.168241008 meters Centerline goodness : 0.822676 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.01, Z:-0.59 [[ 9.99872121e-01 9.56131983e-03 -1.28188762e-02 6.58993889e+00] [-9.52648183e-03 9.99950769e-01 2.77602538e-03 -6.49122269e-03] [ 1.28447876e-02 -2.65355159e-03 9.99913981e-01 -5.88496167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.198241008000004 meters Centerline goodness : 0.821627 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.00, Z:-0.59 [[ 9.99902366e-01 6.14150819e-03 -1.25515063e-02 6.58876642e+00] [-6.16185304e-03 9.99979763e-01 -1.58288023e-03 -4.57971998e-03] [ 1.25415310e-02 1.66006623e-03 9.99919974e-01 -5.89103178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.228241008000005 meters Centerline goodness : 0.825135 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.00, Z:-0.59 [[ 9.99899976e-01 5.75759188e-03 -1.29185364e-02 6.58986129e+00] [-5.77956474e-03 9.99981913e-01 -1.66418964e-03 -4.58426424e-03] [ 1.29087211e-02 1.73868670e-03 9.99915167e-01 -5.89026816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.258241008 meters Centerline goodness : 0.824350 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.00, Z:-0.59 [[ 9.99897742e-01 5.49112809e-03 -1.32042749e-02 6.59068166e+00] [-5.50960226e-03 9.99983893e-01 -1.36313548e-03 -4.49045190e-03] [ 1.31965771e-02 1.43574639e-03 9.99911891e-01 -5.88345482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.288241008 meters Centerline goodness : 0.823495 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.01, Z:-0.58 [[ 9.99861641e-01 8.38073444e-03 -1.43688185e-02 6.59380461e+00] [-8.31480818e-03 9.99954658e-01 4.64176603e-03 -7.49426361e-03] [ 1.44070684e-02 -4.52164983e-03 9.99885989e-01 -5.84374852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.318241008 meters Centerline goodness : 0.823868 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.01, Z:-0.58 [[ 9.99861502e-01 8.00430639e-03 -1.45913324e-02 6.59466226e+00] [-7.93958144e-03 9.99958408e-01 4.48839357e-03 -6.59109998e-03] [ 1.46266520e-02 -4.37192287e-03 9.99883467e-01 -5.84316340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.348241008 meters Centerline goodness : 0.821548 Centerline is valid? [False, False] Translation: X:6.60, Y:-0.01, Z:-0.58 [[ 9.99860810e-01 7.44230712e-03 -1.49322537e-02 6.59588258e+00] [-7.37775225e-03 9.99963219e-01 4.37362278e-03 -5.98242762e-03] [ 1.49642543e-02 -4.26284755e-03 9.99878942e-01 -5.84157438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.378241008 meters Centerline goodness : 0.822308 Centerline is valid? [False, False] Translation: X:6.60, Y:-0.01, Z:-0.58 [[ 9.99858505e-01 7.14329167e-03 -1.52297032e-02 6.59669789e+00] [-7.07564844e-03 9.99964883e-01 4.49080023e-03 -6.76589168e-03] [ 1.52612475e-02 -4.38240478e-03 9.99873936e-01 -5.83836529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.408241008000005 meters Centerline goodness : 0.821776 Centerline is valid? [False, False] Translation: X:6.60, Y:-0.01, Z:-0.58 [[ 9.99851846e-01 6.82857344e-03 -1.58005493e-02 6.59786974e+00] [-6.75088304e-03 9.99964886e-01 4.96506803e-03 -7.78248152e-03] [ 1.58338988e-02 -4.85766477e-03 9.99862836e-01 -5.82591872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.438241008 meters Centerline goodness : 0.824564 Centerline is valid? [False, False] Translation: X:6.60, Y:-0.01, Z:-0.58 [[ 9.99846164e-01 6.72237603e-03 -1.62005784e-02 6.59852003e+00] [-6.64117077e-03 9.99965140e-01 5.06108896e-03 -8.15664127e-03] [ 1.62340362e-02 -4.95271957e-03 9.99855953e-01 -5.81974709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.468241008 meters Centerline goodness : 0.824941 Centerline is valid? [False, False] Translation: X:6.60, Y:-0.01, Z:-0.58 [[ 9.99843376e-01 6.40780469e-03 -1.64974038e-02 6.59974997e+00] [-6.33413291e-03 9.99969751e-01 4.51404526e-03 -7.12802730e-03] [ 1.65258299e-02 -4.40884151e-03 9.99853719e-01 -5.82874549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.498241008 meters Centerline goodness : 0.824144 Centerline is valid? [False, False] Translation: X:6.60, Y:-0.01, Z:-0.58 [[ 9.99844602e-01 6.21474954e-03 -1.64969481e-02 6.60040245e+00] [-6.15548321e-03 9.99974427e-01 3.64091299e-03 -5.29415926e-03] [ 1.65191536e-02 -3.53880051e-03 9.99857287e-01 -5.84448849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.528241008 meters Centerline goodness : 0.823376 Centerline is valid? [False, False] Translation: X:6.60, Y:-0.00, Z:-0.59 [[ 9.99807718e-01 8.97669461e-03 -1.74340533e-02 6.60445294e+00] [-8.85858709e-03 9.99937368e-01 6.83998349e-03 -4.24611752e-03] [ 1.74943618e-02 -6.68422720e-03 9.99824619e-01 -5.86084753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.558241008 meters Centerline goodness : 0.823376 Centerline is valid? [False, False] Translation: X:6.60, Y:-0.00, Z:-0.59 [[ 9.99807718e-01 8.97669461e-03 -1.74340533e-02 6.60445294e+00] [-8.85858709e-03 9.99937368e-01 6.83998349e-03 -4.24611752e-03] [ 1.74943618e-02 -6.68422720e-03 9.99824619e-01 -5.86084753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.588241008000004 meters Centerline goodness : 0.825936 Centerline is valid? [False, False] Translation: X:6.61, Y:-0.00, Z:-0.59 [[ 9.99807040e-01 8.36832445e-03 -1.77722628e-02 6.60621701e+00] [-8.26644970e-03 9.99949023e-01 5.79798139e-03 -2.56000138e-03] [ 1.78198762e-02 -5.64994910e-03 9.99825250e-01 -5.87847229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.618241008000005 meters Centerline goodness : 0.824608 Centerline is valid? [False, False] Translation: X:6.61, Y:-0.00, Z:-0.59 [[ 9.99803715e-01 7.82035387e-03 -1.82036917e-02 6.60803386e+00] [-7.72543567e-03 9.99956225e-01 5.27872321e-03 -2.51207376e-03] [ 1.82441763e-02 -5.13705562e-03 9.99820364e-01 -5.88916539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.648241008 meters Centerline goodness : 0.826563 Centerline is valid? [False, False] Translation: X:6.61, Y:-0.00, Z:-0.59 [[ 9.99797681e-01 7.38123371e-03 -1.87113242e-02 6.60967800e+00] [-7.28819021e-03 9.99960760e-01 5.03590236e-03 -2.64009936e-03] [ 1.87477611e-02 -4.89851181e-03 9.99812245e-01 -5.89318844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.678241008 meters Centerline goodness : 0.827061 Centerline is valid? [False, False] Translation: X:6.61, Y:-0.00, Z:-0.59 [[ 9.99794751e-01 7.32273610e-03 -1.88900482e-02 6.60972076e+00] [-7.23847536e-03 9.99963563e-01 4.52511342e-03 -7.99554131e-04] [ 1.89224961e-02 -4.38744950e-03 9.99811327e-01 -5.89254361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.708241008 meters Centerline goodness : 0.826701 Centerline is valid? [False, False] Translation: X:6.61, Y:-0.00, Z:-0.59 [[ 9.99788207e-01 6.79948199e-03 -1.94244036e-02 6.61127247e+00] [-6.71322257e-03 9.99967329e-01 4.50253675e-03 -1.53033676e-03] [ 1.94543839e-02 -4.37118281e-03 9.99801190e-01 -5.89114152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.738241008 meters Centerline goodness : 0.828676 Centerline is valid? [False, False] Translation: X:6.61, Y:-0.00, Z:-0.59 [[ 9.99778734e-01 6.08613306e-03 -2.01355865e-02 6.61339148e+00] [-5.99373942e-03 9.99971246e-01 4.64574775e-03 -2.71963907e-03] [ 2.01632822e-02 -4.52403234e-03 9.99786465e-01 -5.88731171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.768241008000004 meters Centerline goodness : 0.827384 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.00, Z:-0.59 [[ 9.99766698e-01 2.53685144e-03 -2.14502719e-02 6.62646527e+00] [-2.33110565e-03 9.99951093e-01 9.61132668e-03 -4.85793081e-03] [ 2.14736053e-02 -9.55908149e-03 9.99723716e-01 -5.85272255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.798241008000005 meters Centerline goodness : 0.824128 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.01, Z:-0.59 [[ 9.99753059e-01 1.50102667e-03 -2.21713317e-02 6.62911450e+00] [-1.28885385e-03 9.99953272e-01 9.58088338e-03 -5.88987066e-03] [ 2.21846769e-02 -9.54994186e-03 9.99708277e-01 -5.85292545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.828241008 meters Centerline goodness : 0.826185 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.01, Z:-0.58 [[ 9.99733010e-01 2.92273804e-04 -2.31046259e-02 6.63225584e+00] [-6.61693248e-05 9.99952111e-01 9.78627179e-03 -7.36826981e-03] [ 2.31063797e-02 -9.78213013e-03 9.99685153e-01 -5.84844740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.858241008 meters Centerline goodness : 0.824562 Centerline is valid? [False, False] Translation: X:6.64, Y:-0.01, Z:-0.58 [[ 9.99711958e-01 -7.83865842e-04 -2.39872065e-02 6.63545412e+00] [ 1.02605233e-03 9.99948610e-01 1.00858441e-02 -8.65768182e-03] [ 2.39780678e-02 -1.01075510e-02 9.99661388e-01 -5.84374458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.888241008 meters Centerline goodness : 0.823291 Centerline is valid? [False, False] Translation: X:6.64, Y:-0.01, Z:-0.58 [[ 9.99685399e-01 -2.24913081e-03 -2.49808730e-02 6.63926571e+00] [ 2.49152838e-03 9.99950078e-01 9.67644412e-03 -8.36314456e-03] [ 2.49578623e-02 -9.73564045e-03 9.99641097e-01 -5.84898226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.918241008 meters Centerline goodness : 0.824028 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.00, Z:-0.59 [[ 9.99793554e-01 -2.13878261e-03 -2.02058224e-02 6.65602007e+00] [ 2.12157315e-03 9.99997368e-01 -8.73105679e-04 -3.65489130e-03] [ 2.02076366e-02 8.30057299e-04 9.99795460e-01 -5.91766664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.948241008000004 meters Centerline goodness : 0.824068 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.01, Z:-0.59 [[ 9.99765155e-01 6.85837919e-04 -2.16602088e-02 6.65960360e+00] [-5.88469876e-04 9.99989696e-01 4.50130359e-03 -6.13463164e-03] [ 2.16630728e-02 -4.48750011e-03 9.99755257e-01 -5.88430295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.978241008000005 meters Centerline goodness : 0.824394 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.01, Z:-0.59 [[ 9.99741348e-01 3.75097671e-03 -2.24314019e-02 6.66186333e+00] [-3.55942714e-03 9.99956915e-01 8.57318716e-03 -6.04122634e-03] [ 2.24625933e-02 -8.49112675e-03 9.99711625e-01 -5.87284234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.008241008 meters Centerline goodness : 0.824657 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.01, Z:-0.59 [[ 9.99702417e-01 6.60593617e-03 -2.34827493e-02 6.66535690e+00] [-6.30752191e-03 9.99898703e-01 1.27592431e-02 -6.76905365e-03] [ 2.35646573e-02 -1.26073282e-02 9.99642817e-01 -5.86662342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.03824100800001 meters Centerline goodness : 0.823744 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.00, Z:-0.59 [[ 9.99789533e-01 7.69597520e-03 -1.90174097e-02 6.68318164e+00] [-7.63647657e-03 9.99965724e-01 3.19928250e-03 -1.48623409e-03] [ 1.90413795e-02 -3.05338316e-03 9.99814034e-01 -5.94276798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.06824100800002 meters Centerline goodness : 0.825017 Centerline is valid? [False, False] Translation: X:6.69, Y:-0.00, Z:-0.59 [[ 9.99739952e-01 1.07708931e-02 -2.01001635e-02 6.68626052e+00] [-1.06182609e-02 9.99914094e-01 7.68492335e-03 -2.36589513e-03] [ 2.01812103e-02 -7.46949612e-03 9.99768436e-01 -5.92973533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.098241008 meters Centerline goodness : 0.823166 Centerline is valid? [False, False] Translation: X:6.69, Y:-0.00, Z:-0.59 [[ 9.99680765e-01 1.42709505e-02 -2.08496702e-02 6.68789851e+00] [-1.40261531e-02 9.99831521e-01 1.18405051e-02 -1.98007285e-03] [ 2.10151327e-02 -1.15442845e-02 9.99712506e-01 -5.91608848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.128241008 meters Centerline goodness : 0.820834 Centerline is valid? [False, False] Translation: X:6.70, Y:0.00, Z:-0.60 [[ 9.99757518e-01 1.48329644e-02 -1.62753873e-02 6.70410112e+00] [-1.48184287e-02 9.99889688e-01 1.01334678e-03 2.77858373e-03] [ 1.62886229e-02 -7.71925393e-04 9.99867034e-01 -5.98807788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.158241008 meters Centerline goodness : 0.821279 Centerline is valid? [False, False] Translation: X:6.70, Y:0.00, Z:-0.60 [[ 9.99752041e-01 1.49008584e-02 -1.65475449e-02 6.70427416e+00] [-1.48846898e-02 9.99888612e-01 1.09983631e-03 3.44679531e-03] [ 1.65620902e-02 -8.53258524e-04 9.99862475e-01 -5.98070918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.188241008 meters Centerline goodness : 0.822098 Centerline is valid? [False, False] Translation: X:6.70, Y:0.00, Z:-0.60 [[ 9.99746484e-01 1.51596605e-02 -1.66478715e-02 6.70388927e+00] [-1.51378904e-02 9.99884389e-01 1.43292758e-03 3.93145540e-03] [ 1.66676695e-02 -1.18055066e-03 9.99860388e-01 -5.96973443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.218241008 meters Centerline goodness : 0.820627 Centerline is valid? [False, False] Translation: X:6.70, Y:0.01, Z:-0.60 [[ 9.99741134e-01 1.58832019e-02 -1.62907310e-02 6.70204349e+00] [-1.58543586e-02 9.99872510e-01 1.89816358e-03 5.47885479e-03] [ 1.63188030e-02 -1.63939312e-03 9.99865495e-01 -5.95532520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.24824100800001 meters Centerline goodness : 0.822443 Centerline is valid? [False, False] Translation: X:6.70, Y:0.01, Z:-0.60 [[ 9.99742832e-01 1.56139915e-02 -1.64460848e-02 6.70281036e+00] [-1.55950158e-02 9.99877569e-01 1.28143724e-03 7.34892167e-03] [ 1.64640796e-02 -1.02463075e-03 9.99863933e-01 -5.96324245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.27824100800001 meters Centerline goodness : 0.822082 Centerline is valid? [False, False] Translation: X:6.70, Y:0.01, Z:-0.60 [[ 9.99744194e-01 1.55360707e-02 -1.64370651e-02 6.70321904e+00] [-1.55240900e-02 9.99879127e-01 8.56234370e-04 9.02349164e-03] [ 1.64483808e-02 -6.00844863e-04 9.99864536e-01 -5.97055044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.30824100800001 meters Centerline goodness : 0.824046 Centerline is valid? [False, False] Translation: X:6.70, Y:0.01, Z:-0.60 [[ 9.99732941e-01 1.62310057e-02 -1.64499510e-02 6.70302325e+00] [-1.62309878e-02 9.99868260e-01 1.34604647e-04 1.14134348e-02] [ 1.64499687e-02 1.32430255e-04 9.99864681e-01 -5.98491226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.33824100800001 meters Centerline goodness : 0.825268 Centerline is valid? [False, False] Translation: X:6.70, Y:0.01, Z:-0.60 [[ 9.99725664e-01 1.64964321e-02 -1.66271968e-02 6.70307912e+00] [-1.64982058e-02 9.99863895e-01 3.04955203e-05 1.18108120e-02] [ 1.66254368e-02 2.43831760e-04 9.99861758e-01 -5.98409746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.36824100800001 meters Centerline goodness : 0.822806 Centerline is valid? [False, False] Translation: X:6.70, Y:0.01, Z:-0.60 [[ 9.99718762e-01 1.68425410e-02 -1.66951027e-02 6.70280730e+00] [-1.68399420e-02 9.99858154e-01 2.96254716e-04 1.11275897e-02] [ 1.66977243e-02 -1.50268357e-05 9.99860583e-01 -5.97943155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.39824100800001 meters Centerline goodness : 0.823259 Centerline is valid? [False, False] Translation: X:6.70, Y:0.01, Z:-0.60 [[ 9.99713576e-01 1.69907734e-02 -1.68546470e-02 6.70302523e+00] [-1.69881719e-02 9.99855646e-01 2.97523175e-04 1.09049822e-02] [ 1.68572692e-02 -1.11083165e-05 9.99857906e-01 -5.97911300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.42824100800001 meters Centerline goodness : 0.823426 Centerline is valid? [False, False] Translation: X:6.70, Y:0.01, Z:-0.60 [[ 9.99712476e-01 1.72684540e-02 -1.66362768e-02 6.70261548e+00] [-1.72689961e-02 9.99850874e-01 1.11079095e-04 1.13106950e-02] [ 1.66357140e-02 1.76244642e-04 9.99861601e-01 -5.98580049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.45824100800002 meters Centerline goodness : 0.823944 Centerline is valid? [False, False] Translation: X:6.70, Y:0.01, Z:-0.60 [[ 9.99710734e-01 1.76226755e-02 -1.63673224e-02 6.70288536e+00] [-1.76380095e-02 9.99844124e-01 -7.92978742e-04 1.41116450e-02] [ 1.63507967e-02 1.08143635e-03 9.99865732e-01 -6.01245470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.488241008 meters Centerline goodness : 0.821893 Centerline is valid? [False, False] Translation: X:6.70, Y:0.02, Z:-0.60 [[ 9.99712648e-01 1.73194690e-02 -1.65727775e-02 6.70429402e+00] [-1.73467708e-02 9.99848401e-01 -1.50504110e-03 1.50290249e-02] [ 1.65441986e-02 1.79209280e-03 9.99861529e-01 -6.02989969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.518241008 meters Centerline goodness : 0.821722 Centerline is valid? [False, False] Translation: X:6.71, Y:0.01, Z:-0.60 [[ 9.99712442e-01 1.72915037e-02 -1.66143793e-02 6.70501241e+00] [-1.73227637e-02 9.99848437e-01 -1.73942489e-03 1.48242596e-02] [ 1.65817839e-02 2.02673167e-03 9.99860459e-01 -6.04101067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.548241008 meters Centerline goodness : 0.819304 Centerline is valid? [False, False] Translation: X:6.71, Y:0.01, Z:-0.60 [[ 9.99709080e-01 1.73271904e-02 -1.67786852e-02 6.70569630e+00] [-1.73577852e-02 9.99847932e-01 -1.67951308e-03 1.38962671e-02] [ 1.67470325e-02 1.97026529e-03 9.99857817e-01 -6.04621084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.578241008 meters Centerline goodness : 0.823774 Centerline is valid? [False, False] Translation: X:6.70, Y:0.01, Z:-0.60 [[ 9.99700028e-01 1.80539941e-02 -1.65501480e-02 6.70418333e+00] [-1.80641836e-02 9.99836721e-01 -4.66375027e-04 1.09314645e-02] [ 1.65390258e-02 7.65200040e-04 9.99862928e-01 -6.02857119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.60824100800001 meters Centerline goodness : 0.824583 Centerline is valid? [False, False] Translation: X:6.71, Y:0.01, Z:-0.60 [[ 9.99707554e-01 1.67370967e-02 -1.74549744e-02 6.70709240e+00] [-1.67319014e-02 9.99859914e-01 4.43644133e-04 7.50630885e-03] [ 1.74599545e-02 -1.51459480e-04 9.99847552e-01 -6.01273975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.63824100800001 meters Centerline goodness : 0.824286 Centerline is valid? [False, False] Translation: X:6.71, Y:0.01, Z:-0.60 [[ 9.99768749e-01 1.24681756e-02 -1.75212407e-02 6.70713682e+00] [-1.25242186e-02 9.99916787e-01 -3.09249444e-03 6.08598683e-03] [ 1.74812250e-02 3.31121914e-03 9.99841709e-01 -6.00495699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.66824100800001 meters Centerline goodness : 0.827009 Centerline is valid? [False, False] Translation: X:6.71, Y:0.00, Z:-0.60 [[ 9.99767288e-01 1.13666159e-02 -1.83349458e-02 6.70952559e+00] [-1.13820316e-02 9.99934951e-01 -7.36641492e-04 7.74619614e-04] [ 1.83253800e-02 9.45158998e-04 9.99831629e-01 -5.96484445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.69824100800001 meters Centerline goodness : 0.830006 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.00, Z:-0.59 [[ 9.99789429e-01 6.06704361e-03 -1.96032580e-02 6.71850571e+00] [-6.06615300e-03 9.99981595e-01 1.04895973e-04 -2.48526675e-03] [ 1.96035336e-02 1.40424773e-05 9.99807832e-01 -5.94382985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.72824100800001 meters Centerline goodness : 0.827952 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.00, Z:-0.60 [[ 9.99780062e-01 4.93388744e-03 -2.03834306e-02 6.72187231e+00] [-4.93812001e-03 9.99987795e-01 -1.57319369e-04 -2.67477551e-03] [ 2.03824056e-02 2.57940595e-04 9.99792224e-01 -5.95386676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.75824100800001 meters Centerline goodness : 0.829083 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.01, Z:-0.60 [[ 9.99758176e-01 6.09075449e-03 -2.11303825e-02 6.72669377e+00] [-6.01344696e-03 9.99974999e-01 3.72020954e-03 -5.28933295e-03] [ 2.11525131e-02 -3.59224347e-03 9.99769807e-01 -5.95225803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.78824100800001 meters Centerline goodness : 0.828303 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.01, Z:-0.59 [[ 9.99747540e-01 5.94368117e-03 -2.16686361e-02 6.72804800e+00] [-5.84629502e-03 9.99972536e-01 4.55491835e-03 -7.58954151e-03] [ 2.16951139e-02 -4.42708717e-03 9.99754831e-01 -5.94251835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.81824100800002 meters Centerline goodness : 0.829864 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.01, Z:-0.59 [[ 0.99970524 0.00852871 -0.02273084 6.73192704] [-0.00829149 0.99991039 0.01050986 -0.01141547] [ 0.02281843 -0.01031829 0.99968638 -0.5907191 ] [ 0. 0. 0. 1. ]] SLAMing on 64.848241008 meters Centerline goodness : 0.827625 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.01, Z:-0.59 [[ 0.99969877 0.00806662 -0.02317956 6.73360953] [-0.00782924 0.99991617 0.01031329 -0.01127918] [ 0.02326081 -0.0101287 0.99967812 -0.59110307] [ 0. 0. 0. 1. ]] SLAMing on 64.878241008 meters Centerline goodness : 0.828576 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.01, Z:-0.59 [[ 0.99966051 0.00950453 -0.02425959 6.73879554] [-0.00915665 0.99985423 0.01441115 -0.01347365] [ 0.02439302 -0.01418412 0.99960182 -0.59026363] [ 0. 0. 0. 1. ]] SLAMing on 64.908241008 meters Centerline goodness : 0.827448 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.01, Z:-0.59 [[ 0.99965201 0.00900942 -0.02479287 6.74049544] [-0.00865096 0.99985705 0.01452746 -0.01374815] [ 0.02492021 -0.01430792 0.99958705 -0.58999644] [ 0. 0. 0. 1. ]] SLAMing on 64.938241008 meters Centerline goodness : 0.826379 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.01, Z:-0.59 [[ 9.99689451e-01 4.74699780e-03 -2.44636094e-02 6.74048383e+00] [-4.52351524e-03 9.99947608e-01 9.18256264e-03 -1.04870954e-02] [ 2.45059173e-02 -9.06904949e-03 9.99658548e-01 -5.92302609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.968241008 meters Centerline goodness : 0.826228 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.01, Z:-0.59 [[ 9.99828964e-01 -1.69784710e-03 -1.84163178e-02 6.70811367e+00] [ 2.09476929e-03 9.99765471e-01 2.15549117e-02 -1.08719297e-02] [ 1.83754017e-02 -2.15898030e-02 9.99598032e-01 -5.90352560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.99824100800001 meters Centerline goodness : 0.826215 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.01, Z:-0.59 [[ 0.99984972 -0.0066872 -0.01599455 6.68120172] [ 0.00699244 0.99979303 0.01910489 -0.00690264] [ 0.01586348 -0.01921386 0.99968954 -0.59392389] [ 0. 0. 0. 1. ]] SLAMing on 65.02824100800001 meters Centerline goodness : 0.824269 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.01, Z:-0.59 [[ 0.99982122 -0.00763179 -0.01729972 6.65454131] [ 0.0080303 0.99970127 0.02308426 -0.00751684] [ 0.01711837 -0.02321905 0.99958383 -0.59137295] [ 0. 0. 0. 1. ]] SLAMing on 65.05824100800001 meters Centerline goodness : 0.824839 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.00, Z:-0.59 [[ 9.99802240e-01 -1.09535426e-02 -1.65982149e-02 6.65266498e+00] [ 1.12428641e-02 9.99784717e-01 1.74389945e-02 -2.78786103e-03] [ 1.64036228e-02 -1.76221573e-02 9.99710148e-01 -5.93840226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.08824100800001 meters Centerline goodness : 0.824143 Centerline is valid? [False, False] Translation: X:6.65, Y:0.00, Z:-0.60 [[ 9.99813446e-01 -1.04749674e-02 -1.62280366e-02 6.65143417e+00] [ 1.07388551e-02 9.99810121e-01 1.62603341e-02 1.65770897e-03] [ 1.60546288e-02 -1.64315712e-02 9.99736091e-01 -5.95205337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.11824100800001 meters Centerline goodness : 0.825094 Centerline is valid? [False, False] Translation: X:6.65, Y:0.01, Z:-0.60 [[ 9.99820352e-01 -1.02936482e-02 -1.59155243e-02 6.65092912e+00] [ 1.05342385e-02 9.99830382e-01 1.51075019e-02 5.09854678e-03] [ 1.57573135e-02 -1.52724458e-02 9.99759201e-01 -5.96859927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.14824100800001 meters Centerline goodness : 0.825518 Centerline is valid? [False, False] Translation: X:6.65, Y:0.01, Z:-0.60 [[ 0.99983033 -0.00982264 -0.01558277 6.64991149] [ 0.01004547 0.99984748 0.01428669 0.00858168] [ 0.01544006 -0.0144408 0.99977651 -0.59782924] [ 0. 0. 0. 1. ]] SLAMing on 65.17824100800001 meters Centerline goodness : 0.824650 Centerline is valid? [False, False] Translation: X:6.65, Y:0.01, Z:-0.60 [[ 0.9998448 -0.00899627 -0.01514763 6.64807575] [ 0.00920715 0.99986086 0.01390977 0.0117803 ] [ 0.01502039 -0.01404707 0.99978851 -0.59784611] [ 0. 0. 0. 1. ]] SLAMing on 65.20824100800002 meters Centerline goodness : 0.825137 Centerline is valid? [False, False] Translation: X:6.66, Y:0.02, Z:-0.60 [[ 9.99946045e-01 -2.72824709e-03 -1.00231511e-02 6.66054436e+00] [ 2.80794151e-03 9.99964491e-01 7.94558421e-03 1.74767348e-02] [ 1.00011177e-02 -7.97329993e-03 9.99918199e-01 -6.02000310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.238241008 meters Centerline goodness : 0.828249 Centerline is valid? [False, False] Translation: X:6.66, Y:0.02, Z:-0.60 [[ 9.99954205e-01 -1.39060172e-03 -9.46860868e-03 6.65760733e+00] [ 1.46382099e-03 9.99969049e-01 7.73030949e-03 2.01849009e-02] [ 9.45756584e-03 -7.74381582e-03 9.99925291e-01 -6.01442550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.268241008 meters Centerline goodness : 0.825903 Centerline is valid? [False, False] Translation: X:6.67, Y:0.02, Z:-0.61 [[ 9.99983588e-01 3.00659145e-03 -4.87698610e-03 6.67356422e+00] [-2.99625888e-03 9.99993254e-01 2.12456351e-03 2.38404677e-02] [ 4.88334090e-03 -2.10991592e-03 9.99985851e-01 -6.05614688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.298241008 meters Centerline goodness : 0.826668 Centerline is valid? [False, False] Translation: X:6.67, Y:0.03, Z:-0.60 [[ 9.99958237e-01 7.83833430e-03 -4.69950570e-03 6.67197252e+00] [-7.80843412e-03 9.99949368e-01 6.34735220e-03 2.54064899e-02] [ 4.74902042e-03 -6.31039133e-03 9.99968812e-01 -6.04391116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.328241008 meters Centerline goodness : 0.826415 Centerline is valid? [False, False] Translation: X:6.67, Y:0.02, Z:-0.60 [[ 9.99919943e-01 1.14193451e-02 -5.45041569e-03 6.67386041e+00] [-1.13592263e-02 9.99875673e-01 1.09364901e-02 2.36756886e-02] [ 5.57462561e-03 -1.08737020e-02 9.99925340e-01 -6.03193851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.35824100800001 meters Centerline goodness : 0.825965 Centerline is valid? [False, False] Translation: X:6.67, Y:0.03, Z:-0.61 [[ 9.99949269e-01 8.56479985e-03 -5.30134477e-03 6.67266951e+00] [-8.53373499e-03 9.99946446e-01 5.85495005e-03 2.78165971e-02] [ 5.35120733e-03 -5.80941275e-03 9.99968807e-01 -6.05003648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.38824100800001 meters Centerline goodness : 0.828515 Centerline is valid? [False, False] Translation: X:6.67, Y:0.03, Z:-0.61 [[ 9.99945466e-01 9.05644693e-03 -5.20048855e-03 6.67199577e+00] [-9.02606798e-03 9.99942236e-01 5.83561275e-03 2.80858625e-02] [ 5.25303806e-03 -5.78835455e-03 9.99969450e-01 -6.05043102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.41824100800001 meters Centerline goodness : 0.830392 Centerline is valid? [False, False] Translation: X:6.67, Y:0.03, Z:-0.61 [[ 9.99946479e-01 8.83050903e-03 -5.39089986e-03 6.67298208e+00] [-8.80193663e-03 9.99947211e-01 5.30103264e-03 2.84994774e-02] [ 5.43742610e-03 -5.25329856e-03 9.99971418e-01 -6.06165644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.44824100800001 meters Centerline goodness : 0.829502 Centerline is valid? [False, False] Translation: X:6.67, Y:0.03, Z:-0.61 [[ 9.99947305e-01 8.51523194e-03 -5.73395318e-03 6.67444910e+00] [-8.48756072e-03 9.99952300e-01 4.83301969e-03 2.86578258e-02] [ 5.77483396e-03 -4.78409773e-03 9.99971881e-01 -6.07317292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.47824100800001 meters Centerline goodness : 0.829502 Centerline is valid? [False, False] Translation: X:6.67, Y:0.03, Z:-0.61 [[ 9.99947305e-01 8.51523194e-03 -5.73395318e-03 6.67444910e+00] [-8.48756072e-03 9.99952300e-01 4.83301969e-03 2.86578258e-02] [ 5.77483396e-03 -4.78409773e-03 9.99971881e-01 -6.07317292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.50824100800001 meters Centerline goodness : 0.830502 Centerline is valid? [False, False] Translation: X:6.68, Y:0.03, Z:-0.61 [[ 9.99947907e-01 8.11130451e-03 -6.19598610e-03 6.67630348e+00] [-8.08448956e-03 9.99957899e-01 4.34064910e-03 2.89419581e-02] [ 6.23093357e-03 -4.29033160e-03 9.99971384e-01 -6.08561678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.53824100800001 meters Centerline goodness : 0.831866 Centerline is valid? [False, False] Translation: X:6.68, Y:0.03, Z:-0.61 [[ 9.99948102e-01 7.91659680e-03 -6.41259776e-03 6.67758428e+00] [-7.89095921e-03 9.99960812e-01 4.01348807e-03 2.85395878e-02] [ 6.44411963e-03 -3.96267823e-03 9.99971385e-01 -6.09879709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.56824100800002 meters Centerline goodness : 0.834220 Centerline is valid? [False, False] Translation: X:6.68, Y:0.02, Z:-0.61 [[ 9.99944257e-01 7.95150089e-03 -6.94669340e-03 6.67893187e+00] [-7.91599237e-03 9.99955539e-01 5.12420043e-03 2.45296347e-02] [ 6.98712963e-03 -5.06892482e-03 9.99962742e-01 -6.09091386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.598241008 meters Centerline goodness : 0.833739 Centerline is valid? [False, False] Translation: X:6.68, Y:0.02, Z:-0.61 [[ 9.99942703e-01 7.82186315e-03 -7.30820083e-03 6.67983821e+00] [-7.77980688e-03 9.99953116e-01 5.76548374e-03 2.19442069e-02] [ 7.35295501e-03 -5.70829700e-03 9.99956674e-01 -6.08461975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.628241008 meters Centerline goodness : 0.833894 Centerline is valid? [False, False] Translation: X:6.68, Y:0.02, Z:-0.61 [[ 9.99941054e-01 7.61818979e-03 -7.73643077e-03 6.68107653e+00] [-7.56959070e-03 9.99951556e-01 6.29182033e-03 1.96824476e-02] [ 7.78398827e-03 -6.23288784e-03 9.99950279e-01 -6.08153983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.658241008 meters Centerline goodness : 0.836370 Centerline is valid? [False, False] Translation: X:6.68, Y:0.02, Z:-0.61 [[ 9.99940958e-01 7.15628718e-03 -8.17729196e-03 6.68273915e+00] [-7.10462730e-03 9.99954732e-01 6.32916165e-03 1.82943321e-02] [ 8.22221508e-03 -6.27069135e-03 9.99946535e-01 -6.08643991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.688241008 meters Centerline goodness : 0.837139 Centerline is valid? [False, False] Translation: X:6.70, Y:0.01, Z:-0.60 [[ 9.99960239e-01 5.01332248e-03 -7.37471178e-03 6.69962856e+00] [-4.88122129e-03 9.99829243e-01 1.78229635e-02 1.17847053e-02] [ 7.46280476e-03 -1.77862573e-02 9.99813960e-01 -6.02346271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.718241008 meters Centerline goodness : 0.836599 Centerline is valid? [False, False] Translation: X:6.70, Y:0.01, Z:-0.60 [[ 9.99974363e-01 1.03175431e-03 -7.08579193e-03 6.69960911e+00] [-9.41522361e-04 9.99918581e-01 1.27257591e-02 1.29747505e-02] [ 7.09834487e-03 -1.27187615e-02 9.99893918e-01 -6.04717509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.74824100800001 meters Centerline goodness : 0.839238 Centerline is valid? [False, False] Translation: X:6.73, Y:0.01, Z:-0.60 [[ 9.99959090e-01 1.19796424e-03 -8.96571337e-03 6.72615086e+00] [-1.11044567e-03 9.99951753e-01 9.76009298e-03 1.06860770e-02] [ 8.97697304e-03 -9.74973776e-03 9.99912174e-01 -6.03334794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.77824100800001 meters Centerline goodness : 0.837926 Centerline is valid? [False, False] Translation: X:6.73, Y:0.01, Z:-0.60 [[ 9.99956442e-01 1.20738196e-03 -9.25504839e-03 6.72634279e+00] [-1.11387638e-03 9.99948356e-01 1.01017026e-02 9.24583424e-03] [ 9.26676703e-03 -1.00909536e-02 9.99906145e-01 -6.02373806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.80824100800001 meters Centerline goodness : 0.839169 Centerline is valid? [False, False] Translation: X:6.73, Y:0.01, Z:-0.60 [[ 9.99950335e-01 6.79701854e-04 -9.94308462e-03 6.72823222e+00] [-5.75464669e-04 9.99944892e-01 1.04824923e-02 7.75262073e-03] [ 9.94966164e-03 -1.04762498e-02 9.99895621e-01 -6.01668867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.83824100800001 meters Centerline goodness : 0.841274 Centerline is valid? [False, False] Translation: X:6.73, Y:0.01, Z:-0.60 [[ 9.99935131e-01 1.88886529e-03 -1.12323919e-02 6.73452253e+00] [-1.72720454e-03 9.99895043e-01 1.43846968e-02 6.17772856e-03] [ 1.12583837e-02 -1.43643630e-02 9.99833443e-01 -6.01847128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.86824100800001 meters Centerline goodness : 0.839561 Centerline is valid? [False, False] Translation: X:6.74, Y:0.01, Z:-0.60 [[ 9.99930283e-01 8.55792128e-04 -1.17769341e-02 6.73755219e+00] [-7.01544761e-04 9.99914007e-01 1.30953168e-02 7.49121379e-03] [ 1.17871283e-02 -1.30861418e-02 9.99844896e-01 -6.04504419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.89824100800001 meters Centerline goodness : 0.837816 Centerline is valid? [False, False] Translation: X:6.74, Y:0.01, Z:-0.61 [[ 9.99917586e-01 -2.49714998e-04 -1.28358312e-02 6.74171679e+00] [ 4.07290692e-04 9.99924575e-01 1.22750883e-02 7.04544862e-03] [ 1.28317978e-02 -1.22793046e-02 9.99842269e-01 -6.06722724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.92824100800001 meters Centerline goodness : 0.840767 Centerline is valid? [False, False] Translation: X:6.75, Y:0.00, Z:-0.61 [[ 9.99906185e-01 1.50697497e-03 -1.36143729e-02 6.74559024e+00] [-1.27894668e-03 9.99859020e-01 1.67422926e-02 3.50014942e-03] [ 1.36376838e-02 -1.67233099e-02 9.99767145e-01 -6.05312102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.95824100800002 meters Centerline goodness : 0.840646 Centerline is valid? [False, False] Translation: X:6.75, Y:0.00, Z:-0.61 [[ 9.99895861e-01 9.46484007e-04 -1.44003946e-02 6.74779781e+00] [-7.02629137e-04 9.99856438e-01 1.69295473e-02 2.37666908e-03] [ 1.44143508e-02 -1.69176661e-02 9.99752979e-01 -6.05005678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.988241008 meters Centerline goodness : 0.842625 Centerline is valid? [False, False] Translation: X:6.77, Y:0.01, Z:-0.61 [[ 9.99949584e-01 6.59900338e-04 -1.00196787e-02 6.76540633e+00] [-5.99460437e-04 9.99981616e-01 6.03392526e-03 6.20428184e-03] [ 1.00234763e-02 -6.02761465e-03 9.99931597e-01 -6.12343915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.018241008 meters Centerline goodness : 0.845326 Centerline is valid? [False, False] Translation: X:6.76, Y:0.01, Z:-0.61 [[ 9.99948525e-01 8.31418086e-04 -1.01122176e-02 6.76495075e+00] [-7.67063142e-04 9.99979441e-01 6.36629261e-03 7.02747699e-03] [ 1.01173027e-02 -6.35820820e-03 9.99928604e-01 -6.10997974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.048241008 meters Centerline goodness : 0.844901 Centerline is valid? [False, False] Translation: X:6.77, Y:0.01, Z:-0.61 [[ 9.99946485e-01 6.85164379e-04 -1.03226642e-02 6.76553871e+00] [-6.18179947e-04 9.99978743e-01 6.49085817e-03 7.48307496e-03] [ 1.03268921e-02 -6.48412954e-03 9.99925653e-01 -6.10628789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.078241008 meters Centerline goodness : 0.846270 Centerline is valid? [False, False] Translation: X:6.77, Y:0.01, Z:-0.61 [[ 9.99941511e-01 1.65107862e-04 -1.08142467e-02 6.76713727e+00] [-9.70112104e-05 9.99980168e-01 6.29716094e-03 8.05782206e-03] [ 1.08150719e-02 -6.29574352e-03 9.99921696e-01 -6.10787506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.10824100800001 meters Centerline goodness : 0.844636 Centerline is valid? [False, False] Translation: X:6.78, Y:0.00, Z:-0.60 [[ 9.99934598e-01 -5.81659664e-04 -1.14219444e-02 6.78313582e+00] [ 7.96829616e-04 9.99822141e-01 1.88427893e-02 4.83656024e-03] [ 1.14089528e-02 -1.88506582e-02 9.99757215e-01 -6.01603134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.13824100800001 meters Centerline goodness : 0.846002 Centerline is valid? [False, False] Translation: X:6.78, Y:0.01, Z:-0.60 [[ 9.99928334e-01 -1.20549551e-03 -1.19110470e-02 6.78493075e+00] [ 1.42362234e-03 9.99831134e-01 1.83215107e-02 5.99202404e-03] [ 1.18869491e-02 -1.83371545e-02 9.99761196e-01 -6.02230011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.16824100800001 meters Centerline goodness : 0.849587 Centerline is valid? [False, False] Translation: X:6.79, Y:0.01, Z:-0.60 [[ 9.99923280e-01 -1.67156423e-03 -1.22735676e-02 6.78595656e+00] [ 1.89966559e-03 9.99825262e-01 1.85966878e-02 6.34097631e-03] [ 1.22403374e-02 -1.86185768e-02 9.99751731e-01 -6.01299776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.19824100800001 meters Centerline goodness : 0.846970 Centerline is valid? [False, False] Translation: X:6.81, Y:0.01, Z:-0.60 [[ 9.99930784e-01 -8.63713242e-05 -1.17652037e-02 6.81064662e+00] [ 2.75608807e-04 9.99870609e-01 1.60838338e-02 5.72894724e-03] [ 1.17622922e-02 -1.60859632e-02 9.99801425e-01 -6.00563646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.22824100800001 meters Centerline goodness : 0.848608 Centerline is valid? [False, False] Translation: X:6.81, Y:0.00, Z:-0.60 [[ 9.99926841e-01 -2.72033923e-05 -1.20959774e-02 6.81107727e+00] [ 2.28924826e-04 9.99860925e-01 1.66756652e-02 4.87061788e-03] [ 1.20938415e-02 -1.66772143e-02 9.99787782e-01 -5.99371420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.25824100800001 meters Centerline goodness : 0.852629 Centerline is valid? [False, False] Translation: X:6.82, Y:0.00, Z:-0.59 [[ 9.99901354e-01 1.39050913e-03 -1.39767148e-02 6.81775307e+00] [-1.06158165e-03 9.99722947e-01 2.35138916e-02 1.48879995e-03] [ 1.40055388e-02 -2.34967347e-02 9.99625804e-01 -5.93358393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.28824100800001 meters Centerline goodness : 0.852579 Centerline is valid? [False, False] Translation: X:6.82, Y:0.00, Z:-0.59 [[ 9.99901875e-01 1.35876933e-03 -1.39425187e-02 6.81789390e+00] [-1.03407147e-03 9.99728702e-01 2.32691596e-02 2.79151513e-03] [ 1.39703536e-02 -2.32524587e-02 9.99632008e-01 -5.93412573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.31824100800002 meters Centerline goodness : 0.853514 Centerline is valid? [False, False] Translation: X:6.82, Y:0.00, Z:-0.59 [[ 9.99901245e-01 1.34204224e-03 -1.39892259e-02 6.81837510e+00] [-1.02169342e-03 9.99737657e-01 2.28817263e-02 4.48423941e-03] [ 1.40162642e-02 -2.28651739e-02 9.99640299e-01 -5.93995019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.348241008 meters Centerline goodness : 0.854796 Centerline is valid? [False, False] Translation: X:6.82, Y:0.00, Z:-0.59 [[ 9.99880165e-01 4.73938136e-03 -1.47374816e-02 6.82066571e+00] [-4.33108052e-03 9.99609265e-01 2.76144884e-02 3.59746199e-03] [ 1.48625987e-02 -2.75473500e-02 9.99510003e-01 -5.92424856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.378241008 meters Centerline goodness : 0.853082 Centerline is valid? [False, False] Translation: X:6.84, Y:0.01, Z:-0.60 [[ 9.99929693e-01 6.07022763e-03 -1.01863016e-02 6.83716481e+00] [-5.89698743e-03 9.99838917e-01 1.69518819e-02 8.95820093e-03] [ 1.02875625e-02 -1.68906216e-02 9.99804417e-01 -6.01269787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.408241008 meters Centerline goodness : 0.854142 Centerline is valid? [False, False] Translation: X:6.84, Y:0.01, Z:-0.60 [[ 0.99989175 0.00986493 -0.01091699 6.83894331] [-0.00962943 0.99972423 0.02141819 0.00912355] [ 0.01112527 -0.02131075 0.999711 -0.60006615] [ 0. 0. 0. 1. ]] SLAMing on 66.438241008 meters Centerline goodness : 0.856445 Centerline is valid? [False, False] Translation: X:6.86, Y:0.01, Z:-0.60 [[ 9.99903188e-01 1.23708724e-02 -6.36994351e-03 6.85557707e+00] [-1.22793957e-02 9.99823703e-01 1.42049240e-02 1.16385522e-02] [ 6.54454781e-03 -1.41253297e-02 9.99878815e-01 -6.04816802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.468241008 meters Centerline goodness : 0.860796 Centerline is valid? [False, False] Translation: X:6.85, Y:0.02, Z:-0.61 [[ 9.99933075e-01 9.83854819e-03 -6.08680606e-03 6.85351117e+00] [-9.78070971e-03 9.99907417e-01 9.46016252e-03 1.54110056e-02] [ 6.17931679e-03 -9.39999612e-03 9.99936726e-01 -6.05952292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.49824100800001 meters Centerline goodness : 0.858392 Centerline is valid? [False, False] Translation: X:6.85, Y:0.02, Z:-0.61 [[ 9.99930666e-01 1.01171791e-02 -6.02541598e-03 6.85276880e+00] [-1.00594646e-02 9.99903960e-01 9.53300819e-03 1.58495150e-02] [ 6.12128445e-03 -9.47173477e-03 9.99936406e-01 -6.05255090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.52824100800001 meters Centerline goodness : 0.859972 Centerline is valid? [False, False] Translation: X:6.85, Y:0.02, Z:-0.60 [[ 9.99927678e-01 1.05570993e-02 -5.76068853e-03 6.85132152e+00] [-1.05001903e-02 9.99896639e-01 9.82126626e-03 1.60790455e-02] [ 5.86377718e-03 -9.76006765e-03 9.99935176e-01 -6.04136236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.55824100800001 meters Centerline goodness : 0.859272 Centerline is valid? [False, False] Translation: X:6.85, Y:0.02, Z:-0.60 [[ 9.99927379e-01 1.04484806e-02 -6.00550764e-03 6.85176513e+00] [-1.03884503e-02 9.99896617e-01 9.94163176e-03 1.56748757e-02] [ 6.10876171e-03 -9.87852187e-03 9.99932547e-01 -6.03620924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.58824100800001 meters Centerline goodness : 0.861929 Centerline is valid? [False, False] Translation: X:6.86, Y:0.01, Z:-0.60 [[ 0.99988782 0.01312056 -0.00722516 6.85529987] [-0.01299335 0.99976451 0.01738075 0.01067372] [ 0.0074515 -0.01728492 0.99982284 -0.59711533] [ 0. 0. 0. 1. ]] SLAMing on 66.61824100800001 meters Centerline goodness : 0.861806 Centerline is valid? [False, False] Translation: X:6.85, Y:0.01, Z:-0.60 [[ 9.99929275e-01 9.73152221e-03 -6.83688364e-03 6.85399252e+00] [-9.64536349e-03 9.99875051e-01 1.25239725e-02 1.31251826e-02] [ 6.95790669e-03 -1.24571425e-02 9.99898198e-01 -5.98481880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.64824100800001 meters Centerline goodness : 0.865528 Centerline is valid? [False, False] Translation: X:6.86, Y:0.01, Z:-0.59 [[ 0.99989329 0.01219515 -0.00804248 6.85819956] [-0.01203873 0.9997428 0.01921989 0.00793637] [ 0.0082748 -0.01912102 0.99978293 -0.59397668] [ 0. 0. 0. 1. ]] SLAMing on 66.67824100800001 meters Centerline goodness : 0.866273 Centerline is valid? [False, False] Translation: X:6.86, Y:0.00, Z:-0.59 [[ 9.99850767e-01 1.43238193e-02 -9.65778876e-03 6.86398709e+00] [-1.40756579e-02 9.99581019e-01 2.52915632e-02 4.56247463e-03] [ 1.00160141e-02 -2.51518492e-02 9.99633465e-01 -5.90456454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.70824100800002 meters Centerline goodness : 0.864768 Centerline is valid? [False, False] Translation: X:6.89, Y:0.00, Z:-0.59 [[ 9.99801467e-01 1.61898548e-02 -1.16153100e-02 6.89160172e+00] [-1.59122881e-02 9.99594749e-01 2.36037462e-02 3.72605529e-03] [ 1.19927442e-02 -2.34142339e-02 9.99653914e-01 -5.90380731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.738241008 meters Centerline goodness : 0.867247 Centerline is valid? [False, False] Translation: X:6.89, Y:0.01, Z:-0.59 [[ 0.99986354 0.01199466 -0.01135922 6.89206522] [-0.01179507 0.99977768 0.01747778 0.00698244] [ 0.01156633 -0.01734141 0.99978272 -0.59446337] [ 0. 0. 0. 1. ]] SLAMing on 66.768241008 meters Centerline goodness : 0.869330 Centerline is valid? [False, False] Translation: X:6.90, Y:0.01, Z:-0.60 [[ 9.99862266e-01 1.11708666e-02 -1.22744132e-02 6.89513163e+00] [-1.09580942e-02 9.99790859e-01 1.72672562e-02 5.77123555e-03] [ 1.24647364e-02 -1.71303738e-02 9.99775565e-01 -5.95125602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.798241008 meters Centerline goodness : 0.870850 Centerline is valid? [False, False] Translation: X:6.90, Y:0.00, Z:-0.59 [[ 9.99822551e-01 1.18462002e-02 -1.46470136e-02 6.90446085e+00] [-1.15101488e-02 9.99673361e-01 2.28186042e-02 3.32237174e-03] [ 1.49125431e-02 -2.26459657e-02 9.99632321e-01 -5.91945300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.828241008 meters Centerline goodness : 0.871064 Centerline is valid? [False, False] Translation: X:6.92, Y:0.01, Z:-0.60 [[ 0.99986803 0.01228175 -0.01063413 6.92102186] [-0.01217081 0.99987148 0.01043523 0.00855726] [ 0.01076092 -0.01030443 0.999889 -0.60169962] [ 0. 0. 0. 1. ]] SLAMing on 66.85824100800001 meters Centerline goodness : 0.871993 Centerline is valid? [False, False] Translation: X:6.93, Y:0.01, Z:-0.60 [[ 9.99816663e-01 1.50139415e-02 -1.18837131e-02 6.92512061e+00] [-1.48329517e-02 9.99774835e-01 1.51744315e-02 6.91249429e-03] [ 1.21088653e-02 -1.49953789e-02 9.99814240e-01 -6.00290818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.88824100800001 meters Centerline goodness : 0.872662 Centerline is valid? [False, False] Translation: X:6.93, Y:0.01, Z:-0.60 [[ 9.99756236e-01 1.75395943e-02 -1.34100794e-02 6.93018993e+00] [-1.72663675e-02 9.99646328e-01 2.02260144e-02 5.67753669e-03] [ 1.37600927e-02 -1.99895407e-02 9.99705496e-01 -5.98131004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.91824100800001 meters Centerline goodness : 0.873528 Centerline is valid? [False, False] Translation: X:6.95, Y:0.01, Z:-0.61 [[ 0.99978769 0.01822612 -0.00961213 6.94846706] [-0.01813848 0.99979382 0.00912758 0.01163101] [ 0.00977651 -0.00895129 0.99991214 -0.60705649] [ 0. 0. 0. 1. ]] SLAMing on 66.94824100800001 meters Centerline goodness : 0.875254 Centerline is valid? [False, False] Translation: X:6.95, Y:0.01, Z:-0.61 [[ 0.99979102 0.01776444 -0.01011632 6.94998505] [-0.01767327 0.99980302 0.00903151 0.01237596] [ 0.01027477 -0.00885084 0.99990804 -0.60687682] [ 0. 0. 0. 1. ]] SLAMing on 66.97824100800001 meters Centerline goodness : 0.875178 Centerline is valid? [False, False] Translation: X:6.95, Y:0.01, Z:-0.60 [[ 0.99972881 0.02033724 -0.01134483 6.95384902] [-0.0201637 0.99968104 0.01520689 0.00930391] [ 0.01165048 -0.01497402 0.99982001 -0.6024931 ] [ 0. 0. 0. 1. ]] SLAMing on 67.00824100800001 meters Centerline goodness : 0.876050 Centerline is valid? [False, False] Translation: X:6.96, Y:0.01, Z:-0.60 [[ 9.99654559e-01 2.32013415e-02 -1.23475081e-02 6.95683616e+00] [-2.29417471e-02 9.99521110e-01 2.07660171e-02 6.39769820e-03] [ 1.28233944e-02 -2.04755703e-02 9.99708113e-01 -5.99003415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.03824100800001 meters Centerline goodness : 0.879366 Centerline is valid? [False, False] Translation: X:6.96, Y:0.00, Z:-0.60 [[ 9.99562403e-01 2.62939657e-02 -1.35510061e-02 6.96018849e+00] [-2.59255934e-02 9.99307827e-01 2.66782649e-02 3.39362386e-03] [ 1.42431038e-02 -2.63152727e-02 9.99552220e-01 -5.95271872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.06824100800002 meters Centerline goodness : 0.877362 Centerline is valid? [False, False] Translation: X:6.98, Y:0.01, Z:-0.60 [[ 9.99596966e-01 2.68969007e-02 -9.08089082e-03 6.97810256e+00] [-2.67335644e-02 9.99486712e-01 1.76530089e-02 6.60306214e-03] [ 9.55104093e-03 -1.74031295e-02 9.99802935e-01 -6.01183886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.098241008 meters Centerline goodness : 0.881803 Centerline is valid? [False, False] Translation: X:6.98, Y:0.01, Z:-0.60 [[ 9.99598679e-01 2.67077875e-02 -9.44322968e-03 6.97891927e+00] [-2.65369037e-02 9.99489695e-01 1.77804063e-02 6.22541004e-03] [ 9.91328607e-03 -1.75226766e-02 9.99797321e-01 -6.00660901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.128241008 meters Centerline goodness : 0.882188 Centerline is valid? [False, False] Translation: X:6.98, Y:0.00, Z:-0.59 [[ 9.99515870e-01 2.93103931e-02 -1.04367819e-02 6.98279453e+00] [-2.90363138e-02 9.99252803e-01 2.55093922e-02 1.46197131e-03] [ 1.11766739e-02 -2.51939967e-02 9.99620100e-01 -5.93578052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.158241008 meters Centerline goodness : 0.881192 Centerline is valid? [False, False] Translation: X:6.98, Y:0.01, Z:-0.60 [[ 0.99961081 0.02592013 -0.01031393 6.98261789] [-0.02572103 0.99948878 0.01898965 0.00743593] [ 0.01080087 -0.01871698 0.99976648 -0.59821735] [ 0. 0. 0. 1. ]] SLAMing on 67.188241008 meters Centerline goodness : 0.878706 Centerline is valid? [False, False] Translation: X:6.99, Y:0.01, Z:-0.60 [[ 9.99516096e-01 2.90614270e-02 -1.10908206e-02 6.98554064e+00] [-2.87925746e-02 9.99304975e-01 2.36760479e-02 6.81628334e-03] [ 1.17711719e-02 -2.33452577e-02 9.99658161e-01 -5.96850230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.218241008 meters Centerline goodness : 0.881114 Centerline is valid? [False, False] Translation: X:6.99, Y:0.01, Z:-0.59 [[ 9.99421650e-01 3.17018830e-02 -1.23027238e-02 6.98980743e+00] [-3.13399769e-02 9.99100326e-01 2.85717414e-02 5.51867928e-03] [ 1.31974334e-02 -2.81696498e-02 9.99516032e-01 -5.94924407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.24824100800001 meters Centerline goodness : 0.885785 Centerline is valid? [False, False] Translation: X:6.99, Y:0.00, Z:-0.59 [[ 9.99428802e-01 3.11344975e-02 -1.31420401e-02 6.99188366e+00] [-3.07324733e-02 9.99084577e-01 2.97577299e-02 3.47075711e-03] [ 1.40565015e-02 -2.93368449e-02 9.99470742e-01 -5.92352510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.27824100800001 meters Centerline goodness : 0.888618 Centerline is valid? [False, False] Translation: X:6.99, Y:0.00, Z:-0.59 [[ 9.99436859e-01 3.05093598e-02 -1.39694076e-02 6.99395856e+00] [-3.00723060e-02 9.99082440e-01 3.04948231e-02 1.67731363e-03] [ 1.48869674e-02 -3.00575580e-02 9.99437302e-01 -5.90683764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.30824100800001 meters Centerline goodness : 0.887831 Centerline is valid? [False, False] Translation: X:7.00, Y:0.00, Z:-0.59 [[ 9.99443288e-01 3.00709632e-02 -1.44516589e-02 6.99543594e+00] [-2.96060985e-02 9.99069247e-01 3.13706621e-02 4.61341678e-04] [ 1.53815540e-02 -3.09253405e-02 9.99403338e-01 -5.88821510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.33824100800001 meters Centerline goodness : 0.885863 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.00, Z:-0.58 [[ 9.99402661e-01 3.08680218e-02 -1.55398297e-02 7.00208777e+00] [-3.02569546e-02 9.98814570e-01 3.81309841e-02 -2.78474361e-03] [ 1.66984364e-02 -3.76380190e-02 9.99151911e-01 -5.83083162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.36824100800001 meters Centerline goodness : 0.885863 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.00, Z:-0.58 [[ 9.99399010e-01 3.10711032e-02 -1.53689810e-02 7.00164117e+00] [-3.04702179e-02 9.98816988e-01 3.78971135e-02 -2.15138565e-03] [ 1.65283044e-02 -3.74060415e-02 9.99163452e-01 -5.83257012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.39824100800001 meters Centerline goodness : 0.887249 Centerline is valid? [False, False] Translation: X:7.02, Y:0.00, Z:-0.59 [[ 9.99441860e-01 3.16186478e-02 -1.07809954e-02 7.01839646e+00] [-3.13051254e-02 9.99114653e-01 2.81051623e-02 1.13792618e-03] [ 1.16600977e-02 -2.77519753e-02 9.99546832e-01 -5.89458058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.42824100800001 meters Centerline goodness : 0.889068 Centerline is valid? [False, False] Translation: X:7.04, Y:0.01, Z:-0.60 [[ 9.99488561e-01 3.13012904e-02 -6.54562463e-03 7.03746001e+00] [-3.11811471e-02 9.99356750e-01 1.77150388e-02 5.51012246e-03] [ 7.09591773e-03 -1.75018786e-02 9.99821650e-01 -5.96966873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.45824100800002 meters Centerline goodness : 0.891547 Centerline is valid? [False, False] Translation: X:7.04, Y:0.00, Z:-0.59 [[ 9.99413827e-01 3.32992325e-02 -7.94757717e-03 7.04311759e+00] [-3.31070644e-02 9.99182590e-01 2.31964409e-02 4.08518969e-03] [ 8.71350442e-03 -2.29197229e-02 9.99699335e-01 -5.93927187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.488241008 meters Centerline goodness : 0.894554 Centerline is valid? [False, False] Translation: X:7.05, Y:0.01, Z:-0.60 [[ 9.99434704e-01 3.25304070e-02 -8.48799369e-03 7.04556715e+00] [-3.23348380e-02 9.99229589e-01 2.22415379e-02 5.37727503e-03] [ 9.20498073e-03 -2.19545069e-02 9.99716594e-01 -5.95694513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.518241008 meters Centerline goodness : 0.892900 Centerline is valid? [False, False] Translation: X:7.05, Y:0.00, Z:-0.59 [[ 9.99440563e-01 3.21554942e-02 -9.19706503e-03 7.04746982e+00] [-3.19365852e-02 9.99224463e-01 2.30331857e-02 4.48505148e-03] [ 9.93057584e-03 -2.27265772e-02 9.99692396e-01 -5.93921580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.548241008 meters Centerline goodness : 0.892625 Centerline is valid? [False, False] Translation: X:7.05, Y:0.00, Z:-0.59 [[ 9.99354380e-01 3.42927951e-02 -1.07157917e-02 7.05258204e+00] [-3.39630900e-02 9.98985603e-01 2.95681231e-02 3.07799343e-04] [ 1.17188952e-02 -2.91850920e-02 9.99505327e-01 -5.88894382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.578241008 meters Centerline goodness : 0.894860 Centerline is valid? [False, False] Translation: X:7.05, Y:0.00, Z:-0.59 [[ 9.99360872e-01 3.39753149e-02 -1.11142473e-02 7.05358617e+00] [-3.36389063e-02 9.99008248e-01 2.91709421e-02 7.95390279e-04] [ 1.20943167e-02 -2.87784270e-02 9.99512646e-01 -5.89065629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.60824100800001 meters Centerline goodness : 0.894058 Centerline is valid? [False, False] Translation: X:7.07, Y:0.00, Z:-0.60 [[ 9.99367732e-01 3.48502643e-02 -7.04246372e-03 7.07061865e+00] [-3.47146913e-02 9.99225387e-01 1.85342123e-02 4.91457793e-03] [ 7.68293073e-03 -1.82780167e-02 9.99803424e-01 -5.96909877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.63824100800001 meters Centerline goodness : 0.897281 Centerline is valid? [False, False] Translation: X:7.08, Y:0.00, Z:-0.59 [[ 9.99259507e-01 3.75502520e-02 -8.39140363e-03 7.07508186e+00] [-3.73441415e-02 9.99026119e-01 2.34995316e-02 3.37448376e-03] [ 9.26564474e-03 -2.31687606e-02 9.99688630e-01 -5.94993971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.66824100800001 meters Centerline goodness : 0.894217 Centerline is valid? [False, False] Translation: X:7.08, Y:0.01, Z:-0.60 [[ 0.99927138 0.03715621 -0.00872483 7.07709209] [-0.03696224 0.99908686 0.02143002 0.00803434] [ 0.00951313 -0.02109192 0.99973228 -0.5986836 ] [ 0. 0. 0. 1. ]] SLAMing on 67.69824100800001 meters Centerline goodness : 0.898149 Centerline is valid? [False, False] Translation: X:7.08, Y:0.01, Z:-0.60 [[ 9.99181224e-01 3.91768360e-02 -1.01023627e-02 7.08241562e+00] [-3.89017183e-02 9.98901448e-01 2.61257431e-02 6.43141849e-03] [ 1.11147887e-02 -2.57113527e-02 9.99607617e-01 -5.97015447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.72824100800001 meters Centerline goodness : 0.898465 Centerline is valid? [False, False] Translation: X:7.08, Y:0.01, Z:-0.60 [[ 0.99919498 0.03869181 -0.01059914 7.08394118] [-0.03840929 0.99893219 0.02567509 0.00718767] [ 0.01158123 -0.02524731 0.99961415 -0.59735756] [ 0. 0. 0. 1. ]] SLAMing on 67.75824100800001 meters Centerline goodness : 0.895482 Centerline is valid? [False, False] Translation: X:7.10, Y:0.01, Z:-0.60 [[ 9.99225297e-01 3.88857802e-02 -6.05827700e-03 7.09967000e+00] [-3.87952723e-02 9.99143385e-01 1.44022182e-02 1.04588289e-02] [ 6.61312887e-03 -1.41560282e-02 9.99877929e-01 -6.04489891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.78824100800001 meters Centerline goodness : 0.897095 Centerline is valid? [False, False] Translation: X:7.11, Y:0.01, Z:-0.60 [[ 0.99914946 0.040518 -0.00765808 7.1056992 ] [-0.04034949 0.99896475 0.02100804 0.00723966] [ 0.00850136 -0.02068118 0.99974998 -0.59902084] [ 0. 0. 0. 1. ]] SLAMing on 67.81824100800002 meters Centerline goodness : 0.899380 Centerline is valid? [False, False] Translation: X:7.11, Y:0.00, Z:-0.60 [[ 9.99070475e-01 4.20631708e-02 -9.42734652e-03 7.11211579e+00] [-4.17993274e-02 9.98771190e-01 2.66256552e-02 4.63269400e-03] [ 1.05357216e-02 -2.62068492e-02 9.99601020e-01 -5.95320937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.848241008 meters Centerline goodness : 0.900669 Centerline is valid? [False, False] Translation: X:7.12, Y:0.00, Z:-0.59 [[ 9.99107732e-01 4.08450676e-02 -1.07434119e-02 7.12130947e+00] [-4.04885138e-02 9.98682078e-01 3.15402474e-02 3.14519511e-03] [ 1.20175164e-02 -3.10771202e-02 9.99444742e-01 -5.91730030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.878241008 meters Centerline goodness : 0.900571 Centerline is valid? [False, False] Translation: X:7.13, Y:0.00, Z:-0.59 [[ 9.99079933e-01 4.12606611e-02 -1.16980562e-02 7.12766777e+00] [-4.08130918e-02 9.98510252e-01 3.62155923e-02 1.30982422e-03] [ 1.31749084e-02 -3.57048377e-02 9.99275531e-01 -5.89296020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.908241008 meters Centerline goodness : 0.900865 Centerline is valid? [False, False] Translation: X:7.13, Y:0.00, Z:-0.59 [[ 9.99099875e-01 4.06435029e-02 -1.21468039e-02 7.12952154e+00] [-4.01786663e-02 9.98531726e-01 3.63327291e-02 2.00528244e-03] [ 1.36056584e-02 -3.58119827e-02 9.99265925e-01 -5.88676738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.938241008 meters Centerline goodness : 0.899122 Centerline is valid? [False, False] Translation: X:7.13, Y:0.00, Z:-0.59 [[ 9.99125532e-01 3.99453341e-02 -1.23507488e-02 7.13077872e+00] [-3.94797614e-02 9.98575795e-01 3.58849565e-02 2.75888970e-03] [ 1.37665954e-02 -3.53659716e-02 9.99279605e-01 -5.88896970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.968241008 meters Centerline goodness : 0.898848 Centerline is valid? [False, False] Translation: X:7.13, Y:0.00, Z:-0.59 [[ 9.99138502e-01 3.94905351e-02 -1.27574032e-02 7.13208992e+00] [-3.90082649e-02 9.98587805e-01 3.60659165e-02 3.03352511e-03] [ 1.41636496e-02 -3.55372017e-02 9.99267981e-01 -5.88243573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.99824100800001 meters Centerline goodness : 0.900313 Centerline is valid? [False, False] Translation: X:7.13, Y:0.01, Z:-0.59 [[ 0.99929604 0.03538761 -0.01245549 7.1316191 ] [-0.03499589 0.99892573 0.03037568 0.00747209] [ 0.01351703 -0.02991841 0.99946094 -0.59072389] [ 0. 0. 0. 1. ]] SLAMing on 68.02824100800001 meters Centerline goodness : 0.902833 Centerline is valid? [False, False] Translation: X:7.13, Y:0.01, Z:-0.59 [[ 0.99931015 0.03480905 -0.01294411 7.13320496] [-0.03440613 0.99895316 0.03014624 0.00800101] [ 0.01397992 -0.02968009 0.99946168 -0.59069934] [ 0. 0. 0. 1. ]] SLAMing on 68.05824100800001 meters Centerline goodness : 0.903192 Centerline is valid? [False, False] Translation: X:7.13, Y:0.01, Z:-0.59 [[ 0.99931788 0.03445049 -0.01330185 7.13424592] [-0.03403734 0.99896636 0.03012759 0.00849 ] [ 0.01432602 -0.02965428 0.99945755 -0.59017806] [ 0. 0. 0. 1. ]] SLAMing on 68.08824100800001 meters Centerline goodness : 0.906118 Centerline is valid? [False, False] Translation: X:7.14, Y:0.01, Z:-0.59 [[ 0.99932528 0.03410411 -0.01363434 7.13532131] [-0.03368187 0.99897973 0.0300837 0.00916298] [ 0.01464641 -0.02960417 0.99945439 -0.58986826] [ 0. 0. 0. 1. ]] SLAMing on 68.11824100800001 meters Centerline goodness : 0.901724 Centerline is valid? [False, False] Translation: X:7.14, Y:0.01, Z:-0.59 [[ 0.99933924 0.03353981 -0.01400611 7.13678979] [-0.0331155 0.99901605 0.02950084 0.01007383] [ 0.01498178 -0.02901753 0.99946662 -0.59069147] [ 0. 0. 0. 1. ]] SLAMing on 68.14824100800001 meters Centerline goodness : 0.903670 Centerline is valid? [False, False] Translation: X:7.14, Y:0.01, Z:-0.59 [[ 0.99935978 0.03284325 -0.0141895 7.13857134] [-0.03244086 0.99908934 0.02771414 0.01323798] [ 0.0150868 -0.02723607 0.99951517 -0.5938412 ] [ 0. 0. 0. 1. ]] SLAMing on 68.17824100800001 meters Centerline goodness : 0.904979 Centerline is valid? [False, False] Translation: X:7.12, Y:0.02, Z:-0.60 [[ 0.99955181 0.02856275 -0.00896326 7.11953593] [-0.02826274 0.99908881 0.03198087 0.01751878] [ 0.00986855 -0.03171321 0.99944829 -0.59537958] [ 0. 0. 0. 1. ]] SLAMing on 68.20824100800002 meters Centerline goodness : 0.904257 Centerline is valid? [False, False] Translation: X:7.12, Y:0.02, Z:-0.60 [[ 0.99964505 0.02515874 -0.00876413 7.11928285] [-0.02491745 0.99933475 0.02663027 0.02279969] [ 0.00942829 -0.02640244 0.99960693 -0.59823112] [ 0. 0. 0. 1. ]] SLAMing on 68.238241008 meters Centerline goodness : 0.903703 Centerline is valid? [False, False] Translation: X:7.12, Y:0.02, Z:-0.60 [[ 0.99965134 0.02474468 -0.00921439 7.12063882] [-0.02449531 0.99935504 0.02625799 0.02426937] [ 0.00985819 -0.02602312 0.99961273 -0.59826884] [ 0. 0. 0. 1. ]] SLAMing on 68.268241008 meters Centerline goodness : 0.902912 Centerline is valid? [False, False] Translation: X:7.12, Y:0.03, Z:-0.60 [[ 0.99963905 0.02517968 -0.00936785 7.11986218] [-0.02492442 0.99933977 0.02643464 0.02555865] [ 0.01002728 -0.02619161 0.99960665 -0.59659156] [ 0. 0. 0. 1. ]] SLAMing on 68.298241008 meters Centerline goodness : 0.904559 Centerline is valid? [False, False] Translation: X:7.12, Y:0.03, Z:-0.60 [[ 0.99970964 0.02230449 -0.00911791 7.11847181] [-0.02211171 0.9995407 0.02072356 0.03065948] [ 0.00957595 -0.02051593 0.99974367 -0.59958515] [ 0. 0. 0. 1. ]] SLAMing on 68.328241008 meters Centerline goodness : 0.904508 Centerline is valid? [False, False] Translation: X:7.12, Y:0.04, Z:-0.60 [[ 0.99968478 0.02330891 -0.00932874 7.1180835 ] [-0.02311762 0.99953041 0.02011295 0.0352988 ] [ 0.00979317 -0.01989095 0.99975419 -0.6000716 ] [ 0. 0. 0. 1. ]] SLAMing on 68.35824100800001 meters Centerline goodness : 0.907353 Centerline is valid? [False, False] Translation: X:7.12, Y:0.03, Z:-0.60 [[ 0.99958907 0.02676377 -0.01026621 7.12044115] [-0.02649653 0.99932771 0.02533911 0.03355343] [ 0.01093748 -0.02505668 0.9996262 -0.59740358] [ 0. 0. 0. 1. ]] SLAMing on 68.38824100800001 meters Centerline goodness : 0.907494 Centerline is valid? [False, False] Translation: X:7.12, Y:0.04, Z:-0.60 [[ 0.99958666 0.02686538 -0.01023483 7.12028061] [-0.02660739 0.99934422 0.02455961 0.03535976] [ 0.01088792 -0.02427714 0.99964597 -0.59823221] [ 0. 0. 0. 1. ]] SLAMing on 68.41824100800001 meters Centerline goodness : 0.907494 Centerline is valid? [False, False] Translation: X:7.14, Y:0.04, Z:-0.61 [[ 9.99565785e-01 2.88881720e-02 -5.80649089e-03 7.13627047e+00] [-2.87988654e-02 9.99473920e-01 1.49167507e-02 3.92633017e-02] [ 6.23435387e-03 -1.47430533e-02 9.99871879e-01 -6.05572989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.44824100800001 meters Centerline goodness : 0.910394 Centerline is valid? [False, False] Translation: X:7.14, Y:0.04, Z:-0.61 [[ 9.99540450e-01 2.98132352e-02 -5.48275013e-03 7.13523565e+00] [-2.97370258e-02 9.99466690e-01 1.34923880e-02 4.34485501e-02] [ 5.88207787e-03 -1.33231469e-02 9.99893942e-01 -6.08180458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.47824100800001 meters Centerline goodness : 0.906252 Centerline is valid? [False, False] Translation: X:7.14, Y:0.04, Z:-0.61 [[ 9.99423094e-01 3.33849628e-02 -6.23892642e-03 7.13753946e+00] [-3.32673308e-02 9.99282716e-01 1.80924675e-02 4.22917340e-02] [ 6.83846770e-03 -1.78744774e-02 9.99816852e-01 -6.07116358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.50824100800001 meters Centerline goodness : 0.906145 Centerline is valid? [False, False] Translation: X:7.14, Y:0.04, Z:-0.61 [[ 9.99406419e-01 3.39193801e-02 -6.02368879e-03 7.13676352e+00] [-3.38088738e-02 9.99273576e-01 1.75863544e-02 4.41289772e-02] [ 6.61583128e-03 -1.73722613e-02 9.99827203e-01 -6.07859774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.53824100800001 meters Centerline goodness : 0.902990 Centerline is valid? [False, False] Translation: X:7.15, Y:0.05, Z:-0.62 [[ 9.99328011e-01 3.66262740e-02 -1.42926748e-03 7.15104520e+00] [-3.66148343e-02 9.99302467e-01 7.34395293e-03 4.81342818e-02] [ 1.69725215e-03 -7.28668549e-03 9.99972011e-01 -6.15553461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.56824100800002 meters Centerline goodness : 0.905210 Centerline is valid? [False, False] Translation: X:7.15, Y:0.05, Z:-0.62 [[ 9.99298058e-01 3.74439740e-02 -1.15758564e-03 7.14969924e+00] [-3.74348676e-02 9.99273973e-01 7.08218155e-03 4.93396434e-02] [ 1.42193022e-03 -7.03387620e-03 9.99974251e-01 -6.15785208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.598241008 meters Centerline goodness : 0.904223 Centerline is valid? [False, False] Translation: X:7.15, Y:0.05, Z:-0.62 [[ 9.99247551e-01 3.87733290e-02 -9.79931923e-04 7.14825006e+00] [-3.87657785e-02 9.99225110e-01 6.81133310e-03 5.04304324e-02] [ 1.24327064e-03 -6.76822010e-03 9.99976322e-01 -6.16508827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.628241008 meters Centerline goodness : 0.905059 Centerline is valid? [False, False] Translation: X:7.15, Y:0.05, Z:-0.62 [[ 9.99270982e-01 3.81458059e-02 -1.54993020e-03 7.15020978e+00] [-3.81355024e-02 9.99253296e-01 6.20762918e-03 5.08811900e-02] [ 1.78556788e-03 -6.14399634e-03 9.99979531e-01 -6.17367591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.658241008 meters Centerline goodness : 0.903998 Centerline is valid? [False, False] Translation: X:7.15, Y:0.05, Z:-0.62 [[ 9.99306944e-01 3.71637951e-02 -2.11755719e-03 7.15305419e+00] [-3.71527896e-02 9.99296993e-01 5.01901702e-03 5.23177699e-02] [ 2.30259425e-03 -4.93686540e-03 9.99985163e-01 -6.19745037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.688241008 meters Centerline goodness : 0.899683 Centerline is valid? [False, False] Translation: X:7.16, Y:0.05, Z:-0.62 [[ 9.99350075e-01 3.59223568e-02 -3.00185218e-03 7.15682583e+00] [-3.59095648e-02 9.99346168e-01 4.21181435e-03 5.31830777e-02] [ 3.15118777e-03 -4.10128178e-03 9.99986625e-01 -6.21489785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.718241008 meters Centerline goodness : 0.901000 Centerline is valid? [False, False] Translation: X:7.16, Y:0.05, Z:-0.62 [[ 9.99385192e-01 3.48577908e-02 -3.76469952e-03 7.16007678e+00] [-3.48445683e-02 9.99386536e-01 3.52249761e-03 5.34672594e-02] [ 3.88517649e-03 -3.38915262e-03 9.99986709e-01 -6.23067000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.74824100800001 meters Centerline goodness : 0.901680 Centerline is valid? [False, False] Translation: X:7.16, Y:0.06, Z:-0.62 [[ 9.99510565e-01 3.10350534e-02 -3.93139223e-03 7.16054961e+00] [-3.10403021e-02 9.99517313e-01 -1.28116453e-03 5.58289760e-02] [ 3.88973358e-03 1.40256909e-03 9.99991451e-01 -6.24747315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.77824100800001 meters Centerline goodness : 0.900532 Centerline is valid? [False, False] Translation: X:7.16, Y:0.05, Z:-0.62 [[ 9.99535865e-01 3.00441282e-02 -5.04025735e-03 7.16415600e+00] [-3.00486086e-02 9.99548106e-01 -8.15548918e-04 5.35115673e-02] [ 5.01347723e-03 9.66623114e-04 9.99986965e-01 -6.24381806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.80824100800001 meters Centerline goodness : 0.899893 Centerline is valid? [False, False] Translation: X:7.17, Y:0.05, Z:-0.62 [[ 9.99547114e-01 2.96086463e-02 -5.37533414e-03 7.16549709e+00] [-2.96136856e-02 9.99561048e-01 -8.60305251e-04 5.25732733e-02] [ 5.34750215e-03 1.01909909e-03 9.99985183e-01 -6.24753790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.83824100800001 meters Centerline goodness : 0.900775 Centerline is valid? [False, False] Translation: X:7.17, Y:0.05, Z:-0.62 [[ 9.99563488e-01 2.89157696e-02 -6.05897702e-03 7.16786754e+00] [-2.89211481e-02 9.99581374e-01 -8.01946996e-04 5.16275618e-02] [ 6.03325166e-03 9.76829509e-04 9.99981323e-01 -6.24933664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.86824100800001 meters Centerline goodness : 0.903500 Centerline is valid? [False, False] Translation: X:7.17, Y:0.05, Z:-0.63 [[ 9.99578191e-01 2.82982725e-02 -6.53049222e-03 7.16975152e+00] [-2.83040515e-02 9.99599045e-01 -7.94188075e-04 5.05923336e-02] [ 6.50539963e-03 9.78692468e-04 9.99978361e-01 -6.25296440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.89824100800001 meters Centerline goodness : 0.903663 Centerline is valid? [False, False] Translation: X:7.17, Y:0.05, Z:-0.63 [[ 9.99593605e-01 2.75419328e-02 -7.35302861e-03 7.17242868e+00] [-2.75472887e-02 9.99620304e-01 -6.28090016e-04 4.98156727e-02] [ 7.33293788e-03 8.30390765e-04 9.99972769e-01 -6.25233035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.92824100800001 meters Centerline goodness : 0.903744 Centerline is valid? [False, False] Translation: X:7.17, Y:0.05, Z:-0.63 [[ 9.99606951e-01 2.69026198e-02 -7.88616528e-03 7.17460457e+00] [-2.69084639e-02 9.99637699e-01 -6.35869754e-04 4.94891359e-02] [ 7.86620155e-03 8.47824420e-04 9.99968702e-01 -6.25546044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.95824100800002 meters Centerline goodness : 0.903137 Centerline is valid? [False, False] Translation: X:7.18, Y:0.05, Z:-0.63 [[ 9.99626607e-01 2.59740907e-02 -8.48491372e-03 7.17710049e+00] [-2.59780858e-02 9.99662447e-01 -3.60954922e-04 4.80271998e-02] [ 8.47267414e-03 5.81241961e-04 9.99963937e-01 -6.25408507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.988241008 meters Centerline goodness : 0.904187 Centerline is valid? [False, False] Translation: X:7.18, Y:0.05, Z:-0.63 [[ 9.99638400e-01 2.53310350e-02 -9.02266631e-03 7.17908281e+00] [-2.53331456e-02 9.99679057e-01 -1.19695822e-04 4.61282980e-02] [ 9.01673853e-03 3.48225059e-04 9.99959288e-01 -6.25361420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.018241008 meters Centerline goodness : 0.902843 Centerline is valid? [False, False] Translation: X:7.18, Y:0.04, Z:-0.62 [[ 9.99638747e-01 2.50179038e-02 -9.82245459e-03 7.18096830e+00] [-2.50074761e-02 9.99686564e-01 1.18302704e-03 4.32833740e-02] [ 9.84897274e-03 -9.36964874e-04 9.99951059e-01 -6.23351628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.048241008 meters Centerline goodness : 0.903964 Centerline is valid? [False, False] Translation: X:7.18, Y:0.04, Z:-0.62 [[ 9.99633871e-01 2.49659457e-02 -1.04319403e-02 7.18143658e+00] [-2.49367704e-02 9.99684773e-01 2.91752531e-03 3.99261053e-02] [ 1.05014907e-02 -2.65631821e-03 9.99941330e-01 -6.19655760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.078241008 meters Centerline goodness : 0.903078 Centerline is valid? [False, False] Translation: X:7.18, Y:0.04, Z:-0.62 [[ 9.99640868e-01 2.45243908e-02 -1.08022934e-02 7.18296363e+00] [-2.44987957e-02 9.99696745e-01 2.49541630e-03 4.02663447e-02] [ 1.08602161e-02 -2.22987693e-03 9.99938540e-01 -6.20490020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.10824100800001 meters Centerline goodness : 0.900641 Centerline is valid? [False, False] Translation: X:7.19, Y:0.04, Z:-0.62 [[ 9.99652582e-01 2.37255703e-02 -1.14809671e-02 7.18560869e+00] [-2.37052270e-02 9.99717177e-01 1.90479103e-03 4.13301733e-02] [ 1.15229122e-02 -1.63197034e-03 9.99932277e-01 -6.21508038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.13824100800001 meters Centerline goodness : 0.902117 Centerline is valid? [False, False] Translation: X:7.19, Y:0.04, Z:-0.62 [[ 9.99665337e-01 2.27902580e-02 -1.22400204e-02 7.18875689e+00] [-2.27756299e-02 9.99739713e-01 1.33318692e-03 4.26753181e-02] [ 1.22672181e-02 -1.05396657e-03 9.99924199e-01 -6.22653387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.16824100800001 meters Centerline goodness : 0.899623 Centerline is valid? [False, False] Translation: X:7.19, Y:0.04, Z:-0.63 [[ 9.99678703e-01 2.19560470e-02 -1.26657862e-02 7.19161136e+00] [-2.19579472e-02 9.99758895e-01 -1.09683510e-05 4.48277958e-02] [ 1.26624916e-02 2.89079492e-04 9.99919786e-01 -6.25744059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.19824100800001 meters Centerline goodness : 0.899188 Centerline is valid? [False, False] Translation: X:7.19, Y:0.05, Z:-0.63 [[ 9.99686372e-01 2.10594942e-02 -1.35519518e-02 7.19471945e+00] [-2.10686339e-02 9.99777890e-01 -5.31986154e-04 4.57913139e-02] [ 1.35377384e-02 8.17340420e-04 9.99908027e-01 -6.26604300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.22824100800001 meters Centerline goodness : 0.898752 Centerline is valid? [False, False] Translation: X:7.20, Y:0.04, Z:-0.62 [[ 9.99630705e-01 2.22804936e-02 -1.55574201e-02 7.20208412e+00] [-2.21973633e-02 9.99738502e-01 5.49586233e-03 4.24172728e-02] [ 1.56758024e-02 -5.14849903e-03 9.99863872e-01 -6.22454159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.25824100800001 meters Centerline goodness : 0.899486 Centerline is valid? [False, False] Translation: X:7.20, Y:0.04, Z:-0.62 [[ 9.99633636e-01 2.14259317e-02 -1.65385191e-02 7.20480889e+00] [-2.13237143e-02 9.99752569e-01 6.33237755e-03 4.06717773e-02] [ 1.66701041e-02 -5.97739494e-03 9.99843177e-01 -6.20691708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.28824100800001 meters Centerline goodness : 0.899486 Centerline is valid? [False, False] Translation: X:7.20, Y:0.04, Z:-0.62 [[ 9.99633636e-01 2.14259317e-02 -1.65385191e-02 7.20480889e+00] [-2.13237143e-02 9.99752569e-01 6.33237755e-03 4.06717773e-02] [ 1.66701041e-02 -5.97739494e-03 9.99843177e-01 -6.20691708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.31824100800002 meters Centerline goodness : 0.902027 Centerline is valid? [False, False] Translation: X:7.21, Y:0.04, Z:-0.62 [[ 0.99964289 0.01986636 -0.01787217 7.20857128] [-0.0197196 0.99977068 0.00835065 0.03763487] [ 0.01803397 -0.00799523 0.99980541 -0.61624521] [ 0. 0. 0. 1. ]] SLAMing on 69.34824100800002 meters Centerline goodness : 0.901458 Centerline is valid? [False, False] Translation: X:7.21, Y:0.04, Z:-0.62 [[ 0.99964731 0.01907415 -0.01847815 7.21071399] [-0.01892088 0.99978541 0.00843401 0.038037 ] [ 0.01863506 -0.00808141 0.99979369 -0.61578364] [ 0. 0. 0. 1. ]] SLAMing on 69.378241008 meters Centerline goodness : 0.904041 Centerline is valid? [False, False] Translation: X:7.21, Y:0.04, Z:-0.62 [[ 0.99964984 0.01821747 -0.01919153 7.21312823] [-0.01806185 0.99980282 0.00825144 0.03896171] [ 0.01933806 -0.00790192 0.99978178 -0.61562615] [ 0. 0. 0. 1. ]] SLAMing on 69.408241008 meters Centerline goodness : 0.904402 Centerline is valid? [False, False] Translation: X:7.21, Y:0.04, Z:-0.61 [[ 0.99964886 0.01760292 -0.01980657 7.21494166] [-0.01743748 0.99981187 0.00849432 0.03920668] [ 0.01995237 -0.00814596 0.99976775 -0.61474277] [ 0. 0. 0. 1. ]] SLAMing on 69.438241008 meters Centerline goodness : 0.904429 Centerline is valid? [False, False] Translation: X:7.23, Y:0.04, Z:-0.60 [[ 0.99966721 0.01715248 -0.01926827 7.23085208] [-0.01672243 0.99961229 0.0222628 0.03642493] [ 0.01964266 -0.02193318 0.99956646 -0.60416643] [ 0. 0. 0. 1. ]] SLAMing on 69.468241008 meters Centerline goodness : 0.908130 Centerline is valid? [False, False] Translation: X:7.23, Y:0.03, Z:-0.60 [[ 0.99959875 0.01994387 -0.02011436 7.23388548] [-0.01939238 0.99944054 0.0272498 0.03443451] [ 0.02064658 -0.0268488 0.99942627 -0.6020248 ] [ 0. 0. 0. 1. ]] SLAMing on 69.49824100800001 meters Centerline goodness : 0.909475 Centerline is valid? [False, False] Translation: X:7.24, Y:0.04, Z:-0.60 [[ 0.99960092 0.01930425 -0.02062369 7.2359719 ] [-0.01875484 0.99947262 0.02650903 0.03640123] [ 0.02112455 -0.02611166 0.99943581 -0.60301667] [ 0. 0. 0. 1. ]] SLAMing on 69.52824100800001 meters Centerline goodness : 0.907689 Centerline is valid? [False, False] Translation: X:7.24, Y:0.04, Z:-0.60 [[ 0.99952775 0.02111881 -0.02232214 7.24219387] [-0.02042271 0.9993118 0.03096521 0.03544695] [ 0.02296073 -0.03049471 0.99927117 -0.60154553] [ 0. 0. 0. 1. ]] SLAMing on 69.55824100800001 meters Centerline goodness : 0.908038 Centerline is valid? [False, False] Translation: X:7.25, Y:0.04, Z:-0.60 [[ 0.99946043 0.02247323 -0.02395423 7.24935728] [-0.021634 0.99916233 0.03473617 0.03684085] [ 0.0247148 -0.03419921 0.9991094 -0.60105568] [ 0. 0. 0. 1. ]] SLAMing on 69.58824100800001 meters Centerline goodness : 0.911364 Centerline is valid? [False, False] Translation: X:7.25, Y:0.04, Z:-0.60 [[ 0.99946731 0.02213391 -0.0239831 7.25034399] [-0.02131818 0.9992029 0.03375047 0.03925885] [ 0.02471101 -0.03322122 0.99914249 -0.60246783] [ 0. 0. 0. 1. ]] SLAMing on 69.61824100800001 meters Centerline goodness : 0.905308 Centerline is valid? [False, False] Translation: X:7.25, Y:0.04, Z:-0.60 [[ 0.99947318 0.02167679 -0.02415537 7.25137039] [-0.020876 0.99923979 0.03292453 0.04104778] [ 0.0248507 -0.03240292 0.9991659 -0.60342259] [ 0. 0. 0. 1. ]] SLAMing on 69.64824100800001 meters Centerline goodness : 0.907137 Centerline is valid? [False, False] Translation: X:7.25, Y:0.05, Z:-0.61 [[ 0.9995478 0.01790416 -0.02415876 7.25125981] [-0.01725213 0.99948835 0.02693331 0.04618697] [ 0.02462862 -0.02650434 0.99934526 -0.60641054] [ 0. 0. 0. 1. ]] SLAMing on 69.67824100800001 meters Centerline goodness : 0.908293 Centerline is valid? [False, False] Translation: X:7.27, Y:0.05, Z:-0.61 [[ 0.99964613 0.01845928 -0.0191541 7.26617474] [-0.01813861 0.99969463 0.01678221 0.05060629] [ 0.01945804 -0.01642884 0.99967569 -0.61106838] [ 0. 0. 0. 1. ]] SLAMing on 69.70824100800002 meters Centerline goodness : 0.907903 Centerline is valid? [False, False] Translation: X:7.28, Y:0.05, Z:-0.62 [[ 9.99726557e-01 1.86116519e-02 -1.41568745e-02 7.28106177e+00] [-1.85278556e-02 9.99810176e-01 6.02743734e-03 5.39894760e-02] [ 1.42663677e-02 -5.76349266e-03 9.99881619e-01 -6.16393624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.738241008 meters Centerline goodness : 0.907816 Centerline is valid? [False, False] Translation: X:7.28, Y:0.05, Z:-0.61 [[ 0.99965212 0.02146999 -0.01531929 7.28442721] [-0.02128912 0.99970285 0.01187349 0.05080019] [ 0.01556966 -0.01154323 0.99981215 -0.61268563] [ 0. 0. 0. 1. ]] SLAMing on 69.768241008 meters Centerline goodness : 0.908250 Centerline is valid? [False, False] Translation: X:7.29, Y:0.05, Z:-0.61 [[ 0.9996545 0.0210499 -0.01574101 7.28612892] [-0.02087798 0.99972144 0.01100716 0.05301514] [ 0.01596832 -0.01067471 0.99981551 -0.61401981] [ 0. 0. 0. 1. ]] SLAMing on 69.798241008 meters Centerline goodness : 0.907202 Centerline is valid? [False, False] Translation: X:7.29, Y:0.05, Z:-0.61 [[ 0.9995688 0.02427483 -0.01652091 7.28934998] [-0.02402926 0.99960016 0.01490348 0.05365714] [ 0.01687609 -0.01450007 0.99975244 -0.61438361] [ 0. 0. 0. 1. ]] SLAMing on 69.828241008 meters Centerline goodness : 0.900850 Centerline is valid? [False, False] Translation: X:7.29, Y:0.05, Z:-0.61 [[ 0.9994605 0.02786368 -0.01738772 7.29159679] [-0.02750974 0.99941594 0.02027312 0.05115876] [ 0.01794245 -0.01978386 0.99964327 -0.61184317] [ 0. 0. 0. 1. ]] SLAMing on 69.85824100800001 meters Centerline goodness : 0.902470 Centerline is valid? [False, False] Translation: X:7.31, Y:0.06, Z:-0.62 [[ 0.99949967 0.02886402 -0.01293362 7.30697304] [-0.02875552 0.99955035 0.00849807 0.05587883] [ 0.01317309 -0.00812191 0.99988024 -0.6204819 ] [ 0. 0. 0. 1. ]] SLAMing on 69.88824100800001 meters Centerline goodness : 0.897294 Centerline is valid? [False, False] Translation: X:7.31, Y:0.06, Z:-0.62 [[ 0.99949866 0.02874652 -0.01326914 7.30814299] [-0.02864452 0.99955912 0.00781446 0.05745035] [ 0.01348792 -0.00743045 0.99988143 -0.62164244] [ 0. 0. 0. 1. ]] SLAMing on 69.91824100800001 meters Centerline goodness : 0.893719 Centerline is valid? [False, False] Translation: X:7.31, Y:0.06, Z:-0.62 [[ 9.99478192e-01 2.94312765e-02 -1.33095049e-02 7.30749606e+00] [-2.93339357e-02 9.99541899e-01 7.45068986e-03 5.83294985e-02] [ 1.35226912e-02 -7.05638187e-03 9.99883665e-01 -6.21999598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.94824100800001 meters Centerline goodness : 0.895783 Centerline is valid? [False, False] Translation: X:7.31, Y:0.06, Z:-0.62 [[ 9.99472814e-01 2.95397064e-02 -1.34721648e-02 7.30752773e+00] [-2.94388424e-02 9.99537502e-01 7.62473613e-03 5.76148592e-02] [ 1.36911664e-02 -7.22411154e-03 9.99880175e-01 -6.21489566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.97824100800001 meters Centerline goodness : 0.895540 Centerline is valid? [False, False] Translation: X:7.31, Y:0.06, Z:-0.62 [[ 9.99473081e-01 2.93276702e-02 -1.39085470e-02 7.30866674e+00] [-2.92246653e-02 9.99544338e-01 7.55222078e-03 5.73886414e-02] [ 1.41236984e-02 -7.14176874e-03 9.99874750e-01 -6.21481579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.00824100800001 meters Centerline goodness : 0.895539 Centerline is valid? [False, False] Translation: X:7.31, Y:0.06, Z:-0.62 [[ 9.99474590e-01 2.91061081e-02 -1.42610728e-02 7.30988641e+00] [-2.90051837e-02 9.99553089e-01 7.23341070e-03 5.75671339e-02] [ 1.44652358e-02 -6.81596516e-03 9.99872142e-01 -6.22195689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.03824100800001 meters Centerline goodness : 0.891848 Centerline is valid? [False, False] Translation: X:7.31, Y:0.06, Z:-0.62 [[ 9.99484491e-01 2.85784278e-02 -1.46296429e-02 7.31178408e+00] [-2.84874934e-02 9.99573744e-01 6.38690870e-03 5.83254231e-02] [ 1.48059347e-02 -5.96685434e-03 9.99872582e-01 -6.24062033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.06824100800002 meters Centerline goodness : 0.891446 Centerline is valid? [False, False] Translation: X:7.31, Y:0.06, Z:-0.62 [[ 9.99491539e-01 2.80633202e-02 -1.51364815e-02 7.31365104e+00] [-2.79699972e-02 9.99588642e-01 6.34233230e-03 5.73052833e-02] [ 1.53082419e-02 -5.91574013e-03 9.99865322e-01 -6.24491604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.09824100800002 meters Centerline goodness : 0.891914 Centerline is valid? [False, False] Translation: X:7.32, Y:0.05, Z:-0.62 [[ 9.99509013e-01 2.68538392e-02 -1.61432652e-02 7.31712028e+00] [-2.67341729e-02 9.99613813e-01 7.58345862e-03 5.27736301e-02] [ 1.63406758e-02 -7.14815839e-03 9.99840930e-01 -6.22961709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.128241008 meters Centerline goodness : 0.890177 Centerline is valid? [False, False] Translation: X:7.32, Y:0.05, Z:-0.63 [[ 9.99614952e-01 2.27035077e-02 -1.59529773e-02 7.31743433e+00] [-2.26665432e-02 9.99739970e-01 2.49411660e-03 5.45910692e-02] [ 1.60054542e-02 -2.13155740e-03 9.99869632e-01 -6.25443513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.158241008 meters Centerline goodness : 0.888902 Centerline is valid? [False, False] Translation: X:7.32, Y:0.05, Z:-0.63 [[ 9.99621099e-01 2.17308647e-02 -1.68945898e-02 7.32067486e+00] [-2.16855862e-02 9.99760753e-01 2.85867531e-03 5.29652239e-02] [ 1.69526693e-02 -2.49122307e-03 9.99853190e-01 -6.25160105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.188241008 meters Centerline goodness : 0.885291 Centerline is valid? [False, False] Translation: X:7.32, Y:0.05, Z:-0.62 [[ 9.99621843e-01 2.09132174e-02 -1.78552149e-02 7.32364388e+00] [-2.08606698e-02 9.99777511e-01 3.12419764e-03 5.16339818e-02] [ 1.79165794e-02 -2.75054446e-03 9.99835702e-01 -6.24821018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.218241008 meters Centerline goodness : 0.882634 Centerline is valid? [False, False] Translation: X:7.32, Y:0.05, Z:-0.63 [[ 9.99698793e-01 1.66840417e-02 -1.79990822e-02 7.32409011e+00] [-1.67141631e-02 9.99859147e-01 -1.52435166e-03 5.31649753e-02] [ 1.79711146e-02 1.82473211e-03 9.99836841e-01 -6.25749249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.24824100800001 meters Centerline goodness : 0.887332 Centerline is valid? [False, False] Translation: X:7.33, Y:0.05, Z:-0.63 [[ 9.99700700e-01 1.54953218e-02 -1.89315859e-02 7.32764963e+00] [-1.55389677e-02 9.99876929e-01 -2.16052084e-03 5.39467346e-02] [ 1.88957780e-02 2.45405150e-03 9.99818447e-01 -6.26847944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.27824100800001 meters Centerline goodness : 0.884086 Centerline is valid? [False, False] Translation: X:7.33, Y:0.06, Z:-0.63 [[ 9.99700870e-01 1.42826027e-02 -1.98538976e-02 7.33131401e+00] [-1.43424957e-02 9.99893000e-01 -2.87757005e-03 5.53900985e-02] [ 1.98106740e-02 3.16146372e-03 9.99798751e-01 -6.28100059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.30824100800001 meters Centerline goodness : 0.882047 Centerline is valid? [False, False] Translation: X:7.34, Y:0.06, Z:-0.63 [[ 9.99698388e-01 1.30428863e-02 -2.08090274e-02 7.33507284e+00] [-1.31200768e-02 9.99907529e-01 -3.57726553e-03 5.65497923e-02] [ 2.07604453e-02 3.84920263e-03 9.99777069e-01 -6.29372825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.33824100800001 meters Centerline goodness : 0.880687 Centerline is valid? [False, False] Translation: X:7.36, Y:0.05, Z:-0.62 [[ 0.99972151 0.00972001 -0.02150406 7.35570258] [-0.0095361 0.99991722 0.00863855 0.05250342] [ 0.02158625 -0.00843108 0.99973144 -0.61962198] [ 0. 0. 0. 1. ]] SLAMing on 70.36824100800001 meters Centerline goodness : 0.879879 Centerline is valid? [False, False] Translation: X:7.36, Y:0.05, Z:-0.61 [[ 0.99966961 0.01028788 -0.02355466 7.36407664] [-0.0099256 0.99983144 0.0154459 0.04962451] [ 0.0237096 -0.015207 0.99960322 -0.61342036] [ 0. 0. 0. 1. ]] SLAMing on 70.39824100800001 meters Centerline goodness : 0.881108 Centerline is valid? [False, False] Translation: X:7.37, Y:0.05, Z:-0.61 [[ 0.99965666 0.00907922 -0.02457904 7.36759669] [-0.00871609 0.99985188 0.01484108 0.05051599] [ 0.02471014 -0.01462175 0.99958772 -0.6140199 ] [ 0. 0. 0. 1. ]] SLAMing on 70.42824100800001 meters Centerline goodness : 0.873090 Centerline is valid? [False, False] Translation: X:7.38, Y:0.05, Z:-0.61 [[ 0.99958979 0.00978391 -0.0269172 7.37597236] [-0.00923573 0.99974894 0.02041465 0.05013845] [ 0.02711018 -0.02015768 0.99942919 -0.60943828] [ 0. 0. 0. 1. ]] SLAMing on 70.45824100800002 meters Centerline goodness : 0.873777 Centerline is valid? [False, False] Translation: X:7.38, Y:0.05, Z:-0.61 [[ 0.99952838 0.01279903 -0.02791424 7.37887736] [-0.01209888 0.99961151 0.0251086 0.04841704] [ 0.02822477 -0.02475903 0.99929493 -0.60759876] [ 0. 0. 0. 1. ]] SLAMing on 70.488241008 meters Centerline goodness : 0.873115 Centerline is valid? [False, False] Translation: X:7.40, Y:0.05, Z:-0.61 [[ 0.99962781 0.01481003 -0.02291077 7.39557841] [-0.0144211 0.99975065 0.01704901 0.05303033] [ 0.02315755 -0.01671226 0.99959213 -0.61345267] [ 0. 0. 0. 1. ]] SLAMing on 70.518241008 meters Centerline goodness : 0.873970 Centerline is valid? [False, False] Translation: X:7.41, Y:0.06, Z:-0.62 [[ 9.99687618e-01 1.70733443e-02 -1.82528903e-02 7.41132521e+00] [-1.69453272e-02 9.99830886e-01 7.14534201e-03 5.90043418e-02] [ 1.83717983e-02 -6.83380874e-03 9.99807870e-01 -6.21512624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.548241008 meters Centerline goodness : 0.869808 Centerline is valid? [False, False] Translation: X:7.43, Y:0.07, Z:-0.63 [[ 9.99669604e-01 2.17878093e-02 -1.36372473e-02 7.42734046e+00] [-2.17847318e-02 9.99762615e-01 3.74193586e-04 6.51553269e-02] [ 1.36421629e-02 -7.69861783e-05 9.99906938e-01 -6.27572602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.578241008 meters Centerline goodness : 0.867313 Centerline is valid? [False, False] Translation: X:7.43, Y:0.07, Z:-0.63 [[ 9.99654917e-01 2.24791238e-02 -1.35917484e-02 7.42633374e+00] [-2.24806227e-02 9.99747278e-01 4.25114299e-05 6.69798598e-02] [ 1.35892691e-02 2.63054208e-04 9.99907627e-01 -6.27431568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.60824100800001 meters Centerline goodness : 0.870916 Centerline is valid? [False, False] Translation: X:7.43, Y:0.07, Z:-0.63 [[ 9.99544913e-01 2.65985489e-02 -1.42296954e-02 7.42724556e+00] [-2.65304713e-02 9.99635741e-01 4.95179318e-03 6.55846705e-02] [ 1.43562226e-02 -4.57201916e-03 9.99886491e-01 -6.25284180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.63824100800001 meters Centerline goodness : 0.864409 Centerline is valid? [False, False] Translation: X:7.43, Y:0.07, Z:-0.62 [[ 0.99942195 0.03057049 -0.01487334 7.42877032] [-0.03043447 0.99949362 0.00928698 0.06518819] [ 0.01514972 -0.00882895 0.99984626 -0.62443444] [ 0. 0. 0. 1. ]] SLAMing on 70.66824100800001 meters Centerline goodness : 0.865918 Centerline is valid? [False, False] Translation: X:7.43, Y:0.07, Z:-0.63 [[ 0.99939831 0.03132675 -0.01488825 7.42849086] [-0.03120666 0.99947906 0.00823117 0.06877809] [ 0.01513835 -0.00776161 0.99985528 -0.62611296] [ 0. 0. 0. 1. ]] SLAMing on 70.69824100800001 meters Centerline goodness : 0.866983 Centerline is valid? [False, False] Translation: X:7.43, Y:0.07, Z:-0.63 [[ 0.99925853 0.03533187 -0.01529893 7.42973277] [-0.03514154 0.99930372 0.01253586 0.0683602 ] [ 0.01573119 -0.01198894 0.99980438 -0.62554696] [ 0. 0. 0. 1. ]] SLAMing on 70.72824100800001 meters Centerline goodness : 0.861340 Centerline is valid? [False, False] Translation: X:7.43, Y:0.07, Z:-0.63 [[ 0.99907359 0.04025626 -0.01521166 7.42896742] [-0.0400052 0.99906384 0.01646316 0.06970546] [ 0.01586017 -0.01583936 0.99974875 -0.62536428] [ 0. 0. 0. 1. ]] SLAMing on 70.75824100800001 meters Centerline goodness : 0.859181 Centerline is valid? [False, False] Translation: X:7.43, Y:0.07, Z:-0.63 [[ 0.99906757 0.04034735 -0.01536519 7.4295886 ] [-0.04010555 0.99907159 0.01573228 0.07143505] [ 0.01598568 -0.01510139 0.99975817 -0.62662066] [ 0. 0. 0. 1. ]] SLAMing on 70.78824100800001 meters Centerline goodness : 0.859160 Centerline is valid? [False, False] Translation: X:7.43, Y:0.08, Z:-0.63 [[ 0.99917677 0.03755261 -0.0153488 7.42889797] [-0.03740286 0.99925094 0.0099293 0.07554074] [ 0.01571017 -0.00934703 0.9998329 -0.63036917] [ 0. 0. 0. 1. ]] SLAMing on 70.81824100800002 meters Centerline goodness : 0.860533 Centerline is valid? [False, False] Translation: X:7.43, Y:0.08, Z:-0.63 [[ 9.99290911e-01 3.42761742e-02 -1.55826744e-02 7.42899323e+00] [-3.42027428e-02 9.99402633e-01 4.95478186e-03 7.77805964e-02] [ 1.57431968e-02 -4.41829827e-03 9.99866306e-01 -6.32579060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.84824100800002 meters Centerline goodness : 0.857644 Centerline is valid? [False, False] Translation: X:7.43, Y:0.08, Z:-0.63 [[ 9.99405460e-01 3.06760625e-02 -1.57386413e-02 7.42895892e+00] [-3.06721205e-02 9.99529379e-01 4.91843020e-04 7.93546111e-02] [ 1.57463222e-02 -8.81309505e-06 9.99876019e-01 -6.33614973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.878241008 meters Centerline goodness : 0.857995 Centerline is valid? [False, False] Translation: X:7.43, Y:0.08, Z:-0.63 [[ 9.99413298e-01 3.00258570e-02 -1.64774699e-02 7.43126538e+00] [-3.00135253e-02 9.99548997e-01 9.95234913e-04 7.71396371e-02] [ 1.64999213e-02 -5.00104046e-04 9.99863742e-01 -6.33153414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.908241008 meters Centerline goodness : 0.859809 Centerline is valid? [False, False] Translation: X:7.43, Y:0.07, Z:-0.63 [[ 9.99428116e-01 2.91593792e-02 -1.71222287e-02 7.43370510e+00] [-2.91428391e-02 9.99574519e-01 1.21477156e-03 7.49472574e-02] [ 1.71503655e-02 -7.15086493e-04 9.99852666e-01 -6.33232938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.938241008 meters Centerline goodness : 0.854753 Centerline is valid? [False, False] Translation: X:7.44, Y:0.07, Z:-0.63 [[ 9.99546626e-01 2.45318497e-02 -1.74565590e-02 7.43534346e+00] [-2.45696033e-02 9.99696217e-01 -1.95151504e-03 7.09205683e-02] [ 1.74033817e-02 2.37953100e-03 9.99845718e-01 -6.33247353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.968241008 meters Centerline goodness : 0.852343 Centerline is valid? [False, False] Translation: X:7.44, Y:0.07, Z:-0.63 [[ 9.99635560e-01 2.06146546e-02 -1.74293889e-02 7.43539289e+00] [-2.07183473e-02 9.99768587e-01 -5.78979949e-03 7.02208578e-02] [ 1.73060008e-02 6.14879758e-03 9.99831333e-01 -6.33746633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.99824100800001 meters Centerline goodness : 0.855137 Centerline is valid? [False, False] Translation: X:7.44, Y:0.07, Z:-0.63 [[ 9.99634706e-01 1.99612206e-02 -1.82209741e-02 7.43775969e+00] [-2.00474529e-02 9.99788620e-01 -4.56223989e-03 6.66091886e-02] [ 1.81260547e-02 4.92585745e-03 9.99823575e-01 -6.32339614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.02824100800001 meters Centerline goodness : 0.848914 Centerline is valid? [False, False] Translation: X:7.45, Y:0.06, Z:-0.63 [[ 9.99699340e-01 1.59344290e-02 -1.86366087e-02 7.45209614e+00] [-1.58814120e-02 9.99869414e-01 2.98933281e-03 6.08159144e-02] [ 1.86818083e-02 -2.69245838e-03 9.99821854e-01 -6.25758375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.05824100800001 meters Centerline goodness : 0.848575 Centerline is valid? [False, False] Translation: X:7.45, Y:0.06, Z:-0.63 [[ 9.99696278e-01 1.51456369e-02 -1.94412165e-02 7.45461124e+00] [-1.50819133e-02 9.99880412e-01 3.42021268e-03 5.88283896e-02] [ 1.94906929e-02 -3.12596315e-03 9.99805152e-01 -6.25176775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.08824100800001 meters Centerline goodness : 0.847435 Centerline is valid? [False, False] Translation: X:7.46, Y:0.06, Z:-0.63 [[ 9.99750613e-01 1.08666898e-02 -1.95096438e-02 7.45528426e+00] [-1.08957690e-02 9.99939680e-01 -1.38482048e-03 6.04324529e-02] [ 1.94934186e-02 1.59704769e-03 9.99808710e-01 -6.26702914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.11824100800001 meters Centerline goodness : 0.847103 Centerline is valid? [False, False] Translation: X:7.46, Y:0.06, Z:-0.63 [[ 9.99743271e-01 1.01579133e-02 -2.02536272e-02 7.45796952e+00] [-1.01805263e-02 9.99947663e-01 -1.01369046e-03 5.92706056e-02] [ 2.02422702e-02 1.21962280e-03 9.99794360e-01 -6.26536359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.14824100800001 meters Centerline goodness : 0.843979 Centerline is valid? [False, False] Translation: X:7.46, Y:0.06, Z:-0.63 [[ 9.99744489e-01 8.56528027e-03 -2.09187173e-02 7.46147523e+00] [-8.60071336e-03 9.99961726e-01 -1.60446444e-03 5.92919620e-02] [ 2.09041739e-02 1.78397037e-03 9.99779892e-01 -6.27779788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.17824100800001 meters Centerline goodness : 0.843979 Centerline is valid? [False, False] Translation: X:7.46, Y:0.06, Z:-0.63 [[ 9.99744489e-01 8.56528027e-03 -2.09187173e-02 7.46147523e+00] [-8.60071336e-03 9.99961726e-01 -1.60446444e-03 5.92919620e-02] [ 2.09041739e-02 1.78397037e-03 9.99779892e-01 -6.27779788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.20824100800002 meters Centerline goodness : 0.846104 Centerline is valid? [False, False] Translation: X:7.48, Y:0.06, Z:-0.62 [[ 9.99744870e-01 6.56653132e-03 -2.16119418e-02 7.47927860e+00] [-6.37319126e-03 9.99939165e-01 9.00273430e-03 5.57877141e-02] [ 2.16697437e-02 -8.86270039e-03 9.99725900e-01 -6.21525141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.238241008 meters Centerline goodness : 0.844708 Centerline is valid? [False, False] Translation: X:7.48, Y:0.06, Z:-0.62 [[ 9.99733099e-01 5.38003052e-03 -2.24674302e-02 7.48281180e+00] [-5.19359162e-03 9.99951665e-01 8.34830804e-03 5.56733530e-02] [ 2.25112584e-02 -8.22939321e-03 9.99712719e-01 -6.22980371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.268241008 meters Centerline goodness : 0.844991 Centerline is valid? [False, False] Translation: X:7.50, Y:0.05, Z:-0.61 [[ 9.99736618e-01 2.53246960e-03 -2.28096575e-02 7.50364785e+00] [-2.05749765e-03 9.99781066e-01 2.08227333e-02 5.23332166e-02] [ 2.28573967e-02 -2.07703182e-02 9.99522953e-01 -6.14329109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.298241008 meters Centerline goodness : 0.845182 Centerline is valid? [False, False] Translation: X:7.51, Y:0.05, Z:-0.61 [[ 9.99692112e-01 -1.10783643e-03 -2.47881617e-02 7.51243000e+00] [ 1.67243768e-03 9.99739378e-01 2.27679268e-02 5.13878496e-02] [ 2.47564783e-02 -2.28023735e-02 9.99433424e-01 -6.09654286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.328241008 meters Centerline goodness : 0.845905 Centerline is valid? [False, False] Translation: X:7.51, Y:0.05, Z:-0.61 [[ 9.99687528e-01 -5.28101611e-03 -2.44326926e-02 7.51221688e+00] [ 5.71169328e-03 9.99828952e-01 1.75910100e-02 5.40465789e-02] [ 2.43356151e-02 -1.77250654e-02 9.99546697e-01 -6.11534494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.35824100800001 meters Centerline goodness : 0.847226 Centerline is valid? [False, False] Translation: X:7.51, Y:0.06, Z:-0.61 [[ 0.9996728 -0.00911353 -0.02390048 7.51119259] [ 0.00941569 0.99987678 0.01256081 0.05725908] [ 0.02378306 -0.01278174 0.99963543 -0.61311343] [ 0. 0. 0. 1. ]] SLAMing on 71.38824100800001 meters Centerline goodness : 0.849598 Centerline is valid? [False, False] Translation: X:7.49, Y:0.06, Z:-0.61 [[ 0.99968242 -0.01300609 -0.02158495 7.4903223 ] [ 0.01338755 0.99975507 0.01762312 0.05864427] [ 0.02135046 -0.0179065 0.99961168 -0.61135951] [ 0. 0. 0. 1. ]] SLAMing on 71.41824100800001 meters Centerline goodness : 0.846235 Centerline is valid? [False, False] Translation: X:7.45, Y:0.06, Z:-0.60 [[ 0.99964896 -0.01681957 -0.02047087 7.44674595] [ 0.01742552 0.99940425 0.02979096 0.05844317] [ 0.0199576 -0.03013722 0.99934651 -0.60446933] [ 0. 0. 0. 1. ]] SLAMing on 71.44824100800001 meters Centerline goodness : 0.846694 Centerline is valid? [False, False] Translation: X:7.45, Y:0.06, Z:-0.61 [[ 0.99987838 -0.01194536 -0.01002634 7.45153845] [ 0.01226619 0.99939414 0.03257142 0.05570061] [ 0.00963119 -0.03269044 0.99941912 -0.60870415] [ 0. 0. 0. 1. ]] SLAMing on 71.47824100800001 meters Centerline goodness : 0.846960 Centerline is valid? [False, False] Translation: X:7.45, Y:0.06, Z:-0.61 [[ 0.99988043 -0.01150972 -0.01032763 7.45175191] [ 0.01185062 0.99936583 0.03357817 0.05681645] [ 0.0099346 -0.03369654 0.99938273 -0.60799677] [ 0. 0. 0. 1. ]] SLAMing on 71.50824100800001 meters Centerline goodness : 0.847955 Centerline is valid? [False, False] Translation: X:7.45, Y:0.06, Z:-0.61 [[ 0.99987406 -0.01173378 -0.01068608 7.45255368] [ 0.01207556 0.99939874 0.03250141 0.06008447] [ 0.01029829 -0.03262636 0.99941456 -0.60881492] [ 0. 0. 0. 1. ]] SLAMing on 71.53824100800001 meters Centerline goodness : 0.848347 Centerline is valid? [False, False] Translation: X:7.46, Y:0.06, Z:-0.61 [[ 0.99987158 -0.01012208 -0.0124242 7.45639265] [ 0.01049101 0.99949493 0.02999707 0.06129339] [ 0.01211429 -0.03012356 0.99947277 -0.6088556 ] [ 0. 0. 0. 1. ]] SLAMing on 71.56824100800002 meters Centerline goodness : 0.849321 Centerline is valid? [False, False] Translation: X:7.46, Y:0.06, Z:-0.61 [[ 0.99987573 -0.0091345 -0.01284894 7.45833906] [ 0.00949443 0.99955621 0.02823553 0.06291106] [ 0.01258532 -0.02835401 0.99951871 -0.61003916] [ 0. 0. 0. 1. ]] SLAMing on 71.59824100800002 meters Centerline goodness : 0.849122 Centerline is valid? [False, False] Translation: X:7.42, Y:0.07, Z:-0.62 [[ 0.99990209 -0.00985996 -0.00992983 7.42354475] [ 0.01008148 0.99969577 0.02251086 0.06901695] [ 0.00970485 -0.02260876 0.99969728 -0.61759576] [ 0. 0. 0. 1. ]] SLAMing on 71.628241008 meters Centerline goodness : 0.848730 Centerline is valid? [False, False] Translation: X:7.43, Y:0.07, Z:-0.62 [[ 9.99995101e-01 -3.10766117e-03 -3.75910719e-04 7.42810948e+00] [ 3.11681551e-03 9.99617708e-01 2.74722306e-02 6.65130890e-02] [ 2.90392627e-04 -2.74732676e-02 9.99622496e-01 -6.18432889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.658241008 meters Centerline goodness : 0.850358 Centerline is valid? [False, False] Translation: X:7.43, Y:0.07, Z:-0.62 [[ 9.99998711e-01 1.60314679e-03 -8.32177190e-05 7.42666160e+00] [-1.59975454e-03 9.99508272e-01 3.13154220e-02 6.87649513e-02] [ 1.33380017e-04 -3.13152486e-02 9.99509548e-01 -6.18204923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.688241008 meters Centerline goodness : 0.849616 Centerline is valid? [False, False] Translation: X:7.42, Y:0.07, Z:-0.62 [[ 9.99996599e-01 2.57192748e-03 4.32985171e-04 7.42478529e+00] [-2.58397519e-03 9.99528148e-01 3.06072736e-02 7.21107487e-02] [-3.54061178e-04 -3.06082883e-02 9.99531394e-01 -6.19022308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.718241008 meters Centerline goodness : 0.849352 Centerline is valid? [False, False] Translation: X:7.42, Y:0.08, Z:-0.62 [[ 9.99993678e-01 3.49552768e-03 6.52556297e-04 7.42351290e+00] [-3.51353083e-03 9.99543769e-01 2.99984901e-02 7.50491970e-02] [-5.47398028e-04 -3.00005932e-02 9.99549731e-01 -6.19691272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.74824100800001 meters Centerline goodness : 0.847576 Centerline is valid? [False, False] Translation: X:7.44, Y:0.08, Z:-0.63 [[ 9.99957551e-01 7.20104942e-03 5.74805757e-03 7.43666252e+00] [-7.31911226e-03 9.99757076e-01 2.07898868e-02 7.96324223e-02] [-5.59695222e-03 -2.08310750e-02 9.99767343e-01 -6.26896155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.77824100800001 meters Centerline goodness : 0.848846 Centerline is valid? [False, False] Translation: X:7.43, Y:0.08, Z:-0.63 [[ 9.99930741e-01 9.84437640e-03 6.44993235e-03 7.43196099e+00] [-9.98099898e-03 9.99718943e-01 2.15038114e-02 8.08828251e-02] [-6.23642794e-03 -2.15666988e-02 9.99747960e-01 -6.25150100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.80824100800001 meters Centerline goodness : 0.850018 Centerline is valid? [False, False] Translation: X:7.43, Y:0.08, Z:-0.62 [[ 9.99926313e-01 1.02570350e-02 6.49327337e-03 7.43144969e+00] [-1.03947183e-02 9.99713995e-01 2.15378074e-02 8.11790110e-02] [-6.27050222e-03 -2.16037161e-02 9.99746948e-01 -6.24870243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.83824100800001 meters Centerline goodness : 0.847710 Centerline is valid? [False, False] Translation: X:7.43, Y:0.08, Z:-0.63 [[ 9.99949689e-01 7.42472562e-03 6.74487548e-03 7.43063808e+00] [-7.53569212e-03 9.99834173e-01 1.65783022e-02 8.48530884e-02] [-6.62066765e-03 -1.66282954e-02 9.99839820e-01 -6.27310239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.86824100800001 meters Centerline goodness : 0.846639 Centerline is valid? [False, False] Translation: X:7.43, Y:0.09, Z:-0.63 [[ 9.99955569e-01 6.81181100e-03 6.51607439e-03 7.43292195e+00] [-6.91250363e-03 9.99855083e-01 1.55573180e-02 8.59154088e-02] [-6.40915659e-03 -1.56016691e-02 9.99857745e-01 -6.30066469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.89824100800001 meters Centerline goodness : 0.846890 Centerline is valid? [False, False] Translation: X:7.43, Y:0.09, Z:-0.63 [[ 9.99962058e-01 6.28253343e-03 6.03434419e-03 7.43486668e+00] [-6.37442710e-03 9.99862140e-01 1.53318915e-02 8.53620660e-02] [-5.93718918e-03 -1.53697752e-02 9.99864251e-01 -6.30794966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.92824100800001 meters Centerline goodness : 0.847746 Centerline is valid? [False, False] Translation: X:7.44, Y:0.08, Z:-0.63 [[ 9.99967564e-01 5.90784567e-03 5.47428429e-03 7.43668506e+00] [-5.99136062e-03 9.99863968e-01 1.53671730e-02 8.39367070e-02] [-5.38275272e-03 -1.53994730e-02 9.99866932e-01 -6.31084977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.95824100800002 meters Centerline goodness : 0.846471 Centerline is valid? [False, False] Translation: X:7.44, Y:0.08, Z:-0.63 [[ 9.99972122e-01 5.62884456e-03 4.90629056e-03 7.43859834e+00] [-5.70521139e-03 9.99860587e-01 1.56926125e-02 8.28869175e-02] [-4.81727528e-03 -1.57201664e-02 9.99864826e-01 -6.30916370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.988241008 meters Centerline goodness : 0.848111 Centerline is valid? [False, False] Translation: X:7.44, Y:0.08, Z:-0.63 [[ 9.99986192e-01 1.59445293e-03 5.00739151e-03 7.43981746e+00] [-1.64645778e-03 9.99944576e-01 1.03987255e-02 8.38733561e-02] [-4.99053370e-03 -1.04068264e-02 9.99933394e-01 -6.34546859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.018241008 meters Centerline goodness : 0.848133 Centerline is valid? [False, False] Translation: X:7.44, Y:0.08, Z:-0.64 [[ 9.99988966e-01 1.05031311e-03 4.57878901e-03 7.44181666e+00] [-1.09694267e-03 9.99947446e-01 1.01932306e-02 8.28812686e-02] [-4.56784230e-03 -1.01981408e-02 9.99937564e-01 -6.35572090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.048241008 meters Centerline goodness : 0.850428 Centerline is valid? [False, False] Translation: X:7.44, Y:0.08, Z:-0.64 [[ 9.99991613e-01 3.56856016e-04 4.08005258e-03 7.44408878e+00] [-3.97995798e-04 9.99949048e-01 1.00867883e-02 8.13122313e-02] [-4.07624516e-03 -1.00883276e-02 9.99940803e-01 -6.36452494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.078241008 meters Centerline goodness : 0.854356 Centerline is valid? [False, False] Translation: X:7.47, Y:0.08, Z:-0.63 [[ 9.99991733e-01 2.25002927e-03 3.38681812e-03 7.47297497e+00] [-2.29543242e-03 9.99906746e-01 1.34621928e-02 7.68225899e-02] [-3.35621196e-03 -1.34698558e-02 9.99903645e-01 -6.30202499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.10824100800001 meters Centerline goodness : 0.854690 Centerline is valid? [False, False] Translation: X:7.47, Y:0.08, Z:-0.63 [[ 9.99992087e-01 -8.94688661e-04 3.87617144e-03 7.47148045e+00] [ 8.61833752e-04 9.99963762e-01 8.46951857e-03 7.99728258e-02] [-3.88360856e-03 -8.46611094e-03 9.99956620e-01 -6.31945581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.13824100800001 meters Centerline goodness : 0.854205 Centerline is valid? [False, False] Translation: X:7.48, Y:0.08, Z:-0.63 [[ 9.99994274e-01 1.79634616e-03 2.86802323e-03 7.47506512e+00] [-1.83488404e-03 9.99907302e-01 1.34914820e-02 7.82036551e-02] [-2.84352200e-03 -1.34966673e-02 9.99904873e-01 -6.30185295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.16824100800001 meters Centerline goodness : 0.856064 Centerline is valid? [False, False] Translation: X:7.48, Y:0.08, Z:-0.63 [[ 9.99995655e-01 1.22290259e-03 2.68213884e-03 7.47685901e+00] [-1.25565275e-03 9.99924264e-01 1.22429643e-02 8.06708995e-02] [-2.66696375e-03 -1.22462789e-02 9.99921455e-01 -6.32677905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.19824100800001 meters Centerline goodness : 0.854052 Centerline is valid? [False, False] Translation: X:7.48, Y:0.08, Z:-0.63 [[ 9.99997335e-01 7.47070739e-04 2.18462315e-03 7.47914230e+00] [-7.71609885e-04 9.99936380e-01 1.12534824e-02 8.24637807e-02] [-2.17607702e-03 -1.12551381e-02 9.99934291e-01 -6.34756598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.22824100800001 meters Centerline goodness : 0.857664 Centerline is valid? [False, False] Translation: X:7.48, Y:0.08, Z:-0.64 [[ 9.99998395e-01 3.24637115e-04 1.76219801e-03 7.48088942e+00] [-3.43484517e-04 9.99942634e-01 1.07056498e-02 8.29864165e-02] [-1.75862147e-03 -1.07062379e-02 9.99941140e-01 -6.35908706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.25824100800001 meters Centerline goodness : 0.858786 Centerline is valid? [False, False] Translation: X:7.49, Y:0.08, Z:-0.63 [[ 9.99996613e-01 2.59737414e-03 1.66276750e-04 7.48623002e+00] [-2.59963120e-03 9.99877497e-01 1.54348033e-02 8.12558529e-02] [-1.26166422e-04 -1.54351833e-02 9.99880863e-01 -6.34566724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.28824100800001 meters Centerline goodness : 0.859515 Centerline is valid? [False, False] Translation: X:7.49, Y:0.08, Z:-0.64 [[ 9.99997802e-01 2.08718607e-03 -2.01394783e-04 7.48814560e+00] [-2.08405532e-03 9.99893251e-01 1.44617659e-02 8.29053429e-02] [ 2.31557681e-04 -1.44613144e-02 9.99895403e-01 -6.36515972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.31824100800002 meters Centerline goodness : 0.857723 Centerline is valid? [False, False] Translation: X:7.51, Y:0.08, Z:-0.64 [[ 9.99981961e-01 5.13996335e-03 -3.10772555e-03 7.51457826e+00] [-5.10597504e-03 9.99928128e-01 1.08474824e-02 8.40134678e-02] [ 3.16325786e-03 -1.08314188e-02 9.99936335e-01 -6.38901156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.34824100800002 meters Centerline goodness : 0.859087 Centerline is valid? [False, False] Translation: X:7.52, Y:0.09, Z:-0.64 [[ 9.99982969e-01 4.71406547e-03 -3.44087795e-03 7.51625441e+00] [-4.67962100e-03 9.99939540e-01 9.95070432e-03 8.55255251e-02] [ 3.48757818e-03 -9.93443284e-03 9.99944570e-01 -6.40569781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.378241008 meters Centerline goodness : 0.859245 Centerline is valid? [False, False] Translation: X:7.52, Y:0.08, Z:-0.64 [[ 9.99961260e-01 7.55332737e-03 -4.51959159e-03 7.51982362e+00] [-7.48675971e-03 9.99865842e-01 1.45686540e-02 8.38131063e-02] [ 4.62902706e-03 -1.45342525e-02 9.99883657e-01 -6.39278685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.408241008 meters Centerline goodness : 0.861156 Centerline is valid? [False, False] Translation: X:7.54, Y:0.09, Z:-0.64 [[ 9.99964559e-01 8.41895331e-03 5.13438254e-05 7.53888094e+00] [-8.41910621e-03 9.99939837e-01 7.03141163e-03 8.76988201e-02] [ 7.85638974e-06 -7.03159469e-03 9.99975278e-01 -6.44011997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.438241008 meters Centerline goodness : 0.861327 Centerline is valid? [False, False] Translation: X:7.54, Y:0.09, Z:-0.64 [[ 9.99985493e-01 5.37599548e-03 3.34850761e-04 7.53730556e+00] [-5.37705532e-03 9.99980265e-01 3.24900566e-03 8.97382215e-02] [-3.17377513e-04 -3.25075904e-03 9.99994666e-01 -6.43626669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.468241008 meters Centerline goodness : 0.861183 Centerline is valid? [False, False] Translation: X:7.55, Y:0.09, Z:-0.64 [[ 9.99982497e-01 5.78063862e-03 -1.26107758e-03 7.54532192e+00] [-5.76784436e-03 9.99934125e-01 9.92358980e-03 8.59758140e-02] [ 1.31835919e-03 -9.91614240e-03 9.99949965e-01 -6.38806920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.49824100800001 meters Centerline goodness : 0.860585 Centerline is valid? [False, False] Translation: X:7.55, Y:0.09, Z:-0.64 [[ 9.99986192e-01 4.81805554e-03 -2.09806719e-03 7.54846792e+00] [-4.79696923e-03 9.99939071e-01 9.94200171e-03 8.51933681e-02] [ 2.14584048e-03 -9.93180007e-03 9.99948376e-01 -6.39096197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.52824100800001 meters Centerline goodness : 0.863417 Centerline is valid? [False, False] Translation: X:7.56, Y:0.08, Z:-0.64 [[ 9.99986229e-01 3.87140016e-03 -3.54320566e-03 7.55754015e+00] [-3.81652878e-03 9.99874679e-01 1.53642710e-02 8.23663572e-02] [ 3.60224287e-03 -1.53505367e-02 9.99875685e-01 -6.35529211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.55824100800001 meters Centerline goodness : 0.864812 Centerline is valid? [False, False] Translation: X:7.57, Y:0.08, Z:-0.63 [[ 9.99987557e-01 -8.98288120e-04 -4.90696599e-03 7.57410857e+00] [ 1.00487503e-03 9.99762665e-01 2.17624506e-02 7.89411504e-02] [ 4.88625244e-03 -2.17671107e-02 9.99751128e-01 -6.30616913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.58824100800001 meters Centerline goodness : 0.869786 Centerline is valid? [False, False] Translation: X:7.60, Y:0.08, Z:-0.63 [[ 9.99971958e-01 3.11450183e-04 -7.48236794e-03 7.59997754e+00] [-1.54658848e-04 9.99780592e-01 2.09462216e-02 7.56511432e-02] [ 7.48724995e-03 -2.09444770e-02 9.99752604e-01 -6.26758307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.61824100800001 meters Centerline goodness : 0.866594 Centerline is valid? [False, False] Translation: X:7.60, Y:0.07, Z:-0.63 [[ 9.99964721e-01 -7.72372237e-04 -8.36416469e-03 7.60301451e+00] [ 9.53205267e-04 9.99765425e-01 2.16376158e-02 7.33617559e-02] [ 8.34549038e-03 -2.16448252e-02 9.99730891e-01 -6.25539215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.64824100800001 meters Centerline goodness : 0.870478 Centerline is valid? [False, False] Translation: X:7.61, Y:0.07, Z:-0.62 [[ 9.99953966e-01 -3.38323575e-03 -8.97885649e-03 7.60777751e+00] [ 3.59821345e-03 9.99704630e-01 2.40355071e-02 6.95953020e-02] [ 8.89488662e-03 -2.40667085e-02 9.99670783e-01 -6.21048032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.67824100800001 meters Centerline goodness : 0.870316 Centerline is valid? [False, False] Translation: X:7.61, Y:0.07, Z:-0.62 [[ 9.99955133e-01 -3.55391698e-03 -8.78076458e-03 7.60785353e+00] [ 3.77169703e-03 9.99682554e-01 2.49111567e-02 6.83943736e-02] [ 8.68944497e-03 -2.49431574e-02 9.99651105e-01 -6.19628027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.70824100800002 meters Centerline goodness : 0.870039 Centerline is valid? [False, False] Translation: X:7.61, Y:0.07, Z:-0.62 [[ 9.99952947e-01 -9.84229518e-04 -9.65064660e-03 7.61115462e+00] [ 1.27888822e-03 9.99531686e-01 3.05740608e-02 6.58356473e-02] [ 9.61603517e-03 -3.05849643e-02 9.99485914e-01 -6.16268654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.738241008 meters Centerline goodness : 0.872140 Centerline is valid? [False, False] Translation: X:7.61, Y:0.06, Z:-0.61 [[ 9.99943208e-01 2.19043179e-03 -1.04298531e-02 7.61351636e+00] [-1.82236968e-03 9.99379720e-01 3.51689441e-02 6.40939794e-02] [ 1.05004189e-02 -3.51479397e-02 9.99326955e-01 -6.14799655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.768241008 meters Centerline goodness : 0.872438 Centerline is valid? [False, False] Translation: X:7.63, Y:0.07, Z:-0.62 [[ 9.99975035e-01 3.37779074e-03 -6.20648582e-03 7.62730312e+00] [-3.24127409e-03 9.99755443e-01 2.18757447e-02 6.97653635e-02] [ 6.27885967e-03 -2.18550817e-02 9.99741432e-01 -6.24650680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.798241008 meters Centerline goodness : 0.874924 Centerline is valid? [False, False] Translation: X:7.63, Y:0.07, Z:-0.63 [[ 9.99975603e-01 3.72863773e-03 -5.90682300e-03 7.62695990e+00] [-3.60826532e-03 9.99788239e-01 2.02597684e-02 7.34789260e-02] [ 5.98111350e-03 -2.02379608e-02 9.99777301e-01 -6.27380371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.828241008 meters Centerline goodness : 0.874644 Centerline is valid? [False, False] Translation: X:7.63, Y:0.07, Z:-0.63 [[ 9.99949280e-01 7.54412814e-03 -6.67261728e-03 7.62866903e+00] [-7.37373513e-03 9.99655175e-01 2.52023454e-02 7.17774464e-02] [ 6.86044612e-03 -2.51518650e-02 9.99660101e-01 -6.25647092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.85824100800001 meters Centerline goodness : 0.876074 Centerline is valid? [False, False] Translation: X:7.65, Y:0.07, Z:-0.63 [[ 9.99947626e-01 9.80716984e-03 -2.92658813e-03 7.64948320e+00] [-9.75065421e-03 9.99776883e-01 1.87379165e-02 7.48366021e-02] [ 3.10970109e-03 -1.87083989e-02 9.99820147e-01 -6.31662761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.88824100800001 meters Centerline goodness : 0.879624 Centerline is valid? [False, False] Translation: X:7.65, Y:0.08, Z:-0.63 [[ 9.99900848e-01 1.36295068e-02 -3.53978073e-03 7.65137032e+00] [-1.35463917e-02 9.99654409e-01 2.25290615e-02 7.52940586e-02] [ 3.84561741e-03 -2.24788764e-02 9.99739922e-01 -6.31975037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.91824100800001 meters Centerline goodness : 0.882975 Centerline is valid? [False, False] Translation: X:7.65, Y:0.08, Z:-0.63 [[ 9.99900541e-01 1.36332170e-02 -3.61171014e-03 7.65215186e+00] [-1.35524184e-02 9.99676487e-01 2.15233203e-02 7.74162730e-02] [ 3.90397380e-03 -2.14722322e-02 9.99761823e-01 -6.33942426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.94824100800001 meters Centerline goodness : 0.883502 Centerline is valid? [False, False] Translation: X:7.67, Y:0.08, Z:-0.64 [[ 9.99884989e-01 1.51429169e-02 8.36919289e-04 7.66805766e+00] [-1.51510773e-02 9.99826880e-01 1.08007346e-02 8.20636414e-02] [-6.73219775e-04 -1.08121726e-02 9.99941320e-01 -6.42343720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.97824100800001 meters Centerline goodness : 0.881093 Centerline is valid? [False, False] Translation: X:7.67, Y:0.08, Z:-0.64 [[ 9.99881942e-01 1.53490605e-02 7.12769809e-04 7.66830463e+00] [-1.53556979e-02 9.99827028e-01 1.04936442e-02 8.29214284e-02] [-5.51578941e-04 -1.05033504e-02 9.99944686e-01 -6.42814757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.00824100800001 meters Centerline goodness : 0.885973 Centerline is valid? [False, False] Translation: X:7.67, Y:0.08, Z:-0.64 [[ 9.99864644e-01 1.64286596e-02 8.90742586e-04 7.66675678e+00] [-1.64373438e-02 9.99806309e-01 1.08239553e-02 8.30022442e-02] [-7.12746980e-04 -1.08371317e-02 9.99941023e-01 -6.41908752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.03824100800001 meters Centerline goodness : 0.884103 Centerline is valid? [False, False] Translation: X:7.67, Y:0.08, Z:-0.64 [[ 9.99866040e-01 1.63499067e-02 7.63284127e-04 7.66748034e+00] [-1.63569026e-02 9.99813204e-01 1.02960775e-02 8.38919333e-02] [-5.94801643e-04 -1.03071832e-02 9.99946703e-01 -6.42911956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.06824100800002 meters Centerline goodness : 0.886731 Centerline is valid? [False, False] Translation: X:7.67, Y:0.08, Z:-0.64 [[ 9.99875453e-01 1.57796306e-02 2.85722751e-04 7.66946306e+00] [-1.57817132e-02 9.99824335e-01 1.01111813e-02 8.32494671e-02] [-1.26121854e-04 -1.01144312e-02 9.99948840e-01 -6.43611847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.09824100800002 meters Centerline goodness : 0.886731 Centerline is valid? [False, False] Translation: X:7.67, Y:0.08, Z:-0.64 [[ 9.99875453e-01 1.57796306e-02 2.85722751e-04 7.66946306e+00] [-1.57817132e-02 9.99824335e-01 1.01111813e-02 8.32494671e-02] [-1.26121854e-04 -1.01144312e-02 9.99948840e-01 -6.43611847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.128241008 meters Centerline goodness : 0.883635 Centerline is valid? [False, False] Translation: X:7.67, Y:0.09, Z:-0.65 [[ 9.99934095e-01 1.14776714e-02 2.63894786e-04 7.67048150e+00] [-1.14787684e-02 9.99923445e-01 4.61979588e-03 8.64659817e-02] [-2.10850085e-04 -4.62252060e-03 9.99989294e-01 -6.46391597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.158241008 meters Centerline goodness : 0.888829 Centerline is valid? [False, False] Translation: X:7.68, Y:0.08, Z:-0.64 [[ 9.99953557e-01 9.54467215e-03 -1.33557460e-03 7.68280090e+00] [-9.53135652e-03 9.99908065e-01 9.64439521e-03 8.35276426e-02] [ 1.42750440e-03 -9.63121746e-03 9.99952600e-01 -6.44560448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.188241008 meters Centerline goodness : 0.887234 Centerline is valid? [False, False] Translation: X:7.68, Y:0.09, Z:-0.65 [[ 9.99983395e-01 5.66307099e-03 -1.06740679e-03 7.68286689e+00] [-5.65858293e-03 9.99975330e-01 4.16177319e-03 8.64439395e-02] [ 1.09094888e-03 -4.15566408e-03 9.99990770e-01 -6.47485712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.218241008 meters Centerline goodness : 0.885981 Centerline is valid? [False, False] Translation: X:7.68, Y:0.09, Z:-0.65 [[ 9.99985100e-01 5.21402516e-03 -1.61672795e-03 7.68473443e+00] [-5.20725948e-03 9.99977784e-01 4.16114164e-03 8.57610324e-02] [ 1.63838833e-03 -4.15266092e-03 9.99990035e-01 -6.47723409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.24824100800001 meters Centerline goodness : 0.887861 Centerline is valid? [False, False] Translation: X:7.69, Y:0.09, Z:-0.65 [[ 9.99986338e-01 4.81800962e-03 -2.02749954e-03 7.68621646e+00] [-4.80952375e-03 9.99979741e-01 4.16965369e-03 8.55938294e-02] [ 2.04754789e-03 -4.15984541e-03 9.99989252e-01 -6.47606246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.27824100800001 meters Centerline goodness : 0.889429 Centerline is valid? [False, False] Translation: X:7.69, Y:0.09, Z:-0.65 [[ 9.99987507e-01 4.28045068e-03 -2.58143853e-03 7.68805749e+00] [-4.27016426e-03 9.99982974e-01 3.97719411e-03 8.56174065e-02] [ 2.59841876e-03 -3.96612125e-03 9.99988759e-01 -6.47888657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.30824100800001 meters Centerline goodness : 0.888013 Centerline is valid? [False, False] Translation: X:7.69, Y:0.09, Z:-0.65 [[ 9.99988561e-01 3.73703458e-03 -2.98527689e-03 7.68969206e+00] [-3.72599844e-03 9.99986236e-01 3.69390462e-03 8.59076220e-02] [ 2.99904005e-03 -3.68273923e-03 9.99988722e-01 -6.48371713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.33824100800001 meters Centerline goodness : 0.883516 Centerline is valid? [False, False] Translation: X:7.69, Y:0.09, Z:-0.65 [[ 9.99988681e-01 3.39448006e-03 -3.33388463e-03 7.69120976e+00] [-3.38273015e-03 9.99988070e-01 3.52372758e-03 8.69754043e-02] [ 3.34580608e-03 -3.51241007e-03 9.99988234e-01 -6.48722608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.36824100800001 meters Centerline goodness : 0.886242 Centerline is valid? [False, False] Translation: X:7.69, Y:0.09, Z:-0.65 [[ 9.99988985e-01 2.93720812e-03 -3.66087585e-03 7.69281216e+00] [-2.92660063e-03 9.99991514e-01 2.89952543e-03 8.77214092e-02] [ 3.66936130e-03 -2.88877957e-03 9.99989095e-01 -6.49981642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.39824100800001 meters Centerline goodness : 0.886040 Centerline is valid? [False, False] Translation: X:7.69, Y:0.09, Z:-0.65 [[ 9.99988383e-01 2.37418483e-03 -4.19488356e-03 7.69485673e+00] [-2.36362124e-03 9.99994028e-01 2.52137399e-03 8.82127001e-02] [ 4.20084472e-03 -2.51142958e-03 9.99988023e-01 -6.50729588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.42824100800001 meters Centerline goodness : 0.886381 Centerline is valid? [False, False] Translation: X:7.70, Y:0.09, Z:-0.65 [[ 9.99986981e-01 1.80645018e-03 -4.77221548e-03 7.69708220e+00] [-1.79531123e-03 9.99995657e-01 2.33737938e-03 8.80970032e-02] [ 4.77641711e-03 -2.32878134e-03 9.99985881e-01 -6.51375945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.45824100800002 meters Centerline goodness : 0.883807 Centerline is valid? [False, False] Translation: X:7.71, Y:0.08, Z:-0.64 [[ 9.99987107e-01 9.92387489e-05 -5.07708837e-03 7.71490837e+00] [-2.58283894e-05 9.99895489e-01 1.44571683e-02 8.28215373e-02] [ 5.07799247e-03 -1.44568508e-02 9.99882600e-01 -6.43685867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.488241008 meters Centerline goodness : 0.887714 Centerline is valid? [False, False] Translation: X:7.74, Y:0.08, Z:-0.64 [[ 9.99961539e-01 3.03335459e-03 -8.22912124e-03 7.74343440e+00] [-2.88935479e-03 9.99843482e-01 1.74546153e-02 7.95285075e-02] [ 8.28077927e-03 -1.74301671e-02 9.99813792e-01 -6.38451926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.518241008 meters Centerline goodness : 0.885243 Centerline is valid? [False, False] Translation: X:7.75, Y:0.08, Z:-0.64 [[ 9.99952263e-01 1.70997764e-03 -9.62015647e-03 7.75309629e+00] [-1.49842216e-03 9.99757832e-01 2.19552467e-02 7.81588715e-02] [ 9.65536976e-03 -2.19397836e-02 9.99712669e-01 -6.36176366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.548241008 meters Centerline goodness : 0.886263 Centerline is valid? [False, False] Translation: X:7.77, Y:0.08, Z:-0.63 [[ 9.99940157e-01 -2.43784939e-04 -1.09372700e-02 7.76608280e+00] [ 5.73094451e-04 9.99546249e-01 3.01159096e-02 7.64005452e-02] [ 1.09249654e-02 -3.01203754e-02 9.99486572e-01 -6.28585552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.578241008 meters Centerline goodness : 0.882063 Centerline is valid? [False, False] Translation: X:7.79, Y:0.08, Z:-0.63 [[ 9.99968147e-01 -2.73328262e-03 -7.49888055e-03 7.78917127e+00] [ 2.89429800e-03 9.99763674e-01 2.15457669e-02 7.93000991e-02] [ 7.43821770e-03 -2.15667846e-02 9.99739739e-01 -6.31885389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.60824100800001 meters Centerline goodness : 0.886001 Centerline is valid? [False, False] Translation: X:7.80, Y:0.08, Z:-0.63 [[ 9.99959965e-01 -2.22616860e-03 -8.66670263e-03 7.79639233e+00] [ 2.47346867e-03 9.99587041e-01 2.86291539e-02 7.66143502e-02] [ 8.59939031e-03 -2.86494445e-02 9.99552530e-01 -6.25668330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.63824100800001 meters Centerline goodness : 0.889237 Centerline is valid? [False, False] Translation: X:7.80, Y:0.08, Z:-0.63 [[ 9.99953897e-01 -2.96776628e-03 -9.13218403e-03 7.79823704e+00] [ 3.22618714e-03 9.99591022e-01 2.84144369e-02 7.64553842e-02] [ 9.04412176e-03 -2.84425891e-02 9.99554512e-01 -6.25854065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.66824100800001 meters Centerline goodness : 0.887578 Centerline is valid? [False, False] Translation: X:7.81, Y:0.07, Z:-0.62 [[ 9.99940631e-01 -6.50413060e-03 -8.74246018e-03 7.81365406e+00] [ 6.83553656e-03 9.99237987e-01 3.84281279e-02 7.39237081e-02] [ 8.48585675e-03 -3.84856058e-02 9.99223122e-01 -6.16728369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.69824100800001 meters Centerline goodness : 0.890278 Centerline is valid? [False, False] Translation: X:7.82, Y:0.07, Z:-0.61 [[ 9.99928008e-01 -5.76652153e-03 -1.05226263e-02 7.82136471e+00] [ 6.23165407e-03 9.98980154e-01 4.47193382e-02 7.10884881e-02] [ 1.02540198e-02 -4.47816922e-02 9.98944170e-01 -6.12179959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.72824100800001 meters Centerline goodness : 0.888473 Centerline is valid? [False, False] Translation: X:7.84, Y:0.08, Z:-0.62 [[ 9.99961418e-01 -5.56793021e-03 -6.79412665e-03 7.83765594e+00] [ 5.78234992e-03 9.99472452e-01 3.19590693e-02 7.68734033e-02] [ 6.61259655e-03 -3.19971223e-02 9.99466086e-01 -6.21577296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.75824100800001 meters Centerline goodness : 0.893849 Centerline is valid? [False, False] Translation: X:7.84, Y:0.08, Z:-0.62 [[ 9.99968199e-01 -2.52263054e-03 -7.56555172e-03 7.84041825e+00] [ 2.79896626e-03 9.99320932e-01 3.67401814e-02 7.62856886e-02] [ 7.46773229e-03 -3.67601888e-02 9.99296213e-01 -6.19931055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.78824100800001 meters Centerline goodness : 0.887749 Centerline is valid? [False, False] Translation: X:7.86, Y:0.08, Z:-0.63 [[ 9.99991485e-01 -1.68128357e-03 -3.76861313e-03 7.85800137e+00] [ 1.77257441e-03 9.99701850e-01 2.43529978e-02 8.39673969e-02] [ 3.72654522e-03 -2.43594706e-02 9.99696318e-01 -6.30278271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.81824100800002 meters Centerline goodness : 0.891450 Centerline is valid? [False, False] Translation: X:7.86, Y:0.09, Z:-0.63 [[ 9.99991703e-01 -1.55970594e-03 -3.76303649e-03 7.85793464e+00] [ 1.64996732e-03 9.99708103e-01 2.41036648e-02 8.51467986e-02] [ 3.72434344e-03 -2.41096737e-02 9.99702382e-01 -6.30405194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.84824100800002 meters Centerline goodness : 0.891137 Centerline is valid? [False, False] Translation: X:7.87, Y:0.09, Z:-0.64 [[ 9.99999553e-01 -3.89983671e-04 8.61324184e-04 7.87204324e+00] [ 3.79787539e-04 9.99930231e-01 1.18063475e-02 9.02685023e-02] [-8.65868373e-04 -1.18060151e-02 9.99929932e-01 -6.38967644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.878241008 meters Centerline goodness : 0.891461 Centerline is valid? [False, False] Translation: X:7.89, Y:0.09, Z:-0.64 [[ 9.99985544e-01 2.67611351e-03 4.66370628e-03 7.89196134e+00] [-2.71178403e-03 9.99966992e-01 7.65907023e-03 9.19015400e-02] [-4.64305580e-03 -7.67160647e-03 9.99959793e-01 -6.41433684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.908241008 meters Centerline goodness : 0.895023 Centerline is valid? [False, False] Translation: X:7.89, Y:0.09, Z:-0.64 [[ 9.99970358e-01 6.59756852e-03 3.96934299e-03 7.89334568e+00] [-6.64871965e-03 9.99893204e-01 1.30144046e-02 8.99490036e-02] [-3.88305565e-03 -1.30404098e-02 9.99907431e-01 -6.38938521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.938241008 meters Centerline goodness : 0.890999 Centerline is valid? [False, False] Translation: X:7.89, Y:0.09, Z:-0.64 [[ 9.99926840e-01 1.13722797e-02 4.12142220e-03 7.89301914e+00] [-1.14382755e-02 9.99800744e-01 1.63596468e-02 9.25593210e-02] [-3.93455450e-03 -1.64055919e-02 9.99857678e-01 -6.40265198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.968241008 meters Centerline goodness : 0.891845 Centerline is valid? [False, False] Translation: X:7.89, Y:0.10, Z:-0.64 [[ 9.99919923e-01 1.19150004e-02 4.26392958e-03 7.89289060e+00] [-1.19788934e-02 9.99811395e-01 1.52866073e-02 9.57291494e-02] [-4.08098545e-03 -1.53364604e-02 9.99874061e-01 -6.42396145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.99824100800001 meters Centerline goodness : 0.894380 Centerline is valid? [False, False] Translation: X:7.89, Y:0.10, Z:-0.64 [[ 9.99848143e-01 1.68101245e-02 4.59459884e-03 7.89193366e+00] [-1.68958113e-02 9.99671073e-01 1.92944787e-02 9.62187165e-02] [-4.26874497e-03 -1.93691782e-02 9.99803287e-01 -6.42791809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.02824100800001 meters Centerline goodness : 0.890175 Centerline is valid? [False, False] Translation: X:7.89, Y:0.10, Z:-0.64 [[ 9.99885291e-01 1.44299442e-02 4.60225804e-03 7.89066129e+00] [-1.44970140e-02 9.99784054e-01 1.48889802e-02 9.91142492e-02] [-4.38641705e-03 -1.49539913e-02 9.99878561e-01 -6.44004768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.05824100800001 meters Centerline goodness : 0.889432 Centerline is valid? [False, False] Translation: X:7.89, Y:0.10, Z:-0.64 [[ 9.99890828e-01 1.41931866e-02 4.10912807e-03 7.89183352e+00] [-1.42558462e-02 9.99775995e-01 1.56438724e-02 9.67893315e-02] [-3.88617121e-03 -1.57007436e-02 9.99869184e-01 -6.42731288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.08824100800001 meters Centerline goodness : 0.888259 Centerline is valid? [False, False] Translation: X:7.89, Y:0.10, Z:-0.64 [[ 9.99935727e-01 1.04816363e-02 4.32181191e-03 7.89135800e+00] [-1.05281067e-02 9.99885454e-01 1.08737638e-02 9.82955513e-02] [-4.20734202e-03 -1.09185654e-02 9.99931539e-01 -6.44055525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.11824100800001 meters Centerline goodness : 0.889525 Centerline is valid? [False, False] Translation: X:7.89, Y:0.10, Z:-0.64 [[ 9.99945238e-01 9.79934169e-03 3.67341455e-03 7.89360406e+00] [-9.83991107e-03 9.99888933e-01 1.11936491e-02 9.65356502e-02] [-3.56331616e-03 -1.12291822e-02 9.99930602e-01 -6.43703043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.14824100800001 meters Centerline goodness : 0.891214 Centerline is valid? [False, False] Translation: X:7.90, Y:0.09, Z:-0.64 [[ 9.99963238e-01 8.13491768e-03 2.71036420e-03 7.89824301e+00] [-8.16435061e-03 9.99905822e-01 1.10313292e-02 9.45058212e-02] [-2.62036999e-03 -1.10530520e-02 9.99935480e-01 -6.44768654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.17824100800001 meters Centerline goodness : 0.889258 Centerline is valid? [False, False] Translation: X:7.90, Y:0.09, Z:-0.65 [[ 9.99970356e-01 7.39016930e-03 2.16161804e-03 7.90081188e+00] [-7.41288772e-03 9.99915299e-01 1.06978337e-02 9.41352559e-02] [-2.08237614e-03 -1.07135404e-02 9.99940440e-01 -6.45958537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.20824100800002 meters Centerline goodness : 0.887391 Centerline is valid? [False, False] Translation: X:7.90, Y:0.09, Z:-0.65 [[ 9.99976574e-01 6.65509412e-03 1.60027556e-03 7.90343703e+00] [-6.67088582e-03 9.99927004e-01 1.00740330e-02 9.43081844e-02] [-1.53311511e-03 -1.00844723e-02 9.99947975e-01 -6.47561829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.238241008 meters Centerline goodness : 0.886021 Centerline is valid? [False, False] Translation: X:7.91, Y:0.09, Z:-0.65 [[ 9.99984492e-01 5.52256843e-03 7.19181165e-04 7.90739064e+00] [-5.52940471e-03 9.99935918e-01 9.87850146e-03 9.30962079e-02] [-6.64580379e-04 -9.88232491e-03 9.99950948e-01 -6.48698054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.268241008 meters Centerline goodness : 0.886967 Centerline is valid? [False, False] Translation: X:7.91, Y:0.09, Z:-0.65 [[ 9.99986289e-01 5.22502047e-03 3.48139175e-04 7.90871994e+00] [-5.22816903e-03 9.99938725e-01 9.75773607e-03 9.29160457e-02] [-2.97133472e-04 -9.75942241e-03 9.99952332e-01 -6.48975592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.298241008 meters Centerline goodness : 0.886934 Centerline is valid? [False, False] Translation: X:7.91, Y:0.09, Z:-0.65 [[ 9.99988547e-01 4.78567756e-03 -5.54389003e-05 7.91033391e+00] [-4.78495197e-03 9.99945021e-01 9.33057072e-03 9.30024733e-02] [ 1.00088955e-04 -9.33019858e-03 9.99956468e-01 -6.49662187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.328241008 meters Centerline goodness : 0.886546 Centerline is valid? [False, False] Translation: X:7.91, Y:0.09, Z:-0.65 [[ 9.99991361e-01 4.11933041e-03 -5.55935551e-04 7.91264986e+00] [-4.11427978e-03 9.99952822e-01 8.79928777e-03 9.38696337e-02] [ 5.92156496e-04 -8.79692448e-03 9.99961131e-01 -6.50885490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.35824100800001 meters Centerline goodness : 0.887357 Centerline is valid? [False, False] Translation: X:7.92, Y:0.09, Z:-0.65 [[ 9.99977435e-01 6.49560239e-03 -1.71337437e-03 7.91722695e+00] [-6.47270455e-03 9.99893930e-01 1.30472973e-02 9.22836156e-02] [ 1.79794269e-03 -1.30359128e-02 9.99913412e-01 -6.50646565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.38824100800001 meters Centerline goodness : 0.885269 Centerline is valid? [False, False] Translation: X:7.92, Y:0.09, Z:-0.65 [[ 9.99981508e-01 5.70435210e-03 -2.10819181e-03 7.91950400e+00] [-5.67890984e-03 9.99913264e-01 1.18834026e-02 9.41794919e-02] [ 2.17579607e-03 -1.18712106e-02 9.99927167e-01 -6.52845602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.41824100800001 meters Centerline goodness : 0.882329 Centerline is valid? [False, False] Translation: X:7.92, Y:0.10, Z:-0.66 [[ 9.99984899e-01 4.69315600e-03 -2.85921962e-03 7.92305202e+00] [-4.66272499e-03 9.99933387e-01 1.05584040e-02 9.64548078e-02] [ 2.90858139e-03 -1.05449128e-02 9.99940171e-01 -6.55335947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.44824100800001 meters Centerline goodness : 0.885027 Centerline is valid? [False, False] Translation: X:7.93, Y:0.10, Z:-0.66 [[ 9.99986553e-01 4.01216967e-03 -3.28577007e-03 7.92510337e+00] [-3.98012321e-03 9.99945011e-01 9.70224618e-03 9.75144484e-02] [ 3.32451645e-03 -9.68903794e-03 9.99947534e-01 -6.56841196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.47824100800001 meters Centerline goodness : 0.880638 Centerline is valid? [False, False] Translation: X:7.93, Y:0.10, Z:-0.66 [[ 9.99986841e-01 3.33508851e-03 -3.89813754e-03 7.92740777e+00] [-3.29877433e-03 9.99951449e-01 9.28537476e-03 9.81080789e-02] [ 3.92891583e-03 -9.27239349e-03 9.99949292e-01 -6.57509022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.50824100800001 meters Centerline goodness : 0.882694 Centerline is valid? [False, False] Translation: X:7.93, Y:0.10, Z:-0.66 [[ 9.99985650e-01 2.54495635e-03 -4.71418377e-03 7.93007342e+00] [-2.50112920e-03 9.99953816e-01 9.27955206e-03 9.76414895e-02] [ 4.73758211e-03 -9.26762811e-03 9.99945832e-01 -6.57420273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.53824100800001 meters Centerline goodness : 0.879406 Centerline is valid? [False, False] Translation: X:7.95, Y:0.09, Z:-0.65 [[ 9.99984477e-01 -1.70510857e-03 -5.30460822e-03 7.94706525e+00] [ 1.79898241e-03 9.99840971e-01 1.77425117e-02 9.46126930e-02] [ 5.27351172e-03 -1.77517791e-02 9.99828518e-01 -6.49669630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.56824100800002 meters Centerline goodness : 0.880074 Centerline is valid? [False, False] Translation: X:7.95, Y:0.09, Z:-0.65 [[ 9.99977319e-01 -2.77888363e-03 -6.13510393e-03 7.95034834e+00] [ 2.88724513e-03 9.99838733e-01 1.77249088e-02 9.41381827e-02] [ 6.08485908e-03 -1.77422203e-02 9.99824079e-01 -6.49950045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.59824100800002 meters Centerline goodness : 0.881490 Centerline is valid? [False, False] Translation: X:7.95, Y:0.09, Z:-0.64 [[ 9.99933103e-01 -6.60449752e-03 -9.49582551e-03 7.94756693e+00] [ 6.92979257e-03 9.99375761e-01 3.46419857e-02 8.94043746e-02] [ 9.26110494e-03 -3.47054724e-02 9.99354673e-01 -6.40302487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.628241008 meters Centerline goodness : 0.883197 Centerline is valid? [False, False] Translation: X:7.95, Y:0.09, Z:-0.65 [[ 0.99989298 -0.01129561 -0.00929718 7.94901329] [ 0.01155058 0.99954556 0.02784352 0.09374075] [ 0.00897844 -0.02794793 0.99956906 -0.64549934] [ 0. 0. 0. 1. ]] SLAMing on 74.658241008 meters Centerline goodness : 0.880261 Centerline is valid? [False, False] Translation: X:7.95, Y:0.09, Z:-0.65 [[ 0.999873 -0.01321614 -0.0089059 7.94989601] [ 0.01346483 0.99950399 0.02846873 0.09284871] [ 0.00852524 -0.02858504 0.99955501 -0.64803183] [ 0. 0. 0. 1. ]] SLAMing on 74.688241008 meters Centerline goodness : 0.880550 Centerline is valid? [False, False] Translation: X:7.96, Y:0.10, Z:-0.66 [[ 9.99888284e-01 -1.44003568e-02 -4.00607931e-03 7.96420881e+00] [ 1.44498498e-02 9.99816043e-01 1.26127494e-02 9.95241241e-02] [ 3.82371427e-03 -1.26692276e-02 9.99912431e-01 -6.59614299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.718241008 meters Centerline goodness : 0.882361 Centerline is valid? [False, False] Translation: X:7.98, Y:0.10, Z:-0.67 [[ 9.99886145e-01 -1.50870005e-02 2.80516050e-04 7.98104275e+00] [ 1.50870329e-02 9.99886178e-01 -1.13792628e-04 1.04527170e-01] [-2.78767332e-04 1.18011827e-04 9.99999954e-01 -6.68366168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.74824100800001 meters Centerline goodness : 0.879809 Centerline is valid? [False, False] Translation: X:7.99, Y:0.10, Z:-0.67 [[ 9.99873230e-01 -1.58303553e-02 -1.71013786e-03 7.98580180e+00] [ 1.58236940e-02 9.99867420e-01 -3.84088178e-03 1.04674598e-01] [ 1.77071366e-03 3.81333417e-03 9.99991161e-01 -6.69548115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.77824100800001 meters Centerline goodness : 0.879751 Centerline is valid? [False, False] Translation: X:7.99, Y:0.10, Z:-0.67 [[ 9.99867914e-01 -1.60955921e-02 -2.25542134e-03 7.98606070e+00] [ 1.60844551e-02 9.99858767e-01 -4.87194536e-03 1.04992960e-01] [ 2.33351964e-03 4.83502462e-03 9.99985589e-01 -6.67891505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.80824100800001 meters Centerline goodness : 0.879263 Centerline is valid? [False, False] Translation: X:7.99, Y:0.11, Z:-0.67 [[ 9.99872667e-01 -1.57898816e-02 -2.30852537e-03 7.98606605e+00] [ 1.57757137e-02 9.99857362e-01 -6.03175483e-03 1.06094638e-01] [ 2.40343678e-03 5.99456815e-03 9.99979144e-01 -6.66819158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.83824100800001 meters Centerline goodness : 0.880893 Centerline is valid? [False, False] Translation: X:7.99, Y:0.11, Z:-0.67 [[ 9.99881214e-01 -1.52093758e-02 -2.49647474e-03 7.98818752e+00] [ 1.51924674e-02 9.99862423e-01 -6.65761841e-03 1.06997817e-01] [ 2.59738950e-03 6.61889997e-03 9.99974722e-01 -6.69123422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.86824100800001 meters Centerline goodness : 0.883228 Centerline is valid? [False, False] Translation: X:7.99, Y:0.11, Z:-0.67 [[ 9.99890792e-01 -1.44745028e-02 -2.98208655e-03 7.98943881e+00] [ 1.44571173e-02 9.99878835e-01 -5.77128417e-03 1.08103868e-01] [ 3.06526169e-03 5.72754152e-03 9.99978899e-01 -6.69253795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.89824100800001 meters Centerline goodness : 0.881741 Centerline is valid? [False, False] Translation: X:7.99, Y:0.11, Z:-0.67 [[ 9.99927898e-01 -1.14833435e-02 -3.51176542e-03 7.99229807e+00] [ 1.14608270e-02 9.99914058e-01 -6.36601683e-03 1.10233156e-01] [ 3.58456677e-03 6.32531009e-03 9.99973570e-01 -6.71358535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.92824100800001 meters Centerline goodness : 0.882609 Centerline is valid? [False, False] Translation: X:8.00, Y:0.11, Z:-0.67 [[ 9.99955822e-01 -8.26356943e-03 -4.47967354e-03 7.99514483e+00] [ 8.25591022e-03 9.99964431e-01 -1.72557300e-03 1.09374654e-01] [ 4.49377359e-03 1.68851299e-03 9.99988477e-01 -6.70111016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.95824100800002 meters Centerline goodness : 0.883152 Centerline is valid? [False, False] Translation: X:8.00, Y:0.11, Z:-0.67 [[ 9.99974097e-01 -4.83277366e-03 -5.33390652e-03 7.99762406e+00] [ 4.84526124e-03 9.99985545e-01 2.33073636e-03 1.09951884e-01] [ 5.32256550e-03 -2.35652015e-03 9.99983058e-01 -6.69613957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.988241008 meters Centerline goodness : 0.883152 Centerline is valid? [False, False] Translation: X:8.00, Y:0.11, Z:-0.67 [[ 9.99975202e-01 -4.71866492e-03 -5.22775104e-03 7.99737542e+00] [ 4.72989497e-03 9.99986529e-01 2.13788392e-03 1.10433323e-01] [ 5.21759266e-03 -2.16255762e-03 9.99984050e-01 -6.69759173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.018241008 meters Centerline goodness : 0.880287 Centerline is valid? [False, False] Translation: X:8.00, Y:0.11, Z:-0.67 [[ 9.99974555e-01 -2.08905971e-03 -6.82096262e-03 8.00189171e+00] [ 2.14019632e-03 9.99969597e-01 7.49830602e-03 1.08528599e-01] [ 6.80509084e-03 -7.51271342e-03 9.99948624e-01 -6.66826358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.048241008 meters Centerline goodness : 0.880114 Centerline is valid? [False, False] Translation: X:8.01, Y:0.11, Z:-0.66 [[ 9.99965150e-01 3.73256632e-04 -8.34023909e-03 8.00670375e+00] [-2.64117671e-04 9.99914378e-01 1.30831030e-02 1.06177427e-01] [ 8.34440833e-03 -1.30804442e-02 9.99879629e-01 -6.63644286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.078241008 meters Centerline goodness : 0.878313 Centerline is valid? [False, False] Translation: X:8.02, Y:0.10, Z:-0.66 [[ 9.99950337e-01 -7.68576002e-05 -9.96586042e-03 8.01646862e+00] [ 2.73177631e-04 9.99805911e-01 1.96993910e-02 1.03429274e-01] [ 9.96241211e-03 -1.97011351e-02 9.99756278e-01 -6.58412800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.10824100800001 meters Centerline goodness : 0.881537 Centerline is valid? [False, False] Translation: X:8.02, Y:0.10, Z:-0.65 [[ 9.99937699e-01 1.21271396e-03 -1.10962795e-02 8.02270129e+00] [-9.25685415e-04 9.99665772e-01 2.58357670e-02 1.01729400e-01] [ 1.11239022e-02 -2.58238857e-02 9.99604615e-01 -6.54032822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.13824100800001 meters Centerline goodness : 0.883014 Centerline is valid? [False, False] Translation: X:8.02, Y:0.11, Z:-0.66 [[ 9.99938832e-01 -2.58932215e-03 -1.07530474e-02 8.02235618e+00] [ 2.81287249e-03 9.99779144e-01 2.08266685e-02 1.05632282e-01] [ 1.06967456e-02 -2.08556415e-02 9.99725273e-01 -6.55906486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.16824100800001 meters Centerline goodness : 0.880828 Centerline is valid? [False, False] Translation: X:8.03, Y:0.10, Z:-0.65 [[ 9.99927131e-01 -1.12738653e-03 -1.20192472e-02 8.02851188e+00] [ 1.44519017e-03 9.99648685e-01 2.64654183e-02 1.03659745e-01] [ 1.19851879e-02 -2.64808599e-02 9.99577470e-01 -6.52727569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.19824100800001 meters Centerline goodness : 0.880901 Centerline is valid? [False, False] Translation: X:8.04, Y:0.10, Z:-0.65 [[ 9.99906158e-01 -1.63618096e-03 -1.36013952e-02 8.03863077e+00] [ 2.09540579e-03 9.99425822e-01 3.38176816e-02 1.00489018e-01] [ 1.35382537e-02 -3.38430085e-02 9.99335462e-01 -6.46280599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.22824100800001 meters Centerline goodness : 0.882329 Centerline is valid? [False, False] Translation: X:8.04, Y:0.10, Z:-0.65 [[ 9.99900625e-01 -1.88606463e-03 -1.39708213e-02 8.03991642e+00] [ 2.35487575e-03 9.99432036e-01 3.36163713e-02 1.00420639e-01] [ 1.38994837e-02 -3.36459302e-02 9.99337158e-01 -6.46668581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.25824100800001 meters Centerline goodness : 0.883324 Centerline is valid? [False, False] Translation: X:8.04, Y:0.11, Z:-0.65 [[ 9.99891514e-01 -5.11884432e-03 -1.38114802e-02 8.03918068e+00] [ 5.50015511e-03 9.99600789e-01 2.77130039e-02 1.05241643e-01] [ 1.36641080e-02 -2.77859627e-02 9.99520501e-01 -6.49859501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.28824100800001 meters Centerline goodness : 0.881953 Centerline is valid? [False, False] Translation: X:8.04, Y:0.10, Z:-0.65 [[ 9.99891652e-01 -1.77895941e-03 -1.46123206e-02 8.04145215e+00] [ 2.25823313e-03 9.99457789e-01 3.28485550e-02 1.03671405e-01] [ 1.45459614e-02 -3.28779939e-02 9.99353517e-01 -6.47488609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.31824100800002 meters Centerline goodness : 0.880042 Centerline is valid? [False, False] Translation: X:8.04, Y:0.11, Z:-0.65 [[ 9.99889146e-01 -1.98798507e-03 -1.47561277e-02 8.04219324e+00] [ 2.46339988e-03 9.99476146e-01 3.22701968e-02 1.05799434e-01] [ 1.46842450e-02 -3.23029698e-02 9.99370247e-01 -6.48054814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.34824100800002 meters Centerline goodness : 0.879648 Centerline is valid? [False, False] Translation: X:8.04, Y:0.11, Z:-0.65 [[ 9.99888076e-01 -2.17741859e-03 -1.48018509e-02 8.04271577e+00] [ 2.64130130e-03 9.99503642e-01 3.13925515e-02 1.07475068e-01] [ 1.47261492e-02 -3.14281341e-02 9.99397525e-01 -6.49181412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.378241008 meters Centerline goodness : 0.880167 Centerline is valid? [False, False] Translation: X:8.06, Y:0.11, Z:-0.66 [[ 9.99945656e-01 -1.75678600e-03 -1.02761336e-02 8.05772747e+00] [ 1.95104055e-03 9.99819020e-01 1.89240888e-02 1.12605788e-01] [ 1.02410282e-02 -1.89431096e-02 9.99768113e-01 -6.58010660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.408241008 meters Centerline goodness : 0.882122 Centerline is valid? [False, False] Translation: X:8.08, Y:0.12, Z:-0.66 [[ 9.99976413e-01 1.32360220e-04 -6.86698741e-03 8.08091675e+00] [-3.04834354e-05 9.99889974e-01 1.48337159e-02 1.15452534e-01] [ 6.86819526e-03 -1.48331567e-02 9.99866394e-01 -6.61163577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.438241008 meters Centerline goodness : 0.878478 Centerline is valid? [False, False] Translation: X:8.08, Y:0.11, Z:-0.66 [[ 9.99963283e-01 3.23081789e-03 -7.93693321e-03 8.08400634e+00] [-3.07248485e-03 9.99797638e-01 1.98807340e-02 1.13098452e-01] [ 7.99955811e-03 -1.98556179e-02 9.99770854e-01 -6.59131007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.468241008 meters Centerline goodness : 0.877185 Centerline is valid? [False, False] Translation: X:8.09, Y:0.11, Z:-0.66 [[ 9.99960493e-01 2.93666796e-03 -8.38979711e-03 8.08534972e+00] [-2.77408704e-03 9.99809411e-01 1.93247603e-02 1.13858404e-01] [ 8.44494851e-03 -1.93007228e-02 9.99778058e-01 -6.59770474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.49824100800001 meters Centerline goodness : 0.877535 Centerline is valid? [False, False] Translation: X:8.11, Y:0.12, Z:-0.66 [[ 9.99969189e-01 5.83635245e-03 -5.24950737e-03 8.10508863e+00] [-5.75952545e-03 9.99877802e-01 1.45330316e-02 1.15139967e-01] [ 5.33368578e-03 -1.45023492e-02 9.99880610e-01 -6.62140064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.52824100800001 meters Centerline goodness : 0.875231 Centerline is valid? [False, False] Translation: X:8.11, Y:0.12, Z:-0.66 [[ 9.99967304e-01 6.09995066e-03 -5.30857516e-03 8.10567550e+00] [-6.02975339e-03 9.99895480e-01 1.31404111e-02 1.18396981e-01] [ 5.38817617e-03 -1.31079721e-02 9.99899569e-01 -6.64681904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.55824100800001 meters Centerline goodness : 0.879847 Centerline is valid? [False, False] Translation: X:8.13, Y:0.12, Z:-0.67 [[ 9.99954033e-01 9.43569435e-03 -1.70307397e-03 8.12580447e+00] [-9.42019535e-03 9.99916110e-01 8.89008019e-03 1.20636533e-01] [ 1.78681518e-03 -8.87362824e-03 9.99959032e-01 -6.67953086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.58824100800001 meters Centerline goodness : 0.883042 Centerline is valid? [False, False] Translation: X:8.13, Y:0.12, Z:-0.67 [[ 9.99952271e-01 9.60793794e-03 -1.77281806e-03 8.12604982e+00] [-9.59320609e-03 9.99920859e-01 8.13920775e-03 1.22634781e-01] [ 1.85087876e-03 -8.12181226e-03 9.99965305e-01 -6.69027264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.61824100800001 meters Centerline goodness : 0.883812 Centerline is valid? [False, False] Translation: X:8.13, Y:0.12, Z:-0.67 [[ 9.99950195e-01 9.78520296e-03 -1.96408003e-03 8.12656463e+00] [-9.77047082e-03 9.99925069e-01 7.37523338e-03 1.24672998e-01] [ 2.03610101e-03 -7.35567607e-03 9.99970874e-01 -6.70184386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.64824100800001 meters Centerline goodness : 0.883645 Centerline is valid? [False, False] Translation: X:8.13, Y:0.13, Z:-0.67 [[ 9.99936962e-01 1.10232797e-02 -2.13531476e-03 8.12602466e+00] [-1.10084951e-02 9.99916174e-01 6.81606353e-03 1.26915964e-01] [ 2.21027114e-03 -6.79212726e-03 9.99974491e-01 -6.71345322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.67824100800001 meters Centerline goodness : 0.883660 Centerline is valid? [False, False] Translation: X:8.13, Y:0.13, Z:-0.67 [[ 9.99940107e-01 1.06574291e-02 -2.49025345e-03 8.12774933e+00] [-1.06424655e-02 9.99925684e-01 5.94679941e-03 1.28260510e-01] [ 2.55344597e-03 -5.91994080e-03 9.99979217e-01 -6.73033301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.70824100800002 meters Centerline goodness : 0.886382 Centerline is valid? [False, False] Translation: X:8.13, Y:0.13, Z:-0.67 [[ 9.99943038e-01 1.03144930e-02 -2.74431100e-03 8.12923477e+00] [-1.03004549e-02 9.99934039e-01 5.08122828e-03 1.29450124e-01] [ 2.79654027e-03 -5.05267120e-03 9.99983325e-01 -6.74785632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.738241008 meters Centerline goodness : 0.882280 Centerline is valid? [False, False] Translation: X:8.13, Y:0.13, Z:-0.68 [[ 9.99946173e-01 9.90595792e-03 -3.08602256e-03 8.13082412e+00] [-9.89218923e-03 9.99941190e-01 4.44539252e-03 1.30169550e-01] [ 3.12987694e-03 -4.41462572e-03 9.99985357e-01 -6.76047151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.768241008 meters Centerline goodness : 0.886437 Centerline is valid? [False, False] Translation: X:8.13, Y:0.13, Z:-0.68 [[ 9.99952440e-01 8.84650008e-03 -4.10565630e-03 8.13444220e+00] [-8.82466920e-03 9.99946988e-01 5.30526683e-03 1.26183482e-01] [ 4.15237170e-03 -5.26878345e-03 9.99977499e-01 -6.75135471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.798241008 meters Centerline goodness : 0.885215 Centerline is valid? [False, False] Translation: X:8.14, Y:0.12, Z:-0.68 [[ 9.99955686e-01 7.97717042e-03 -4.99912563e-03 8.13745420e+00] [-7.94982880e-03 9.99953463e-01 5.46549198e-03 1.24224814e-01] [ 5.04249215e-03 -5.42550759e-03 9.99972568e-01 -6.75189709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.828241008 meters Centerline goodness : 0.883547 Centerline is valid? [False, False] Translation: X:8.14, Y:0.13, Z:-0.68 [[ 9.99980428e-01 3.57298787e-03 -5.13579806e-03 8.13904407e+00] [-3.57135565e-03 9.99993569e-01 3.26947974e-04 1.25995477e-01] [ 5.13693322e-03 -3.08599814e-04 9.99986758e-01 -6.77815363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.85824100800001 meters Centerline goodness : 0.890204 Centerline is valid? [False, False] Translation: X:8.15, Y:0.12, Z:-0.68 [[ 9.99979216e-01 -2.17572758e-04 -6.44366484e-03 8.15303129e+00] [ 2.46450324e-04 9.99989930e-01 4.48108883e-03 1.21506051e-01] [ 6.44262499e-03 -4.48258374e-03 9.99969199e-01 -6.76966310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.88824100800001 meters Centerline goodness : 0.889363 Centerline is valid? [False, False] Translation: X:8.16, Y:0.12, Z:-0.68 [[ 9.99971092e-01 -1.35568777e-03 -7.48174325e-03 8.15702046e+00] [ 1.39093902e-03 9.99987948e-01 4.70844640e-03 1.19612046e-01] [ 7.47526989e-03 -4.71871694e-03 9.99960926e-01 -6.77387169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.91824100800001 meters Centerline goodness : 0.891343 Centerline is valid? [False, False] Translation: X:8.16, Y:0.12, Z:-0.68 [[ 9.99966519e-01 -1.73792382e-03 -7.99629963e-03 8.15863637e+00] [ 1.77904991e-03 9.99985213e-01 5.13890398e-03 1.17953846e-01] [ 7.98725037e-03 -5.15295774e-03 9.99954824e-01 -6.76977876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.94824100800001 meters Centerline goodness : 0.891014 Centerline is valid? [False, False] Translation: X:8.16, Y:0.12, Z:-0.67 [[ 9.99963910e-01 -1.59598322e-03 -8.34457533e-03 8.15850005e+00] [ 1.64573261e-03 9.99980894e-01 5.95841939e-03 1.16640414e-01] [ 8.33490637e-03 -5.97193729e-03 9.99947431e-01 -6.74427901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.97824100800001 meters Centerline goodness : 0.893497 Centerline is valid? [False, False] Translation: X:8.16, Y:0.11, Z:-0.67 [[ 9.99956207e-01 -2.16994376e-03 -9.10357338e-03 8.16037968e+00] [ 2.23326839e-03 9.99973343e-01 6.95162982e-03 1.14377363e-01] [ 9.08824606e-03 -6.97165611e-03 9.99934398e-01 -6.72399524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.00824100800001 meters Centerline goodness : 0.889592 Centerline is valid? [False, False] Translation: X:8.16, Y:0.11, Z:-0.67 [[ 9.99949124e-01 -2.97682619e-03 -9.63778822e-03 8.16228005e+00] [ 3.05037159e-03 9.99966275e-01 7.62525653e-03 1.13104723e-01] [ 9.61476412e-03 -7.65426743e-03 9.99924481e-01 -6.71121817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.03824100800001 meters Centerline goodness : 0.893934 Centerline is valid? [False, False] Translation: X:8.17, Y:0.11, Z:-0.67 [[ 9.99929109e-01 -5.14161019e-03 -1.07396917e-02 8.17335023e+00] [ 5.28878394e-03 9.99891881e-01 1.37205727e-02 1.11505308e-01] [ 1.06679847e-02 -1.37763999e-02 9.99848191e-01 -6.66227286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.06824100800002 meters Centerline goodness : 0.890455 Centerline is valid? [False, False] Translation: X:8.18, Y:0.11, Z:-0.67 [[ 9.99918778e-01 -4.55831060e-03 -1.19020668e-02 8.18049015e+00] [ 4.75954833e-03 9.99845271e-01 1.69345753e-02 1.13067996e-01] [ 1.18230322e-02 -1.69898483e-02 9.99785758e-01 -6.67275967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.09824100800002 meters Centerline goodness : 0.894418 Centerline is valid? [False, False] Translation: X:8.20, Y:0.12, Z:-0.67 [[ 9.99941085e-01 -2.11951572e-03 -1.06458093e-02 8.20249144e+00] [ 2.23158277e-03 9.99942110e-01 1.05260455e-02 1.16510537e-01] [ 1.06228829e-02 -1.05491823e-02 9.99887928e-01 -6.72379244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.128241008 meters Centerline goodness : 0.893111 Centerline is valid? [False, False] Translation: X:8.21, Y:0.12, Z:-0.67 [[ 9.99926806e-01 7.38708450e-04 -1.20762987e-02 8.20687362e+00] [-5.60082248e-04 9.99890492e-01 1.47881654e-02 1.15959126e-01] [ 1.20859004e-02 -1.47803193e-02 9.99817720e-01 -6.71811696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.158241008 meters Centerline goodness : 0.890979 Centerline is valid? [False, False] Translation: X:8.22, Y:0.12, Z:-0.68 [[ 9.99969326e-01 2.98705926e-03 -7.24041767e-03 8.22342406e+00] [-2.94035994e-03 9.99974863e-01 6.45189696e-03 1.19907892e-01] [ 7.25950787e-03 -6.43040962e-03 9.99952974e-01 -6.78373810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.188241008 meters Centerline goodness : 0.890911 Centerline is valid? [False, False] Translation: X:8.22, Y:0.12, Z:-0.68 [[ 9.99967327e-01 3.03493178e-03 -7.49231932e-03 8.22384759e+00] [-2.98942780e-03 9.99977065e-01 6.07716419e-03 1.21367066e-01] [ 7.51059127e-03 -6.05456788e-03 9.99953466e-01 -6.78364066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.218241008 meters Centerline goodness : 0.896309 Centerline is valid? [False, False] Translation: X:8.24, Y:0.12, Z:-0.68 [[ 9.99977655e-01 6.20473671e-03 -2.48809380e-03 8.23928113e+00] [-6.20611723e-03 9.99980592e-01 -5.47517347e-04 1.23936574e-01] [ 2.48464831e-03 5.62946515e-04 9.99996755e-01 -6.81797204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.24824100800001 meters Centerline goodness : 0.892958 Centerline is valid? [False, False] Translation: X:8.24, Y:0.13, Z:-0.68 [[ 9.99977615e-01 6.13851410e-03 -2.66251917e-03 8.23978432e+00] [-6.14044660e-03 9.99980889e-01 -7.18250160e-04 1.25230116e-01] [ 2.65805929e-03 7.34583138e-04 9.99996198e-01 -6.81730963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.27824100800001 meters Centerline goodness : 0.893450 Centerline is valid? [False, False] Translation: X:8.24, Y:0.12, Z:-0.68 [[ 9.99948895e-01 9.44356274e-03 -3.60923054e-03 8.24237597e+00] [-9.43023345e-03 9.99948717e-01 3.69245811e-03 1.24084420e-01] [ 3.64391541e-03 -3.65823352e-03 9.99986670e-01 -6.80475419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.30824100800001 meters Centerline goodness : 0.891141 Centerline is valid? [False, False] Translation: X:8.25, Y:0.12, Z:-0.68 [[ 9.99908158e-01 1.26908020e-02 -4.75585093e-03 8.24551821e+00] [-1.26475886e-02 9.99879432e-01 9.00886901e-03 1.21719975e-01] [ 4.86960730e-03 -8.94789158e-03 9.99948110e-01 -6.78113616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.33824100800001 meters Centerline goodness : 0.890437 Centerline is valid? [False, False] Translation: X:8.25, Y:0.12, Z:-0.68 [[ 9.99911216e-01 1.22846761e-02 -5.16204804e-03 8.24708860e+00] [-1.22416775e-02 9.99890782e-01 8.28038777e-03 1.23650705e-01] [ 5.26320613e-03 -8.21646047e-03 9.99952393e-01 -6.79147277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.36824100800001 meters Centerline goodness : 0.892163 Centerline is valid? [False, False] Translation: X:8.25, Y:0.13, Z:-0.68 [[ 9.99914699e-01 1.17967117e-02 -5.60653741e-03 8.24884030e+00] [-1.17557215e-02 9.99904334e-01 7.28871215e-03 1.26085340e-01] [ 5.69198390e-03 -7.22218152e-03 9.99957720e-01 -6.80528050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.39824100800001 meters Centerline goodness : 0.888438 Centerline is valid? [False, False] Translation: X:8.25, Y:0.13, Z:-0.68 [[ 9.99918530e-01 1.12223432e-02 -6.08218674e-03 8.25077522e+00] [-1.11833698e-02 9.99916955e-01 6.40437358e-03 1.27823911e-01] [ 6.15355372e-03 -6.33583247e-03 9.99960995e-01 -6.81859934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.42824100800001 meters Centerline goodness : 0.889672 Centerline is valid? [False, False] Translation: X:8.25, Y:0.13, Z:-0.68 [[ 9.99920970e-01 1.06015419e-02 -6.75724961e-03 8.25353773e+00] [-1.05618723e-02 9.99926936e-01 5.87956765e-03 1.28000742e-01] [ 6.81908838e-03 -5.80773378e-03 9.99959884e-01 -6.83048689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.45824100800002 meters Centerline goodness : 0.890235 Centerline is valid? [False, False] Translation: X:8.26, Y:0.13, Z:-0.68 [[ 9.99924140e-01 9.83551884e-03 -7.41460349e-03 8.25622340e+00] [-9.79510029e-03 9.99937077e-01 5.46795498e-03 1.28391451e-01] [ 7.46791712e-03 -5.39491340e-03 9.99957562e-01 -6.84049121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.48824100800002 meters Centerline goodness : 0.887619 Centerline is valid? [False, False] Translation: X:8.27, Y:0.13, Z:-0.68 [[ 0.99992207 0.00919343 -0.00844591 8.27186766] [-0.00905937 0.99983451 0.01577611 0.12594698] [ 0.00858955 -0.01569836 0.99983988 -0.67835657] [ 0. 0. 0. 1. ]] SLAMing on 76.518241008 meters Centerline goodness : 0.889520 Centerline is valid? [False, False] Translation: X:8.28, Y:0.13, Z:-0.68 [[ 9.99927708e-01 7.68645171e-03 -9.24643220e-03 8.27571818e+00] [-7.54211477e-03 9.99850725e-01 1.55448911e-02 1.25898397e-01] [ 9.36453699e-03 -1.54740297e-02 9.99836417e-01 -6.78797862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.548241008 meters Centerline goodness : 0.887425 Centerline is valid? [False, False] Translation: X:8.28, Y:0.12, Z:-0.67 [[ 9.99929492e-01 6.20679785e-03 -1.01235474e-02 8.28475814e+00] [-5.99042220e-03 9.99755915e-01 2.12655739e-02 1.23065665e-01] [ 1.02530675e-02 -2.12034302e-02 9.99722606e-01 -6.74451623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.578241008 meters Centerline goodness : 0.886655 Centerline is valid? [False, False] Translation: X:8.30, Y:0.12, Z:-0.67 [[ 9.99946610e-01 8.81011994e-04 -1.02956716e-02 8.30201669e+00] [-5.79760388e-04 9.99572648e-01 2.92264623e-02 1.20407306e-01] [ 1.03170206e-02 -2.92189329e-02 9.99519791e-01 -6.66963722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.60824100800001 meters Centerline goodness : 0.885849 Centerline is valid? [False, False] Translation: X:8.30, Y:0.12, Z:-0.66 [[ 9.99940500e-01 -3.68376046e-03 -1.02677492e-02 8.29762962e+00] [ 4.16232301e-03 9.98886993e-01 4.69835147e-02 1.15773508e-01] [ 1.00832451e-02 -4.70234569e-02 9.98842892e-01 -6.56083350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.63824100800001 meters Centerline goodness : 0.885825 Centerline is valid? [False, False] Translation: X:8.28, Y:0.11, Z:-0.65 [[ 9.99891332e-01 -7.49126453e-03 -1.26966784e-02 8.27656104e+00] [ 8.12762747e-03 9.98674086e-01 5.08331765e-02 1.14260752e-01] [ 1.22990390e-02 -5.09308464e-02 9.98626448e-01 -6.52500227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.66824100800001 meters Centerline goodness : 0.889090 Centerline is valid? [False, False] Translation: X:8.28, Y:0.12, Z:-0.66 [[ 0.9998123 -0.01516832 -0.01205332 8.27594091] [ 0.01563914 0.99907818 0.03997752 0.12030539] [ 0.01143582 -0.04015852 0.99912788 -0.65771584] [ 0. 0. 0. 1. ]] SLAMing on 76.69824100800001 meters Centerline goodness : 0.888143 Centerline is valid? [False, False] Translation: X:8.25, Y:0.12, Z:-0.66 [[ 0.99965176 -0.02109414 -0.01585559 8.25438453] [ 0.021708 0.99897995 0.03959582 0.12003096] [ 0.01500418 -0.03992623 0.99908997 -0.65664302] [ 0. 0. 0. 1. ]] SLAMing on 76.72824100800001 meters Centerline goodness : 0.889298 Centerline is valid? [False, False] Translation: X:8.26, Y:0.12, Z:-0.66 [[ 9.99801836e-01 -1.89344852e-02 -6.14603558e-03 8.25997481e+00] [ 1.91797179e-02 9.98905810e-01 4.26534951e-02 1.16854288e-01] [ 5.33168868e-03 -4.27629219e-02 9.99071021e-01 -6.60508125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.75824100800001 meters Centerline goodness : 0.889711 Centerline is valid? [False, False] Translation: X:8.26, Y:0.12, Z:-0.66 [[ 9.99780828e-01 -2.01150443e-02 -5.80348230e-03 8.26039133e+00] [ 2.03492240e-02 9.98841937e-01 4.35969549e-02 1.16316882e-01] [ 4.91980682e-03 -4.37054961e-02 9.99032344e-01 -6.61920331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.78824100800001 meters Centerline goodness : 0.888052 Centerline is valid? [False, False] Translation: X:8.26, Y:0.12, Z:-0.66 [[ 9.99759880e-01 -2.10665289e-02 -6.03184753e-03 8.26237459e+00] [ 2.13039748e-02 9.98870990e-01 4.24604019e-02 1.16090534e-01] [ 5.13054423e-03 -4.25787087e-02 9.99079942e-01 -6.63854950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.81824100800002 meters Centerline goodness : 0.892736 Centerline is valid? [False, False] Translation: X:8.27, Y:0.12, Z:-0.67 [[ 9.99737596e-01 -2.18452460e-02 -6.89384158e-03 8.26556156e+00] [ 2.20998913e-02 9.98982162e-01 3.93222021e-02 1.16088492e-01] [ 6.02782159e-03 -3.94642369e-02 9.99202802e-01 -6.65393209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.84824100800002 meters Centerline goodness : 0.893664 Centerline is valid? [False, False] Translation: X:8.27, Y:0.12, Z:-0.67 [[ 9.99734074e-01 -2.17131285e-02 -7.76667885e-03 8.26910811e+00] [ 2.19878156e-02 9.99064833e-01 3.72289605e-02 1.16640894e-01] [ 6.95105851e-03 -3.73898326e-02 9.99276580e-01 -6.67554705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.878241008 meters Centerline goodness : 0.894684 Centerline is valid? [False, False] Translation: X:8.27, Y:0.12, Z:-0.67 [[ 9.99763413e-01 -1.99731072e-02 -8.61356749e-03 8.27202949e+00] [ 2.02731578e-02 9.99135958e-01 3.62813554e-02 1.17335937e-01] [ 7.88147361e-03 -3.64473959e-02 9.99304493e-01 -6.68930602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.908241008 meters Centerline goodness : 0.894684 Centerline is valid? [False, False] Translation: X:8.27, Y:0.12, Z:-0.67 [[ 9.99763413e-01 -1.99731072e-02 -8.61356749e-03 8.27202949e+00] [ 2.02731578e-02 9.99135958e-01 3.62813554e-02 1.17335937e-01] [ 7.88147361e-03 -3.64473959e-02 9.99304493e-01 -6.68930602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.938241008 meters Centerline goodness : 0.894373 Centerline is valid? [False, False] Translation: X:8.27, Y:0.12, Z:-0.67 [[ 9.99780007e-01 -1.89842450e-02 -8.91832408e-03 8.27212086e+00] [ 1.92827339e-02 9.99212802e-01 3.46691978e-02 1.22884938e-01] [ 8.25313504e-03 -3.48335405e-02 9.99359050e-01 -6.71437687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.968241008 meters Centerline goodness : 0.899923 Centerline is valid? [False, False] Translation: X:8.28, Y:0.12, Z:-0.67 [[ 0.99983621 -0.01464717 -0.01063117 8.2776332 ] [ 0.01499375 0.99933333 0.03328794 0.12439751] [ 0.0101365 -0.03344189 0.99938926 -0.67371342] [ 0. 0. 0. 1. ]] SLAMing on 76.99824100800001 meters Centerline goodness : 0.901460 Centerline is valid? [False, False] Translation: X:8.29, Y:0.13, Z:-0.68 [[ 9.99930874e-01 -1.01317709e-02 -5.96616494e-03 8.29097251e+00] [ 1.02714801e-02 9.99662268e-01 2.38714485e-02 1.30536704e-01] [ 5.72228993e-03 -2.39310797e-02 9.99697234e-01 -6.82027119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.02824100800001 meters Centerline goodness : 0.899455 Centerline is valid? [False, False] Translation: X:8.30, Y:0.14, Z:-0.69 [[ 9.99985193e-01 -5.34867037e-03 -1.00260080e-03 8.30365961e+00] [ 5.36317890e-03 9.99871988e-01 1.50746060e-02 1.36380375e-01] [ 9.21843358e-04 -1.50797599e-02 9.99885869e-01 -6.89333131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.05824100800001 meters Centerline goodness : 0.899515 Centerline is valid? [False, False] Translation: X:8.30, Y:0.14, Z:-0.69 [[ 9.99999065e-01 -8.49916432e-04 -1.07101208e-03 8.30310236e+00] [ 8.70428251e-04 9.99813375e-01 1.92991483e-02 1.37397129e-01] [ 1.05440954e-03 -1.93000625e-02 9.99813180e-01 -6.88302776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.08824100800001 meters Centerline goodness : 0.902916 Centerline is valid? [False, False] Translation: X:8.32, Y:0.14, Z:-0.69 [[ 9.99949867e-01 9.15132398e-03 4.06417991e-03 8.31691889e+00] [-9.22070190e-03 9.99806209e-01 1.73932021e-02 1.42597198e-01] [-3.90422148e-03 -1.74298048e-02 9.99840467e-01 -6.93624578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.11824100800001 meters Centerline goodness : 0.903101 Centerline is valid? [False, False] Translation: X:8.32, Y:0.15, Z:-0.69 [[ 9.99936088e-01 1.05111961e-02 4.16355398e-03 8.31577640e+00] [-1.05797663e-02 9.99802819e-01 1.68045384e-02 1.46569708e-01] [-3.98609721e-03 -1.68475138e-02 9.99850125e-01 -6.94606984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.14824100800001 meters Centerline goodness : 0.902256 Centerline is valid? [False, False] Translation: X:8.31, Y:0.15, Z:-0.70 [[ 9.99922841e-01 1.17003270e-02 4.17315745e-03 8.31487023e+00] [-1.17673875e-02 9.99795865e-01 1.64242522e-02 1.50134990e-01] [-3.98013644e-03 -1.64720921e-02 9.99856404e-01 -6.95133666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.17824100800001 meters Centerline goodness : 0.905090 Centerline is valid? [False, False] Translation: X:8.31, Y:0.15, Z:-0.70 [[ 9.99910358e-01 1.26789537e-02 4.30342053e-03 8.31386806e+00] [-1.27460397e-02 9.99791753e-01 1.59370458e-02 1.53048196e-01] [-4.10045929e-03 -1.59904687e-02 9.99863736e-01 -6.95700948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.20824100800002 meters Centerline goodness : 0.905736 Centerline is valid? [False, False] Translation: X:8.31, Y:0.15, Z:-0.70 [[ 9.99898295e-01 1.35282927e-02 4.51501785e-03 8.31266584e+00] [-1.35979665e-02 9.99783096e-01 1.57751787e-02 1.54816996e-01] [-4.30062729e-03 -1.58349693e-02 9.99865370e-01 -6.95623261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.23824100800002 meters Centerline goodness : 0.906230 Centerline is valid? [False, False] Translation: X:8.31, Y:0.16, Z:-0.69 [[ 9.99873882e-01 1.51144638e-02 4.87582763e-03 8.31028433e+00] [-1.51901977e-02 9.99758376e-01 1.58886208e-02 1.56059671e-01] [-4.63450153e-03 -1.59606818e-02 9.99861879e-01 -6.94964302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.268241008 meters Centerline goodness : 0.906221 Centerline is valid? [False, False] Translation: X:8.31, Y:0.16, Z:-0.70 [[ 9.99877024e-01 1.49350664e-02 4.78346618e-03 8.31129798e+00] [-1.50059847e-02 9.99772626e-01 1.51498414e-02 1.57398169e-01] [-4.55611465e-03 -1.52197590e-02 9.99873792e-01 -6.96422400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.298241008 meters Centerline goodness : 0.905309 Centerline is valid? [False, False] Translation: X:8.31, Y:0.16, Z:-0.70 [[ 9.99887202e-01 1.42792094e-02 4.65703466e-03 8.31353677e+00] [-1.43422739e-02 9.99801884e-01 1.38018470e-02 1.59303318e-01] [-4.45903256e-03 -1.38670826e-02 9.99893905e-01 -6.99619578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.328241008 meters Centerline goodness : 0.904583 Centerline is valid? [False, False] Translation: X:8.31, Y:0.16, Z:-0.70 [[ 9.99937408e-01 1.01277102e-02 4.75496694e-03 8.31479435e+00] [-1.01656045e-02 9.99916214e-01 8.01405607e-03 1.62656351e-01] [-4.67340450e-03 -8.06189156e-03 9.99956582e-01 -7.03559234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.35824100800001 meters Centerline goodness : 0.906094 Centerline is valid? [False, False] Translation: X:8.32, Y:0.16, Z:-0.71 [[ 9.99973371e-01 5.58145128e-03 4.70146909e-03 8.31670111e+00] [-5.59367994e-03 9.99980996e-01 2.59190957e-03 1.64962343e-01] [-4.68691312e-03 -2.61813906e-03 9.99985589e-01 -7.06949948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.38824100800001 meters Centerline goodness : 0.906592 Centerline is valid? [False, False] Translation: X:8.32, Y:0.16, Z:-0.71 [[ 9.99983515e-01 4.33182519e-03 3.76890989e-03 8.32071604e+00] [-4.34119996e-03 9.99987495e-01 2.48277941e-03 1.62712717e-01] [-3.75810779e-03 -2.49910007e-03 9.99989816e-01 -7.08179599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.41824100800001 meters Centerline goodness : 0.904066 Centerline is valid? [False, False] Translation: X:8.32, Y:0.16, Z:-0.71 [[ 9.99994425e-01 -1.00896923e-03 3.18299994e-03 8.32421137e+00] [ 1.01292163e-03 9.99998718e-01 -1.24035450e-03 1.59408336e-01] [-3.18174438e-03 1.24357172e-03 9.99994165e-01 -7.09109097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.44824100800001 meters Centerline goodness : 0.904988 Centerline is valid? [False, False] Translation: X:8.33, Y:0.16, Z:-0.71 [[ 9.99994646e-01 -2.28405709e-03 2.34338292e-03 8.32759416e+00] [ 2.28445355e-03 9.99997377e-01 -1.66519791e-04 1.55248212e-01] [-2.34299643e-03 1.71872249e-04 9.99997240e-01 -7.08150085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.47824100800001 meters Centerline goodness : 0.902783 Centerline is valid? [False, False] Translation: X:8.34, Y:0.15, Z:-0.70 [[ 9.99953677e-01 -9.44300973e-03 1.86357741e-03 8.33981592e+00] [ 9.43685588e-03 9.99950080e-01 3.28378673e-03 1.47872174e-01] [-1.89449321e-03 -3.26604830e-03 9.99992872e-01 -7.02398712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.50824100800001 meters Centerline goodness : 0.902995 Centerline is valid? [False, False] Translation: X:8.34, Y:0.14, Z:-0.70 [[ 9.99944895e-01 -1.04580587e-02 9.14611143e-04 8.34314437e+00] [ 1.04536510e-02 9.99934323e-01 4.69806478e-03 1.43118171e-01] [-9.63683711e-04 -4.68824487e-03 9.99988546e-01 -7.01003352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.53824100800001 meters Centerline goodness : 0.901085 Centerline is valid? [False, False] Translation: X:8.38, Y:0.14, Z:-0.69 [[ 9.99945992e-01 -1.00441380e-02 -2.66987027e-03 8.37578398e+00] [ 1.00685448e-02 9.99906147e-01 9.29097131e-03 1.37097236e-01] [ 2.57629989e-03 -9.31735124e-03 9.99953274e-01 -6.93934123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.56824100800002 meters Centerline goodness : 0.903550 Centerline is valid? [False, False] Translation: X:8.38, Y:0.13, Z:-0.69 [[ 9.99933692e-01 -1.09837565e-02 -3.45969106e-03 8.37908598e+00] [ 1.10172824e-02 9.99891037e-01 9.82520075e-03 1.34910889e-01] [ 3.35139647e-03 -9.86266565e-03 9.99945747e-01 -6.93903513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.59824100800002 meters Centerline goodness : 0.898912 Centerline is valid? [False, False] Translation: X:8.38, Y:0.13, Z:-0.69 [[ 9.99924208e-01 -1.16687044e-02 -3.92687153e-03 8.38127265e+00] [ 1.17068394e-02 9.99883128e-01 9.83262569e-03 1.33415728e-01] [ 3.81167858e-03 -9.87785170e-03 9.99943948e-01 -6.94607677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.628241008 meters Centerline goodness : 0.897420 Centerline is valid? [False, False] Translation: X:8.41, Y:0.13, Z:-0.69 [[ 9.99912226e-01 -1.13047412e-02 -6.90969474e-03 8.41190833e+00] [ 1.13777062e-02 9.99878945e-01 1.06133130e-02 1.28074284e-01] [ 6.78887753e-03 -1.06909979e-02 9.99919804e-01 -6.91543025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.658241008 meters Centerline goodness : 0.895368 Centerline is valid? [False, False] Translation: X:8.44, Y:0.12, Z:-0.68 [[ 0.99991036 -0.00900459 -0.00990858 8.44149559] [ 0.00914992 0.99984978 0.01472057 0.12315454] [ 0.00977454 -0.01480991 0.99984255 -0.68428631] [ 0. 0. 0. 1. ]] SLAMing on 77.688241008 meters Centerline goodness : 0.893396 Centerline is valid? [False, False] Translation: X:8.44, Y:0.13, Z:-0.69 [[ 0.99987394 -0.01283178 -0.00935107 8.44092693] [ 0.01292192 0.99987 0.00964379 0.12541063] [ 0.00922611 -0.00976341 0.99990977 -0.68652962] [ 0. 0. 0. 1. ]] SLAMing on 77.718241008 meters Centerline goodness : 0.899242 Centerline is valid? [False, False] Translation: X:8.47, Y:0.12, Z:-0.68 [[ 0.99986866 -0.01013045 -0.01265049 8.46896884] [ 0.01027478 0.99988227 0.01139631 0.12225614] [ 0.01253355 -0.0115248 0.99985503 -0.68252789] [ 0. 0. 0. 1. ]] SLAMing on 77.74824100800001 meters Centerline goodness : 0.896201 Centerline is valid? [False, False] Translation: X:8.49, Y:0.12, Z:-0.68 [[ 0.99984509 -0.01197426 -0.01290037 8.48910224] [ 0.0122747 0.99964924 0.02346765 0.12090843] [ 0.01261484 -0.02362236 0.99964136 -0.67632207] [ 0. 0. 0. 1. ]] SLAMing on 77.77824100800001 meters Centerline goodness : 0.894655 Centerline is valid? [False, False] Translation: X:8.49, Y:0.12, Z:-0.68 [[ 0.99984089 -0.0122639 -0.01295366 8.49015138] [ 0.01256111 0.99965384 0.02311769 0.12251908] [ 0.01266566 -0.02327672 0.99964883 -0.67701205] [ 0. 0. 0. 1. ]] SLAMing on 77.80824100800001 meters Centerline goodness : 0.895513 Centerline is valid? [False, False] Translation: X:8.49, Y:0.12, Z:-0.68 [[ 0.99983566 -0.0125307 -0.0131012 8.49104812] [ 0.01282876 0.99965499 0.02292016 0.12338501] [ 0.01280947 -0.02308447 0.99965145 -0.67717061] [ 0. 0. 0. 1. ]] SLAMing on 77.83824100800001 meters Centerline goodness : 0.894431 Centerline is valid? [False, False] Translation: X:8.49, Y:0.12, Z:-0.68 [[ 0.99982889 -0.01279512 -0.01335944 8.49210024] [ 0.01310257 0.99964531 0.02318553 0.12356631] [ 0.01305804 -0.0233566 0.99964191 -0.67635158] [ 0. 0. 0. 1. ]] SLAMing on 77.86824100800001 meters Centerline goodness : 0.893721 Centerline is valid? [False, False] Translation: X:8.49, Y:0.12, Z:-0.68 [[ 0.99981882 -0.01327142 -0.01364548 8.49294883] [ 0.01358724 0.99963575 0.02331857 0.12427706] [ 0.01333104 -0.02349975 0.99963496 -0.67521851] [ 0. 0. 0. 1. ]] SLAMing on 77.89824100800001 meters Centerline goodness : 0.895148 Centerline is valid? [False, False] Translation: X:8.50, Y:0.12, Z:-0.67 [[ 0.99984175 -0.0108568 -0.01409306 8.49576041] [ 0.01123868 0.99956392 0.02730675 0.12313267] [ 0.01379045 -0.02746082 0.99952775 -0.67498407] [ 0. 0. 0. 1. ]] SLAMing on 77.92824100800001 meters Centerline goodness : 0.894414 Centerline is valid? [False, False] Translation: X:8.52, Y:0.13, Z:-0.68 [[ 0.99986496 -0.00896199 -0.01377503 8.52092271] [ 0.00929322 0.9996646 0.02417292 0.12552255] [ 0.01355377 -0.02429767 0.99961288 -0.67629693] [ 0. 0. 0. 1. ]] SLAMing on 77.95824100800002 meters Centerline goodness : 0.892751 Centerline is valid? [False, False] Translation: X:8.52, Y:0.12, Z:-0.67 [[ 9.99872385e-01 -6.21237256e-03 -1.47180055e-02 8.52413793e+00] [ 6.64172333e-03 9.99548456e-01 2.93048101e-02 1.23996876e-01] [ 1.45293073e-02 -2.93988233e-02 9.99462160e-01 -6.73921723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.98824100800002 meters Centerline goodness : 0.891891 Centerline is valid? [False, False] Translation: X:8.52, Y:0.13, Z:-0.68 [[ 0.99985032 -0.00997691 -0.01413525 8.52338705] [ 0.01030904 0.99966781 0.02362197 0.12900929] [ 0.01389488 -0.02376416 0.99962103 -0.67672003] [ 0. 0. 0. 1. ]] SLAMing on 78.018241008 meters Centerline goodness : 0.892676 Centerline is valid? [False, False] Translation: X:8.52, Y:0.13, Z:-0.68 [[ 0.99984224 -0.01038897 -0.01440712 8.52442461] [ 0.0107113 0.99968993 0.0224792 0.13265298] [ 0.01416912 -0.02262997 0.9996435 -0.67783451] [ 0. 0. 0. 1. ]] SLAMing on 78.048241008 meters Centerline goodness : 0.892352 Centerline is valid? [False, False] Translation: X:8.52, Y:0.14, Z:-0.68 [[ 0.99984389 -0.01048127 -0.01422424 8.52446649] [ 0.01078408 0.99971322 0.02138168 0.13584128] [ 0.01399605 -0.02153173 0.99967019 -0.67926628] [ 0. 0. 0. 1. ]] SLAMing on 78.078241008 meters Centerline goodness : 0.893176 Centerline is valid? [False, False] Translation: X:8.51, Y:0.13, Z:-0.67 [[ 0.99986229 -0.01039233 -0.01293846 8.50955601] [ 0.01086377 0.99925929 0.03691667 0.13296617] [ 0.01254522 -0.03705214 0.99923459 -0.67126738] [ 0. 0. 0. 1. ]] SLAMing on 78.10824100800001 meters Centerline goodness : 0.888725 Centerline is valid? [False, False] Translation: X:8.52, Y:0.14, Z:-0.68 [[ 9.99946207e-01 -6.53747506e-03 -8.05255101e-03 8.52319017e+00] [ 6.75903990e-03 9.99590596e-01 2.78020859e-02 1.40557586e-01] [ 7.86749882e-03 -2.78550179e-02 9.99581012e-01 -6.77873776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13824100800001 meters Centerline goodness : 0.889820 Centerline is valid? [False, False] Translation: X:8.54, Y:0.15, Z:-0.69 [[ 9.99989654e-01 -3.25415179e-03 -3.17854604e-03 8.53736210e+00] [ 3.30912594e-03 9.99842331e-01 1.74460247e-02 1.47314675e-01] [ 3.12127287e-03 -1.74563624e-02 9.99842754e-01 -6.86970112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.16824100800001 meters Centerline goodness : 0.891248 Centerline is valid? [False, False] Translation: X:8.54, Y:0.15, Z:-0.69 [[ 9.99991255e-01 -2.62234095e-03 -3.25789550e-03 8.53744234e+00] [ 2.67429386e-03 9.99867677e-01 1.60461001e-02 1.52780616e-01] [ 3.21538606e-03 -1.60546723e-02 9.99865945e-01 -6.89119387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.19824100800001 meters Centerline goodness : 0.890694 Centerline is valid? [False, False] Translation: X:8.54, Y:0.16, Z:-0.69 [[ 9.99988919e-01 3.03046458e-03 -3.60238950e-03 8.53658785e+00] [-2.96011891e-03 9.99807905e-01 1.93750085e-02 1.58576495e-01] [ 3.66041278e-03 -1.93641303e-02 9.99805797e-01 -6.89530878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.22824100800001 meters Centerline goodness : 0.889319 Centerline is valid? [False, False] Translation: X:8.55, Y:0.16, Z:-0.70 [[ 9.99977103e-01 6.68247839e-03 1.06637630e-03 8.54984376e+00] [-6.69248274e-03 9.99930835e-01 9.67136438e-03 1.63883202e-01] [-1.00167386e-03 -9.67827965e-03 9.99952663e-01 -6.96528177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.25824100800001 meters Centerline goodness : 0.892591 Centerline is valid? [False, False] Translation: X:8.55, Y:0.16, Z:-0.70 [[ 9.99943246e-01 1.06402340e-02 5.38617286e-04 8.55084544e+00] [-1.06467710e-02 9.99843937e-01 1.40978213e-02 1.63493242e-01] [-3.88529110e-04 -1.41027558e-02 9.99900476e-01 -6.95216985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.28824100800001 meters Centerline goodness : 0.889828 Centerline is valid? [False, False] Translation: X:8.55, Y:0.16, Z:-0.69 [[ 9.99897062e-01 1.43475532e-02 -1.11944696e-04 8.55258385e+00] [-1.43431376e-02 9.99731381e-01 1.82055199e-02 1.63413205e-01] [ 3.73119290e-04 -1.82020402e-02 9.99834260e-01 -6.94727857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.31824100800002 meters Centerline goodness : 0.892483 Centerline is valid? [False, False] Translation: X:8.55, Y:0.17, Z:-0.70 [[ 9.99894385e-01 1.45330739e-02 -9.06304967e-05 8.55291760e+00] [-1.45294633e-02 9.99751430e-01 1.69107463e-02 1.67404793e-01] [ 3.36373094e-04 -1.69076435e-02 9.99856999e-01 -6.96775689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.34824100800002 meters Centerline goodness : 0.889675 Centerline is valid? [False, False] Translation: X:8.55, Y:0.17, Z:-0.70 [[ 9.99871867e-01 1.60072294e-02 -1.34126123e-04 8.55242343e+00] [-1.60028946e-02 9.99738152e-01 1.63564807e-02 1.72203800e-01] [ 3.95912941e-04 -1.63522385e-02 9.99866215e-01 -6.98327658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.378241008 meters Centerline goodness : 0.888316 Centerline is valid? [False, False] Translation: X:8.55, Y:0.17, Z:-0.70 [[ 9.99908283e-01 1.35423519e-02 -1.72207813e-04 8.55144300e+00] [-1.35392226e-02 9.99833156e-01 1.22617510e-02 1.74845155e-01] [ 3.38232028e-04 -1.22582948e-02 9.99924807e-01 -6.99078906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.408241008 meters Centerline goodness : 0.888955 Centerline is valid? [False, False] Translation: X:8.55, Y:0.17, Z:-0.70 [[ 9.99908770e-01 1.35019594e-02 -3.85731222e-04 8.55203868e+00] [-1.34960304e-02 9.99829570e-01 1.25971524e-02 1.73320179e-01] [ 5.55751722e-04 -1.25907973e-02 9.99920578e-01 -6.98621390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.438241008 meters Centerline goodness : 0.889983 Centerline is valid? [False, False] Translation: X:8.55, Y:0.18, Z:-0.70 [[ 9.99952076e-01 9.78618296e-03 -2.74562624e-04 8.55187596e+00] [-9.78378194e-03 9.99922551e-01 7.69212102e-03 1.75176173e-01] [ 3.49817863e-04 -7.68906612e-03 9.99970378e-01 -7.00302217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.468241008 meters Centerline goodness : 0.888652 Centerline is valid? [False, False] Translation: X:8.56, Y:0.17, Z:-0.70 [[ 9.99965012e-01 8.27398896e-03 -1.23104639e-03 8.55662817e+00] [-8.26535649e-03 9.99942314e-01 6.85949447e-03 1.74136265e-01] [ 1.28773075e-03 -6.84907943e-03 9.99975716e-01 -7.02967603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.49824100800001 meters Centerline goodness : 0.888761 Centerline is valid? [False, False] Translation: X:8.56, Y:0.17, Z:-0.70 [[ 9.99970716e-01 7.40865334e-03 -1.91781536e-03 8.55974718e+00] [-7.39668249e-03 9.99953575e-01 6.17551563e-03 1.74055263e-01] [ 1.96347858e-03 -6.16114932e-03 9.99979092e-01 -7.04899109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.52824100800001 meters Centerline goodness : 0.886068 Centerline is valid? [False, False] Translation: X:8.56, Y:0.17, Z:-0.71 [[ 9.99974616e-01 6.60332009e-03 -2.67633784e-03 8.56284655e+00] [-6.58758447e-03 9.99961211e-01 5.84630977e-03 1.73322707e-01] [ 2.71483909e-03 -5.82853076e-03 9.99979329e-01 -7.06202911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.55824100800001 meters Centerline goodness : 0.887157 Centerline is valid? [False, False] Translation: X:8.56, Y:0.17, Z:-0.71 [[ 9.99993261e-01 2.49213371e-03 -2.69564625e-03 8.56458524e+00] [-2.48976652e-03 9.99996512e-01 8.81156201e-04 1.72843291e-01] [ 2.69783281e-03 -8.74438734e-04 9.99995979e-01 -7.09742195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.58824100800001 meters Centerline goodness : 0.883206 Centerline is valid? [False, False] Translation: X:8.57, Y:0.17, Z:-0.71 [[ 9.99992457e-01 1.89597626e-03 -3.38975618e-03 8.56735281e+00] [-1.89331161e-03 9.99997896e-01 7.89126019e-04 1.71369941e-01] [ 3.39124522e-03 -7.82702202e-04 9.99993943e-01 -7.10863256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.61824100800001 meters Centerline goodness : 0.883735 Centerline is valid? [False, False] Translation: X:8.57, Y:0.17, Z:-0.71 [[ 9.99991450e-01 1.26150960e-03 -3.93804365e-03 8.56997766e+00] [-1.25982610e-03 9.99999114e-01 4.29948546e-04 1.71090108e-01] [ 3.93858255e-03 -4.24983620e-04 9.99992153e-01 -7.12381897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.64824100800001 meters Centerline goodness : 0.885098 Centerline is valid? [False, False] Translation: X:8.57, Y:0.17, Z:-0.71 [[ 9.99979591e-01 3.66692528e-03 -5.23171192e-03 8.57474397e+00] [-3.64016512e-03 9.99980291e-01 5.11537754e-03 1.68136907e-01] [ 5.25036651e-03 -5.09622885e-03 9.99973231e-01 -7.11737365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.67824100800001 meters Centerline goodness : 0.883867 Centerline is valid? [False, False] Translation: X:8.58, Y:0.17, Z:-0.71 [[ 9.99978477e-01 3.05139508e-03 -5.80808690e-03 8.57719882e+00] [-3.02427606e-03 9.99984512e-01 4.67225178e-03 1.67891977e-01] [ 5.82225382e-03 -4.65458597e-03 9.99972218e-01 -7.13049382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.70824100800002 meters Centerline goodness : 0.881578 Centerline is valid? [False, False] Translation: X:8.58, Y:0.17, Z:-0.71 [[ 9.99975700e-01 2.41590555e-03 -6.53934020e-03 8.57992034e+00] [-2.38583259e-03 9.99986561e-01 4.60267601e-03 1.66360887e-01] [ 6.55037195e-03 -4.58696239e-03 9.99968026e-01 -7.13870636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.73824100800002 meters Centerline goodness : 0.882384 Centerline is valid? [False, False] Translation: X:8.59, Y:0.16, Z:-0.71 [[ 9.99969754e-01 -1.38290247e-03 -7.65363261e-03 8.59486787e+00] [ 1.46537318e-03 9.99940817e-01 1.07802703e-02 1.60650979e-01] [ 7.63827158e-03 -1.07911597e-02 9.99912600e-01 -7.10118261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.768241008 meters Centerline goodness : 0.882782 Centerline is valid? [False, False] Translation: X:8.60, Y:0.16, Z:-0.71 [[ 9.99961763e-01 -2.28575498e-03 -8.44082832e-03 8.59796159e+00] [ 2.37472534e-03 9.99941574e-01 1.05455404e-02 1.59154066e-01] [ 8.41623063e-03 -1.05651819e-02 9.99908768e-01 -7.11128351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.798241008 meters Centerline goodness : 0.882782 Centerline is valid? [False, False] Translation: X:8.60, Y:0.16, Z:-0.71 [[ 9.99961763e-01 -2.28575498e-03 -8.44082832e-03 8.59796159e+00] [ 2.37472534e-03 9.99941574e-01 1.05455404e-02 1.59154066e-01] [ 8.41623063e-03 -1.05651819e-02 9.99908768e-01 -7.11128351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.828241008 meters Centerline goodness : 0.881428 Centerline is valid? [False, False] Translation: X:8.60, Y:0.16, Z:-0.71 [[ 9.99953374e-01 -3.13189349e-03 -9.13463141e-03 8.60086672e+00] [ 3.22512029e-03 9.99942685e-01 1.02090523e-02 1.58045159e-01] [ 9.10213420e-03 -1.02380366e-02 9.99906162e-01 -7.12346577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.85824100800001 meters Centerline goodness : 0.883094 Centerline is valid? [False, False] Translation: X:8.63, Y:0.15, Z:-0.71 [[ 9.99928385e-01 -3.11656583e-03 -1.15547579e-02 8.63059723e+00] [ 3.22802949e-03 9.99948319e-01 9.64049245e-03 1.53598568e-01] [ 1.15241155e-02 -9.67710114e-03 9.99886768e-01 -7.10427836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.88824100800001 meters Centerline goodness : 0.881060 Centerline is valid? [False, False] Translation: X:8.63, Y:0.15, Z:-0.71 [[ 9.99924347e-01 -3.37189348e-03 -1.18292303e-02 8.63193644e+00] [ 3.48834872e-03 9.99945522e-01 9.83792046e-03 1.51803988e-01] [ 1.17954135e-02 -9.87844067e-03 9.99881635e-01 -7.10867830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.91824100800001 meters Centerline goodness : 0.880648 Centerline is valid? [False, False] Translation: X:8.64, Y:0.15, Z:-0.71 [[ 9.99911956e-01 -1.44424269e-03 -1.31906647e-02 8.63742913e+00] [ 1.64159946e-03 9.99886696e-01 1.49633004e-02 1.48053064e-01] [ 1.31675595e-02 -1.49836367e-02 9.99801033e-01 -7.09198149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.94824100800001 meters Centerline goodness : 0.887188 Centerline is valid? [False, False] Translation: X:8.65, Y:0.15, Z:-0.72 [[ 9.99963684e-01 -7.44596656e-05 -8.52201330e-03 8.65481759e+00] [ 1.32284595e-04 9.99976973e-01 6.78499763e-03 1.50641494e-01] [ 8.52131186e-03 -6.78587856e-03 9.99940668e-01 -7.15085754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.97824100800001 meters Centerline goodness : 0.883304 Centerline is valid? [False, False] Translation: X:8.66, Y:0.15, Z:-0.72 [[ 9.99961679e-01 -1.66726322e-04 -8.75288753e-03 8.65565682e+00] [ 2.23939834e-04 9.99978615e-01 6.53595686e-03 1.50667640e-01] [ 8.75161064e-03 -6.53766651e-03 9.99940332e-01 -7.15685034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.00824100800001 meters Centerline goodness : 0.881899 Centerline is valid? [False, False] Translation: X:8.66, Y:0.15, Z:-0.72 [[ 9.99961375e-01 1.28516117e-04 -8.78819917e-03 8.65529169e+00] [-6.88447387e-05 9.99976946e-01 6.78990921e-03 1.50115190e-01] [ 8.78886918e-03 -6.78904193e-03 9.99938330e-01 -7.15149276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.03824100800001 meters Centerline goodness : 0.881457 Centerline is valid? [False, False] Translation: X:8.67, Y:0.15, Z:-0.72 [[ 9.99989132e-01 2.77348262e-03 -3.74747841e-03 8.67078966e+00] [-2.77736371e-03 9.99995612e-01 -1.03084690e-03 1.51170919e-01] [ 3.74460293e-03 1.04124380e-03 9.99992447e-01 -7.20908986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.06824100800002 meters Centerline goodness : 0.880996 Centerline is valid? [False, False] Translation: X:8.67, Y:0.15, Z:-0.72 [[ 9.99970781e-01 5.98515881e-03 -4.75550811e-03 8.67395284e+00] [-5.96894096e-03 9.99976347e-01 3.41723444e-03 1.48786758e-01] [ 4.77584832e-03 -3.38874924e-03 9.99982854e-01 -7.20579988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.09824100800002 meters Centerline goodness : 0.882135 Centerline is valid? [False, False] Translation: X:8.68, Y:0.15, Z:-0.72 [[ 9.99970006e-01 5.41723016e-03 -5.53537011e-03 8.67622045e+00] [-5.39654892e-03 9.99978428e-01 3.74432839e-03 1.47850155e-01] [ 5.55553459e-03 -3.71434419e-03 9.99977670e-01 -7.20069159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.128241008 meters Centerline goodness : 0.879439 Centerline is valid? [False, False] Translation: X:8.68, Y:0.15, Z:-0.72 [[ 9.99968340e-01 4.62021273e-03 -6.47862772e-03 8.67894932e+00] [-4.59532920e-03 9.99982028e-01 3.85050379e-03 1.46495218e-01] [ 6.49630144e-03 -3.82061045e-03 9.99971600e-01 -7.19760831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.158241008 meters Centerline goodness : 0.880407 Centerline is valid? [False, False] Translation: X:8.69, Y:0.14, Z:-0.71 [[ 9.99971195e-01 2.21133452e-03 -7.26072855e-03 8.69020705e+00] [-2.13841932e-03 9.99947363e-01 1.00348598e-02 1.43347657e-01] [ 7.28253680e-03 -1.00190443e-02 9.99923289e-01 -7.14837867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.188241008 meters Centerline goodness : 0.877636 Centerline is valid? [False, False] Translation: X:8.69, Y:0.14, Z:-0.72 [[ 9.99968533e-01 1.50286635e-03 -7.78940391e-03 8.69235169e+00] [-1.42896348e-03 9.99954000e-01 9.48451288e-03 1.43840909e-01] [ 7.80329955e-03 -9.47308365e-03 9.99924682e-01 -7.15862567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.218241008 meters Centerline goodness : 0.877372 Centerline is valid? [False, False] Translation: X:8.70, Y:0.14, Z:-0.71 [[ 9.99949776e-01 2.87187807e-03 -9.60193758e-03 8.69930411e+00] [-2.72228115e-03 9.99875280e-01 1.55568037e-02 1.41282544e-01] [ 9.64541727e-03 -1.55298833e-02 9.99832880e-01 -7.11941647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.24824100800001 meters Centerline goodness : 0.874563 Centerline is valid? [False, False] Translation: X:8.70, Y:0.14, Z:-0.71 [[ 9.99946417e-01 1.99055883e-03 -1.01587646e-02 8.70139655e+00] [-1.83241239e-03 9.99877364e-01 1.55531220e-02 1.41001727e-01] [ 1.01884782e-02 -1.55336736e-02 9.99827435e-01 -7.11381351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.27824100800001 meters Centerline goodness : 0.875314 Centerline is valid? [False, False] Translation: X:8.72, Y:0.14, Z:-0.71 [[ 9.99974075e-01 2.89583456e-03 -6.59267168e-03 8.72276270e+00] [-2.82728085e-03 9.99942086e-01 1.03841502e-02 1.42488521e-01] [ 6.62236066e-03 -1.03652417e-02 9.99924350e-01 -7.13653418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.30824100800001 meters Centerline goodness : 0.876611 Centerline is valid? [False, False] Translation: X:8.72, Y:0.14, Z:-0.71 [[ 9.99971956e-01 2.35247980e-03 -7.11004564e-03 8.72447845e+00] [-2.27998288e-03 9.99945508e-01 1.01873709e-02 1.42624299e-01] [ 7.13362378e-03 -1.01708744e-02 9.99922829e-01 -7.13838813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.33824100800001 meters Centerline goodness : 0.872378 Centerline is valid? [False, False] Translation: X:8.73, Y:0.14, Z:-0.71 [[ 9.99952783e-01 4.12299020e-03 -8.79958769e-03 8.73059666e+00] [-3.97408257e-03 9.99849742e-01 1.68730372e-02 1.38998269e-01] [ 8.86783285e-03 -1.68372703e-02 9.99818918e-01 -7.08729522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.36824100800001 meters Centerline goodness : 0.873022 Centerline is valid? [False, False] Translation: X:8.73, Y:0.14, Z:-0.71 [[ 9.99962048e-01 4.75198700e-04 -8.69926729e-03 8.73012747e+00] [-3.74963287e-04 9.99933569e-01 1.15202893e-02 1.42664082e-01] [ 8.70416381e-03 -1.15165902e-02 9.99895797e-01 -7.10527455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.39824100800001 meters Centerline goodness : 0.873449 Centerline is valid? [False, False] Translation: X:8.75, Y:0.15, Z:-0.72 [[ 9.99992843e-01 1.17750682e-03 -3.59538087e-03 8.74645617e+00] [-1.16692158e-03 9.99994983e-01 2.94480184e-03 1.45474982e-01] [ 3.59883035e-03 -2.94058524e-03 9.99989201e-01 -7.15022622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.42824100800001 meters Centerline goodness : 0.874221 Centerline is valid? [False, False] Translation: X:8.75, Y:0.14, Z:-0.71 [[ 9.99980670e-01 3.48731678e-03 -5.14762625e-03 8.75127000e+00] [-3.44093361e-03 9.99953650e-01 8.99211412e-03 1.42100948e-01] [ 5.17874601e-03 -8.97422766e-03 9.99946320e-01 -7.11233036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.45824100800002 meters Centerline goodness : 0.873120 Centerline is valid? [False, False] Translation: X:8.75, Y:0.14, Z:-0.71 [[ 9.99979572e-01 3.05617372e-03 -5.61391810e-03 8.75301768e+00] [-3.00774723e-03 9.99958372e-01 8.61443083e-03 1.43243161e-01] [ 5.64001159e-03 -8.59736960e-03 9.99947136e-01 -7.11943670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.48824100800002 meters Centerline goodness : 0.868851 Centerline is valid? [False, False] Translation: X:8.76, Y:0.15, Z:-0.71 [[ 9.99978452e-01 2.12368141e-03 -6.21164752e-03 8.75592016e+00] [-2.08093837e-03 9.99974171e-01 6.87950067e-03 1.47112927e-01] [ 6.22609694e-03 -6.86642637e-03 9.99957043e-01 -7.14868753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.518241008 meters Centerline goodness : 0.869313 Centerline is valid? [False, False] Translation: X:8.76, Y:0.15, Z:-0.72 [[ 9.99975659e-01 1.61885747e-03 -6.78679519e-03 8.75770801e+00] [-1.57680447e-03 9.99979555e-01 6.19707619e-03 1.48376563e-01] [ 6.79668862e-03 -6.18622390e-03 9.99957767e-01 -7.15635167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.548241008 meters Centerline goodness : 0.871077 Centerline is valid? [False, False] Translation: X:8.78, Y:0.15, Z:-0.71 [[ 9.99954404e-01 5.32420062e-03 -7.92732761e-03 8.78328406e+00] [-5.26315238e-03 9.99956488e-01 7.70203544e-03 1.45613626e-01] [ 7.96798986e-03 -7.65996153e-03 9.99938916e-01 -7.11778630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.578241008 meters Centerline goodness : 0.870836 Centerline is valid? [False, False] Translation: X:8.78, Y:0.15, Z:-0.71 [[ 9.99950653e-01 5.24787900e-03 -8.43507036e-03 8.78419183e+00] [-5.18649555e-03 9.99960031e-01 7.28264572e-03 1.47405496e-01] [ 8.47295166e-03 -7.23853789e-03 9.99937904e-01 -7.11567056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.60824100800001 meters Centerline goodness : 0.869993 Centerline is valid? [False, False] Translation: X:8.79, Y:0.15, Z:-0.71 [[ 9.99918467e-01 8.42043870e-03 -9.59977286e-03 8.78708039e+00] [-8.29707333e-03 9.99883408e-01 1.28190636e-02 1.45395832e-01] [ 9.70659575e-03 -1.27383684e-02 9.99871750e-01 -7.08305176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.63824100800001 meters Centerline goodness : 0.870089 Centerline is valid? [False, False] Translation: X:8.79, Y:0.15, Z:-0.71 [[ 9.99918294e-01 7.92222045e-03 -1.00321815e-02 8.78862025e+00] [-7.80258109e-03 9.99898642e-01 1.19090649e-02 1.47154979e-01] [ 1.01255109e-02 -1.18298149e-02 9.99878757e-01 -7.09496202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.66824100800001 meters Centerline goodness : 0.867589 Centerline is valid? [False, False] Translation: X:8.79, Y:0.14, Z:-0.71 [[ 0.99987866 0.01076264 -0.01126197 8.79229291] [-0.01057078 0.9998003 0.01695938 0.14465321] [ 0.01144225 -0.01683827 0.99979275 -0.70749904] [ 0. 0. 0. 1. ]] SLAMing on 79.69824100800001 meters Centerline goodness : 0.867179 Centerline is valid? [False, False] Translation: X:8.81, Y:0.15, Z:-0.71 [[ 9.99900483e-01 1.24009211e-02 -6.72622427e-03 8.80973252e+00] [-1.23403265e-02 9.99883562e-01 8.97661553e-03 1.48179735e-01] [ 6.83675938e-03 -8.89271840e-03 9.99937087e-01 -7.13162163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.72824100800001 meters Centerline goodness : 0.868867 Centerline is valid? [False, False] Translation: X:8.81, Y:0.15, Z:-0.71 [[ 9.99904465e-01 1.19286726e-02 -6.98332454e-03 8.81104614e+00] [-1.18722014e-02 9.99896934e-01 8.07293779e-03 1.49975631e-01] [ 7.07890422e-03 -7.98925911e-03 9.99943029e-01 -7.14517375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.75824100800001 meters Centerline goodness : 0.867770 Centerline is valid? [False, False] Translation: X:8.81, Y:0.15, Z:-0.71 [[ 9.99853038e-01 1.51698015e-02 -7.98618332e-03 8.81337866e+00] [-1.50620719e-02 9.99797019e-01 1.33811091e-02 1.47955061e-01] [ 8.18755104e-03 -1.32588541e-02 9.99878576e-01 -7.11288977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.78824100800001 meters Centerline goodness : 0.869343 Centerline is valid? [False, False] Translation: X:8.81, Y:0.15, Z:-0.71 [[ 9.99852745e-01 1.49281171e-02 -8.46406745e-03 8.81436212e+00] [-1.48170956e-02 9.99805302e-01 1.30311908e-02 1.48402999e-01] [ 8.65695065e-03 -1.29038590e-02 9.99879267e-01 -7.11264447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.81824100800002 meters Centerline goodness : 0.870162 Centerline is valid? [False, False] Translation: X:8.83, Y:0.15, Z:-0.72 [[ 9.99861648e-01 1.61240770e-02 -4.08636674e-03 8.83147408e+00] [-1.61071711e-02 9.99861713e-01 4.13684235e-03 1.51886739e-01] [ 4.15250441e-03 -4.07045020e-03 9.99983094e-01 -7.16929016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.84824100800002 meters Centerline goodness : 0.870136 Centerline is valid? [False, False] Translation: X:8.83, Y:0.15, Z:-0.72 [[ 9.99868078e-01 1.55976647e-02 -4.53201533e-03 8.83316875e+00] [-1.55828347e-02 9.99873170e-01 3.28937098e-03 1.53554873e-01] [ 4.58274704e-03 -3.21831539e-03 9.99984320e-01 -7.18157596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.878241008 meters Centerline goodness : 0.867130 Centerline is valid? [False, False] Translation: X:8.84, Y:0.16, Z:-0.72 [[ 9.99878749e-01 1.46790410e-02 -5.19748177e-03 8.83616044e+00] [-1.46704264e-02 9.99890952e-01 1.69172056e-03 1.56642571e-01] [ 5.22174784e-03 -1.61526616e-03 9.99985062e-01 -7.20831030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.908241008 meters Centerline goodness : 0.870414 Centerline is valid? [False, False] Translation: X:8.84, Y:0.16, Z:-0.72 [[ 9.99882931e-01 1.42062555e-02 -5.68380817e-03 8.83806132e+00] [-1.41999636e-02 9.99898519e-01 1.14580882e-03 1.57847754e-01] [ 5.69950903e-03 -1.06496482e-03 9.99983191e-01 -7.21862525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.938241008 meters Centerline goodness : 0.867660 Centerline is valid? [False, False] Translation: X:8.84, Y:0.16, Z:-0.72 [[ 9.99882008e-01 1.41788415e-02 -5.91024614e-03 8.83877584e+00] [-1.41772860e-02 9.99899451e-01 3.05007544e-04 1.60576543e-01] [ 5.91397652e-03 -2.21180305e-04 9.99982488e-01 -7.22910454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.968241008 meters Centerline goodness : 0.865854 Centerline is valid? [False, False] Translation: X:8.84, Y:0.16, Z:-0.72 [[ 9.99825170e-01 1.73916990e-02 -6.86713629e-03 8.84153717e+00] [-1.73558527e-02 9.99835616e-01 5.24552287e-03 1.58413345e-01] [ 6.95723599e-03 -5.12542079e-03 9.99962663e-01 -7.21186643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.99824100800001 meters Centerline goodness : 0.864496 Centerline is valid? [False, False] Translation: X:8.84, Y:0.16, Z:-0.72 [[ 9.99824389e-01 1.73431602e-02 -7.09970518e-03 8.84193758e+00] [-1.73076832e-02 9.99837567e-01 5.02828599e-03 1.58777708e-01] [ 7.18575833e-03 -4.90452352e-03 9.99962155e-01 -7.21151615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.02824100800001 meters Centerline goodness : 0.867461 Centerline is valid? [False, False] Translation: X:8.84, Y:0.16, Z:-0.72 [[ 9.99821233e-01 1.73972019e-02 -7.40539901e-03 8.84214283e+00] [-1.73589893e-02 9.99835833e-01 5.19348070e-03 1.58623469e-01] [ 7.49453533e-03 -5.06400203e-03 9.99959093e-01 -7.20237077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.05824100800001 meters Centerline goodness : 0.869682 Centerline is valid? [False, False] Translation: X:8.84, Y:0.16, Z:-0.72 [[ 9.99820028e-01 1.73505419e-02 -7.67275110e-03 8.84265703e+00] [-1.73125489e-02 9.99837671e-01 4.99068739e-03 1.58782167e-01] [ 7.75809672e-03 -4.85695433e-03 9.99958110e-01 -7.20327486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.08824100800001 meters Centerline goodness : 0.866613 Centerline is valid? [False, False] Translation: X:8.84, Y:0.16, Z:-0.72 [[ 9.99815820e-01 1.75088628e-02 -7.85917783e-03 8.84352524e+00] [-1.74776396e-02 9.99839156e-01 4.02408336e-03 1.61044594e-01] [ 7.92837086e-03 -3.88598232e-03 9.99961019e-01 -7.22280271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.11824100800001 meters Centerline goodness : 0.868292 Centerline is valid? [False, False] Translation: X:8.84, Y:0.16, Z:-0.72 [[ 9.99816948e-01 1.74150760e-02 -7.92371310e-03 8.84427842e+00] [-1.73900598e-02 9.99843612e-01 3.21516314e-03 1.62658005e-01] [ 7.97846624e-03 -3.07678075e-03 9.99963438e-01 -7.23868275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.14824100800001 meters Centerline goodness : 0.866021 Centerline is valid? [False, False] Translation: X:8.85, Y:0.16, Z:-0.73 [[ 9.99817829e-01 1.72282042e-02 -8.21574848e-03 8.84561708e+00] [-1.72098870e-02 9.99849265e-01 2.29503677e-03 1.64475095e-01] [ 8.25404944e-03 -2.15322658e-03 9.99963616e-01 -7.25606614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.17824100800001 meters Centerline goodness : 0.861207 Centerline is valid? [False, False] Translation: X:8.85, Y:0.17, Z:-0.73 [[ 9.99809448e-01 1.75385739e-02 -8.57125025e-03 8.84676547e+00] [-1.75300627e-02 9.99845767e-01 1.06712573e-03 1.66492430e-01] [ 8.58864414e-03 -9.16667837e-04 9.99962697e-01 -7.28260564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.20824100800002 meters Centerline goodness : 0.861207 Centerline is valid? [False, False] Translation: X:8.85, Y:0.17, Z:-0.73 [[ 9.99809448e-01 1.75385739e-02 -8.57125025e-03 8.84676547e+00] [-1.75300627e-02 9.99845767e-01 1.06712573e-03 1.66492430e-01] [ 8.58864414e-03 -9.16667837e-04 9.99962697e-01 -7.28260564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.23824100800002 meters Centerline goodness : 0.860581 Centerline is valid? [False, False] Translation: X:8.85, Y:0.17, Z:-0.73 [[ 9.99813614e-01 1.70280197e-02 -9.09859489e-03 8.84869011e+00] [-1.70230587e-02 9.99854904e-01 6.22427873e-04 1.67035911e-01] [ 9.10787343e-03 -4.67425946e-04 9.99958413e-01 -7.29089196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.268241008 meters Centerline goodness : 0.859395 Centerline is valid? [False, False] Translation: X:8.85, Y:0.17, Z:-0.73 [[ 9.99868746e-01 1.36273272e-02 -8.76284826e-03 8.84717884e+00] [-1.36559351e-02 9.99901591e-01 -3.21317087e-03 1.67594528e-01] [ 8.71819898e-03 3.33241402e-03 9.99956443e-01 -7.28767943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.298241008 meters Centerline goodness : 0.862999 Centerline is valid? [False, False] Translation: X:8.85, Y:0.17, Z:-0.73 [[ 9.99868473e-01 1.32299732e-02 -9.38105522e-03 8.84876973e+00] [-1.32561853e-02 9.99908386e-01 -2.73750489e-03 1.66438384e-01] [ 9.34397866e-03 2.86150185e-03 9.99952250e-01 -7.27892367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.328241008 meters Centerline goodness : 0.859146 Centerline is valid? [False, False] Translation: X:8.85, Y:0.17, Z:-0.73 [[ 9.99869919e-01 1.28792594e-02 -9.70922616e-03 8.84989029e+00] [-1.29040999e-02 9.99913613e-01 -2.50016054e-03 1.65000152e-01] [ 9.67618720e-03 2.62512414e-03 9.99949739e-01 -7.27760522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.35824100800001 meters Centerline goodness : 0.860951 Centerline is valid? [False, False] Translation: X:8.85, Y:0.16, Z:-0.73 [[ 9.99873189e-01 1.18984779e-02 -1.05845081e-02 8.85293842e+00] [-1.19166172e-02 9.99927629e-01 -1.65233690e-03 1.61837595e-01] [ 1.05640818e-02 1.77825890e-03 9.99942617e-01 -7.26953535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.38824100800001 meters Centerline goodness : 0.857787 Centerline is valid? [False, False] Translation: X:8.86, Y:0.16, Z:-0.73 [[ 9.99874172e-01 1.12159329e-02 -1.12179664e-02 8.85520809e+00] [-1.12351325e-02 9.99935523e-01 -1.64994885e-03 1.61254375e-01] [ 1.11987374e-02 1.77577658e-03 9.99935715e-01 -7.27204584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.41824100800001 meters Centerline goodness : 0.856666 Centerline is valid? [False, False] Translation: X:8.86, Y:0.16, Z:-0.73 [[ 9.99873611e-01 1.08716906e-02 -1.16003487e-02 8.85645645e+00] [-1.08904417e-02 9.99939489e-01 -1.55448275e-03 1.60834055e-01] [ 1.15827469e-02 1.68061920e-03 9.99931505e-01 -7.27166737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.44824100800001 meters Centerline goodness : 0.856746 Centerline is valid? [False, False] Translation: X:8.86, Y:0.16, Z:-0.73 [[ 9.99868297e-01 1.08052310e-02 -1.21093333e-02 8.85743864e+00] [-1.08106048e-02 9.99941492e-01 -3.78398462e-04 1.57666335e-01] [ 1.21045362e-02 5.09257843e-04 9.99926608e-01 -7.25464199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.47824100800001 meters Centerline goodness : 0.855320 Centerline is valid? [False, False] Translation: X:8.86, Y:0.16, Z:-0.72 [[ 9.99865228e-01 1.06175920e-02 -1.25217163e-02 8.85833539e+00] [-1.06150707e-02 9.99943623e-01 2.67800883e-04 1.55315592e-01] [ 1.25238537e-02 -1.34845887e-04 9.99921564e-01 -7.24525400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.50824100800001 meters Centerline goodness : 0.858584 Centerline is valid? [False, False] Translation: X:8.86, Y:0.15, Z:-0.72 [[ 9.99860852e-01 1.04976613e-02 -1.29643703e-02 8.85944720e+00] [-1.04867979e-02 9.99944602e-01 9.05638701e-04 1.53411771e-01] [ 1.29731591e-02 -7.69557953e-04 9.99915549e-01 -7.23769139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.53824100800001 meters Centerline goodness : 0.858513 Centerline is valid? [False, False] Translation: X:8.86, Y:0.15, Z:-0.72 [[ 9.99860062e-01 1.01787078e-02 -1.32759324e-02 8.86056695e+00] [-1.01663504e-02 9.99947823e-01 9.97974528e-04 1.52402367e-01] [ 1.32853978e-02 -8.62867093e-04 9.99911373e-01 -7.23849318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.56824100800002 meters Centerline goodness : 0.856676 Centerline is valid? [False, False] Translation: X:8.86, Y:0.15, Z:-0.72 [[ 9.99857944e-01 9.18033264e-03 -1.41355118e-02 8.86405755e+00] [-9.17065244e-03 9.99957668e-01 7.49482581e-04 1.51556437e-01] [ 1.41417939e-02 -6.19744247e-04 9.99899808e-01 -7.24999187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.59824100800002 meters Centerline goodness : 0.855820 Centerline is valid? [False, False] Translation: X:8.87, Y:0.15, Z:-0.73 [[ 9.99854581e-01 8.48072899e-03 -1.47950629e-02 8.86651604e+00] [-8.47639011e-03 9.99964011e-01 3.55949895e-04 1.51661181e-01] [ 1.47975492e-02 -2.30489409e-04 9.99890484e-01 -7.25895010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.628241008 meters Centerline goodness : 0.854415 Centerline is valid? [False, False] Translation: X:8.87, Y:0.15, Z:-0.73 [[ 9.99853045e-01 8.25498455e-03 -1.50247615e-02 8.86761678e+00] [-8.25338093e-03 9.99965926e-01 1.68736416e-04 1.51621117e-01] [ 1.50256425e-02 -4.47065388e-05 9.99887108e-01 -7.26611765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.658241008 meters Centerline goodness : 0.849022 Centerline is valid? [False, False] Translation: X:8.88, Y:0.15, Z:-0.72 [[ 9.99838233e-01 7.70232703e-03 -1.62536941e-02 8.88409692e+00] [-7.53532927e-03 9.99918450e-01 1.03108012e-02 1.48352066e-01] [ 1.63317858e-02 -1.01866563e-02 9.99814735e-01 -7.21611329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.688241008 meters Centerline goodness : 0.850323 Centerline is valid? [False, False] Translation: X:8.88, Y:0.15, Z:-0.72 [[ 9.99864897e-01 4.42357106e-03 -1.58309822e-02 8.88273467e+00] [-4.34582317e-03 9.99978344e-01 4.94215891e-03 1.52014809e-01] [ 1.58525014e-02 -4.87269256e-03 9.99862468e-01 -7.23937187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.718241008 meters Centerline goodness : 0.850323 Centerline is valid? [False, False] Translation: X:8.88, Y:0.15, Z:-0.72 [[ 9.99864897e-01 4.42357106e-03 -1.58309822e-02 8.88273467e+00] [-4.34582317e-03 9.99978344e-01 4.94215891e-03 1.52014809e-01] [ 1.58525014e-02 -4.87269256e-03 9.99862468e-01 -7.23937187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.74824100800001 meters Centerline goodness : 0.849558 Centerline is valid? [False, False] Translation: X:8.89, Y:0.15, Z:-0.72 [[ 9.99825318e-01 7.29105102e-03 -1.72097252e-02 8.88659060e+00] [-7.11180625e-03 9.99920069e-01 1.04536413e-02 1.48982551e-01] [ 1.72845677e-02 -1.03294230e-02 9.99797253e-01 -7.20977912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.77824100800001 meters Centerline goodness : 0.849042 Centerline is valid? [False, False] Translation: X:8.90, Y:0.15, Z:-0.73 [[ 9.99895693e-01 7.96517567e-03 -1.20481780e-02 8.90254535e+00] [-7.96281166e-03 9.99968267e-01 2.44171552e-04 1.53068684e-01] [ 1.20497405e-02 -1.48208711e-04 9.99927388e-01 -7.28004907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.80824100800001 meters Centerline goodness : 0.846264 Centerline is valid? [False, False] Translation: X:8.92, Y:0.15, Z:-0.72 [[ 9.99889300e-01 7.76305038e-03 -1.26934015e-02 8.91618955e+00] [-7.63885124e-03 9.99922763e-01 9.80392562e-03 1.51616255e-01] [ 1.27685295e-02 -9.70587733e-03 9.99871372e-01 -7.23341556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.83824100800001 meters Centerline goodness : 0.844236 Centerline is valid? [False, False] Translation: X:8.92, Y:0.15, Z:-0.72 [[ 0.9998515 0.00925481 -0.01453689 8.92287055] [-0.00902625 0.99983583 0.01571098 0.14923174] [ 0.01467991 -0.01557743 0.9997709 -0.71945184] [ 0. 0. 0. 1. ]] SLAMing on 80.86824100800001 meters Centerline goodness : 0.844154 Centerline is valid? [False, False] Translation: X:8.92, Y:0.15, Z:-0.72 [[ 9.99848541e-01 8.62638963e-03 -1.51155862e-02 8.92479082e+00] [-8.38814513e-03 9.99840702e-01 1.57546518e-02 1.49010625e-01] [ 1.52490841e-02 -1.56254739e-02 9.99761627e-01 -7.19289753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.89824100800001 meters Centerline goodness : 0.845276 Centerline is valid? [False, False] Translation: X:8.93, Y:0.15, Z:-0.72 [[ 9.99841635e-01 8.13648797e-03 -1.58272772e-02 8.92672128e+00] [-7.88369312e-03 9.99841399e-01 1.59694494e-02 1.48294126e-01] [ 1.59547022e-02 -1.58421430e-02 9.99747205e-01 -7.18734498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.92824100800001 meters Centerline goodness : 0.848657 Centerline is valid? [False, False] Translation: X:8.95, Y:0.15, Z:-0.72 [[ 9.99914650e-01 6.28211142e-03 -1.14554549e-02 8.94849769e+00] [-6.19768327e-03 9.99953481e-01 7.39079216e-03 1.50490521e-01] [ 1.15013518e-02 -7.31916407e-03 9.99907070e-01 -7.23071073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.95824100800002 meters Centerline goodness : 0.844029 Centerline is valid? [False, False] Translation: X:8.96, Y:0.15, Z:-0.72 [[ 9.99886757e-01 7.50025802e-03 -1.30467928e-02 8.95517343e+00] [-7.31687178e-03 9.99874559e-01 1.40474353e-02 1.47133932e-01] [ 1.31505155e-02 -1.39503828e-02 9.99816208e-01 -7.17791897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.98824100800002 meters Centerline goodness : 0.843632 Centerline is valid? [False, False] Translation: X:8.96, Y:0.15, Z:-0.72 [[ 9.99884663e-01 7.21210224e-03 -1.33658322e-02 8.95630777e+00] [-7.02046696e-03 9.99872680e-01 1.43295789e-02 1.47245127e-01] [ 1.34674769e-02 -1.42340918e-02 9.99807990e-01 -7.17336177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.018241008 meters Centerline goodness : 0.841648 Centerline is valid? [False, False] Translation: X:8.96, Y:0.15, Z:-0.72 [[ 9.99884095e-01 6.08533669e-03 -1.39558588e-02 8.95937564e+00] [-5.90607871e-03 9.99899992e-01 1.28500830e-02 1.49659225e-01] [ 1.40326602e-02 -1.27661692e-02 9.99820038e-01 -7.19990220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.048241008 meters Centerline goodness : 0.839889 Centerline is valid? [False, False] Translation: X:8.96, Y:0.15, Z:-0.72 [[ 9.99880571e-01 5.33460309e-03 -1.45047113e-02 8.96184463e+00] [-5.16598008e-03 9.99918930e-01 1.16381152e-02 1.52030368e-01] [ 1.45656201e-02 -1.15617942e-02 9.99827069e-01 -7.22041830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.078241008 meters Centerline goodness : 0.837118 Centerline is valid? [False, False] Translation: X:8.96, Y:0.15, Z:-0.72 [[ 9.99877254e-01 4.64238640e-03 -1.49641588e-02 8.96386712e+00] [-4.48586180e-03 9.99935057e-01 1.04766150e-02 1.54340098e-01] [ 1.50118235e-02 -1.04082019e-02 9.99833143e-01 -7.23740265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.10824100800001 meters Centerline goodness : 0.836932 Centerline is valid? [False, False] Translation: X:8.97, Y:0.16, Z:-0.72 [[ 9.99873295e-01 4.25896607e-03 -1.53380168e-02 8.96509629e+00] [-4.10498186e-03 9.99941002e-01 1.00569106e-02 1.55393214e-01] [ 1.53799440e-02 -9.99267404e-03 9.99831788e-01 -7.24116480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.13824100800001 meters Centerline goodness : 0.839766 Centerline is valid? [False, False] Translation: X:8.98, Y:0.16, Z:-0.73 [[ 9.99931967e-01 4.04900036e-03 -1.09392368e-02 8.98212355e+00] [-4.04623955e-03 9.99991776e-01 2.74496964e-04 1.57849468e-01] [ 1.09402582e-02 -2.30215517e-04 9.99940127e-01 -7.28645478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.16824100800001 meters Centerline goodness : 0.840138 Centerline is valid? [False, False] Translation: X:8.98, Y:0.16, Z:-0.73 [[ 9.99927486e-01 3.72253961e-03 -1.14527095e-02 8.98325099e+00] [-3.71349825e-03 9.99992776e-01 8.10615909e-04 1.56785001e-01] [ 1.14556443e-02 -7.68027512e-04 9.99934087e-01 -7.27485676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.19824100800001 meters Centerline goodness : 0.841595 Centerline is valid? [False, False] Translation: X:8.99, Y:0.16, Z:-0.73 [[ 9.99921793e-01 3.07745503e-03 -1.21217438e-02 8.98535829e+00] [-3.06442937e-03 9.99994707e-01 1.09299722e-03 1.56349393e-01] [ 1.21250433e-02 -1.05576551e-03 9.99925932e-01 -7.26979130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.22824100800001 meters Centerline goodness : 0.842092 Centerline is valid? [False, False] Translation: X:8.99, Y:0.15, Z:-0.72 [[ 9.99894803e-01 4.49511866e-03 -1.37904343e-02 8.99181958e+00] [-4.39839060e-03 9.99965571e-01 7.03647118e-03 1.53510431e-01] [ 1.38215893e-02 -6.97507525e-03 9.99880149e-01 -7.23241523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.25824100800001 meters Centerline goodness : 0.843354 Centerline is valid? [False, False] Translation: X:9.00, Y:0.15, Z:-0.72 [[ 9.99863962e-01 5.95134325e-03 -1.53830695e-02 8.99805061e+00] [-5.75304038e-03 9.99900199e-01 1.29032475e-02 1.50004229e-01] [ 1.54583259e-02 -1.28129928e-02 9.99798413e-01 -7.19784614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.28824100800001 meters Centerline goodness : 0.840249 Centerline is valid? [False, False] Translation: X:9.00, Y:0.15, Z:-0.72 [[ 9.99882856e-01 1.96244203e-03 -1.51796684e-02 8.99753576e+00] [-1.84145828e-03 9.99966464e-01 7.97999331e-03 1.51470314e-01] [ 1.51948196e-02 -7.95110578e-03 9.99852938e-01 -7.21090013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.31824100800002 meters Centerline goodness : 0.847999 Centerline is valid? [False, False] Translation: X:8.77, Y:-0.01, Z:-0.49 [[ 6.16749338e-01 1.74294480e-01 -7.67620797e-01 8.76745537e+00] [-3.65131742e-01 9.27264218e-01 -8.28243924e-02 -6.63591616e-03] [ 6.97351464e-01 3.31364608e-01 6.35530040e-01 -4.90577071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.34824100800002 meters Centerline goodness : 0.844992 Centerline is valid? [False, False] Translation: X:9.01, Y:-0.07, Z:-0.46 [[ 0.82098234 0.15609923 -0.54920035 9.01329378] [-0.29957743 0.9366273 -0.18161128 -0.07467676] [ 0.48604666 0.31362769 0.81571828 -0.46471631] [ 0. 0. 0. 1. ]] SLAMing on 81.378241008 meters Centerline goodness : 0.847302 Centerline is valid? [False, False] Translation: X:9.00, Y:-0.09, Z:-0.45 [[ 0.82027947 0.17333501 -0.54506566 8.9990087 ] [-0.30006561 0.94171417 -0.15210209 -0.09024297] [ 0.48693144 0.28832168 0.82448068 -0.45081969] [ 0. 0. 0. 1. ]] SLAMing on 81.408241008 meters Centerline goodness : 0.843424 Centerline is valid? [False, False] Translation: X:8.98, Y:-0.10, Z:-0.45 [[ 0.82312374 0.18753664 -0.53600123 8.97558008] [-0.29744033 0.94643867 -0.1256308 -0.09627405] [ 0.48373192 0.26283808 0.83481709 -0.44884831] [ 0. 0. 0. 1. ]] SLAMing on 81.438241008 meters Centerline goodness : 0.847973 Centerline is valid? [False, False] Translation: X:8.96, Y:-0.11, Z:-0.44 [[ 0.82206815 0.20193313 -0.5323786 8.96056159] [-0.2982097 0.94920083 -0.1004428 -0.10590683] [ 0.48505148 0.24133129 0.84052619 -0.43933597] [ 0. 0. 0. 1. ]] SLAMing on 81.468241008 meters Centerline goodness : 0.843681 Centerline is valid? [False, False] Translation: X:8.94, Y:-0.11, Z:-0.44 [[ 0.82339607 0.21528145 -0.52504554 8.93779622] [-0.29770582 0.95157102 -0.07670613 -0.11154379] [ 0.48310471 0.21946864 0.84761038 -0.43669559] [ 0. 0. 0. 1. ]] SLAMing on 81.49824100800001 meters Centerline goodness : 0.846914 Centerline is valid? [False, False] Translation: X:8.92, Y:-0.12, Z:-0.43 [[ 0.82086674 0.22938756 -0.52302881 8.91794372] [-0.29988555 0.95250685 -0.05290886 -0.12043661] [ 0.4860519 0.20027991 0.85067121 -0.42792389] [ 0. 0. 0. 1. ]] SLAMing on 81.52824100800001 meters Centerline goodness : 0.845504 Centerline is valid? [False, False] Translation: X:8.90, Y:-0.13, Z:-0.42 [[ 0.81842656 0.24226908 -0.52104094 8.90124002] [-0.30105827 0.95314301 -0.02970401 -0.12809941] [ 0.48943016 0.18117423 0.85301466 -0.41917235] [ 0. 0. 0. 1. ]] SLAMing on 81.55824100800001 meters Centerline goodness : 0.843170 Centerline is valid? [False, False] Translation: X:8.88, Y:-0.13, Z:-0.41 [[ 0.81586738 0.25415329 -0.51939053 8.88146411] [-0.30298181 0.95294775 -0.00962314 -0.13216039] [ 0.49250628 0.16521708 0.85448281 -0.41466894] [ 0. 0. 0. 1. ]] SLAMing on 81.58824100800001 meters Centerline goodness : 0.844921 Centerline is valid? [False, False] Translation: X:8.87, Y:-0.14, Z:-0.41 [[ 0.81363649 0.2652274 -0.5173491 8.86511467] [-0.3037108 0.95270337 0.01077194 -0.13601134] [ 0.49573725 0.14836007 0.85570665 -0.40856874] [ 0. 0. 0. 1. ]] SLAMing on 81.61824100800001 meters Centerline goodness : 0.841272 Centerline is valid? [False, False] Translation: X:8.84, Y:-0.14, Z:-0.41 [[ 0.81068776 0.27722341 -0.51568647 8.84307967] [-0.30655254 0.95139542 0.02953478 -0.13844495] [ 0.49880947 0.13414151 0.85626816 -0.40644019] [ 0. 0. 0. 1. ]] SLAMing on 81.64824100800001 meters Centerline goodness : 0.839626 Centerline is valid? [False, False] Translation: X:8.83, Y:-0.14, Z:-0.41 [[ 0.8126092 0.28205122 -0.51001313 8.82633916] [-0.30473304 0.95156744 0.04070854 -0.13639486] [ 0.49679378 0.12233772 0.85920278 -0.40987437] [ 0. 0. 0. 1. ]] SLAMing on 81.67824100800001 meters Centerline goodness : 0.840822 Centerline is valid? [False, False] Translation: X:8.83, Y:-0.14, Z:-0.41 [[ 0.81246987 0.28279668 -0.50982227 8.8251933 ] [-0.30506417 0.95142318 0.04159071 -0.13693219] [ 0.49681844 0.1217373 0.8592738 -0.40891666] [ 0. 0. 0. 1. ]] SLAMing on 81.70824100800002 meters Centerline goodness : 0.838649 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.14, Z:-0.42 [[ 0.81759838 0.28258246 -0.50167723 8.81708557] [-0.30143927 0.95241312 0.04520634 -0.13560419] [ 0.49057849 0.11426459 0.86387288 -0.41544584] [ 0. 0. 0. 1. ]] SLAMing on 81.73824100800002 meters Centerline goodness : 0.838040 Centerline is valid? [False, False] Translation: X:8.81, Y:-0.13, Z:-0.42 [[ 0.82280593 0.28204585 -0.49339693 8.80903916] [-0.29700413 0.95357624 0.04980871 -0.13306648] [ 0.48453993 0.10555802 0.86837697 -0.42191222] [ 0. 0. 0. 1. ]] SLAMing on 81.768241008 meters Centerline goodness : 0.838324 Centerline is valid? [False, False] Translation: X:8.81, Y:-0.13, Z:-0.42 [[ 0.82441748 0.28177738 -0.49085367 8.80775903] [-0.29641089 0.95376771 0.04967641 -0.13238311] [ 0.48215807 0.10454027 0.86982465 -0.42477403] [ 0. 0. 0. 1. ]] SLAMing on 81.798241008 meters Centerline goodness : 0.834640 Centerline is valid? [False, False] Translation: X:8.79, Y:-0.13, Z:-0.42 [[ 0.82436246 0.28476712 -0.48921797 8.79433631] [-0.29296216 0.95412946 0.06172646 -0.13166753] [ 0.48435494 0.09243738 0.8699745 -0.42486144] [ 0. 0. 0. 1. ]] SLAMing on 81.828241008 meters Centerline goodness : 0.837604 Centerline is valid? [False, False] Translation: X:8.78, Y:-0.13, Z:-0.43 [[ 0.82698644 0.28605001 -0.48401324 8.77875105] [-0.28948963 0.95464945 0.06957142 -0.12845408] [ 0.48196387 0.08258219 0.87229067 -0.43043582] [ 0. 0. 0. 1. ]] SLAMing on 81.85824100800001 meters Centerline goodness : 0.834630 Centerline is valid? [False, False] Translation: X:8.76, Y:-0.13, Z:-0.43 [[ 0.8252244 0.28912024 -0.48519499 8.76116173] [-0.2870087 0.95452764 0.08064114 -0.1287759 ] [ 0.48644701 0.07270815 0.87067952 -0.43125815] [ 0. 0. 0. 1. ]] SLAMing on 81.88824100800001 meters Centerline goodness : 0.831330 Centerline is valid? [False, False] Translation: X:8.76, Y:-0.13, Z:-0.43 [[ 0.8251984 0.28874176 -0.48546452 8.76249145] [-0.2865779 0.9546542 0.08067511 -0.12886475] [ 0.48674501 0.07255043 0.87052612 -0.43083963] [ 0. 0. 0. 1. ]] SLAMing on 81.91824100800001 meters Centerline goodness : 0.830652 Centerline is valid? [False, False] Translation: X:8.76, Y:-0.13, Z:-0.43 [[ 0.82518753 0.2887419 -0.4854829 8.76296228] [-0.28645451 0.95467226 0.08089923 -0.12856489] [ 0.48683606 0.07231173 0.87049507 -0.43036286] [ 0. 0. 0. 1. ]] SLAMing on 81.94824100800001 meters Centerline goodness : 0.828760 Centerline is valid? [False, False] Translation: X:8.76, Y:-0.13, Z:-0.43 [[ 0.82741833 0.28847222 -0.48183264 8.75883303] [-0.28602542 0.9548358 0.08048631 -0.12601318] [ 0.48328912 0.07122054 0.87255903 -0.43420726] [ 0. 0. 0. 1. ]] SLAMing on 81.97824100800001 meters Centerline goodness : 0.830594 Centerline is valid? [False, False] Translation: X:8.76, Y:-0.13, Z:-0.43 [[ 0.82730285 0.28943908 -0.48145095 8.75596853] [-0.28657008 0.9545905 0.08145285 -0.12610342] [ 0.48316414 0.07058326 0.87268002 -0.43267667] [ 0. 0. 0. 1. ]] SLAMing on 82.00824100800001 meters Centerline goodness : 0.828743 Centerline is valid? [False, False] Translation: X:8.76, Y:-0.13, Z:-0.43 [[ 0.82727456 0.28982295 -0.4812686 8.75500737] [-0.28676938 0.95449562 0.08186225 -0.12589222] [ 0.48309433 0.07029054 0.87274229 -0.43201789] [ 0. 0. 0. 1. ]] SLAMing on 82.03824100800001 meters Centerline goodness : 0.830740 Centerline is valid? [False, False] Translation: X:8.75, Y:-0.13, Z:-0.43 [[ 0.82722444 0.28998798 -0.48125534 8.75457904] [-0.28677061 0.95446608 0.08220174 -0.12570919] [ 0.48317941 0.0700106 0.87271769 -0.43122023] [ 0. 0. 0. 1. ]] SLAMing on 82.06824100800002 meters Centerline goodness : 0.828981 Centerline is valid? [False, False] Translation: X:8.75, Y:-0.13, Z:-0.43 [[ 0.82711494 0.29016336 -0.48133782 8.7543305 ] [-0.28671211 0.95444177 0.08268654 -0.12623314] [ 0.48340153 0.06961411 0.8726264 -0.43027407] [ 0. 0. 0. 1. ]] SLAMing on 82.09824100800002 meters Centerline goodness : 0.828914 Centerline is valid? [False, False] Translation: X:8.75, Y:-0.13, Z:-0.43 [[ 0.82703431 0.29020254 -0.48145273 8.75467076] [-0.28657022 0.95445342 0.08304325 -0.12692908] [ 0.48362356 0.0692904 0.87252913 -0.42965783] [ 0. 0. 0. 1. ]] SLAMing on 82.128241008 meters Centerline goodness : 0.825959 Centerline is valid? [False, False] Translation: X:8.76, Y:-0.13, Z:-0.43 [[ 0.82696496 0.28975023 -0.48184413 8.756445 ] [-0.28611189 0.95459528 0.082993 -0.127335 ] [ 0.48401337 0.06922903 0.87231783 -0.42938328] [ 0. 0. 0. 1. ]] SLAMing on 82.158241008 meters Centerline goodness : 0.823594 Centerline is valid? [False, False] Translation: X:8.76, Y:-0.13, Z:-0.43 [[ 0.82693198 0.28953872 -0.48202784 8.75732697] [-0.28583857 0.95466995 0.08307583 -0.12748724] [ 0.48423116 0.06908409 0.87220844 -0.42905048] [ 0. 0. 0. 1. ]] SLAMing on 82.188241008 meters Centerline goodness : 0.824126 Centerline is valid? [False, False] Translation: X:8.76, Y:-0.13, Z:-0.43 [[ 0.82685555 0.28932833 -0.4822852 8.75815866] [-0.28548497 0.9547547 0.0833174 -0.1284242 ] [ 0.48457015 0.06879372 0.87204312 -0.42846249] [ 0. 0. 0. 1. ]] SLAMing on 82.218241008 meters Centerline goodness : 0.822338 Centerline is valid? [False, False] Translation: X:8.76, Y:-0.13, Z:-0.43 [[ 0.82683762 0.28869583 -0.48269479 8.75930539] [-0.28444949 0.95500985 0.08393258 -0.13142244] [ 0.48520926 0.06790368 0.87175746 -0.42687707] [ 0. 0. 0. 1. ]] SLAMing on 82.24824100800001 meters Centerline goodness : 0.822159 Centerline is valid? [False, False] Translation: X:8.76, Y:-0.13, Z:-0.43 [[ 0.82737363 0.28770341 -0.48236877 8.75873014] [-0.28355663 0.95531982 0.08342475 -0.13205129] [ 0.48481803 0.06775542 0.87198663 -0.42698465] [ 0. 0. 0. 1. ]] SLAMing on 82.27824100800001 meters Centerline goodness : 0.823512 Centerline is valid? [False, False] Translation: X:8.76, Y:-0.13, Z:-0.43 [[ 0.82726233 0.28804754 -0.48235428 8.75781585] [-0.28354662 0.95525874 0.08415494 -0.13335118] [ 0.48501377 0.06715172 0.87192448 -0.42578339] [ 0. 0. 0. 1. ]] SLAMing on 82.30824100800001 meters Centerline goodness : 0.823692 Centerline is valid? [False, False] Translation: X:8.74, Y:-0.13, Z:-0.44 [[ 0.83129721 0.28740055 -0.47575821 8.73853984] [-0.28072631 0.95584573 0.08690041 -0.12597873] [ 0.47972667 0.06131778 0.87527279 -0.43639559] [ 0. 0. 0. 1. ]] SLAMing on 82.33824100800001 meters Centerline goodness : 0.818247 Centerline is valid? [False, False] Translation: X:8.74, Y:-0.12, Z:-0.44 [[ 0.83158351 0.28809071 -0.47483957 8.73664852] [-0.28134912 0.95564652 0.08707699 -0.12407967] [ 0.47886485 0.0611839 0.87575395 -0.4367897 ] [ 0. 0. 0. 1. ]] SLAMing on 82.36824100800001 meters Centerline goodness : 0.820033 Centerline is valid? [False, False] Translation: X:8.74, Y:-0.12, Z:-0.44 [[ 0.83161107 0.28790642 -0.47490306 8.73752932] [-0.28129131 0.95568831 0.08680474 -0.1226898 ] [ 0.47885095 0.06139832 0.87574655 -0.43696108] [ 0. 0. 0. 1. ]] SLAMing on 82.39824100800001 meters Centerline goodness : 0.819594 Centerline is valid? [False, False] Translation: X:8.74, Y:-0.12, Z:-0.44 [[ 0.83159782 0.28771044 -0.47504501 8.73840391] [-0.28121623 0.9557334 0.08655112 -0.12144091] [ 0.47891805 0.06161465 0.87569466 -0.43701849] [ 0. 0. 0. 1. ]] SLAMing on 82.42824100800001 meters Centerline goodness : 0.818228 Centerline is valid? [False, False] Translation: X:8.74, Y:-0.12, Z:-0.44 [[ 0.83160928 0.28776244 -0.47499346 8.73849517] [-0.28131028 0.95571209 0.08648078 -0.1205003 ] [ 0.47884291 0.06170232 0.87572957 -0.43703017] [ 0. 0. 0. 1. ]] SLAMing on 82.45824100800002 meters Centerline goodness : 0.817975 Centerline is valid? [False, False] Translation: X:8.74, Y:-0.12, Z:-0.44 [[ 0.8315734 0.2878649 -0.47499419 8.73849552] [-0.28132091 0.95569121 0.08667678 -0.12038847] [ 0.47889898 0.06154769 0.8757098 -0.43661237] [ 0. 0. 0. 1. ]] SLAMing on 82.48824100800002 meters Centerline goodness : 0.816857 Centerline is valid? [False, False] Translation: X:8.74, Y:-0.12, Z:-0.44 [[ 0.83257378 0.28319631 -0.47604701 8.73813966] [-0.2781687 0.95695785 0.08278796 -0.11826777] [ 0.47900217 0.06349429 0.87551436 -0.43691362] [ 0. 0. 0. 1. ]] SLAMing on 82.518241008 meters Centerline goodness : 0.816682 Centerline is valid? [False, False] Translation: X:8.74, Y:-0.12, Z:-0.44 [[ 0.83251304 0.28293971 -0.47630575 8.73874478] [-0.27774826 0.9570567 0.0830565 -0.11920766] [ 0.47935159 0.06314748 0.87534819 -0.4360879 ] [ 0. 0. 0. 1. ]] SLAMing on 82.548241008 meters Centerline goodness : 0.817106 Centerline is valid? [False, False] Translation: X:8.74, Y:-0.12, Z:-0.44 [[ 0.83246042 0.28260952 -0.47659366 8.73967462] [-0.27731504 0.95717004 0.08319785 -0.11951255] [ 0.47969367 0.06290768 0.87517804 -0.43537827] [ 0. 0. 0. 1. ]] SLAMing on 82.578241008 meters Centerline goodness : 0.814547 Centerline is valid? [False, False] Translation: X:8.74, Y:-0.12, Z:-0.44 [[ 0.83245055 0.2820154 -0.47696267 8.7414849 ] [-0.27678778 0.95734249 0.08296914 -0.11926723] [ 0.48001521 0.06294973 0.8749987 -0.43520972] [ 0. 0. 0. 1. ]] SLAMing on 82.60824100800001 meters Centerline goodness : 0.814547 Centerline is valid? [False, False] Translation: X:8.74, Y:-0.12, Z:-0.44 [[ 0.83245055 0.2820154 -0.47696267 8.7414849 ] [-0.27678778 0.95734249 0.08296914 -0.11926723] [ 0.48001521 0.06294973 0.8749987 -0.43520972] [ 0. 0. 0. 1. ]] SLAMing on 82.63824100800001 meters Centerline goodness : 0.812940 Centerline is valid? [False, False] Translation: X:8.74, Y:-0.12, Z:-0.43 [[ 0.83256479 0.2812026 -0.47724308 8.74343254] [-0.27604039 0.95758414 0.08266991 -0.11840567] [ 0.4802474 0.06291031 0.87487412 -0.43492921] [ 0. 0. 0. 1. ]] SLAMing on 82.66824100800001 meters Centerline goodness : 0.811979 Centerline is valid? [False, False] Translation: X:8.74, Y:-0.12, Z:-0.43 [[ 0.83250604 0.28108566 -0.47741443 8.74387589] [-0.27579708 0.95763489 0.08289381 -0.11846082] [ 0.48048898 0.06265991 0.87475944 -0.43418567] [ 0. 0. 0. 1. ]] SLAMing on 82.69824100800001 meters Centerline goodness : 0.810800 Centerline is valid? [False, False] Translation: X:8.74, Y:-0.12, Z:-0.43 [[ 0.83243162 0.28111812 -0.47752507 8.74370351] [-0.27566068 0.9576453 0.08322658 -0.11834517] [ 0.48069614 0.06235445 0.87466745 -0.4332043 ] [ 0. 0. 0. 1. ]] SLAMing on 82.72824100800001 meters Centerline goodness : 0.810035 Centerline is valid? [False, False] Translation: X:8.73, Y:-0.11, Z:-0.44 [[ 0.8362407 0.28054911 -0.47116206 8.72503313] [-0.2729228 0.95817187 0.08613832 -0.11024315] [ 0.47562026 0.0565585 0.87783057 -0.44374189] [ 0. 0. 0. 1. ]] SLAMing on 82.75824100800001 meters Centerline goodness : 0.809165 Centerline is valid? [False, False] Translation: X:8.71, Y:-0.10, Z:-0.45 [[ 0.83921447 0.28069805 -0.46575495 8.70518754] [-0.27097793 0.95842867 0.08936129 -0.10089049] [ 0.47147644 0.05121602 0.88039019 -0.45376693] [ 0. 0. 0. 1. ]] SLAMing on 82.78824100800001 meters Centerline goodness : 0.809098 Centerline is valid? [False, False] Translation: X:8.71, Y:-0.10, Z:-0.45 [[ 0.83914492 0.28048889 -0.4660062 8.7059521 ] [-0.27085383 0.9584808 0.08917821 -0.1001323 ] [ 0.4716715 0.05138612 0.88027579 -0.45357501] [ 0. 0. 0. 1. ]] SLAMing on 82.81824100800002 meters Centerline goodness : 0.809284 Centerline is valid? [False, False] Translation: X:8.71, Y:-0.10, Z:-0.45 [[ 0.83906151 0.28017545 -0.46634482 8.70701546] [-0.27063823 0.95856247 0.08895466 -0.099264 ] [ 0.47194356 0.0515723 0.88011907 -0.4533074 ] [ 0. 0. 0. 1. ]] SLAMing on 82.84824100800002 meters Centerline goodness : 0.809590 Centerline is valid? [False, False] Translation: X:8.69, Y:-0.09, Z:-0.46 [[ 0.84081764 0.28006788 -0.46323609 8.68815758] [-0.26846568 0.95884574 0.0924177 -0.09042849] [ 0.47005518 0.04665656 0.88140303 -0.46316934] [ 0. 0. 0. 1. ]] SLAMing on 82.878241008 meters Centerline goodness : 0.807753 Centerline is valid? [False, False] Translation: X:8.69, Y:-0.09, Z:-0.46 [[ 0.84076334 0.28010178 -0.46331415 8.68849748] [-0.26852635 0.95883187 0.09238528 -0.08969063] [ 0.47011766 0.04673791 0.88136539 -0.46304644] [ 0. 0. 0. 1. ]] SLAMing on 82.908241008 meters Centerline goodness : 0.808106 Centerline is valid? [False, False] Translation: X:8.69, Y:-0.09, Z:-0.46 [[ 0.84067745 0.28006842 -0.46349013 8.68907801] [-0.26849257 0.95884018 0.09239723 -0.0892268 ] [ 0.47029051 0.04676739 0.88127161 -0.46277548] [ 0. 0. 0. 1. ]] SLAMing on 82.938241008 meters Centerline goodness : 0.807328 Centerline is valid? [False, False] Translation: X:8.69, Y:-0.09, Z:-0.46 [[ 0.84061789 0.27988539 -0.46370868 8.68999895] [-0.26839435 0.95888522 0.09221496 -0.08848668] [ 0.47045302 0.04693925 0.88117573 -0.46271978] [ 0. 0. 0. 1. ]] SLAMing on 82.968241008 meters Centerline goodness : 0.806172 Centerline is valid? [False, False] Translation: X:8.69, Y:-0.09, Z:-0.46 [[ 0.84057751 0.27931941 -0.46412294 8.69229932] [-0.26814229 0.9590218 0.09152537 -0.08663411] [ 0.47066884 0.04751682 0.88102951 -0.46331243] [ 0. 0. 0. 1. ]] SLAMing on 82.99824100800001 meters Centerline goodness : 0.805047 Centerline is valid? [False, False] Translation: X:8.69, Y:-0.09, Z:-0.46 [[ 0.84051575 0.27930625 -0.46424272 8.69291238] [-0.26818371 0.95901898 0.09143356 -0.08611889] [ 0.47075554 0.04765099 0.88097594 -0.46337796] [ 0. 0. 0. 1. ]] SLAMing on 83.02824100800001 meters Centerline goodness : 0.804263 Centerline is valid? [False, False] Translation: X:8.69, Y:-0.09, Z:-0.46 [[ 0.84042889 0.27973848 -0.4641397 8.69226423] [-0.26850474 0.95889951 0.09174382 -0.08621511] [ 0.47072761 0.04751956 0.88099796 -0.46306443] [ 0. 0. 0. 1. ]] SLAMing on 83.05824100800001 meters Centerline goodness : 0.804908 Centerline is valid? [False, False] Translation: X:8.69, Y:-0.09, Z:-0.46 [[ 0.84032947 0.28030018 -0.46398081 8.69135524] [-0.26892062 0.95874433 0.09214667 -0.08626865] [ 0.4706677 0.04734044 0.88103961 -0.46265482] [ 0. 0. 0. 1. ]] SLAMing on 83.08824100800001 meters Centerline goodness : 0.808035 Centerline is valid? [False, False] Translation: X:8.69, Y:-0.08, Z:-0.46 [[ 0.84004317 0.28228517 -0.46329532 8.68834865] [-0.27075575 0.95815766 0.09287203 -0.08450618] [ 0.47012636 0.04742335 0.88132414 -0.46283077] [ 0. 0. 0. 1. ]] SLAMing on 83.11824100800001 meters Centerline goodness : 0.806955 Centerline is valid? [False, False] Translation: X:8.69, Y:-0.08, Z:-0.46 [[ 0.8399653 0.28343903 -0.46273169 8.6864985 ] [-0.27187668 0.95781099 0.09317286 -0.08321232] [ 0.46961832 0.04754398 0.88158846 -0.46328608] [ 0. 0. 0. 1. ]] SLAMing on 83.14824100800001 meters Centerline goodness : 0.807211 Centerline is valid? [False, False] Translation: X:8.69, Y:-0.08, Z:-0.46 [[ 0.83981287 0.28439571 -0.46242126 8.68532409] [-0.27282045 0.95751918 0.09341314 -0.08213813] [ 0.46934352 0.04770842 0.8817259 -0.46358873] [ 0. 0. 0. 1. ]] SLAMing on 83.17824100800001 meters Centerline goodness : 0.808196 Centerline is valid? [False, False] Translation: X:8.66, Y:-0.07, Z:-0.48 [[ 0.84152482 0.28628874 -0.45812087 8.66238094] [-0.27301333 0.95714405 0.09663841 -0.07394001] [ 0.46615416 0.04374948 0.88362112 -0.47625619] [ 0. 0. 0. 1. ]] SLAMing on 83.20824100800002 meters Centerline goodness : 0.807587 Centerline is valid? [False, False] Translation: X:8.66, Y:-0.07, Z:-0.48 [[ 0.84016326 0.29345578 -0.45608048 8.6583455 ] [-0.27830749 0.95507731 0.10184438 -0.07497348] [ 0.46547894 0.0413647 0.8840918 -0.47552724] [ 0. 0. 0. 1. ]] SLAMing on 83.23824100800002 meters Centerline goodness : 0.807115 Centerline is valid? [False, False] Translation: X:8.66, Y:-0.07, Z:-0.48 [[ 0.84004113 0.29451585 -0.4556219 8.65636221] [-0.27924791 0.95475398 0.10230072 -0.07448986] [ 0.46513601 0.04129466 0.88427555 -0.47554078] [ 0. 0. 0. 1. ]] SLAMing on 83.268241008 meters Centerline goodness : 0.808968 Centerline is valid? [False, False] Translation: X:8.66, Y:-0.07, Z:-0.48 [[ 0.83994955 0.2951615 -0.45537286 8.65535654] [-0.27977741 0.95455994 0.10266408 -0.07493135] [ 0.46498317 0.04117039 0.88436172 -0.4755812 ] [ 0. 0. 0. 1. ]] SLAMing on 83.298241008 meters Centerline goodness : 0.808190 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.07, Z:-0.49 [[ 0.84092662 0.29578426 -0.4531601 8.6330419 ] [-0.27821947 0.95456505 0.10676836 -0.06952255] [ 0.4641512 0.03629361 0.88501211 -0.48545172] [ 0. 0. 0. 1. ]] SLAMing on 83.328241008 meters Centerline goodness : 0.808954 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.07, Z:-0.49 [[ 0.84076901 0.29635691 -0.45307842 8.63226772] [-0.278476 0.95440685 0.10751135 -0.07260969] [ 0.46428288 0.03577925 0.88496398 -0.48514833] [ 0. 0. 0. 1. ]] SLAMing on 83.35824100800001 meters Centerline goodness : 0.810531 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.07, Z:-0.48 [[ 0.8406248 0.29625758 -0.45341084 8.6328358 ] [-0.27819214 0.95444958 0.10786623 -0.07441655] [ 0.46471398 0.03546031 0.88475052 -0.48450901] [ 0. 0. 0. 1. ]] SLAMing on 83.38824100800001 meters Centerline goodness : 0.809242 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.08, Z:-0.48 [[ 0.84053915 0.29617082 -0.45362626 8.63329825] [-0.27790922 0.95449018 0.1082357 -0.07631667] [ 0.46503806 0.03509058 0.88459496 -0.48402273] [ 0. 0. 0. 1. ]] SLAMing on 83.41824100800001 meters Centerline goodness : 0.810989 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.08, Z:-0.48 [[ 0.84046309 0.29603078 -0.45385854 8.63413103] [-0.27755153 0.9545491 0.10863319 -0.07839889] [ 0.46538903 0.03466695 0.88442708 -0.48360778] [ 0. 0. 0. 1. ]] SLAMing on 83.44824100800001 meters Centerline goodness : 0.809759 Centerline is valid? [False, False] Translation: X:8.64, Y:-0.08, Z:-0.49 [[ 0.8417104 0.2901749 -0.45532639 8.63678697] [-0.27333463 0.95626563 0.1041356 -0.0784894 ] [ 0.46563052 0.03680445 0.88421358 -0.48501347] [ 0. 0. 0. 1. ]] SLAMing on 83.47824100800001 meters Centerline goodness : 0.810518 Centerline is valid? [False, False] Translation: X:8.64, Y:-0.08, Z:-0.48 [[ 0.84161391 0.28966162 -0.45583129 8.63851768] [-0.27266258 0.95643418 0.10434926 -0.08007942] [ 0.46619861 0.03646634 0.8839282 -0.48434782] [ 0. 0. 0. 1. ]] SLAMing on 83.50824100800001 meters Centerline goodness : 0.809389 Centerline is valid? [False, False] Translation: X:8.64, Y:-0.08, Z:-0.48 [[ 0.84159564 0.2892473 -0.45612802 8.6398887 ] [-0.27214121 0.95656935 0.10447122 -0.08167658] [ 0.4665361 0.03620871 0.88376071 -0.4841561 ] [ 0. 0. 0. 1. ]] SLAMing on 83.53824100800001 meters Centerline goodness : 0.810099 Centerline is valid? [False, False] Translation: X:8.64, Y:-0.08, Z:-0.48 [[ 0.84150057 0.28901358 -0.45645146 8.6407822 ] [-0.27170879 0.95665464 0.10481526 -0.08357216] [ 0.46695944 0.03581977 0.88355296 -0.48353201] [ 0. 0. 0. 1. ]] SLAMing on 83.56824100800002 meters Centerline goodness : 0.810685 Centerline is valid? [False, False] Translation: X:8.64, Y:-0.08, Z:-0.48 [[ 0.84267496 0.28401256 -0.45742297 8.64053872] [-0.26820388 0.95807669 0.1007757 -0.08328635] [ 0.46686784 0.03776146 0.88352051 -0.48434812] [ 0. 0. 0. 1. ]] SLAMing on 83.59824100800002 meters Centerline goodness : 0.811998 Centerline is valid? [False, False] Translation: X:8.64, Y:-0.08, Z:-0.48 [[ 0.84264261 0.28421136 -0.45735908 8.64038645] [-0.26815845 0.95803585 0.10128353 -0.08417714] [ 0.46695233 0.03729889 0.88349551 -0.48366274] [ 0. 0. 0. 1. ]] SLAMing on 83.62824100800002 meters Centerline goodness : 0.813500 Centerline is valid? [False, False] Translation: X:8.64, Y:-0.08, Z:-0.48 [[ 0.84264495 0.2841062 -0.45742011 8.64093902] [-0.26807714 0.95806567 0.10121668 -0.0842639 ] [ 0.46699479 0.03733415 0.88347158 -0.48381752] [ 0. 0. 0. 1. ]] SLAMing on 83.658241008 meters Centerline goodness : 0.814590 Centerline is valid? [False, False] Translation: X:8.64, Y:-0.08, Z:-0.48 [[ 0.84253427 0.28423337 -0.45754496 8.6410475 ] [-0.26816808 0.95802829 0.10132952 -0.08356954] [ 0.46714225 0.03732536 0.88339399 -0.48337654] [ 0. 0. 0. 1. ]] SLAMing on 83.688241008 meters Centerline goodness : 0.814402 Centerline is valid? [False, False] Translation: X:8.64, Y:-0.08, Z:-0.48 [[ 0.84245094 0.28476893 -0.45736536 8.64027589] [-0.26874616 0.95786184 0.10137155 -0.08242684] [ 0.4669603 0.03751463 0.88348216 -0.48354002] [ 0. 0. 0. 1. ]] SLAMing on 83.718241008 meters Centerline goodness : 0.816518 Centerline is valid? [False, False] Translation: X:8.64, Y:-0.08, Z:-0.48 [[ 0.84235255 0.28510055 -0.45733998 8.64004407] [-0.2691677 0.95775262 0.10128505 -0.08113111] [ 0.46689499 0.03778343 0.88350522 -0.48370136] [ 0. 0. 0. 1. ]] SLAMing on 83.74824100800001 meters Centerline goodness : 0.818420 Centerline is valid? [False, False] Translation: X:8.64, Y:-0.08, Z:-0.48 [[ 0.84202925 0.28640357 -0.45712114 8.63874063] [-0.27051607 0.95734811 0.10151678 -0.07888709] [ 0.46669883 0.03817851 0.88359188 -0.48406435] [ 0. 0. 0. 1. ]] SLAMing on 83.77824100800001 meters Centerline goodness : 0.817602 Centerline is valid? [False, False] Translation: X:8.62, Y:-0.07, Z:-0.50 [[ 0.84582924 0.28632946 -0.45009813 8.62161782] [-0.26860338 0.95757666 0.10439905 -0.07127919] [ 0.46089599 0.03259411 0.8868554 -0.49543214] [ 0. 0. 0. 1. ]] SLAMing on 83.80824100800001 meters Centerline goodness : 0.816772 Centerline is valid? [False, False] Translation: X:8.62, Y:-0.07, Z:-0.50 [[ 0.84576158 0.28655226 -0.4500835 8.62156237] [-0.26885 0.9575064 0.10440868 -0.07048622] [ 0.46087637 0.0327001 0.8868617 -0.4954531 ] [ 0. 0. 0. 1. ]] SLAMing on 83.83824100800001 meters Centerline goodness : 0.820586 Centerline is valid? [False, False] Translation: X:8.62, Y:-0.07, Z:-0.50 [[ 0.84560564 0.28719878 -0.4499644 8.62057423] [-0.26933304 0.95731933 0.10487808 -0.07053515] [ 0.46088048 0.03250479 0.88686675 -0.49501418] [ 0. 0. 0. 1. ]] SLAMing on 83.86824100800001 meters Centerline goodness : 0.822547 Centerline is valid? [False, False] Translation: X:8.62, Y:-0.07, Z:-0.49 [[ 0.84546509 0.28746706 -0.45005719 8.62038865] [-0.26940678 0.95724919 0.10532792 -0.07134651] [ 0.46109519 0.03219738 0.88676635 -0.49436007] [ 0. 0. 0. 1. ]] SLAMing on 83.89824100800001 meters Centerline goodness : 0.821437 Centerline is valid? [False, False] Translation: X:8.62, Y:-0.07, Z:-0.49 [[ 0.84535927 0.28755681 -0.45019861 8.62044638] [-0.26928995 0.95723454 0.10575901 -0.07250484] [ 0.46135738 0.0318296 0.88664325 -0.49367838] [ 0. 0. 0. 1. ]] SLAMing on 83.92824100800001 meters Centerline goodness : 0.823925 Centerline is valid? [False, False] Translation: X:8.62, Y:-0.07, Z:-0.49 [[ 0.8463759 0.28311557 -0.45110244 8.61949928] [-0.26629082 0.95848814 0.10192981 -0.07104815] [ 0.46123425 0.0338535 0.88663234 -0.49422691] [ 0. 0. 0. 1. ]] SLAMing on 83.95824100800002 meters Centerline goodness : 0.822628 Centerline is valid? [False, False] Translation: X:8.62, Y:-0.07, Z:-0.49 [[ 0.84631698 0.28314344 -0.45119547 8.61941712] [-0.2661288 0.95849268 0.10230953 -0.07193886] [ 0.46143583 0.03348982 0.88654126 -0.49351578] [ 0. 0. 0. 1. ]] SLAMing on 83.98824100800002 meters Centerline goodness : 0.823366 Centerline is valid? [False, False] Translation: X:8.62, Y:-0.07, Z:-0.49 [[ 0.84625641 0.28332803 -0.45119321 8.61896718] [-0.26608853 0.95845264 0.10278829 -0.07252542] [ 0.46157013 0.03307209 0.88648703 -0.49270424] [ 0. 0. 0. 1. ]] SLAMing on 84.018241008 meters Centerline goodness : 0.821186 Centerline is valid? [False, False] Translation: X:8.62, Y:-0.07, Z:-0.49 [[ 0.84622637 0.28322599 -0.4513136 8.61911029] [-0.26580738 0.95849546 0.10311591 -0.07281576] [ 0.46178714 0.03270308 0.88638769 -0.49180364] [ 0. 0. 0. 1. ]] SLAMing on 84.048241008 meters Centerline goodness : 0.822547 Centerline is valid? [False, False] Translation: X:8.62, Y:-0.07, Z:-0.49 [[ 0.84633758 0.28314558 -0.4511555 8.61858735] [-0.26555759 0.95853323 0.10340798 -0.07294497] [ 0.46172705 0.0322897 0.88643415 -0.49105662] [ 0. 0. 0. 1. ]] SLAMing on 84.078241008 meters Centerline goodness : 0.823972 Centerline is valid? [False, False] Translation: X:8.62, Y:-0.07, Z:-0.49 [[ 0.84627578 0.28300158 -0.45136173 8.61910442] [-0.26535039 0.95857972 0.10350891 -0.07294065] [ 0.46195938 0.03217193 0.88631738 -0.49056531] [ 0. 0. 0. 1. ]] SLAMing on 84.10824100800001 meters Centerline goodness : 0.821045 Centerline is valid? [False, False] Translation: X:8.62, Y:-0.07, Z:-0.49 [[ 0.84625542 0.28289358 -0.4514676 8.6195575 ] [-0.26522425 0.95861294 0.10352456 -0.07285638] [ 0.46206911 0.03213194 0.88626163 -0.4903944 ] [ 0. 0. 0. 1. ]] SLAMing on 84.13824100800001 meters Centerline goodness : 0.823932 Centerline is valid? [False, False] Translation: X:8.62, Y:-0.07, Z:-0.49 [[ 0.84619451 0.28282703 -0.45162343 8.62001447] [-0.26507367 0.95863768 0.103681 -0.07334456] [ 0.46226703 0.03197918 0.88616394 -0.4900477 ] [ 0. 0. 0. 1. ]] SLAMing on 84.16824100800001 meters Centerline goodness : 0.824995 Centerline is valid? [False, False] Translation: X:8.62, Y:-0.07, Z:-0.49 [[ 0.84618734 0.2821214 -0.45207797 8.62142636] [-0.26430589 0.95885238 0.10365574 -0.07488865] [ 0.46271954 0.0317747 0.8859351 -0.48948872] [ 0. 0. 0. 1. ]] SLAMing on 84.19824100800001 meters Centerline goodness : 0.824667 Centerline is valid? [False, False] Translation: X:8.62, Y:-0.08, Z:-0.49 [[ 0.84613328 0.28192372 -0.45230243 8.62223844] [-0.26403431 0.95891547 0.10376419 -0.07550487] [ 0.46297338 0.03162502 0.88580783 -0.48920179] [ 0. 0. 0. 1. ]] SLAMing on 84.22824100800001 meters Centerline goodness : 0.824786 Centerline is valid? [False, False] Translation: X:8.62, Y:-0.08, Z:-0.49 [[ 0.84605383 0.28179524 -0.45253106 8.6229807 ] [-0.26381842 0.95895842 0.10391626 -0.07615108] [ 0.46324158 0.03146728 0.88567322 -0.48884645] [ 0. 0. 0. 1. ]] SLAMing on 84.25824100800001 meters Centerline goodness : 0.827207 Centerline is valid? [False, False] Translation: X:8.62, Y:-0.08, Z:-0.49 [[ 0.84600105 0.28167215 -0.45270632 8.62372171] [-0.26365829 0.95899673 0.10396913 -0.07670347] [ 0.46342909 0.03140178 0.88557744 -0.48876899] [ 0. 0. 0. 1. ]] SLAMing on 84.28824100800001 meters Centerline goodness : 0.822018 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.08, Z:-0.49 [[ 0.84588787 0.28142725 -0.45306998 8.62562873] [-0.2634626 0.95906444 0.10384059 -0.07754175] [ 0.46374688 0.03152949 0.88540653 -0.48924254] [ 0. 0. 0. 1. ]] SLAMing on 84.31824100800002 meters Centerline goodness : 0.823670 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.08, Z:-0.49 [[ 0.84578909 0.28133804 -0.45330974 8.62654174] [-0.26335219 0.95909085 0.10387671 -0.07814329] [ 0.46398969 0.03152232 0.88527956 -0.48923479] [ 0. 0. 0. 1. ]] SLAMing on 84.34824100800002 meters Centerline goodness : 0.822215 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.08, Z:-0.49 [[ 0.84568561 0.2816401 -0.45331523 8.62635348] [-0.26351718 0.95900873 0.10421585 -0.07882233] [ 0.46408463 0.03132251 0.88523689 -0.48895142] [ 0. 0. 0. 1. ]] SLAMing on 84.37824100800002 meters Centerline goodness : 0.823117 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.08, Z:-0.49 [[ 0.84554802 0.28224096 -0.45319818 8.62538826] [-0.2639075 0.95884187 0.10476208 -0.07961872] [ 0.46411354 0.03102103 0.88523235 -0.48849561] [ 0. 0. 0. 1. ]] SLAMing on 84.408241008 meters Centerline goodness : 0.825569 Centerline is valid? [False, False] Translation: X:8.62, Y:-0.08, Z:-0.49 [[ 0.84538362 0.28335932 -0.45280684 8.62348591] [-0.2647976 0.9585206 0.10545377 -0.080491 ] [ 0.46390599 0.03075327 0.88535048 -0.48830439] [ 0. 0. 0. 1. ]] SLAMing on 84.438241008 meters Centerline goodness : 0.824940 Centerline is valid? [False, False] Translation: X:8.62, Y:-0.08, Z:-0.49 [[ 0.84532223 0.28363629 -0.45274804 8.62283946] [-0.26501713 0.95844055 0.10562973 -0.08069755] [ 0.46389251 0.03069483 0.88535957 -0.48809341] [ 0. 0. 0. 1. ]] SLAMing on 84.468241008 meters Centerline goodness : 0.827444 Centerline is valid? [False, False] Translation: X:8.62, Y:-0.08, Z:-0.49 [[ 0.84536484 0.2841048 -0.45237457 8.6216156 ] [-0.26551293 0.95829897 0.10566915 -0.07996745] [ 0.4635312 0.03078231 0.88554575 -0.48837444] [ 0. 0. 0. 1. ]] SLAMing on 84.49824100800001 meters Centerline goodness : 0.828161 Centerline is valid? [False, False] Translation: X:8.62, Y:-0.08, Z:-0.49 [[ 0.8453428 0.28444485 -0.45220203 8.62149634] [-0.26590442 0.95819312 0.10564462 -0.07828699] [ 0.46334694 0.0309366 0.8856368 -0.48840827] [ 0. 0. 0. 1. ]] SLAMing on 84.52824100800001 meters Centerline goodness : 0.828161 Centerline is valid? [False, False] Translation: X:8.62, Y:-0.08, Z:-0.49 [[ 0.8453428 0.28444485 -0.45220203 8.62149634] [-0.26590442 0.95819312 0.10564462 -0.07828699] [ 0.46334694 0.0309366 0.8856368 -0.48840827] [ 0. 0. 0. 1. ]] SLAMing on 84.55824100800001 meters Centerline goodness : 0.829000 Centerline is valid? [False, False] Translation: X:8.62, Y:-0.07, Z:-0.50 [[ 0.84983209 0.28260438 -0.4448822 8.61616097] [-0.26316544 0.95886601 0.10639513 -0.07360876] [ 0.45665015 0.02665963 0.88924682 -0.4966271 ] [ 0. 0. 0. 1. ]] SLAMing on 84.58824100800001 meters Centerline goodness : 0.828850 Centerline is valid? [False, False] Translation: X:8.62, Y:-0.07, Z:-0.50 [[ 0.84984327 0.2825522 -0.444894 8.61652138] [-0.26316129 0.95887888 0.10628933 -0.07263051] [ 0.45663174 0.02674961 0.88925357 -0.49659403] [ 0. 0. 0. 1. ]] SLAMing on 84.61824100800001 meters Centerline goodness : 0.831170 Centerline is valid? [False, False] Translation: X:8.62, Y:-0.07, Z:-0.50 [[ 0.84979774 0.28292917 -0.44474136 8.61569878] [-0.2633723 0.9587757 0.10669668 -0.07229881] [ 0.45659482 0.02646196 0.88928114 -0.49580442] [ 0. 0. 0. 1. ]] SLAMing on 84.64824100800001 meters Centerline goodness : 0.830364 Centerline is valid? [False, False] Translation: X:8.61, Y:-0.07, Z:-0.50 [[ 0.85092039 0.27892002 -0.44512707 8.61277502] [-0.2606874 0.95989799 0.10314029 -0.07042699] [ 0.45604448 0.02827484 0.88950771 -0.49600207] [ 0. 0. 0. 1. ]] SLAMing on 84.67824100800001 meters Centerline goodness : 0.831321 Centerline is valid? [False, False] Translation: X:8.61, Y:-0.07, Z:-0.50 [[ 0.85091438 0.27954378 -0.44474711 8.61133222] [-0.2610166 0.95973261 0.1038444 -0.070794 ] [ 0.45586736 0.02772369 0.88961584 -0.49500339] [ 0. 0. 0. 1. ]] SLAMing on 84.70824100800002 meters Centerline goodness : 0.834001 Centerline is valid? [False, False] Translation: X:8.61, Y:-0.07, Z:-0.49 [[ 0.85084144 0.27992371 -0.44464768 8.61058338] [-0.26120733 0.95963113 0.10430165 -0.07049452] [ 0.45589426 0.02740106 0.88961205 -0.49405563] [ 0. 0. 0. 1. ]] SLAMing on 84.73824100800002 meters Centerline goodness : 0.834664 Centerline is valid? [False, False] Translation: X:8.59, Y:-0.06, Z:-0.51 [[ 0.85266851 0.27936649 -0.441487 8.58913286] [-0.25916653 0.95990193 0.10686906 -0.06288422] [ 0.45363986 0.02329477 0.89088059 -0.50513615] [ 0. 0. 0. 1. ]] SLAMing on 84.768241008 meters Centerline goodness : 0.835100 Centerline is valid? [False, False] Translation: X:8.59, Y:-0.06, Z:-0.51 [[ 0.85272076 0.27932237 -0.44141401 8.58953957] [-0.25927724 0.95990753 0.10654977 -0.06150822] [ 0.45347836 0.0235914 0.890955 -0.50558105] [ 0. 0. 0. 1. ]] SLAMing on 84.798241008 meters Centerline goodness : 0.838887 Centerline is valid? [False, False] Translation: X:8.59, Y:-0.06, Z:-0.51 [[ 0.85270406 0.27928193 -0.44147184 8.58991825] [-0.25929548 0.95991612 0.10642789 -0.0607155 ] [ 0.45349933 0.02372016 0.89094092 -0.50557961] [ 0. 0. 0. 1. ]] SLAMing on 84.828241008 meters Centerline goodness : 0.839535 Centerline is valid? [False, False] Translation: X:8.59, Y:-0.06, Z:-0.51 [[ 0.85268672 0.27938018 -0.44144318 8.58989066] [-0.25940552 0.95988645 0.10642731 -0.06022473] [ 0.45346901 0.02376364 0.89095519 -0.5055163 ] [ 0. 0. 0. 1. ]] SLAMing on 84.85824100800001 meters Centerline goodness : 0.839069 Centerline is valid? [False, False] Translation: X:8.59, Y:-0.06, Z:-0.50 [[ 0.85265459 0.28014406 -0.44102092 8.58763454] [-0.2592591 0.95970749 0.1083801 -0.0622368 ] [ 0.45361312 0.0219279 0.8909289 -0.501958 ] [ 0. 0. 0. 1. ]] SLAMing on 84.88824100800001 meters Centerline goodness : 0.842270 Centerline is valid? [False, False] Translation: X:8.59, Y:-0.06, Z:-0.50 [[ 0.85407264 0.27398913 -0.44214238 8.58859413] [-0.25451154 0.96144393 0.10416065 -0.06232931] [ 0.45363399 0.02356958 0.89087635 -0.50161738] [ 0. 0. 0. 1. ]] SLAMing on 84.91824100800001 meters Centerline goodness : 0.843839 Centerline is valid? [False, False] Translation: X:8.59, Y:-0.06, Z:-0.50 [[ 0.85404393 0.27287114 -0.4428886 8.59201107] [-0.25358824 0.96175421 0.1035463 -0.06244392] [ 0.45420477 0.02387825 0.89057726 -0.50187298] [ 0. 0. 0. 1. ]] SLAMing on 84.94824100800001 meters Centerline goodness : 0.843836 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.06, Z:-0.50 [[ 0.85404223 0.27149435 -0.44373718 8.59632867] [-0.25258231 0.96212775 0.10252981 -0.06151027] [ 0.45476812 0.02451537 0.8902724 -0.50254024] [ 0. 0. 0. 1. ]] SLAMing on 84.97824100800001 meters Centerline goodness : 0.845736 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.06, Z:-0.50 [[ 0.85409677 0.27027838 -0.44437407 8.60020814] [-0.25180688 0.9624501 0.10140558 -0.05994058] [ 0.4550956 0.02528627 0.89008348 -0.50356089] [ 0. 0. 0. 1. ]] SLAMing on 85.00824100800001 meters Centerline goodness : 0.851237 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.06, Z:-0.50 [[ 0.85412769 0.2696161 -0.44471681 8.60269985] [-0.25152713 0.96261667 0.10051491 -0.05820559] [ 0.45519226 0.02600578 0.89001332 -0.50452718] [ 0. 0. 0. 1. ]] SLAMing on 85.03824100800001 meters Centerline goodness : 0.850489 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.06, Z:-0.50 [[ 0.8541432 0.26977463 -0.44459087 8.60239306] [-0.25171563 0.96257026 0.10048754 -0.057736 ] [ 0.45505893 0.02607972 0.89007933 -0.50456785] [ 0. 0. 0. 1. ]] SLAMing on 85.06824100800002 meters Centerline goodness : 0.853464 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.06, Z:-0.50 [[ 0.85416385 0.27030609 -0.44422826 8.60112639] [-0.2521881 0.96242317 0.10071149 -0.05711576] [ 0.4547585 0.02600496 0.89023505 -0.50425864] [ 0. 0. 0. 1. ]] SLAMing on 85.09824100800002 meters Centerline goodness : 0.855626 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.06, Z:-0.50 [[ 0.8541446 0.27050935 -0.44414152 8.60056628] [-0.25242656 0.96236318 0.10068738 -0.05650245] [ 0.45466232 0.02611153 0.89028106 -0.50409933] [ 0. 0. 0. 1. ]] SLAMing on 85.12824100800002 meters Centerline goodness : 0.855290 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.06, Z:-0.50 [[ 0.85409831 0.27082424 -0.44403862 8.59971265] [-0.25267776 0.9622767 0.10088359 -0.05600425] [ 0.45460974 0.02603418 0.89031017 -0.50360688] [ 0. 0. 0. 1. ]] SLAMing on 85.158241008 meters Centerline goodness : 0.857015 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.06, Z:-0.50 [[ 0.85406807 0.27111678 -0.44391825 8.59908419] [-0.25301895 0.96219025 0.10085307 -0.055227 ] [ 0.45447677 0.02618434 0.89037365 -0.50351879] [ 0. 0. 0. 1. ]] SLAMing on 85.188241008 meters Centerline goodness : 0.858449 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.05, Z:-0.50 [[ 0.85419312 0.27165025 -0.44335117 8.59799339] [-0.25367551 0.96203266 0.10070694 -0.05342106] [ 0.45387538 0.02644416 0.89067269 -0.50421365] [ 0. 0. 0. 1. ]] SLAMing on 85.218241008 meters Centerline goodness : 0.861873 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.05, Z:-0.50 [[ 0.85423844 0.27172198 -0.44321987 8.59795263] [-0.25386921 0.96200565 0.10047664 -0.05227525] [ 0.45368173 0.02668887 0.89076405 -0.50453321] [ 0. 0. 0. 1. ]] SLAMing on 85.24824100800001 meters Centerline goodness : 0.862521 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.05, Z:-0.50 [[ 0.85419633 0.27241065 -0.44287816 8.59680495] [-0.25450117 0.96181153 0.10073593 -0.05132107] [ 0.45340687 0.02666474 0.89090471 -0.50432304] [ 0. 0. 0. 1. ]] SLAMing on 85.27824100800001 meters Centerline goodness : 0.863030 Centerline is valid? [False, False] Translation: X:8.59, Y:-0.05, Z:-0.50 [[ 0.85418912 0.27364181 -0.44213246 8.59375872] [-0.25564995 0.96146303 0.10115311 -0.05080028] [ 0.45277373 0.02662726 0.89122777 -0.50452767] [ 0. 0. 0. 1. ]] SLAMing on 85.30824100800001 meters Centerline goodness : 0.866967 Centerline is valid? [False, False] Translation: X:8.59, Y:-0.05, Z:-0.50 [[ 0.85418868 0.27408919 -0.44185609 8.59273444] [-0.2560932 0.96133449 0.10125351 -0.05003131] [ 0.45252399 0.02666673 0.89135342 -0.50455378] [ 0. 0. 0. 1. ]] SLAMing on 85.33824100800001 meters Centerline goodness : 0.867853 Centerline is valid? [False, False] Translation: X:8.59, Y:-0.05, Z:-0.50 [[ 0.85302367 0.27990893 -0.44045614 8.59067406] [-0.25967238 0.9597489 0.10701543 -0.05270222] [ 0.45268187 0.0230876 0.89137315 -0.50100746] [ 0. 0. 0. 1. ]] SLAMing on 85.36824100800001 meters Centerline goodness : 0.867786 Centerline is valid? [False, False] Translation: X:8.59, Y:-0.05, Z:-0.50 [[ 0.85295341 0.28052504 -0.44020016 8.58905431] [-0.26005266 0.95957865 0.10761704 -0.05313101] [ 0.45259595 0.02268289 0.89142717 -0.5002468 ] [ 0. 0. 0. 1. ]] SLAMing on 85.39824100800001 meters Centerline goodness : 0.869064 Centerline is valid? [False, False] Translation: X:8.59, Y:-0.05, Z:-0.50 [[ 0.85295792 0.28143939 -0.43960738 8.58620243] [-0.26056777 0.95932861 0.10859579 -0.05369861] [ 0.45229108 0.02191988 0.89160098 -0.49889777] [ 0. 0. 0. 1. ]] SLAMing on 85.42824100800001 meters Centerline goodness : 0.869395 Centerline is valid? [False, False] Translation: X:8.59, Y:-0.05, Z:-0.50 [[ 0.85292057 0.28161119 -0.43956983 8.58591011] [-0.26058585 0.95928479 0.108939 -0.05373215] [ 0.45235109 0.02162936 0.89157762 -0.49817979] [ 0. 0. 0. 1. ]] SLAMing on 85.45824100800002 meters Centerline goodness : 0.871362 Centerline is valid? [False, False] Translation: X:8.59, Y:-0.05, Z:-0.50 [[ 0.8529543 0.28135833 -0.4396663 8.58646823] [-0.26035792 0.95935872 0.1088329 -0.0541025 ] [ 0.45241874 0.02164112 0.89154302 -0.49826584] [ 0. 0. 0. 1. ]] SLAMing on 85.48824100800002 meters Centerline goodness : 0.874157 Centerline is valid? [False, False] Translation: X:8.59, Y:-0.05, Z:-0.50 [[ 0.85290697 0.28097394 -0.4400038 8.58794644] [-0.26002203 0.95946929 0.10866103 -0.0540945 ] [ 0.45270105 0.02173293 0.89139746 -0.49821267] [ 0. 0. 0. 1. ]] SLAMing on 85.518241008 meters Centerline goodness : 0.871200 Centerline is valid? [False, False] Translation: X:8.59, Y:-0.05, Z:-0.50 [[ 0.85293533 0.27999763 -0.44057082 8.59114708] [-0.2592628 0.9597466 0.10802434 -0.05452264] [ 0.45308291 0.02208585 0.89119476 -0.49898034] [ 0. 0. 0. 1. ]] SLAMing on 85.548241008 meters Centerline goodness : 0.873620 Centerline is valid? [False, False] Translation: X:8.59, Y:-0.05, Z:-0.50 [[ 0.8529102 0.27942453 -0.44098313 8.59281751] [-0.25880088 0.95990914 0.10768723 -0.05470022] [ 0.45339419 0.02227929 0.89103161 -0.49908133] [ 0. 0. 0. 1. ]] SLAMing on 85.578241008 meters Centerline goodness : 0.875156 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.06, Z:-0.50 [[ 0.8527923 0.27848191 -0.44180665 8.59594849] [-0.25797695 0.96017791 0.10726733 -0.05602169] [ 0.454085 0.02249917 0.89067424 -0.49910515] [ 0. 0. 0. 1. ]] SLAMing on 85.60824100800001 meters Centerline goodness : 0.875776 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.06, Z:-0.50 [[ 0.85269112 0.27793702 -0.44234474 8.5978992 ] [-0.25749389 0.96033275 0.10704157 -0.05624609] [ 0.45454896 0.02262767 0.89043429 -0.49893752] [ 0. 0. 0. 1. ]] SLAMing on 85.63824100800001 meters Centerline goodness : 0.875872 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.06, Z:-0.50 [[ 0.85260253 0.277497 -0.44279153 8.59988579] [-0.25726681 0.96044927 0.10654102 -0.05533734] [ 0.45484362 0.02307843 0.89027225 -0.49910998] [ 0. 0. 0. 1. ]] SLAMing on 85.66824100800001 meters Centerline goodness : 0.876355 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.05, Z:-0.50 [[ 0.85260371 0.27729914 -0.4429132 8.60068545] [-0.25710575 0.96050504 0.10642697 -0.05475338] [ 0.45493247 0.0231355 0.89022536 -0.49904109] [ 0. 0. 0. 1. ]] SLAMing on 85.69824100800001 meters Centerline goodness : 0.875203 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.05, Z:-0.50 [[ 0.85266878 0.27721886 -0.44283819 8.60089258] [-0.25710187 0.96052531 0.10625323 -0.0539132 ] [ 0.45481269 0.02325572 0.89028343 -0.49914002] [ 0. 0. 0. 1. ]] SLAMing on 85.72824100800001 meters Centerline goodness : 0.877082 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.05, Z:-0.50 [[ 0.85263496 0.2780679 -0.44237073 8.59823732] [-0.2576595 0.96029215 0.10700736 -0.05293404] [ 0.45456045 0.0227428 0.89042549 -0.4975005 ] [ 0. 0. 0. 1. ]] SLAMing on 85.75824100800001 meters Centerline goodness : 0.874815 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.05, Z:-0.50 [[ 0.85255561 0.27843156 -0.44229492 8.59716857] [-0.25785559 0.9601933 0.10742128 -0.05232482] [ 0.4545981 0.0224656 0.89041331 -0.49633208] [ 0. 0. 0. 1. ]] SLAMing on 85.78824100800001 meters Centerline goodness : 0.877607 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.05, Z:-0.50 [[ 0.85252317 0.2784459 -0.44234842 8.59709896] [-0.25788623 0.96018791 0.10739589 -0.05192426] [ 0.45464155 0.02251808 0.8903898 -0.49610465] [ 0. 0. 0. 1. ]] SLAMing on 85.81824100800002 meters Centerline goodness : 0.878445 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.05, Z:-0.50 [[ 0.85248396 0.27848261 -0.44240088 8.59744157] [-0.25796637 0.96017455 0.10732285 -0.05097656] [ 0.45466961 0.02263354 0.89037254 -0.49589687] [ 0. 0. 0. 1. ]] SLAMing on 85.84824100800002 meters Centerline goodness : 0.879750 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.05, Z:-0.50 [[ 0.85248462 0.27811454 -0.44263109 8.598978 ] [-0.25783557 0.96027017 0.10678021 -0.04988798] [ 0.45474257 0.02309755 0.89032337 -0.49653581] [ 0. 0. 0. 1. ]] SLAMing on 85.87824100800002 meters Centerline goodness : 0.877756 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.05, Z:-0.50 [[ 0.85248927 0.27804824 -0.44266379 8.59979395] [-0.25790781 0.96028251 0.10649441 -0.04882598] [ 0.45469288 0.02338111 0.89034135 -0.49674084] [ 0. 0. 0. 1. ]] SLAMing on 85.908241008 meters Centerline goodness : 0.880248 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.05, Z:-0.50 [[ 0.85248954 0.27816351 -0.44259084 8.59953792] [-0.25801338 0.96024935 0.10653773 -0.04892568] [ 0.45463247 0.02337205 0.89037243 -0.49675421] [ 0. 0. 0. 1. ]] SLAMing on 85.938241008 meters Centerline goodness : 0.881178 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.05, Z:-0.50 [[ 0.85233741 0.2786058 -0.44260563 8.5987854 ] [-0.25806643 0.9601379 0.10741008 -0.05031227] [ 0.45488751 0.02267202 0.89026026 -0.49519491] [ 0. 0. 0. 1. ]] SLAMing on 85.968241008 meters Centerline goodness : 0.884934 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.05, Z:-0.49 [[ 0.85228645 0.27889179 -0.44252365 8.59824722] [-0.25825035 0.96005866 0.10767605 -0.05044654] [ 0.45487862 0.02251105 0.89026889 -0.49476096] [ 0. 0. 0. 1. ]] SLAMing on 85.99824100800001 meters Centerline goodness : 0.885416 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.05, Z:-0.49 [[ 0.85226438 0.27901575 -0.44248801 8.59822852] [-0.25835867 0.96002286 0.10773536 -0.04988381] [ 0.45485847 0.0225016 0.89027942 -0.49459813] [ 0. 0. 0. 1. ]] SLAMing on 86.02824100800001 meters Centerline goodness : 0.883027 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.05, Z:-0.49 [[ 0.85225978 0.27925865 -0.44234362 8.59816114] [-0.25860556 0.95995142 0.1077796 -0.04961974] [ 0.45472677 0.0225363 0.89034582 -0.49477969] [ 0. 0. 0. 1. ]] SLAMing on 86.05824100800001 meters Centerline goodness : 0.886114 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.05, Z:-0.49 [[ 0.85208155 0.27965517 -0.44243646 8.5980944 ] [-0.25901746 0.95983213 0.10785281 -0.04895939] [ 0.45482633 0.02269938 0.89029082 -0.49468815] [ 0. 0. 0. 1. ]] SLAMing on 86.08824100800001 meters Centerline goodness : 0.886371 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.05, Z:-0.50 [[ 0.85206591 0.27951748 -0.44255357 8.59904488] [-0.25914241 0.95985911 0.10731128 -0.04712933] [ 0.45478445 0.02324812 0.89029806 -0.49534467] [ 0. 0. 0. 1. ]] SLAMing on 86.11824100800001 meters Centerline goodness : 0.885885 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.05, Z:-0.50 [[ 0.85207794 0.2796145 -0.44246912 8.59951335] [-0.25949179 0.95981771 0.10683619 -0.0454049 ] [ 0.45456264 0.02378434 0.89039716 -0.49628482] [ 0. 0. 0. 1. ]] SLAMing on 86.14824100800001 meters Centerline goodness : 0.887495 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.04, Z:-0.50 [[ 0.85201374 0.2801948 -0.44222557 8.59908372] [-0.26031584 0.95963328 0.10648769 -0.04318156] [ 0.45421167 0.02438935 0.89055989 -0.49717273] [ 0. 0. 0. 1. ]] SLAMing on 86.17824100800001 meters Centerline goodness : 0.888659 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.04, Z:-0.50 [[ 0.85190333 0.28042368 -0.44229319 8.5990788 ] [-0.26056464 0.95956334 0.10650945 -0.04254049] [ 0.45427611 0.02451021 0.8905237 -0.49700345] [ 0. 0. 0. 1. ]] SLAMing on 86.20824100800002 meters Centerline goodness : 0.888796 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.04, Z:-0.50 [[ 0.85186526 0.28049803 -0.44231938 8.59932401] [-0.26071278 0.95953693 0.1063848 -0.04172572] [ 0.4542625 0.0246928 0.8905256 -0.49710302] [ 0. 0. 0. 1. ]] SLAMing on 86.23824100800002 meters Centerline goodness : 0.891657 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.04, Z:-0.50 [[ 0.85181779 0.28059902 -0.44234675 8.59937722] [-0.26083962 0.95950512 0.10636081 -0.04101902] [ 0.45427871 0.02478153 0.89051487 -0.49700763] [ 0. 0. 0. 1. ]] SLAMing on 86.268241008 meters Centerline goodness : 0.893248 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.04, Z:-0.50 [[ 0.85176839 0.28112684 -0.44210667 8.59793875] [-0.26124195 0.95935544 0.10672295 -0.04053212] [ 0.45414012 0.02459358 0.89059076 -0.49633087] [ 0. 0. 0. 1. ]] SLAMing on 86.298241008 meters Centerline goodness : 0.891896 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.04, Z:-0.50 [[ 0.85171159 0.28122477 -0.44215382 8.5978219 ] [-0.2612642 0.95932984 0.10689846 -0.04033356] [ 0.45423384 0.02447231 0.8905463 -0.49582792] [ 0. 0. 0. 1. ]] SLAMing on 86.328241008 meters Centerline goodness : 0.895449 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.04, Z:-0.50 [[ 0.85166208 0.28100341 -0.44238986 8.59867444] [-0.26108151 0.95939252 0.10678217 -0.03983152] [ 0.45443168 0.02455749 0.89044302 -0.49559908] [ 0. 0. 0. 1. ]] SLAMing on 86.35824100800001 meters Centerline goodness : 0.895887 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.04, Z:-0.50 [[ 0.85165354 0.28083592 -0.44251263 8.59944933] [-0.26095745 0.95943953 0.10666307 -0.03934307] [ 0.45451893 0.02463699 0.8903963 -0.49559614] [ 0. 0. 0. 1. ]] SLAMing on 86.38824100800001 meters Centerline goodness : 0.898792 Centerline is valid? [False, False] Translation: X:8.59, Y:-0.04, Z:-0.50 [[ 0.8533389 0.27996992 -0.43980628 8.59441207] [-0.26079353 0.95967841 0.10490032 -0.03641774] [ 0.45144153 0.02518311 0.89194527 -0.4990231 ] [ 0. 0. 0. 1. ]] SLAMing on 86.41824100800001 meters Centerline goodness : 0.898792 Centerline is valid? [False, False] Translation: X:8.59, Y:-0.04, Z:-0.50 [[ 0.85334153 0.27998001 -0.43979474 8.59438743] [-0.26081258 0.95967498 0.1048844 -0.03637896] [ 0.45142555 0.02520179 0.89195283 -0.4990524 ] [ 0. 0. 0. 1. ]] SLAMing on 86.44824100800001 meters Centerline goodness : 0.900003 Centerline is valid? [False, False] Translation: X:8.59, Y:-0.04, Z:-0.50 [[ 0.85324205 0.2803193 -0.43977164 8.59384669] [-0.26099078 0.95958269 0.10528473 -0.03615006] [ 0.45151059 0.02494299 0.89191705 -0.49817543] [ 0. 0. 0. 1. ]] SLAMing on 86.47824100800001 meters Centerline goodness : 0.903035 Centerline is valid? [False, False] Translation: X:8.59, Y:-0.04, Z:-0.50 [[ 0.85320125 0.28038811 -0.43980694 8.59381798] [-0.26102857 0.95956359 0.10536513 -0.03597094] [ 0.45156585 0.02490451 0.89189015 -0.4979083 ] [ 0. 0. 0. 1. ]] SLAMing on 86.50824100800001 meters Centerline goodness : 0.905304 Centerline is valid? [False, False] Translation: X:8.59, Y:-0.04, Z:-0.50 [[ 0.85309166 0.28052141 -0.43993448 8.59413214] [-0.26106133 0.95952837 0.10560439 -0.03563077] [ 0.45175391 0.02475966 0.89179895 -0.49718488] [ 0. 0. 0. 1. ]] SLAMing on 86.53824100800001 meters Centerline goodness : 0.904895 Centerline is valid? [False, False] Translation: X:8.59, Y:-0.03, Z:-0.50 [[ 0.85300349 0.28092531 -0.43984773 8.59429188] [-0.26154615 0.95940356 0.10553871 -0.03461973] [ 0.45163997 0.02501559 0.89184951 -0.49759195] [ 0. 0. 0. 1. ]] SLAMing on 86.56824100800002 meters Centerline goodness : 0.905493 Centerline is valid? [False, False] Translation: X:8.59, Y:-0.03, Z:-0.50 [[ 0.85298423 0.2810542 -0.43980273 8.59439992] [-0.26176335 0.95936031 0.10539324 -0.03374973] [ 0.4515505 0.02522546 0.89188891 -0.49788505] [ 0. 0. 0. 1. ]] SLAMing on 86.59824100800002 meters Centerline goodness : 0.905278 Centerline is valid? [False, False] Translation: X:8.59, Y:-0.03, Z:-0.50 [[ 0.85295607 0.28135116 -0.43966745 8.59421785] [-0.26220895 0.95926376 0.10516416 -0.03253021] [ 0.45134511 0.02558433 0.89198264 -0.49847119] [ 0. 0. 0. 1. ]] SLAMing on 86.62824100800002 meters Centerline goodness : 0.902755 Centerline is valid? [False, False] Translation: X:8.59, Y:-0.03, Z:-0.50 [[ 0.85286839 0.28199351 -0.43942595 8.5933888 ] [-0.26293732 0.95906737 0.10513682 -0.0310014 ] [ 0.45108699 0.02587361 0.89210486 -0.49880225] [ 0. 0. 0. 1. ]] SLAMing on 86.658241008 meters Centerline goodness : 0.903214 Centerline is valid? [False, False] Translation: X:8.59, Y:-0.03, Z:-0.50 [[ 0.8525084 0.28393525 -0.43887379 8.59065487] [-0.26499059 0.95847778 0.10535812 -0.02870355] [ 0.45056566 0.02647874 0.89235053 -0.49972369] [ 0. 0. 0. 1. ]] SLAMing on 86.688241008 meters Centerline goodness : 0.907374 Centerline is valid? [False, False] Translation: X:8.59, Y:-0.03, Z:-0.50 [[ 0.85239378 0.28480165 -0.43853491 8.58932399] [-0.26586913 0.95821611 0.10552486 -0.0279455 ] [ 0.45026487 0.02664416 0.89249742 -0.50010492] [ 0. 0. 0. 1. ]] SLAMing on 86.718241008 meters Centerline goodness : 0.905713 Centerline is valid? [False, False] Translation: X:8.59, Y:-0.03, Z:-0.50 [[ 0.85233862 0.28540071 -0.43825257 8.58868801] [-0.26656591 0.95802969 0.1054596 -0.02705966] [ 0.44995722 0.0269359 0.8926438 -0.50082318] [ 0. 0. 0. 1. ]] SLAMing on 86.74824100800001 meters Centerline goodness : 0.907102 Centerline is valid? [False, False] Translation: X:8.59, Y:-0.03, Z:-0.50 [[ 0.85232785 0.2853849 -0.43828381 8.58918158] [-0.26660464 0.95803101 0.1053496 -0.02708388] [ 0.44995467 0.0270561 0.89264145 -0.50118127] [ 0. 0. 0. 1. ]] SLAMing on 86.77824100800001 meters Centerline goodness : 0.904636 Centerline is valid? [False, False] Translation: X:8.59, Y:-0.03, Z:-0.50 [[ 0.8535163 0.27956776 -0.43971785 8.59104695] [-0.26236302 0.95968026 0.10089322 -0.02692464] [ 0.45019503 0.0292517 0.89245099 -0.50201579] [ 0. 0. 0. 1. ]] SLAMing on 86.80824100800001 meters Centerline goodness : 0.905463 Centerline is valid? [False, False] Translation: X:8.59, Y:-0.03, Z:-0.50 [[ 0.85344232 0.27897203 -0.4402395 8.59299009] [-0.26168623 0.95985961 0.1009448 -0.02861799] [ 0.45072889 0.02905405 0.89218795 -0.50164345] [ 0. 0. 0. 1. ]] SLAMing on 86.83824100800001 meters Centerline goodness : 0.907465 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.03, Z:-0.50 [[ 0.85335659 0.27839493 -0.44077068 8.59519542] [-0.26106785 0.96003034 0.10092234 -0.03002801] [ 0.45124949 0.02894831 0.89192819 -0.50148097] [ 0. 0. 0. 1. ]] SLAMing on 86.86824100800001 meters Centerline goodness : 0.902251 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.03, Z:-0.50 [[ 0.85322837 0.2778262 -0.44137733 8.5974042 ] [-0.26045386 0.96019789 0.10091482 -0.03219111] [ 0.45184636 0.02885504 0.89162899 -0.50142565] [ 0. 0. 0. 1. ]] SLAMing on 86.89824100800001 meters Centerline goodness : 0.901695 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.03, Z:-0.50 [[ 0.85310891 0.27807008 -0.44145467 8.59712974] [-0.26047812 0.96013872 0.1014139 -0.0332613 ] [ 0.45205789 0.02847218 0.89153407 -0.50067546] [ 0. 0. 0. 1. ]] SLAMing on 86.92824100800001 meters Centerline goodness : 0.903031 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.03, Z:-0.50 [[ 0.85302594 0.27853474 -0.44132203 8.59621304] [-0.26071246 0.96001582 0.10197375 -0.03445387] [ 0.45207936 0.02807189 0.89153588 -0.50014085] [ 0. 0. 0. 1. ]] SLAMing on 86.95824100800002 meters Centerline goodness : 0.904044 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.04, Z:-0.50 [[ 0.85297478 0.27883211 -0.44123313 8.59544224] [-0.26067285 0.95994855 0.10270561 -0.03610181] [ 0.45219873 0.0274122 0.89149587 -0.49912661] [ 0. 0. 0. 1. ]] SLAMing on 86.98824100800002 meters Centerline goodness : 0.901290 Centerline is valid? [False, False] Translation: X:8.59, Y:-0.04, Z:-0.50 [[ 0.85415745 0.27403988 -0.44194704 8.5942036 ] [-0.25713158 0.96128134 0.09910365 -0.03621163] [ 0.4519938 0.02898842 0.89154993 -0.499124 ] [ 0. 0. 0. 1. ]] SLAMing on 87.018241008 meters Centerline goodness : 0.903426 Centerline is valid? [False, False] Translation: X:8.59, Y:-0.04, Z:-0.50 [[ 0.85402516 0.27426066 -0.44206575 8.59390992] [-0.25701454 0.96123719 0.09983281 -0.03755917] [ 0.45231025 0.02835759 0.89140972 -0.49780857] [ 0. 0. 0. 1. ]] SLAMing on 87.048241008 meters Centerline goodness : 0.901069 Centerline is valid? [False, False] Translation: X:8.59, Y:-0.04, Z:-0.50 [[ 0.85392826 0.27450423 -0.44210175 8.59356771] [-0.25703345 0.96117951 0.10033823 -0.03812508] [ 0.45248241 0.02795329 0.89133511 -0.49688183] [ 0. 0. 0. 1. ]] SLAMing on 87.078241008 meters Centerline goodness : 0.903103 Centerline is valid? [False, False] Translation: X:8.59, Y:-0.04, Z:-0.50 [[ 0.85378965 0.27476844 -0.44220531 8.59324875] [-0.25720868 0.96110673 0.10058605 -0.03748906] [ 0.45264437 0.02785971 0.89125581 -0.49617554] [ 0. 0. 0. 1. ]] SLAMing on 87.10824100800001 meters Centerline goodness : 0.901796 Centerline is valid? [False, False] Translation: X:8.59, Y:-0.04, Z:-0.50 [[ 0.85366302 0.27485629 -0.44239516 8.59342749] [-0.25720796 0.961085 0.10079524 -0.03783315] [ 0.45288356 0.02774239 0.89113795 -0.49568376] [ 0. 0. 0. 1. ]] SLAMing on 87.13824100800001 meters Centerline goodness : 0.902208 Centerline is valid? [False, False] Translation: X:8.59, Y:-0.04, Z:-0.49 [[ 0.85356029 0.27513317 -0.44242126 8.59302046] [-0.25731925 0.96101358 0.10119139 -0.0381231 ] [ 0.45301395 0.02747055 0.89108009 -0.4949644 ] [ 0. 0. 0. 1. ]] SLAMing on 87.16824100800001 meters Centerline goodness : 0.903916 Centerline is valid? [False, False] Translation: X:8.59, Y:-0.04, Z:-0.49 [[ 0.85338471 0.27484316 -0.44293993 8.59470186] [-0.25700482 0.9610965 0.10120293 -0.03750151] [ 0.45352295 0.02747266 0.89082107 -0.4942584 ] [ 0. 0. 0. 1. ]] SLAMing on 87.19824100800001 meters Centerline goodness : 0.897370 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.04, Z:-0.49 [[ 0.85330523 0.2743946 -0.44337094 8.5966042 ] [-0.25660949 0.96122173 0.10101661 -0.03755347] [ 0.4538962 0.02757519 0.89062778 -0.49420501] [ 0. 0. 0. 1. ]] SLAMing on 87.22824100800001 meters Centerline goodness : 0.897171 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.04, Z:-0.49 [[ 0.85321353 0.27351954 -0.44408753 8.59938569] [-0.25587035 0.96146431 0.10058203 -0.03744188] [ 0.45448546 0.02781089 0.8903199 -0.49408099] [ 0. 0. 0. 1. ]] SLAMing on 87.25824100800001 meters Centerline goodness : 0.899841 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.04, Z:-0.49 [[ 0.85218247 0.27672359 -0.44408229 8.6036698 ] [-0.25642566 0.9606726 0.10655528 -0.04057677] [ 0.45610405 0.02306955 0.88962739 -0.48697348] [ 0. 0. 0. 1. ]] SLAMing on 87.28824100800001 meters Centerline goodness : 0.903185 Centerline is valid? [False, False] Translation: X:8.61, Y:-0.04, Z:-0.49 [[ 0.85206408 0.2760763 -0.44471191 8.60579411] [-0.25574833 0.96086051 0.10648881 -0.04000547] [ 0.45670515 0.02299904 0.88932078 -0.48594367] [ 0. 0. 0. 1. ]] SLAMing on 87.31824100800002 meters Centerline goodness : 0.901892 Centerline is valid? [False, False] Translation: X:8.61, Y:-0.04, Z:-0.49 [[ 0.85200456 0.27589271 -0.44493981 8.60669832] [-0.25559627 0.96091139 0.10639476 -0.03906934] [ 0.45690127 0.02307614 0.88921804 -0.48552371] [ 0. 0. 0. 1. ]] SLAMing on 87.34824100800002 meters Centerline goodness : 0.900341 Centerline is valid? [False, False] Translation: X:8.61, Y:-0.04, Z:-0.48 [[ 0.85185881 0.27583132 -0.44525684 8.6069986 ] [-0.2553851 0.96093494 0.10668879 -0.0392439 ] [ 0.45729096 0.02282818 0.8890241 -0.4844576 ] [ 0. 0. 0. 1. ]] SLAMing on 87.37824100800002 meters Centerline goodness : 0.906850 Centerline is valid? [False, False] Translation: X:8.61, Y:-0.04, Z:-0.48 [[ 0.85163413 0.27665967 -0.44517271 8.60547895] [-0.2559605 0.9607046 0.10738197 -0.03850845] [ 0.45738773 0.02249648 0.88898278 -0.48299059] [ 0. 0. 0. 1. ]] SLAMing on 87.408241008 meters Centerline goodness : 0.906506 Centerline is valid? [False, False] Translation: X:8.61, Y:-0.04, Z:-0.48 [[ 0.85151849 0.27655108 -0.44546129 8.60634283] [-0.2559439 0.96073021 0.10719228 -0.0372633 ] [ 0.45761226 0.02273689 0.8888611 -0.4828051 ] [ 0. 0. 0. 1. ]] SLAMing on 87.438241008 meters Centerline goodness : 0.907913 Centerline is valid? [False, False] Translation: X:8.61, Y:-0.04, Z:-0.48 [[ 0.85141905 0.2764572 -0.44570956 8.60711867] [-0.25598593 0.96074947 0.10691898 -0.03570456] [ 0.45777375 0.02306252 0.88876955 -0.48273633] [ 0. 0. 0. 1. ]] SLAMing on 87.468241008 meters Centerline goodness : 0.908604 Centerline is valid? [False, False] Translation: X:8.61, Y:-0.03, Z:-0.48 [[ 0.8513571 0.27641288 -0.44585536 8.60780965] [-0.25603301 0.96075695 0.10673882 -0.03423473] [ 0.45786262 0.02328084 0.88871808 -0.48262364] [ 0. 0. 0. 1. ]] SLAMing on 87.49824100800001 meters Centerline goodness : 0.904504 Centerline is valid? [False, False] Translation: X:8.61, Y:-0.03, Z:-0.48 [[ 0.85121886 0.27739254 -0.44551076 8.60627169] [-0.25693741 0.96047422 0.10710945 -0.03176939] [ 0.45761296 0.02329479 0.88884629 -0.48220971] [ 0. 0. 0. 1. ]] SLAMing on 87.52824100800001 meters Centerline goodness : 0.903108 Centerline is valid? [False, False] Translation: X:8.61, Y:-0.03, Z:-0.48 [[ 0.85117835 0.27772999 -0.4453779 8.60544428] [-0.25710011 0.9603842 0.10752542 -0.03155046] [ 0.45759693 0.02298339 0.88886265 -0.48141382] [ 0. 0. 0. 1. ]] SLAMing on 87.55824100800001 meters Centerline goodness : 0.904816 Centerline is valid? [False, False] Translation: X:8.61, Y:-0.03, Z:-0.48 [[ 0.85107052 0.27779599 -0.44554276 8.60533123] [-0.25702185 0.96037085 0.10783131 -0.03157582] [ 0.45784139 0.02274217 0.88874297 -0.4804511 ] [ 0. 0. 0. 1. ]] SLAMing on 87.58824100800001 meters Centerline goodness : 0.904006 Centerline is valid? [False, False] Translation: X:8.61, Y:-0.03, Z:-0.48 [[ 0.8510094 0.27780517 -0.44565377 8.60537179] [-0.25695166 0.96037138 0.10799381 -0.03152581] [ 0.45799437 0.02260773 0.88866757 -0.47982171] [ 0. 0. 0. 1. ]] SLAMing on 87.61824100800001 meters Centerline goodness : 0.903863 Centerline is valid? [False, False] Translation: X:8.61, Y:-0.03, Z:-0.48 [[ 0.85083656 0.27785124 -0.44595498 8.60525757] [-0.25680676 0.96036524 0.10839232 -0.03122052] [ 0.4583966 0.02230011 0.88846793 -0.47825525] [ 0. 0. 0. 1. ]] SLAMing on 87.64824100800001 meters Centerline goodness : 0.900845 Centerline is valid? [False, False] Translation: X:8.61, Y:-0.03, Z:-0.48 [[ 0.85076319 0.27715841 -0.44652571 8.60722947] [-0.25616448 0.96056375 0.10815283 -0.03110709] [ 0.45889188 0.02237158 0.88821042 -0.477761 ] [ 0. 0. 0. 1. ]] SLAMing on 87.67824100800001 meters Centerline goodness : 0.903900 Centerline is valid? [False, False] Translation: X:8.61, Y:-0.03, Z:-0.48 [[ 0.85069219 0.27619654 -0.44725639 8.61031177] [-0.25531437 0.96083682 0.10773656 -0.03080777] [ 0.45949687 0.02254033 0.88789332 -0.47751731] [ 0. 0. 0. 1. ]] SLAMing on 87.70824100800002 meters Centerline goodness : 0.901088 Centerline is valid? [False, False] Translation: X:8.61, Y:-0.03, Z:-0.48 [[ 0.85067847 0.27481042 -0.44813545 8.61446014] [-0.25422255 0.96122297 0.10687045 -0.03036882] [ 0.4601272 0.02301374 0.88755469 -0.47790483] [ 0. 0. 0. 1. ]] SLAMing on 87.73824100800002 meters Centerline goodness : 0.899466 Centerline is valid? [False, False] Translation: X:8.62, Y:-0.03, Z:-0.48 [[ 0.85072487 0.27200312 -0.44975716 8.62127347] [-0.25161664 0.96201906 0.1058697 -0.03185156] [ 0.46147185 0.0231004 0.88685405 -0.47716762] [ 0. 0. 0. 1. ]] SLAMing on 87.768241008 meters Centerline goodness : 0.898803 Centerline is valid? [False, False] Translation: X:8.62, Y:-0.03, Z:-0.48 [[ 0.8518162 0.26576343 -0.45141883 8.62403369] [-0.24713556 0.96370067 0.10101998 -0.03015513] [ 0.46188004 0.02551119 0.88657544 -0.47780061] [ 0. 0. 0. 1. ]] SLAMing on 87.798241008 meters Centerline goodness : 0.901719 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.03, Z:-0.48 [[ 0.85169461 0.26480819 -0.45220893 8.6263588 ] [-0.24584793 0.96398324 0.10146482 -0.03197627] [ 0.46279054 0.0247576 0.88612187 -0.47575603] [ 0. 0. 0. 1. ]] SLAMing on 87.828241008 meters Centerline goodness : 0.902569 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.03, Z:-0.47 [[ 0.85161756 0.26407171 -0.45278434 8.62794209] [-0.24466423 0.96421006 0.10216838 -0.03366898] [ 0.46355899 0.02377175 0.88574712 -0.47342325] [ 0. 0. 0. 1. ]] SLAMing on 87.85824100800001 meters Centerline goodness : 0.899638 Centerline is valid? [False, False] Translation: X:8.62, Y:-0.04, Z:-0.47 [[ 8.54732857e-01 2.61581998e-01 -4.48337599e-01 8.61988567e+00] [-2.35640871e-01 9.65145452e-01 1.13875529e-01 -3.52666715e-02] [ 4.62498783e-01 8.31350616e-03 8.86580939e-01 -4.67968657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.88824100800001 meters Centerline goodness : 0.894797 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.03, Z:-0.47 [[ 8.55586371e-01 2.59748101e-01 -4.47775487e-01 8.60492835e+00] [-2.29537506e-01 9.65675604e-01 1.21586028e-01 -3.20420955e-02] [ 4.63987603e-01 -1.24607975e-03 8.85840816e-01 -4.68768006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.91824100800001 meters Centerline goodness : 0.896926 Centerline is valid? [False, False] Translation: X:8.59, Y:-0.02, Z:-0.48 [[ 8.59489959e-01 2.53680387e-01 -4.43760377e-01 8.59036252e+00] [-2.22713809e-01 9.67271448e-01 1.21591551e-01 -2.43379285e-02] [ 4.60082134e-01 -5.67515319e-03 8.87858222e-01 -4.78505217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.94824100800001 meters Centerline goodness : 0.895258 Centerline is valid? [False, False] Translation: X:8.55, Y:-0.01, Z:-0.49 [[ 0.86219099 0.24978337 -0.44072097 8.55284847] [-0.21449313 0.96815645 0.12909605 -0.01412253] [ 0.4589329 -0.01677383 0.88831258 -0.49263548] [ 0. 0. 0. 1. ]] SLAMing on 87.97824100800001 meters Centerline goodness : 0.896946 Centerline is valid? [False, False] Translation: X:8.55, Y:-0.02, Z:-0.47 [[ 0.86470192 0.25779094 -0.43108517 8.54849281] [-0.2156 0.96565597 0.14500064 -0.01658021] [ 0.45365982 -0.03244037 0.8905843 -0.4723038 ] [ 0. 0. 0. 1. ]] SLAMing on 88.00824100800001 meters Centerline goodness : 0.901933 Centerline is valid? [False, False] Translation: X:8.53, Y:-0.00, Z:-0.49 [[ 8.66497417e-01 2.49465513e-01 -4.32376208e-01 8.53394813e+00] [-2.09004919e-01 9.67900540e-01 1.39590434e-01 -4.99397545e-03] [ 4.53320164e-01 -3.05859967e-02 8.90822836e-01 -4.88610920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.03824100800001 meters Centerline goodness : 0.903629 Centerline is valid? [False, False] Translation: X:8.52, Y:0.00, Z:-0.50 [[ 8.65994256e-01 2.45822131e-01 -4.35460019e-01 8.52059091e+00] [-2.03716074e-01 9.68717690e-01 1.41724371e-01 2.42998432e-03] [ 4.56676811e-01 -3.40222856e-02 8.88981875e-01 -4.96971941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.06824100800002 meters Centerline goodness : 0.903918 Centerline is valid? [False, False] Translation: X:8.52, Y:0.00, Z:-0.48 [[ 8.67801347e-01 2.54624725e-01 -4.26716618e-01 8.51981540e+00] [-2.06515194e-01 9.65869547e-01 1.56356938e-01 1.86170380e-03] [ 4.51964929e-01 -4.75632962e-02 8.90766768e-01 -4.78220851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.09824100800002 meters Centerline goodness : 0.903888 Centerline is valid? [False, False] Translation: X:8.52, Y:-0.00, Z:-0.47 [[ 8.69918035e-01 2.59530840e-01 -4.19388073e-01 8.52310474e+00] [-2.11178651e-01 9.64461372e-01 1.58801258e-01 -1.01062776e-03] [ 4.45697420e-01 -4.95782706e-02 8.93809714e-01 -4.72182765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.12824100800002 meters Centerline goodness : 0.905411 Centerline is valid? [False, False] Translation: X:8.53, Y:0.00, Z:-0.47 [[ 8.70898646e-01 2.53654321e-01 -4.20945404e-01 8.52526434e+00] [-2.07402626e-01 9.66198450e-01 1.53116640e-01 3.61830932e-03] [ 4.45555495e-01 -4.60438928e-02 8.94069495e-01 -4.74271989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.158241008 meters Centerline goodness : 0.908630 Centerline is valid? [False, False] Translation: X:8.50, Y:0.02, Z:-0.49 [[ 0.87311599 0.24758386 -0.41996512 8.50386085] [-0.20398495 0.96794325 0.14654695 0.01709033] [ 0.44278506 -0.04228592 0.89563011 -0.49294505] [ 0. 0. 0. 1. ]] SLAMing on 88.188241008 meters Centerline goodness : 0.904871 Centerline is valid? [False, False] Translation: X:8.48, Y:0.03, Z:-0.51 [[ 0.87524896 0.24354443 -0.417882 8.48096508] [-0.20306829 0.96917402 0.13951697 0.03420554] [ 0.43897896 -0.0372535 0.89772471 -0.5142678 ] [ 0. 0. 0. 1. ]] SLAMing on 88.218241008 meters Centerline goodness : 0.903513 Centerline is valid? [False, False] Translation: X:8.48, Y:0.04, Z:-0.51 [[ 0.87523526 0.24294518 -0.41825934 8.48215385] [-0.2028812 0.96935797 0.13850753 0.0377531 ] [ 0.43909276 -0.03636972 0.89770529 -0.514748 ] [ 0. 0. 0. 1. ]] SLAMing on 88.24824100800001 meters Centerline goodness : 0.906061 Centerline is valid? [False, False] Translation: X:8.46, Y:0.05, Z:-0.53 [[ 0.87700916 0.24061839 -0.41588186 8.46252944] [-0.20052778 0.96988061 0.13827584 0.04831345] [ 0.43662746 -0.03787332 0.89884485 -0.52698761] [ 0. 0. 0. 1. ]] SLAMing on 88.27824100800001 meters Centerline goodness : 0.904964 Centerline is valid? [False, False] Translation: X:8.46, Y:0.05, Z:-0.53 [[ 0.87663471 0.2409481 -0.41648001 8.46397613] [-0.2016052 0.96987314 0.13675319 0.05482362] [ 0.4368832 -0.03591806 0.89880085 -0.52881782] [ 0. 0. 0. 1. ]] SLAMing on 88.30824100800001 meters Centerline goodness : 0.902971 Centerline is valid? [False, False] Translation: X:8.44, Y:0.07, Z:-0.55 [[ 0.87815065 0.23745611 -0.4152903 8.44334373] [-0.20037964 0.97086496 0.13141243 0.06910025] [ 0.43439548 -0.03218419 0.90014707 -0.54833347] [ 0. 0. 0. 1. ]] SLAMing on 88.33824100800001 meters Centerline goodness : 0.902971 Centerline is valid? [False, False] Translation: X:8.44, Y:0.07, Z:-0.55 [[ 0.87820813 0.23743918 -0.41517841 8.44325878] [-0.20053407 0.97088036 0.13106265 0.06978372] [ 0.43420797 -0.03184287 0.90024967 -0.54883459] [ 0. 0. 0. 1. ]] SLAMing on 88.36824100800001 meters Centerline goodness : 0.906126 Centerline is valid? [False, False] Translation: X:8.44, Y:0.07, Z:-0.55 [[ 0.87799066 0.23742874 -0.41564406 8.44489599] [-0.20117856 0.97093457 0.12966592 0.07473252] [ 0.43434961 -0.0302268 0.90023706 -0.55055833] [ 0. 0. 0. 1. ]] SLAMing on 88.39824100800001 meters Centerline goodness : 0.902133 Centerline is valid? [False, False] Translation: X:8.45, Y:0.08, Z:-0.55 [[ 0.87778891 0.2375579 -0.41599625 8.44579378] [-0.20187126 0.97094581 0.12849994 0.07896811] [ 0.43443599 -0.02881813 0.90024157 -0.55186724] [ 0. 0. 0. 1. ]] SLAMing on 88.42824100800001 meters Centerline goodness : 0.900154 Centerline is valid? [False, False] Translation: X:8.45, Y:0.08, Z:-0.55 [[ 0.87758253 0.23788623 -0.41624397 8.44618194] [-0.20263785 0.97089872 0.12764631 0.0824425 ] [ 0.43449604 -0.02767339 0.90024851 -0.55282438] [ 0. 0. 0. 1. ]] SLAMing on 88.45824100800002 meters Centerline goodness : 0.899468 Centerline is valid? [False, False] Translation: X:8.45, Y:0.09, Z:-0.55 [[ 0.87634199 0.24291531 -0.41595297 8.44811271] [-0.20677485 0.9696299 0.13062166 0.08561864] [ 0.43505044 -0.02846063 0.89995617 -0.55350101] [ 0. 0. 0. 1. ]] SLAMing on 88.48824100800002 meters Centerline goodness : 0.898430 Centerline is valid? [False, False] Translation: X:8.45, Y:0.09, Z:-0.56 [[ 0.87626684 0.24255228 -0.41632298 8.45003686] [-0.20697143 0.96975737 0.1293579 0.08870905] [ 0.43510833 -0.02718507 0.89996762 -0.55520329] [ 0. 0. 0. 1. ]] SLAMing on 88.518241008 meters Centerline goodness : 0.893827 Centerline is valid? [False, False] Translation: X:8.45, Y:0.09, Z:-0.56 [[ 0.8761925 0.24223416 -0.4166645 8.45131796] [-0.20704113 0.96986153 0.12846238 0.09123851] [ 0.43522485 -0.02629109 0.89993784 -0.5560755 ] [ 0. 0. 0. 1. ]] SLAMing on 88.548241008 meters Centerline goodness : 0.902128 Centerline is valid? [False, False] Translation: X:8.45, Y:0.09, Z:-0.56 [[ 0.87593559 0.24416883 -0.41607503 8.44755252] [-0.20895873 0.96938354 0.12896437 0.09407626] [ 0.43482536 -0.02602197 0.90013874 -0.55574916] [ 0. 0. 0. 1. ]] SLAMing on 88.578241008 meters Centerline goodness : 0.898184 Centerline is valid? [False, False] Translation: X:8.45, Y:0.10, Z:-0.56 [[ 0.87650047 0.24061366 -0.41695563 8.44652761] [-0.20695325 0.97034375 0.12491338 0.09807122] [ 0.43464615 -0.02319631 0.90030253 -0.55686467] [ 0. 0. 0. 1. ]] SLAMing on 88.60824100800001 meters Centerline goodness : 0.896214 Centerline is valid? [False, False] Translation: X:8.45, Y:0.10, Z:-0.56 [[ 0.87638581 0.24093348 -0.41701195 8.44585027] [-0.20733648 0.97027014 0.12484968 0.09922188] [ 0.43469471 -0.0229547 0.90028528 -0.5565792 ] [ 0. 0. 0. 1. ]] SLAMing on 88.63824100800001 meters Centerline goodness : 0.899161 Centerline is valid? [False, False] Translation: X:8.44, Y:0.10, Z:-0.56 [[ 0.87630494 0.24193616 -0.41660118 8.44394375] [-0.20848906 0.97003142 0.12478526 0.10114887] [ 0.43430629 -0.02249315 0.90048437 -0.55702735] [ 0. 0. 0. 1. ]] SLAMing on 88.66824100800001 meters Centerline goodness : 0.901308 Centerline is valid? [False, False] Translation: X:8.45, Y:0.11, Z:-0.56 [[ 0.87709297 0.23731646 -0.41759887 8.44523436] [-0.20577777 0.97124468 0.11974677 0.10518294] [ 0.43400856 -0.01909649 0.90070633 -0.55972721] [ 0. 0. 0. 1. ]] SLAMing on 88.69824100800001 meters Centerline goodness : 0.895437 Centerline is valid? [False, False] Translation: X:8.45, Y:0.11, Z:-0.56 [[ 0.8780838 0.23220472 -0.41838955 8.44641141] [-0.20284492 0.97254702 0.11404484 0.109304 ] [ 0.43338526 -0.01527273 0.90107933 -0.56335496] [ 0. 0. 0. 1. ]] SLAMing on 88.72824100800001 meters Centerline goodness : 0.895479 Centerline is valid? [False, False] Translation: X:8.45, Y:0.11, Z:-0.57 [[ 0.87907153 0.22713212 -0.41909933 8.44723467] [-0.19972662 0.9737906 0.108817 0.11285415] [ 0.43283082 -0.01195263 0.90139593 -0.56608331] [ 0. 0. 0. 1. ]] SLAMing on 88.75824100800001 meters Centerline goodness : 0.897679 Centerline is valid? [False, False] Translation: X:8.45, Y:0.11, Z:-0.57 [[ 0.87998001 0.22192152 -0.41998337 8.44815362] [-0.19625165 0.97502206 0.10400612 0.11432644] [ 0.43257425 -0.00910088 0.90155238 -0.56802492] [ 0. 0. 0. 1. ]] SLAMing on 88.78824100800001 meters Centerline goodness : 0.896746 Centerline is valid? [False, False] Translation: X:8.45, Y:0.11, Z:-0.57 [[ 8.80887478e-01 2.16853159e-01 -4.20727892e-01 8.44792240e+00] [-1.92660962e-01 9.76180366e-01 9.97679700e-02 1.14266302e-01] [ 4.32341307e-01 -6.82651527e-03 9.01684198e-01 -5.68901777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.81824100800002 meters Centerline goodness : 0.897788 Centerline is valid? [False, False] Translation: X:8.45, Y:0.11, Z:-0.57 [[ 8.81745664e-01 2.11720691e-01 -4.21543513e-01 8.44781958e+00] [-1.88909366e-01 9.77318605e-01 9.57162287e-02 1.13438136e-01] [ 4.32247424e-01 -4.76385173e-03 9.01742463e-01 -5.69397966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.84824100800002 meters Centerline goodness : 0.900222 Centerline is valid? [False, False] Translation: X:8.45, Y:0.11, Z:-0.57 [[ 8.82609794e-01 2.06279093e-01 -4.22432110e-01 8.44876689e+00] [-1.84952557e-01 9.78489948e-01 9.13781881e-02 1.13182225e-01] [ 4.32194983e-01 -2.52138501e-03 9.01776657e-01 -5.70360535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.87824100800002 meters Centerline goodness : 0.896224 Centerline is valid? [False, False] Translation: X:8.45, Y:0.11, Z:-0.57 [[ 8.83514220e-01 1.99145276e-01 -4.23962006e-01 8.45397407e+00] [-1.79535430e-01 9.79969978e-01 8.61734932e-02 1.12741794e-01] [ 4.32631082e-01 -1.93055873e-05 9.01571043e-01 -5.72141575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.908241008 meters Centerline goodness : 0.898311 Centerline is valid? [False, False] Translation: X:8.46, Y:0.11, Z:-0.57 [[ 8.84363291e-01 1.93255001e-01 -4.24916550e-01 8.45601816e+00] [-1.75252611e-01 9.81145615e-01 8.14849915e-02 1.13230655e-01] [ 4.32652392e-01 2.40539941e-03 9.01557609e-01 -5.73514534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.938241008 meters Centerline goodness : 0.893427 Centerline is valid? [False, False] Translation: X:8.46, Y:0.11, Z:-0.57 [[ 8.85113330e-01 1.87454004e-01 -4.25952333e-01 8.45785660e+00] [-1.70930787e-01 9.82262721e-01 7.70883500e-02 1.12762923e-01] [ 4.32847617e-01 4.57644117e-03 9.01455488e-01 -5.74259529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.968241008 meters Centerline goodness : 0.900400 Centerline is valid? [False, False] Translation: X:8.46, Y:0.11, Z:-0.57 [[ 8.85974463e-01 1.79825562e-01 -4.27448264e-01 8.46271698e+00] [-1.64703958e-01 9.83678870e-01 7.24464399e-02 1.08466219e-01] [ 4.33499547e-01 6.21672524e-03 9.01132340e-01 -5.74755629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99824100800001 meters Centerline goodness : 0.894637 Centerline is valid? [False, False] Translation: X:8.47, Y:0.11, Z:-0.57 [[ 8.85759545e-01 1.78648359e-01 -4.28386266e-01 8.46624126e+00] [-1.63063956e-01 9.83899972e-01 7.31504764e-02 1.05502461e-01] [ 4.34557447e-01 5.06062661e-03 9.00629899e-01 -5.72392719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.02824100800001 meters Centerline goodness : 0.894633 Centerline is valid? [False, False] Translation: X:8.47, Y:0.10, Z:-0.57 [[ 8.85663212e-01 1.77132020e-01 -4.29214309e-01 8.46962207e+00] [-1.61414633e-01 9.84176579e-01 7.30874602e-02 1.02657895e-01] [ 4.35368800e-01 4.55059535e-03 9.00240690e-01 -5.71462352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.05824100800001 meters Centerline goodness : 0.894450 Centerline is valid? [False, False] Translation: X:8.47, Y:0.10, Z:-0.57 [[ 8.85581248e-01 1.76723322e-01 -4.29551767e-01 8.47075521e+00] [-1.60571257e-01 9.84254226e-01 7.38951286e-02 9.94307725e-02] [ 4.35847135e-01 3.53352673e-03 9.00013772e-01 -5.69912119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.08824100800001 meters Centerline goodness : 0.891410 Centerline is valid? [False, False] Translation: X:8.48, Y:0.09, Z:-0.56 [[ 8.85250280e-01 1.74980093e-01 -4.30945367e-01 8.47596856e+00] [-1.57410774e-01 9.84571954e-01 7.64193406e-02 9.48038292e-02] [ 4.37668585e-01 1.85200923e-04 8.99136350e-01 -5.62900619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.11824100800001 meters Centerline goodness : 0.897372 Centerline is valid? [False, False] Translation: X:8.48, Y:0.09, Z:-0.56 [[ 8.85043544e-01 1.75212794e-01 -4.31275321e-01 8.47642208e+00] [-1.57389453e-01 9.84530551e-01 7.69945034e-02 9.36924148e-02] [ 4.38094152e-01 -2.65301048e-04 8.98929054e-01 -5.61856812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.14824100800001 meters Centerline goodness : 0.896512 Centerline is valid? [False, False] Translation: X:8.48, Y:0.09, Z:-0.56 [[ 8.84992062e-01 1.75308545e-01 -4.31342050e-01 8.47682805e+00] [-1.57481469e-01 9.84513513e-01 7.70242118e-02 9.36730202e-02] [ 4.38165080e-01 -2.37436169e-04 8.98894491e-01 -5.61772465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.17824100800001 meters Centerline goodness : 0.896935 Centerline is valid? [False, False] Translation: X:8.47, Y:0.09, Z:-0.56 [[ 0.88637524 0.1788555 -0.42702417 8.46683158] [-0.15440117 0.98375774 0.09154775 0.09327246] [ 0.43646215 -0.01521263 0.899594 -0.55964613] [ 0. 0. 0. 1. ]] SLAMing on 89.20824100800002 meters Centerline goodness : 0.892745 Centerline is valid? [False, False] Translation: X:8.47, Y:0.09, Z:-0.56 [[ 0.88638304 0.17909172 -0.42690897 8.466974 ] [-0.15485115 0.98372256 0.09116493 0.09493978] [ 0.43628687 -0.0146997 0.89968755 -0.56063822] [ 0. 0. 0. 1. ]] SLAMing on 89.23824100800002 meters Centerline goodness : 0.890497 Centerline is valid? [False, False] Translation: X:8.47, Y:0.10, Z:-0.56 [[ 0.88634336 0.17932672 -0.42689269 8.4668283 ] [-0.15526152 0.98368636 0.0908571 0.09684487] [ 0.43622162 -0.01425057 0.89972641 -0.5610087 ] [ 0. 0. 0. 1. ]] SLAMing on 89.268241008 meters Centerline goodness : 0.890763 Centerline is valid? [False, False] Translation: X:8.47, Y:0.10, Z:-0.56 [[ 0.88626627 0.17979746 -0.42685475 8.46602396] [-0.15574355 0.98360233 0.09094181 0.09834465] [ 0.43620643 -0.01411878 0.89973585 -0.56071417] [ 0. 0. 0. 1. ]] SLAMing on 89.298241008 meters Centerline goodness : 0.890951 Centerline is valid? [False, False] Translation: X:8.46, Y:0.10, Z:-0.56 [[ 0.88623669 0.18131107 -0.42627552 8.46197495] [-0.15703344 0.98332054 0.09176716 0.09955782] [ 0.43580388 -0.01438791 0.89992665 -0.55956562] [ 0. 0. 0. 1. ]] SLAMing on 89.328241008 meters Centerline goodness : 0.892070 Centerline is valid? [False, False] Translation: X:8.46, Y:0.10, Z:-0.56 [[ 0.88620388 0.18178587 -0.4261415 8.46059404] [-0.15744657 0.98323208 0.09200684 0.10029267] [ 0.43572153 -0.0144423 0.89996565 -0.55901952] [ 0. 0. 0. 1. ]] SLAMing on 89.35824100800001 meters Centerline goodness : 0.888965 Centerline is valid? [False, False] Translation: X:8.46, Y:0.10, Z:-0.56 [[ 0.88614913 0.1820298 -0.42615123 8.45991591] [-0.15766242 0.98318693 0.09211964 0.10149349] [ 0.43575484 -0.01444371 0.8999495 -0.55841477] [ 0. 0. 0. 1. ]] SLAMing on 89.38824100800001 meters Centerline goodness : 0.891802 Centerline is valid? [False, False] Translation: X:8.46, Y:0.10, Z:-0.56 [[ 0.88619189 0.18194982 -0.42609647 8.45944938] [-0.15768925 0.98320477 0.09188295 0.10347793] [ 0.43565817 -0.0142351 0.89999962 -0.55824578] [ 0. 0. 0. 1. ]] SLAMing on 89.41824100800001 meters Centerline goodness : 0.892698 Centerline is valid? [False, False] Translation: X:8.46, Y:0.10, Z:-0.56 [[ 0.88609783 0.18163761 -0.42642515 8.46037054] [-0.15742933 0.98326421 0.09169245 0.10467586] [ 0.43594339 -0.01411666 0.89986337 -0.55780754] [ 0. 0. 0. 1. ]] SLAMing on 89.44824100800001 meters Centerline goodness : 0.891400 Centerline is valid? [False, False] Translation: X:8.46, Y:0.11, Z:-0.56 [[ 0.88607024 0.18114445 -0.42669219 8.46145398] [-0.15709913 0.98335957 0.091235 0.1058455 ] [ 0.43611856 -0.01380765 0.89978328 -0.55793571] [ 0. 0. 0. 1. ]] SLAMing on 89.47824100800001 meters Centerline goodness : 0.890621 Centerline is valid? [False, False] Translation: X:8.46, Y:0.11, Z:-0.56 [[ 0.88600157 0.18115395 -0.42683071 8.46152145] [-0.15707286 0.98335717 0.09130606 0.10627958] [ 0.43626749 -0.01385379 0.89971037 -0.55740666] [ 0. 0. 0. 1. ]] SLAMing on 89.50824100800001 meters Centerline goodness : 0.891997 Centerline is valid? [False, False] Translation: X:8.46, Y:0.11, Z:-0.56 [[ 0.88589337 0.18111596 -0.42707136 8.46165586] [-0.15700079 0.98336374 0.09135923 0.10663645] [ 0.4365131 -0.013884 0.89959077 -0.55673778] [ 0. 0. 0. 1. ]] SLAMing on 89.53824100800001 meters Centerline goodness : 0.893783 Centerline is valid? [False, False] Translation: X:8.46, Y:0.11, Z:-0.56 [[ 0.88585326 0.18123776 -0.42710288 8.46119876] [-0.15732272 0.98334807 0.0909733 0.1092574 ] [ 0.43647859 -0.01339601 0.89961491 -0.5567855 ] [ 0. 0. 0. 1. ]] SLAMing on 89.56824100800002 meters Centerline goodness : 0.892023 Centerline is valid? [False, False] Translation: X:8.46, Y:0.11, Z:-0.56 [[ 0.88585563 0.18129021 -0.42707571 8.46129408] [-0.15762996 0.98334614 0.09046087 0.11187121] [ 0.43636292 -0.01281534 0.89967948 -0.55739055] [ 0. 0. 0. 1. ]] SLAMing on 89.59824100800002 meters Centerline goodness : 0.892150 Centerline is valid? [False, False] Translation: X:8.46, Y:0.11, Z:-0.56 [[ 0.88497644 0.18645967 -0.42667259 8.46185262] [-0.16156369 0.98235672 0.09419366 0.11397142] [ 0.436708 -0.01442438 0.89948766 -0.55691685] [ 0. 0. 0. 1. ]] SLAMing on 89.62824100800002 meters Centerline goodness : 0.890257 Centerline is valid? [False, False] Translation: X:8.46, Y:0.12, Z:-0.56 [[ 0.88497058 0.18671638 -0.42657246 8.4618023 ] [-0.16211557 0.98231804 0.09364731 0.11633928] [ 0.4365153 -0.01372108 0.8995922 -0.55789376] [ 0. 0. 0. 1. ]] SLAMing on 89.658241008 meters Centerline goodness : 0.891152 Centerline is valid? [False, False] Translation: X:8.46, Y:0.12, Z:-0.56 [[ 0.88399096 0.1919406 -0.42628488 8.46246245] [-0.1657805 0.98127599 0.09805235 0.11597043] [ 0.43712334 -0.01600767 0.89925911 -0.55634873] [ 0. 0. 0. 1. ]] SLAMing on 89.688241008 meters Centerline goodness : 0.892699 Centerline is valid? [False, False] Translation: X:8.46, Y:0.12, Z:-0.56 [[ 0.88398749 0.19210236 -0.42621919 8.46270411] [-0.16638755 0.9812605 0.09717521 0.11932707] [ 0.43689964 -0.0149841 0.89938545 -0.55774667] [ 0. 0. 0. 1. ]] SLAMing on 89.718241008 meters Centerline goodness : 0.889307 Centerline is valid? [False, False] Translation: X:8.46, Y:0.12, Z:-0.56 [[ 0.88395227 0.19262449 -0.42605656 8.4621974 ] [-0.16723333 0.98117025 0.09663306 0.12230496] [ 0.43664792 -0.01416815 0.89952091 -0.55880295] [ 0. 0. 0. 1. ]] SLAMing on 89.74824100800001 meters Centerline goodness : 0.886937 Centerline is valid? [False, False] Translation: X:8.46, Y:0.12, Z:-0.56 [[ 0.8830072 0.1986722 -0.42523834 8.46106879] [-0.17201385 0.97993989 0.1006432 0.12397626] [ 0.43670302 -0.01572179 0.89946834 -0.55861625] [ 0. 0. 0. 1. ]] SLAMing on 89.77824100800001 meters Centerline goodness : 0.888913 Centerline is valid? [False, False] Translation: X:8.46, Y:0.13, Z:-0.56 [[ 0.8829506 0.19928883 -0.42506728 8.460455 ] [-0.17294422 0.97982738 0.10014287 0.1266666 ] [ 0.43644991 -0.01490828 0.89960503 -0.55971365] [ 0. 0. 0. 1. ]] SLAMing on 89.80824100800001 meters Centerline goodness : 0.886558 Centerline is valid? [False, False] Translation: X:8.46, Y:0.13, Z:-0.56 [[ 0.88295502 0.19986716 -0.42478648 8.4595973 ] [-0.17377649 0.97971914 0.09976036 0.12911846] [ 0.43611027 -0.01426601 0.89978015 -0.56061129] [ 0. 0. 0. 1. ]] SLAMing on 89.83824100800001 meters Centerline goodness : 0.888825 Centerline is valid? [False, False] Translation: X:8.46, Y:0.13, Z:-0.56 [[ 0.88296539 0.20020835 -0.42460421 8.4592306 ] [-0.17433796 0.9796571 0.09938937 0.13093128] [ 0.43586511 -0.01373274 0.89990723 -0.56142689] [ 0. 0. 0. 1. ]] SLAMing on 89.86824100800001 meters Centerline goodness : 0.889357 Centerline is valid? [False, False] Translation: X:8.46, Y:0.13, Z:-0.56 [[ 0.88279519 0.20172838 -0.42423851 8.45673112] [-0.17582229 0.97934806 0.09981937 0.1315034 ] [ 0.43561356 -0.01352947 0.9000321 -0.56156855] [ 0. 0. 0. 1. ]] SLAMing on 89.89824100800001 meters Centerline goodness : 0.885686 Centerline is valid? [False, False] Translation: X:8.46, Y:0.13, Z:-0.56 [[ 0.8827251 0.20230976 -0.42410748 8.45571079] [-0.1763239 0.97922717 0.10012008 0.13122551] [ 0.43555283 -0.01359822 0.90006045 -0.56140206] [ 0. 0. 0. 1. ]] SLAMing on 89.92824100800001 meters Centerline goodness : 0.887916 Centerline is valid? [False, False] Translation: X:8.45, Y:0.13, Z:-0.56 [[ 0.88271041 0.20274852 -0.4239285 8.45488047] [-0.17674302 0.97913668 0.10026599 0.13102155] [ 0.43541273 -0.01357943 0.90012852 -0.56153208] [ 0. 0. 0. 1. ]] SLAMing on 89.95824100800002 meters Centerline goodness : 0.887098 Centerline is valid? [False, False] Translation: X:8.45, Y:0.13, Z:-0.56 [[ 0.88325773 0.19955864 -0.42430193 8.45317096] [-0.17479021 0.97981852 0.09697445 0.1334886 ] [ 0.43509098 -0.01148961 0.90031318 -0.56227782] [ 0. 0. 0. 1. ]] SLAMing on 89.98824100800002 meters Centerline goodness : 0.886519 Centerline is valid? [False, False] Translation: X:8.45, Y:0.13, Z:-0.56 [[ 0.88413928 0.19465426 -0.42474399 8.45297602] [-0.17141643 0.98082936 0.09268316 0.13487185] [ 0.43464255 -0.00913672 0.9005567 -0.56368917] [ 0. 0. 0. 1. ]] SLAMing on 90.018241008 meters Centerline goodness : 0.885198 Centerline is valid? [False, False] Translation: X:8.45, Y:0.14, Z:-0.57 [[ 8.85031952e-01 1.89378165e-01 -4.25269743e-01 8.45350988e+00] [-1.67764808e-01 9.81881821e-01 8.81082243e-02 1.36757004e-01] [ 4.34250404e-01 -6.63329678e-03 9.00767776e-01 -5.65195969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.048241008 meters Centerline goodness : 0.882524 Centerline is valid? [False, False] Translation: X:8.46, Y:0.14, Z:-0.57 [[ 8.84953426e-01 1.88753367e-01 -4.25710700e-01 8.45562797e+00] [-1.67139552e-01 9.82001755e-01 8.79597777e-02 1.35455713e-01] [ 4.34651359e-01 -6.68721094e-03 9.00573971e-01 -5.65298057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.078241008 meters Centerline goodness : 0.884600 Centerline is valid? [False, False] Translation: X:8.46, Y:0.14, Z:-0.57 [[ 8.85773946e-01 1.83321597e-01 -4.26377425e-01 8.45644281e+00] [-1.63224456e-01 9.83043012e-01 8.35716010e-02 1.35280619e-01] [ 4.34467828e-01 -4.43032340e-03 9.00676456e-01 -5.66551777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.10824100800001 meters Centerline goodness : 0.886155 Centerline is valid? [False, False] Translation: X:8.46, Y:0.14, Z:-0.57 [[ 8.86579848e-01 1.78635813e-01 -4.26691247e-01 8.45526287e+00] [-1.60011255e-01 9.83912891e-01 7.94469677e-02 1.36522044e-01] [ 4.34019092e-01 -2.16067867e-03 9.00901082e-01 -5.67449450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.13824100800001 meters Centerline goodness : 0.882806 Centerline is valid? [False, False] Translation: X:8.45, Y:0.14, Z:-0.57 [[ 8.87363236e-01 1.74106055e-01 -4.26935088e-01 8.45391481e+00] [-1.56982962e-01 9.84726885e-01 7.52948273e-02 1.38019763e-01] [ 4.33523745e-01 2.07673157e-04 9.01142119e-01 -5.68568715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.16824100800001 meters Centerline goodness : 0.884706 Centerline is valid? [False, False] Translation: X:8.45, Y:0.14, Z:-0.57 [[ 8.88125922e-01 1.69330149e-01 -4.27269994e-01 8.45303785e+00] [-1.53770031e-01 9.85555730e-01 7.09554804e-02 1.39797077e-01] [ 4.33113293e-01 2.68391891e-03 9.01335493e-01 -5.69712526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.19824100800001 meters Centerline goodness : 0.885681 Centerline is valid? [False, False] Translation: X:8.45, Y:0.14, Z:-0.57 [[ 8.88923654e-01 1.64934129e-01 -4.27330634e-01 8.45119151e+00] [-1.50774981e-01 9.86292698e-01 6.70344650e-02 1.40517757e-01] [ 4.32529355e-01 4.84224647e-03 9.01606849e-01 -5.70702723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.22824100800001 meters Centerline goodness : 0.885681 Centerline is valid? [False, False] Translation: X:8.45, Y:0.14, Z:-0.57 [[ 8.88923654e-01 1.64934129e-01 -4.27330634e-01 8.45119151e+00] [-1.50774981e-01 9.86292698e-01 6.70344650e-02 1.40517757e-01] [ 4.32529355e-01 4.84224647e-03 9.01606849e-01 -5.70702723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.25824100800001 meters Centerline goodness : 0.884382 Centerline is valid? [False, False] Translation: X:8.45, Y:0.14, Z:-0.57 [[ 8.88872594e-01 1.65436011e-01 -4.27242834e-01 8.45005579e+00] [-1.51022352e-01 9.86210864e-01 6.76785172e-02 1.39578361e-01] [ 4.32547988e-01 4.36563845e-03 9.01600344e-01 -5.69867256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.28824100800001 meters Centerline goodness : 0.885576 Centerline is valid? [False, False] Translation: X:8.45, Y:0.14, Z:-0.57 [[ 8.88825148e-01 1.65795470e-01 -4.27202199e-01 8.44941457e+00] [-1.51200873e-01 9.86151921e-01 6.81372490e-02 1.38848941e-01] [ 4.32583117e-01 4.03124526e-03 9.01585047e-01 -5.69319342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.31824100800002 meters Centerline goodness : 0.883215 Centerline is valid? [False, False] Translation: X:8.45, Y:0.14, Z:-0.57 [[ 8.88768346e-01 1.66174139e-01 -4.27173246e-01 8.44872074e+00] [-1.51359482e-01 9.86089799e-01 6.86819857e-02 1.37918206e-01] [ 4.32644350e-01 3.61434645e-03 9.01557432e-01 -5.68637629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.34824100800002 meters Centerline goodness : 0.883139 Centerline is valid? [False, False] Translation: X:8.45, Y:0.14, Z:-0.57 [[ 8.88770293e-01 1.66110603e-01 -4.27193907e-01 8.44958520e+00] [-1.51264678e-01 9.86100804e-01 6.87328305e-02 1.36744927e-01] [ 4.32673507e-01 3.53165108e-03 9.01543767e-01 -5.69129390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.37824100800002 meters Centerline goodness : 0.884132 Centerline is valid? [False, False] Translation: X:8.45, Y:0.14, Z:-0.57 [[ 8.88724885e-01 1.66020903e-01 -4.27323226e-01 8.45031581e+00] [-1.51109404e-01 9.86116428e-01 6.88501127e-02 1.36047474e-01] [ 4.32821011e-01 3.38374930e-03 9.01473529e-01 -5.69089998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.408241008 meters Centerline goodness : 0.881294 Centerline is valid? [False, False] Translation: X:8.45, Y:0.13, Z:-0.57 [[ 8.88650782e-01 1.66182030e-01 -4.27414693e-01 8.45043902e+00] [-1.51054995e-01 9.86090689e-01 6.93364390e-02 1.34371219e-01] [ 4.32992119e-01 2.94724354e-03 9.01392888e-01 -5.68572993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.438241008 meters Centerline goodness : 0.883024 Centerline is valid? [False, False] Translation: X:8.45, Y:0.13, Z:-0.57 [[ 8.89345469e-01 1.61382861e-01 -4.27808613e-01 8.44966546e+00] [-1.47537303e-01 9.86880211e-01 6.55758657e-02 1.33031928e-01] [ 4.32778675e-01 4.79812990e-03 9.01487435e-01 -5.69126405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.468241008 meters Centerline goodness : 0.883739 Centerline is valid? [False, False] Translation: X:8.45, Y:0.13, Z:-0.57 [[ 8.90117870e-01 1.56357741e-01 -4.28068259e-01 8.44920359e+00] [-1.44035964e-01 9.87674736e-01 6.12556616e-02 1.33854803e-01] [ 4.32370001e-01 7.13246544e-03 9.01668071e-01 -5.70382887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49824100800001 meters Centerline goodness : 0.882808 Centerline is valid? [False, False] Translation: X:8.45, Y:0.13, Z:-0.57 [[ 8.89994057e-01 1.56570068e-01 -4.28248050e-01 8.44949481e+00] [-1.43917886e-01 9.87645751e-01 6.19960760e-02 1.31049649e-01] [ 4.32664097e-01 6.45641485e-03 9.01532082e-01 -5.69651455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.52824100800001 meters Centerline goodness : 0.883509 Centerline is valid? [False, False] Translation: X:8.45, Y:0.13, Z:-0.57 [[ 8.89842882e-01 1.57162427e-01 -4.28345207e-01 8.44934719e+00] [-1.43880285e-01 9.87559212e-01 6.34449854e-02 1.26565807e-01] [ 4.32987423e-01 5.17436179e-03 9.01385110e-01 -5.68239526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.55824100800001 meters Centerline goodness : 0.881365 Centerline is valid? [False, False] Translation: X:8.45, Y:0.13, Z:-0.57 [[ 8.89815038e-01 1.57549878e-01 -4.28260708e-01 8.44907365e+00] [-1.44073736e-01 9.87499318e-01 6.39363350e-02 1.25339370e-01] [ 4.32980319e-01 4.80960796e-03 9.01390543e-01 -5.68049665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.58824100800001 meters Centerline goodness : 0.880306 Centerline is valid? [False, False] Translation: X:8.45, Y:0.12, Z:-0.57 [[ 8.89817915e-01 1.58193121e-01 -4.28017539e-01 8.44786491e+00] [-1.44517735e-01 9.87398087e-01 6.44952884e-02 1.24753887e-01] [ 4.32826411e-01 4.46706247e-03 9.01466219e-01 -5.67695605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.61824100800001 meters Centerline goodness : 0.878430 Centerline is valid? [False, False] Translation: X:8.44, Y:0.13, Z:-0.57 [[ 8.90552998e-01 1.54768063e-01 -4.27740815e-01 8.44353242e+00] [-1.42361828e-01 9.87929357e-01 6.10630521e-02 1.26376200e-01] [ 4.32028318e-01 6.51408028e-03 9.01836515e-01 -5.68090907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.64824100800001 meters Centerline goodness : 0.878205 Centerline is valid? [False, False] Translation: X:8.44, Y:0.13, Z:-0.57 [[ 8.90531299e-01 1.55247866e-01 -4.27612096e-01 8.44225905e+00] [-1.42607146e-01 9.87856898e-01 6.16599669e-02 1.25546769e-01] [ 4.31992137e-01 6.07041041e-03 9.01856942e-01 -5.67271836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.67824100800001 meters Centerline goodness : 0.876378 Centerline is valid? [False, False] Translation: X:8.44, Y:0.13, Z:-0.57 [[ 8.90548742e-01 1.55618393e-01 -4.27441053e-01 8.44134352e+00] [-1.42824963e-01 9.87800331e-01 6.20607418e-02 1.25291715e-01] [ 4.31884206e-01 5.78113719e-03 9.01910534e-01 -5.66848864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.70824100800002 meters Centerline goodness : 0.876306 Centerline is valid? [False, False] Translation: X:8.44, Y:0.12, Z:-0.57 [[ 8.90523192e-01 1.55653470e-01 -4.27481510e-01 8.44145200e+00] [-1.42760802e-01 9.87796024e-01 6.22765500e-02 1.24914532e-01] [ 4.31958097e-01 5.56889113e-03 9.01876483e-01 -5.66557140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.73824100800002 meters Centerline goodness : 0.874566 Centerline is valid? [False, False] Translation: X:8.44, Y:0.12, Z:-0.57 [[ 8.90476521e-01 1.55043047e-01 -4.27800443e-01 8.44311248e+00] [-1.41997952e-01 9.87894407e-01 6.24597685e-02 1.23658858e-01] [ 4.32305618e-01 5.12782959e-03 9.01712569e-01 -5.65990932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.76824100800002 meters Centerline goodness : 0.873131 Centerline is valid? [False, False] Translation: X:8.44, Y:0.12, Z:-0.57 [[ 8.90431571e-01 1.54594920e-01 -4.28056103e-01 8.44440459e+00] [-1.41504505e-01 9.87965491e-01 6.24552897e-02 1.23004288e-01] [ 4.32559929e-01 4.95970500e-03 9.01591542e-01 -5.65769047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.798241008 meters Centerline goodness : 0.873197 Centerline is valid? [False, False] Translation: X:8.45, Y:0.12, Z:-0.57 [[ 8.90373390e-01 1.54055091e-01 -4.28371633e-01 8.44569632e+00] [-1.40923546e-01 9.88050653e-01 6.24216376e-02 1.22465557e-01] [ 4.32869243e-01 4.78908430e-03 9.01443999e-01 -5.65405581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.828241008 meters Centerline goodness : 0.872663 Centerline is valid? [False, False] Translation: X:8.45, Y:0.12, Z:-0.57 [[ 8.90975364e-01 1.47981495e-01 -4.29260269e-01 8.44784501e+00] [-1.36520238e-01 9.88963113e-01 5.75689703e-02 1.23346545e-01] [ 4.33041714e-01 7.31017969e-03 9.01344238e-01 -5.66552272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.85824100800001 meters Centerline goodness : 0.870418 Centerline is valid? [False, False] Translation: X:8.45, Y:0.12, Z:-0.57 [[ 8.90802193e-01 1.47703413e-01 -4.29715202e-01 8.44907399e+00] [-1.36002146e-01 9.89008567e-01 5.80126824e-02 1.21862285e-01] [ 4.33560687e-01 6.76436482e-03 9.01098981e-01 -5.65426830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.88824100800001 meters Centerline goodness : 0.872062 Centerline is valid? [False, False] Translation: X:8.45, Y:0.12, Z:-0.56 [[ 8.90680941e-01 1.47377498e-01 -4.30078288e-01 8.45019013e+00] [-1.35473418e-01 9.89060384e-01 5.83653113e-02 1.20913746e-01] [ 4.33975130e-01 6.27930530e-03 9.00902968e-01 -5.64411571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.91824100800001 meters Centerline goodness : 0.868801 Centerline is valid? [False, False] Translation: X:8.45, Y:0.12, Z:-0.56 [[ 8.90581484e-01 1.46758925e-01 -4.30495573e-01 8.45210701e+00] [-1.34712856e-01 9.89154857e-01 5.85244772e-02 1.20532577e-01] [ 4.34415777e-01 5.87247249e-03 9.00693315e-01 -5.63455383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.94824100800001 meters Centerline goodness : 0.873587 Centerline is valid? [False, False] Translation: X:8.45, Y:0.12, Z:-0.56 [[ 8.90518135e-01 1.45525717e-01 -4.31044914e-01 8.45440463e+00] [-1.33330105e-01 9.89340147e-01 5.85589966e-02 1.19563283e-01] [ 4.34971878e-01 5.32341536e-03 9.00428302e-01 -5.62128219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.97824100800001 meters Centerline goodness : 0.874031 Centerline is valid? [False, False] Translation: X:8.46, Y:0.12, Z:-0.56 [[ 8.90365820e-01 1.44894641e-01 -4.31571836e-01 8.45611562e+00] [-1.32644383e-01 9.89433796e-01 5.85340096e-02 1.19430476e-01] [ 4.35493024e-01 5.12889854e-03 9.00177494e-01 -5.61311896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.00824100800001 meters Centerline goodness : 0.872819 Centerline is valid? [False, False] Translation: X:8.46, Y:0.12, Z:-0.56 [[ 8.90255453e-01 1.44160489e-01 -4.32045115e-01 8.45801205e+00] [-1.31944601e-01 9.89541158e-01 5.83002450e-02 1.19719188e-01] [ 4.35931016e-01 5.10390950e-03 8.99965610e-01 -5.60934628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.03824100800001 meters Centerline goodness : 0.872422 Centerline is valid? [False, False] Translation: X:8.46, Y:0.12, Z:-0.56 [[ 8.90153573e-01 1.42513047e-01 -4.32800933e-01 8.46162272e+00] [-1.30471073e-01 9.89779158e-01 5.75718530e-02 1.20304362e-01] [ 4.36582083e-01 5.22021139e-03 8.99649284e-01 -5.60550525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.06824100800002 meters Centerline goodness : 0.869460 Centerline is valid? [False, False] Translation: X:8.47, Y:0.12, Z:-0.55 [[ 8.89303305e-01 1.46181482e-01 -4.33325059e-01 8.46512034e+00] [-1.31480893e-01 9.89257777e-01 6.38891630e-02 1.17593272e-01] [ 4.38009597e-01 1.57121823e-04 8.98970282e-01 -5.53564839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.09824100800002 meters Centerline goodness : 0.868894 Centerline is valid? [False, False] Translation: X:8.47, Y:0.12, Z:-0.55 [[ 8.89305866e-01 1.45556267e-01 -4.33530218e-01 8.46626157e+00] [-1.30969276e-01 9.89349930e-01 6.35119211e-02 1.18254723e-01] [ 4.38157649e-01 2.97614864e-04 8.98898095e-01 -5.53506836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.12824100800002 meters Centerline goodness : 0.871590 Centerline is valid? [False, False] Translation: X:8.47, Y:0.12, Z:-0.55 [[ 8.89232603e-01 1.45110317e-01 -4.33829891e-01 8.46694452e+00] [-1.30497513e-01 9.89415465e-01 6.34620824e-02 1.18738372e-01] [ 4.38447006e-01 1.81169148e-04 8.98757025e-01 -5.52746016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.158241008 meters Centerline goodness : 0.868656 Centerline is valid? [False, False] Translation: X:8.46, Y:0.12, Z:-0.56 [[ 8.92507906e-01 1.40850983e-01 -4.28474782e-01 8.46141398e+00] [-1.26561778e-01 9.90030354e-01 6.18224506e-02 1.23714622e-01] [ 4.32910793e-01 -9.48495600e-04 9.01436268e-01 -5.58457651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.188241008 meters Centerline goodness : 0.870881 Centerline is valid? [False, False] Translation: X:8.46, Y:0.13, Z:-0.56 [[ 8.93681944e-01 1.41748570e-01 -4.25722827e-01 8.45836186e+00] [-1.27085197e-01 9.89900599e-01 6.28184507e-02 1.26434622e-01] [ 4.30327707e-01 -2.03664575e-03 9.02670436e-01 -5.59962694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.218241008 meters Centerline goodness : 0.871330 Centerline is valid? [False, False] Translation: X:8.46, Y:0.13, Z:-0.56 [[ 8.93732338e-01 1.41360106e-01 -4.25746202e-01 8.45893025e+00] [-1.26989325e-01 9.89957179e-01 6.21167839e-02 1.29374207e-01] [ 4.30251344e-01 -1.45055567e-03 9.02707969e-01 -5.60399158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.24824100800001 meters Centerline goodness : 0.869766 Centerline is valid? [False, False] Translation: X:8.46, Y:0.13, Z:-0.56 [[ 8.93754647e-01 1.40881516e-01 -4.25857992e-01 8.45982548e+00] [-1.26820757e-01 9.90026115e-01 6.13578690e-02 1.32208571e-01] [ 4.30254723e-01 -8.31247675e-04 9.02707141e-01 -5.60903282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.27824100800001 meters Centerline goodness : 0.871792 Centerline is valid? [False, False] Translation: X:8.46, Y:0.13, Z:-0.56 [[ 8.93053689e-01 1.46098860e-01 -4.25570477e-01 8.45952256e+00] [-1.30683805e-01 9.89266114e-01 6.53781191e-02 1.34413796e-01] [ 4.30554121e-01 -2.77100109e-03 9.02560508e-01 -5.59560745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.30824100800001 meters Centerline goodness : 0.872401 Centerline is valid? [False, False] Translation: X:8.46, Y:0.14, Z:-0.56 [[ 8.93099669e-01 1.46463265e-01 -4.25348672e-01 8.45859038e+00] [-1.31256407e-01 9.89213564e-01 6.50252284e-02 1.37664247e-01] [ 4.30284483e-01 -2.24427138e-03 9.02690549e-01 -5.59878500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33824100800001 meters Centerline goodness : 0.871076 Centerline is valid? [False, False] Translation: X:8.46, Y:0.14, Z:-0.56 [[ 8.92320139e-01 1.52271832e-01 -4.24944772e-01 8.45774027e+00] [-1.35225676e-01 9.88325108e-01 7.01961356e-02 1.37246700e-01] [ 4.30672482e-01 -5.17398135e-03 9.02493459e-01 -5.57204581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.36824100800001 meters Centerline goodness : 0.870341 Centerline is valid? [False, False] Translation: X:8.46, Y:0.14, Z:-0.56 [[ 8.91525992e-01 1.57726727e-01 -4.24621815e-01 8.45713279e+00] [-1.39400762e-01 9.87458836e-01 7.41112363e-02 1.40043736e-01] [ 4.30985885e-01 -6.87948896e-03 9.02332444e-01 -5.55991269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.39824100800001 meters Centerline goodness : 0.871815 Centerline is valid? [False, False] Translation: X:8.46, Y:0.14, Z:-0.56 [[ 8.91494692e-01 1.57772271e-01 -4.24670608e-01 8.45749237e+00] [-1.39719738e-01 9.87455853e-01 7.35481732e-02 1.43604685e-01] [ 4.30947340e-01 -6.23293975e-03 9.02355551e-01 -5.56526772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.42824100800001 meters Centerline goodness : 0.870511 Centerline is valid? [False, False] Translation: X:8.46, Y:0.15, Z:-0.56 [[ 8.91519772e-01 1.57784145e-01 -4.24613541e-01 8.45761847e+00] [-1.40039204e-01 9.87458109e-01 7.29075046e-02 1.46949641e-01] [ 4.30791733e-01 -5.53593954e-03 9.02434395e-01 -5.57222302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.45824100800002 meters Centerline goodness : 0.870013 Centerline is valid? [False, False] Translation: X:8.46, Y:0.15, Z:-0.56 [[ 8.91525476e-01 1.57849294e-01 -4.24577349e-01 8.45738842e+00] [-1.40325062e-01 9.87450448e-01 7.24602687e-02 1.49547020e-01] [ 4.30686896e-01 -5.02133282e-03 9.02487443e-01 -5.57534832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.48824100800002 meters Centerline goodness : 0.869383 Centerline is valid? [False, False] Translation: X:8.46, Y:0.15, Z:-0.56 [[ 8.91490620e-01 1.58226955e-01 -4.24509959e-01 8.45655612e+00] [-1.40946357e-01 9.87393029e-01 7.20356162e-02 1.52875313e-01] [ 4.30556151e-01 -4.38594373e-03 9.02553137e-01 -5.57751179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.51824100800002 meters Centerline goodness : 0.870890 Centerline is valid? [False, False] Translation: X:8.46, Y:0.15, Z:-0.56 [[ 8.91470583e-01 1.58247372e-01 -4.24544424e-01 8.45624862e+00] [-1.41034132e-01 9.87390479e-01 7.18986451e-02 1.54130245e-01] [ 4.30568894e-01 -4.22027276e-03 9.02547847e-01 -5.57512415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.548241008 meters Centerline goodness : 0.872361 Centerline is valid? [False, False] Translation: X:8.46, Y:0.16, Z:-0.56 [[ 8.91442856e-01 1.58480026e-01 -4.24515861e-01 8.45548292e+00] [-1.41257195e-01 9.87353282e-01 7.19715321e-02 1.55329488e-01] [ 4.30553179e-01 -4.19258841e-03 9.02555473e-01 -5.57017562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.578241008 meters Centerline goodness : 0.870685 Centerline is valid? [False, False] Translation: X:8.45, Y:0.16, Z:-0.56 [[ 8.91423241e-01 1.58829321e-01 -4.24426498e-01 8.45469240e+00] [-1.41504109e-01 9.87296422e-01 7.22659153e-02 1.56326723e-01] [ 4.30512709e-01 -4.36142312e-03 9.02573978e-01 -5.56285443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.60824100800001 meters Centerline goodness : 0.874289 Centerline is valid? [False, False] Translation: X:8.45, Y:0.16, Z:-0.56 [[ 8.91431629e-01 1.59141709e-01 -4.24291843e-01 8.45371866e+00] [-1.41797007e-01 9.87246134e-01 7.23787182e-02 1.57309372e-01] [ 4.30398955e-01 -4.35736506e-03 9.02628248e-01 -5.55937421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.63824100800001 meters Centerline goodness : 0.868127 Centerline is valid? [False, False] Translation: X:8.45, Y:0.16, Z:-0.56 [[ 8.91374543e-01 1.59131220e-01 -4.24415692e-01 8.45396196e+00] [-1.41785651e-01 9.87247907e-01 7.23767866e-02 1.57966033e-01] [ 4.30520910e-01 -4.33876987e-03 9.02570175e-01 -5.55676021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.66824100800001 meters Centerline goodness : 0.870471 Centerline is valid? [False, False] Translation: X:8.45, Y:0.16, Z:-0.56 [[ 8.91345585e-01 1.59108624e-01 -4.24484974e-01 8.45448707e+00] [-1.41762695e-01 9.87251578e-01 7.23716730e-02 1.58836309e-01] [ 4.30588418e-01 -4.33203708e-03 9.02538003e-01 -5.55591221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.69824100800001 meters Centerline goodness : 0.864933 Centerline is valid? [False, False] Translation: X:8.45, Y:0.16, Z:-0.55 [[ 8.91326684e-01 1.59323673e-01 -4.24444000e-01 8.45395662e+00] [-1.41879593e-01 9.87216082e-01 7.26263656e-02 1.60110265e-01] [ 4.30589042e-01 -4.51387577e-03 9.02536815e-01 -5.54908200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.72824100800001 meters Centerline goodness : 0.867171 Centerline is valid? [False, False] Translation: X:8.45, Y:0.16, Z:-0.55 [[ 8.91257886e-01 1.59755959e-01 -4.24425981e-01 8.45303018e+00] [-1.42083561e-01 9.87144187e-01 7.32025679e-02 1.59875055e-01] [ 4.30664187e-01 -4.93841106e-03 9.02498737e-01 -5.53881206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.75824100800001 meters Centerline goodness : 0.867558 Centerline is valid? [False, False] Translation: X:8.45, Y:0.16, Z:-0.55 [[ 8.91150781e-01 1.59944949e-01 -4.24579673e-01 8.45291107e+00] [-1.42147761e-01 9.87112498e-01 7.35046260e-02 1.59779243e-01] [ 4.30864596e-01 -5.15065483e-03 9.02401890e-01 -5.53128657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.78824100800001 meters Centerline goodness : 0.867639 Centerline is valid? [False, False] Translation: X:8.45, Y:0.16, Z:-0.55 [[ 0.89024415 0.16462181 -0.42469403 8.4545224 ] [-0.14465153 0.98631582 0.07910148 0.15739333] [ 0.43190427 -0.00898699 0.90187468 -0.5487805 ] [ 0. 0. 0. 1. ]] SLAMing on 91.81824100800002 meters Centerline goodness : 0.868968 Centerline is valid? [False, False] Translation: X:8.45, Y:0.16, Z:-0.55 [[ 0.89020523 0.16470527 -0.42474325 8.45452568] [-0.14470262 0.98630148 0.07918672 0.15803607] [ 0.43196737 -0.00903097 0.90184402 -0.54834258] [ 0. 0. 0. 1. ]] SLAMing on 91.84824100800002 meters Centerline goodness : 0.867564 Centerline is valid? [False, False] Translation: X:8.45, Y:0.16, Z:-0.55 [[ 0.89017532 0.16478839 -0.42477369 8.45435544] [-0.14466587 0.9862853 0.07945496 0.15822222] [ 0.4320413 -0.00927859 0.90180609 -0.54759932] [ 0. 0. 0. 1. ]] SLAMing on 91.87824100800002 meters Centerline goodness : 0.868635 Centerline is valid? [False, False] Translation: X:8.45, Y:0.16, Z:-0.55 [[ 0.89016989 0.16499991 -0.42470296 8.45381084] [-0.14463783 0.986245 0.08000437 0.15789301] [ 0.43206188 -0.00978937 0.90179083 -0.54652349] [ 0. 0. 0. 1. ]] SLAMing on 91.908241008 meters Centerline goodness : 0.868117 Centerline is valid? [False, False] Translation: X:8.45, Y:0.16, Z:-0.55 [[ 0.89185383 0.1639041 -0.42158295 8.45236853] [-0.14337278 0.98641404 0.08019712 0.15963574] [ 0.42899998 -0.01108059 0.90323653 -0.54952401] [ 0. 0. 0. 1. ]] SLAMing on 91.938241008 meters Centerline goodness : 0.865639 Centerline is valid? [False, False] Translation: X:8.45, Y:0.16, Z:-0.55 [[ 0.89181524 0.1633664 -0.42187319 8.45401445] [-0.14286892 0.98650335 0.07999756 0.15986321] [ 0.42924823 -0.01107047 0.90311871 -0.54939215] [ 0. 0. 0. 1. ]] SLAMing on 91.968241008 meters Centerline goodness : 0.865842 Centerline is valid? [False, False] Translation: X:8.45, Y:0.16, Z:-0.55 [[ 0.89174351 0.16299747 -0.42216742 8.45495453] [-0.14238087 0.98656096 0.08015713 0.1590172 ] [ 0.42955931 -0.01137104 0.90296705 -0.54861388] [ 0. 0. 0. 1. ]] SLAMing on 91.99824100800001 meters Centerline goodness : 0.864740 Centerline is valid? [False, False] Translation: X:8.46, Y:0.16, Z:-0.55 [[ 0.89159425 0.16269963 -0.42259735 8.45569628] [-0.14174224 0.98660102 0.08079336 0.1568608 ] [ 0.43008003 -0.012135 0.90270921 -0.54701814] [ 0. 0. 0. 1. ]] SLAMing on 92.02824100800001 meters Centerline goodness : 0.866939 Centerline is valid? [False, False] Translation: X:8.41, Y:0.16, Z:-0.56 [[ 0.89274992 0.16064406 -0.42094068 8.41088165] [-0.13585142 0.98677185 0.08846304 0.16036403] [ 0.42958348 -0.02178998 0.90276422 -0.56098179] [ 0. 0. 0. 1. ]] SLAMing on 92.05824100800001 meters Centerline goodness : 0.865273 Centerline is valid? [False, False] Translation: X:8.41, Y:0.16, Z:-0.56 [[ 0.8926857 0.16034533 -0.42119072 8.41190635] [-0.13554196 0.98681957 0.08840541 0.16028691] [ 0.42981463 -0.02182923 0.90265324 -0.56081839] [ 0. 0. 0. 1. ]] SLAMing on 92.08824100800001 meters Centerline goodness : 0.865308 Centerline is valid? [False, False] Translation: X:8.39, Y:0.16, Z:-0.57 [[ 0.89251423 0.16063752 -0.42144268 8.38937152] [-0.13403672 0.98667561 0.09222475 0.16478473] [ 0.43064197 -0.02582311 0.90215335 -0.57001573] [ 0. 0. 0. 1. ]] SLAMing on 92.11824100800001 meters Centerline goodness : 0.864526 Centerline is valid? [False, False] Translation: X:8.39, Y:0.17, Z:-0.57 [[ 0.89250124 0.16036511 -0.42157392 8.39022723] [-0.13394427 0.98672973 0.09177889 0.16604477] [ 0.43069765 -0.02544536 0.9021375 -0.57049445] [ 0. 0. 0. 1. ]] SLAMing on 92.14824100800001 meters Centerline goodness : 0.864526 Centerline is valid? [False, False] Translation: X:8.39, Y:0.17, Z:-0.57 [[ 0.89250642 0.1603571 -0.421566 8.39022335] [-0.13394311 0.98673134 0.09176331 0.16609106] [ 0.43068728 -0.02543348 0.90214278 -0.57051052] [ 0. 0. 0. 1. ]] SLAMing on 92.17824100800001 meters Centerline goodness : 0.865743 Centerline is valid? [False, False] Translation: X:8.39, Y:0.17, Z:-0.57 [[ 0.89245368 0.16080127 -0.42150845 8.39032364] [-0.1346821 0.98667857 0.0912476 0.16938636] [ 0.43056609 -0.02466462 0.90222198 -0.57157439] [ 0. 0. 0. 1. ]] SLAMing on 92.20824100800002 meters Centerline goodness : 0.864297 Centerline is valid? [False, False] Translation: X:8.39, Y:0.17, Z:-0.57 [[ 0.89244703 0.16091976 -0.42147732 8.39059629] [-0.13509976 0.98667667 0.09064874 0.17205759] [ 0.43044901 -0.02395771 0.90229689 -0.57245765] [ 0. 0. 0. 1. ]] SLAMing on 92.23824100800002 meters Centerline goodness : 0.858495 Centerline is valid? [False, False] Translation: X:8.39, Y:0.17, Z:-0.57 [[ 0.8924663 0.1611492 -0.42134883 8.39049508] [-0.13567875 0.98665895 0.08997436 0.17478644] [ 0.43022689 -0.023131 0.90242439 -0.57357253] [ 0. 0. 0. 1. ]] SLAMing on 92.26824100800002 meters Centerline goodness : 0.860604 Centerline is valid? [False, False] Translation: X:8.39, Y:0.18, Z:-0.57 [[ 0.89244778 0.16223699 -0.42097045 8.38865222] [-0.13687651 0.98649056 0.09000661 0.17680246] [ 0.42988577 -0.02270523 0.90259775 -0.57405156] [ 0. 0. 0. 1. ]] SLAMing on 92.298241008 meters Centerline goodness : 0.864760 Centerline is valid? [False, False] Translation: X:8.38, Y:0.18, Z:-0.57 [[ 0.89217066 0.1661547 -0.42002872 8.38254768] [-0.14058242 0.98584363 0.09137242 0.17876241] [ 0.42926459 -0.02247113 0.9028992 -0.57434683] [ 0. 0. 0. 1. ]] SLAMing on 92.328241008 meters Centerline goodness : 0.859510 Centerline is valid? [False, False] Translation: X:8.38, Y:0.18, Z:-0.57 [[ 0.89221321 0.16736943 -0.41945568 8.38002251] [-0.14176681 0.9856401 0.09173747 0.1799824 ] [ 0.42878638 -0.02238449 0.90312855 -0.57448656] [ 0. 0. 0. 1. ]] SLAMing on 92.35824100800001 meters Centerline goodness : 0.860796 Centerline is valid? [False, False] Translation: X:8.38, Y:0.18, Z:-0.57 [[ 0.89228337 0.16843825 -0.41887819 8.3776441 ] [-0.14283083 0.98546047 0.09201639 0.18098176] [ 0.42828697 -0.02227598 0.90336817 -0.57472323] [ 0. 0. 0. 1. ]] SLAMing on 92.38824100800001 meters Centerline goodness : 0.859176 Centerline is valid? [False, False] Translation: X:8.38, Y:0.18, Z:-0.57 [[ 0.89228355 0.16924452 -0.4185527 8.37608126] [-0.14363223 0.98532468 0.09222284 0.18148183] [ 0.42801851 -0.02217127 0.90349797 -0.57489282] [ 0. 0. 0. 1. ]] SLAMing on 92.41824100800001 meters Centerline goodness : 0.857867 Centerline is valid? [False, False] Translation: X:8.37, Y:0.18, Z:-0.58 [[ 0.89232258 0.17108653 -0.41771978 8.37237203] [-0.14530494 0.98500318 0.09303341 0.18140025] [ 0.42737208 -0.02231907 0.90380029 -0.57507558] [ 0. 0. 0. 1. ]] SLAMing on 92.44824100800001 meters Centerline goodness : 0.856059 Centerline is valid? [False, False] Translation: X:8.37, Y:0.18, Z:-0.58 [[ 0.89227886 0.17144787 -0.41766502 8.37199238] [-0.14558855 0.98493795 0.09328032 0.18073207] [ 0.42736684 -0.02242482 0.90380015 -0.5750184 ] [ 0. 0. 0. 1. ]] SLAMing on 92.47824100800001 meters Centerline goodness : 0.858257 Centerline is valid? [False, False] Translation: X:8.37, Y:0.18, Z:-0.58 [[ 0.89290667 0.16721161 -0.41804061 8.37127757] [-0.1428283 0.98571929 0.08920512 0.1825965 ] [ 0.42698682 -0.01994381 0.90403788 -0.57629787] [ 0. 0. 0. 1. ]] SLAMing on 92.50824100800001 meters Centerline goodness : 0.857954 Centerline is valid? [False, False] Translation: X:8.37, Y:0.18, Z:-0.58 [[ 0.89356396 0.16281347 -0.41837211 8.37096789] [-0.13992909 0.98650254 0.08504464 0.18415407] [ 0.42657157 -0.0174504 0.90428545 -0.57785662] [ 0. 0. 0. 1. ]] SLAMing on 92.53824100800001 meters Centerline goodness : 0.856253 Centerline is valid? [False, False] Translation: X:8.37, Y:0.18, Z:-0.58 [[ 0.8942889 0.15845766 -0.41849556 8.36969924] [-0.13698868 0.98724914 0.08107549 0.18382983] [ 0.42600641 -0.01517576 0.90459285 -0.5792824 ] [ 0. 0. 0. 1. ]] SLAMing on 92.56824100800002 meters Centerline goodness : 0.854216 Centerline is valid? [False, False] Translation: X:8.37, Y:0.18, Z:-0.58 [[ 0.89508167 0.15396727 -0.41847687 8.36812902] [-0.13392998 0.98799158 0.07704153 0.18412246] [ 0.4253135 -0.01291186 0.90495398 -0.58060752] [ 0. 0. 0. 1. ]] SLAMing on 92.59824100800002 meters Centerline goodness : 0.854081 Centerline is valid? [False, False] Translation: X:8.37, Y:0.18, Z:-0.58 [[ 0.89574439 0.14878679 -0.41893255 8.36859781] [-0.13007561 0.98880867 0.0730599 0.18227723] [ 0.42511448 -0.0109501 0.90507335 -0.58162069] [ 0. 0. 0. 1. ]] SLAMing on 92.62824100800002 meters Centerline goodness : 0.854527 Centerline is valid? [False, False] Translation: X:8.37, Y:0.18, Z:-0.58 [[ 0.89564289 0.14829717 -0.41932297 8.37071383] [-0.12945342 0.9888783 0.07322235 0.18050101] [ 0.42551806 -0.01129829 0.9048794 -0.5814412 ] [ 0. 0. 0. 1. ]] SLAMing on 92.658241008 meters Centerline goodness : 0.850717 Centerline is valid? [False, False] Translation: X:8.37, Y:0.18, Z:-0.58 [[ 0.89555877 0.14748533 -0.41978871 8.37336315] [-0.12858001 0.98899689 0.0731596 0.17877502] [ 0.4259597 -0.01154229 0.90466851 -0.58146441] [ 0. 0. 0. 1. ]] SLAMing on 92.688241008 meters Centerline goodness : 0.851534 Centerline is valid? [False, False] Translation: X:8.38, Y:0.18, Z:-0.58 [[ 0.8954033 0.1468017 -0.4203596 8.37568092] [-0.12765731 0.98909134 0.07349782 0.17588467] [ 0.42656365 -0.01214822 0.90437596 -0.58067552] [ 0. 0. 0. 1. ]] SLAMing on 92.718241008 meters Centerline goodness : 0.850168 Centerline is valid? [False, False] Translation: X:8.38, Y:0.18, Z:-0.58 [[ 0.89606628 0.14161251 -0.4207269 8.37578324] [-0.12384495 0.98987069 0.06941507 0.17517208] [ 0.42629527 -0.0100956 0.90452773 -0.58156554] [ 0. 0. 0. 1. ]] SLAMing on 92.74824100800001 meters Centerline goodness : 0.850123 Centerline is valid? [False, False] Translation: X:8.38, Y:0.17, Z:-0.58 [[ 0.89656602 0.13662005 -0.42131263 8.3752518 ] [-0.11964794 0.99057982 0.06660324 0.17067788] [ 0.42644313 -0.00930501 0.90446652 -0.58019573] [ 0. 0. 0. 1. ]] SLAMing on 92.77824100800001 meters Centerline goodness : 0.849714 Centerline is valid? [False, False] Translation: X:8.38, Y:0.17, Z:-0.58 [[ 8.97220709e-01 1.31500282e-01 -4.21547951e-01 8.37514201e+00] [-1.16015941e-01 9.91291473e-01 6.23018158e-02 1.71421705e-01] [ 4.26069595e-01 -6.99219701e-03 9.04663368e-01 -5.81392592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.80824100800001 meters Centerline goodness : 0.849272 Centerline is valid? [False, False] Translation: X:8.38, Y:0.17, Z:-0.58 [[ 8.97052674e-01 1.31337079e-01 -4.21956243e-01 8.37617952e+00] [-1.15591779e-01 9.91308861e-01 6.28114787e-02 1.69390492e-01] [ 4.26538439e-01 -7.57053221e-03 9.04437752e-01 -5.80370908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83824100800001 meters Centerline goodness : 0.846467 Centerline is valid? [False, False] Translation: X:8.38, Y:0.17, Z:-0.58 [[ 8.96928633e-01 1.31310440e-01 -4.22228133e-01 8.37679852e+00] [-1.15290449e-01 9.91307628e-01 6.33821706e-02 1.67231529e-01] [ 4.26880710e-01 -8.17041258e-03 9.04271035e-01 -5.79450827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.86824100800001 meters Centerline goodness : 0.846125 Centerline is valid? [False, False] Translation: X:8.38, Y:0.16, Z:-0.58 [[ 0.89679881 0.13103584 -0.42258906 8.37791015] [-0.11462763 0.99133609 0.06413474 0.16370603] [ 0.42733173 -0.00907558 0.90404935 -0.57817239] [ 0. 0. 0. 1. ]] SLAMing on 92.89824100800001 meters Centerline goodness : 0.844261 Centerline is valid? [False, False] Translation: X:8.38, Y:0.16, Z:-0.58 [[ 0.89671731 0.13081261 -0.42283109 8.37901777] [-0.11425629 0.99136226 0.06439237 0.16309241] [ 0.42760211 -0.00943064 0.90391786 -0.57761132] [ 0. 0. 0. 1. ]] SLAMing on 92.92824100800001 meters Centerline goodness : 0.840906 Centerline is valid? [False, False] Translation: X:8.38, Y:0.16, Z:-0.58 [[ 0.89659633 0.12991151 -0.42336511 8.38141761] [-0.11325737 0.99147738 0.06438457 0.16262298] [ 0.42812123 -0.00977775 0.90366842 -0.57692654] [ 0. 0. 0. 1. ]] SLAMing on 92.95824100800002 meters Centerline goodness : 0.839136 Centerline is valid? [False, False] Translation: X:8.38, Y:0.16, Z:-0.58 [[ 0.89644087 0.1299186 -0.42369201 8.38182757] [-0.11298626 0.99147048 0.06496453 0.16180359] [ 0.42851822 -0.01036548 0.90347368 -0.57544724] [ 0. 0. 0. 1. ]] SLAMing on 92.98824100800002 meters Centerline goodness : 0.841184 Centerline is valid? [False, False] Translation: X:8.38, Y:0.16, Z:-0.57 [[ 0.89632784 0.13029684 -0.42381498 8.38113665] [-0.11305191 0.99141423 0.06570454 0.16052719] [ 0.4287373 -0.01097971 0.90336248 -0.57414034] [ 0. 0. 0. 1. ]] SLAMing on 93.01824100800002 meters Centerline goodness : 0.842350 Centerline is valid? [False, False] Translation: X:8.38, Y:0.16, Z:-0.57 [[ 0.89621295 0.13078921 -0.42390628 8.38013099] [-0.11313554 0.99134004 0.06667286 0.15951812] [ 0.42895536 -0.01179422 0.90324869 -0.57228223] [ 0. 0. 0. 1. ]] SLAMing on 93.048241008 meters Centerline goodness : 0.842360 Centerline is valid? [False, False] Translation: X:8.38, Y:0.16, Z:-0.57 [[ 0.89611513 0.13024881 -0.42427929 8.38064694] [-0.11248168 0.99140728 0.06677932 0.16027359] [ 0.4293315 -0.01211831 0.90306567 -0.57076712] [ 0. 0. 0. 1. ]] SLAMing on 93.078241008 meters Centerline goodness : 0.841188 Centerline is valid? [False, False] Translation: X:8.38, Y:0.16, Z:-0.57 [[ 0.89605283 0.12978203 -0.42455382 8.38177804] [-0.11212096 0.99147071 0.06644334 0.16144536] [ 0.42955583 -0.01193537 0.90296142 -0.570672 ] [ 0. 0. 0. 1. ]] SLAMing on 93.10824100800001 meters Centerline goodness : 0.842777 Centerline is valid? [False, False] Translation: X:8.38, Y:0.16, Z:-0.57 [[ 0.89595191 0.12951353 -0.4248487 8.38241758] [-0.1118654 0.99150603 0.06634696 0.16256572] [ 0.42983288 -0.01191782 0.90282981 -0.57012737] [ 0. 0. 0. 1. ]] SLAMing on 93.13824100800001 meters Centerline goodness : 0.841767 Centerline is valid? [False, False] Translation: X:8.38, Y:0.16, Z:-0.57 [[ 0.89594699 0.12930861 -0.42492149 8.38253901] [-0.11171961 0.99153399 0.06617464 0.16361278] [ 0.42988105 -0.01181691 0.9028082 -0.56990265] [ 0. 0. 0. 1. ]] SLAMing on 93.16824100800001 meters Centerline goodness : 0.843497 Centerline is valid? [False, False] Translation: X:8.38, Y:0.17, Z:-0.57 [[ 0.89597202 0.12877089 -0.42503199 8.3830952 ] [-0.11155144 0.99161257 0.06527475 0.16755014] [ 0.42987255 -0.01107142 0.9028217 -0.57026074] [ 0. 0. 0. 1. ]] SLAMing on 93.19824100800001 meters Centerline goodness : 0.843567 Centerline is valid? [False, False] Translation: X:8.38, Y:0.17, Z:-0.57 [[ 0.89596211 0.12813704 -0.4252444 8.38428714] [-0.11128375 0.99170257 0.06435784 0.17104873] [ 0.42996259 -0.01033939 0.9027875 -0.5706957 ] [ 0. 0. 0. 1. ]] SLAMing on 93.22824100800001 meters Centerline goodness : 0.844575 Centerline is valid? [False, False] Translation: X:8.38, Y:0.17, Z:-0.57 [[ 0.89590474 0.1279124 -0.42543285 8.38484862] [-0.11134146 0.99173794 0.06370978 0.17394029] [ 0.43006717 -0.00970958 0.90274468 -0.57098715] [ 0. 0. 0. 1. ]] SLAMing on 93.25824100800001 meters Centerline goodness : 0.846668 Centerline is valid? [False, False] Translation: X:8.39, Y:0.18, Z:-0.57 [[ 0.89514029 0.13314137 -0.4254377 8.38514681] [-0.11532755 0.99103208 0.06749057 0.17589652] [ 0.4306082 -0.01134884 0.90246761 -0.56994985] [ 0. 0. 0. 1. ]] SLAMing on 93.28824100800001 meters Centerline goodness : 0.842979 Centerline is valid? [False, False] Translation: X:8.39, Y:0.18, Z:-0.57 [[ 0.89511277 0.13340687 -0.42541244 8.38528991] [-0.11594985 0.99100605 0.06680299 0.18004157] [ 0.43049828 -0.0104697 0.90253067 -0.57090874] [ 0. 0. 0. 1. ]] SLAMing on 93.31824100800002 meters Centerline goodness : 0.844963 Centerline is valid? [False, False] Translation: X:8.39, Y:0.18, Z:-0.57 [[ 0.8944683 0.13851284 -0.42513604 8.38587778] [-0.119698 0.99028247 0.07080267 0.18144496] [ 0.43081184 -0.01244281 0.90235599 -0.57008962] [ 0. 0. 0. 1. ]] SLAMing on 93.34824100800002 meters Centerline goodness : 0.847866 Centerline is valid? [False, False] Translation: X:8.39, Y:0.18, Z:-0.57 [[ 0.89375952 0.14394117 -0.42482334 8.38578155] [-0.123634 0.98947783 0.07515485 0.18214253] [ 0.43117115 -0.01464776 0.90215125 -0.56883485] [ 0. 0. 0. 1. ]] SLAMing on 93.37824100800002 meters Centerline goodness : 0.845799 Centerline is valid? [False, False] Translation: X:8.38, Y:0.18, Z:-0.57 [[ 0.89307835 0.15053687 -0.423969 8.38248217] [-0.12867505 0.98846131 0.0799185 0.18408825] [ 0.43110764 -0.01681925 0.90214374 -0.56720033] [ 0. 0. 0. 1. ]] SLAMing on 93.408241008 meters Centerline goodness : 0.848898 Centerline is valid? [False, False] Translation: X:8.38, Y:0.19, Z:-0.57 [[ 0.89313377 0.15158404 -0.42347886 8.37992915] [-0.12973938 0.98830444 0.08013754 0.18597271] [ 0.43067361 -0.01663166 0.90235449 -0.56719323] [ 0. 0. 0. 1. ]] SLAMing on 93.438241008 meters Centerline goodness : 0.846559 Centerline is valid? [False, False] Translation: X:8.38, Y:0.19, Z:-0.57 [[ 0.89317272 0.15268526 -0.42300082 8.37743177] [-0.13082235 0.98813694 0.0804419 0.18736339] [ 0.43026503 -0.01651055 0.90255161 -0.5672022 ] [ 0. 0. 0. 1. ]] SLAMing on 93.468241008 meters Centerline goodness : 0.847079 Centerline is valid? [False, False] Translation: X:8.38, Y:0.19, Z:-0.57 [[ 0.89318338 0.15327567 -0.42276473 8.37621652] [-0.13146304 0.98804897 0.080478 0.18899188] [ 0.43004757 -0.01630368 0.902659 -0.56728512] [ 0. 0. 0. 1. ]] SLAMing on 93.49824100800001 meters Centerline goodness : 0.843906 Centerline is valid? [False, False] Translation: X:8.38, Y:0.19, Z:-0.57 [[ 0.89310953 0.15437475 -0.42252077 8.37528258] [-0.1327047 0.98788657 0.08043371 0.19250407] [ 0.42981953 -0.01576563 0.90277717 -0.56804348] [ 0. 0. 0. 1. ]] SLAMing on 93.52824100800001 meters Centerline goodness : 0.844094 Centerline is valid? [False, False] Translation: X:8.37, Y:0.19, Z:-0.57 [[ 0.89314901 0.15478056 -0.42228879 8.37450041] [-0.13313209 0.98782463 0.08048819 0.19311658] [ 0.42960528 -0.01566775 0.90288085 -0.56827904] [ 0. 0. 0. 1. ]] SLAMing on 93.55824100800001 meters Centerline goodness : 0.844801 Centerline is valid? [False, False] Translation: X:8.37, Y:0.19, Z:-0.57 [[ 0.89307555 0.15543118 -0.42220519 8.3733447 ] [-0.13361497 0.98771849 0.08098902 0.19240511] [ 0.42960809 -0.01591638 0.90287516 -0.56773897] [ 0. 0. 0. 1. ]] SLAMing on 93.58824100800001 meters Centerline goodness : 0.844780 Centerline is valid? [False, False] Translation: X:8.37, Y:0.19, Z:-0.57 [[ 0.89302128 0.15598621 -0.42211525 8.37240257] [-0.13400071 0.9876265 0.08147215 0.19124471] [ 0.42960074 -0.01619262 0.90287375 -0.56730092] [ 0. 0. 0. 1. ]] SLAMing on 93.61824100800001 meters Centerline goodness : 0.844438 Centerline is valid? [False, False] Translation: X:8.37, Y:0.19, Z:-0.57 [[ 0.89298511 0.15616968 -0.42212396 8.37341544] [-0.13427152 0.98760151 0.08132904 0.19015542] [ 0.42959139 -0.0159464 0.90288258 -0.56844529] [ 0. 0. 0. 1. ]] SLAMing on 93.64824100800001 meters Centerline goodness : 0.847324 Centerline is valid? [False, False] Translation: X:8.37, Y:0.19, Z:-0.57 [[ 0.89294211 0.15603071 -0.42226627 8.37485756] [-0.1342344 0.98762718 0.08107828 0.19023854] [ 0.42969235 -0.01571555 0.90283858 -0.5692374 ] [ 0. 0. 0. 1. ]] SLAMing on 93.67824100800001 meters Centerline goodness : 0.845025 Centerline is valid? [False, False] Translation: X:8.38, Y:0.19, Z:-0.57 [[ 0.89291849 0.15616703 -0.42226583 8.37556456] [-0.13442446 0.9876081 0.08099575 0.18997559] [ 0.42968202 -0.01555974 0.9028462 -0.56993243] [ 0. 0. 0. 1. ]] SLAMing on 93.70824100800002 meters Centerline goodness : 0.842714 Centerline is valid? [False, False] Translation: X:8.37, Y:0.19, Z:-0.57 [[ 0.89285813 0.15744637 -0.42191825 8.37403832] [-0.13545356 0.98739947 0.08182069 0.18730833] [ 0.42948422 -0.01590394 0.90293431 -0.57013084] [ 0. 0. 0. 1. ]] SLAMing on 93.73824100800002 meters Centerline goodness : 0.844390 Centerline is valid? [False, False] Translation: X:8.37, Y:0.19, Z:-0.57 [[ 0.89279595 0.15804123 -0.4218274 8.37326243] [-0.13587409 0.9872999 0.08232335 0.18599245] [ 0.42948063 -0.01618254 0.90293107 -0.56984687] [ 0. 0. 0. 1. ]] SLAMing on 93.76824100800002 meters Centerline goodness : 0.845556 Centerline is valid? [False, False] Translation: X:8.37, Y:0.19, Z:-0.57 [[ 0.89278395 0.15855372 -0.42166046 8.3726627 ] [-0.13629845 0.98721582 0.0826297 0.18530227] [ 0.42937112 -0.0162988 0.90298106 -0.56996174] [ 0. 0. 0. 1. ]] SLAMing on 93.798241008 meters Centerline goodness : 0.843227 Centerline is valid? [False, False] Translation: X:8.37, Y:0.18, Z:-0.57 [[ 0.89285857 0.15939283 -0.42118583 8.37164598] [-0.1370363 0.98707845 0.08304932 0.18422346] [ 0.42898092 -0.01643355 0.90316405 -0.57068966] [ 0. 0. 0. 1. ]] SLAMing on 93.828241008 meters Centerline goodness : 0.843290 Centerline is valid? [False, False] Translation: X:8.37, Y:0.18, Z:-0.57 [[ 0.89280254 0.15964936 -0.42120744 8.37169071] [-0.13716804 0.98703328 0.08336808 0.18312976] [ 0.42905542 -0.01665503 0.90312461 -0.57056081] [ 0. 0. 0. 1. ]] SLAMing on 93.85824100800001 meters Centerline goodness : 0.843521 Centerline is valid? [False, False] Translation: X:8.37, Y:0.18, Z:-0.57 [[ 0.89277304 0.16018952 -0.42106487 8.37101156] [-0.13746968 0.98693804 0.08399635 0.1810345 ] [ 0.42902027 -0.01710603 0.90313287 -0.57026396] [ 0. 0. 0. 1. ]] SLAMing on 93.88824100800001 meters Centerline goodness : 0.843062 Centerline is valid? [False, False] Translation: X:8.37, Y:0.18, Z:-0.57 [[ 0.89350271 0.155863 -0.42114088 8.36926395] [-0.13454503 0.98766648 0.08007847 0.18196705] [ 0.428428 -0.01488792 0.90345326 -0.57126376] [ 0. 0. 0. 1. ]] SLAMing on 93.91824100800001 meters Centerline goodness : 0.843491 Centerline is valid? [False, False] Translation: X:8.37, Y:0.18, Z:-0.57 [[ 0.8942782 0.1519707 -0.42091734 8.36630993] [-0.1317909 0.98829653 0.07681885 0.18016612] [ 0.42766535 -0.01322435 0.9038404 -0.57189998] [ 0. 0. 0. 1. ]] SLAMing on 93.94824100800001 meters Centerline goodness : 0.843338 Centerline is valid? [False, False] Translation: X:8.36, Y:0.18, Z:-0.57 [[ 0.89504121 0.14726079 -0.4209697 8.36468199] [-0.12830862 0.98903108 0.07317388 0.17943062] [ 0.42712776 -0.0114796 0.90411841 -0.57225783] [ 0. 0. 0. 1. ]] SLAMing on 93.97824100800001 meters Centerline goodness : 0.847241 Centerline is valid? [False, False] Translation: X:8.36, Y:0.18, Z:-0.57 [[ 0.89569084 0.14218263 -0.42133361 8.36409676] [-0.12449554 0.98979323 0.06935571 0.17852368] [ 0.42689434 -0.00966712 0.90424984 -0.57249711] [ 0. 0. 0. 1. ]] SLAMing on 94.00824100800001 meters Centerline goodness : 0.848312 Centerline is valid? [False, False] Translation: X:8.36, Y:0.18, Z:-0.57 [[ 8.96333941e-01 1.36964161e-01 -4.21694540e-01 8.36426742e+00] [-1.20674173e-01 9.90547033e-01 6.52251415e-02 1.78462485e-01] [ 4.26641782e-01 -7.57586817e-03 9.04388963e-01 -5.73367351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.03824100800001 meters Centerline goodness : 0.848312 Centerline is valid? [False, False] Translation: X:8.36, Y:0.18, Z:-0.57 [[ 8.96333941e-01 1.36964161e-01 -4.21694540e-01 8.36426742e+00] [-1.20674173e-01 9.90547033e-01 6.52251415e-02 1.78462485e-01] [ 4.26641782e-01 -7.57586817e-03 9.04388963e-01 -5.73367351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.06824100800002 meters Centerline goodness : 0.847125 Centerline is valid? [False, False] Translation: X:8.37, Y:0.17, Z:-0.57 [[ 8.96324945e-01 1.35002817e-01 -4.22345632e-01 8.36889782e+00] [-1.18787122e-01 9.90814912e-01 6.46175578e-02 1.74964132e-01] [ 4.27189902e-01 -7.74910671e-03 9.04128718e-01 -5.73824871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.09824100800002 meters Centerline goodness : 0.848770 Centerline is valid? [False, False] Translation: X:8.37, Y:0.17, Z:-0.57 [[ 8.96211494e-01 1.34964162e-01 -4.22598667e-01 8.36986902e+00] [-1.18568782e-01 9.90817108e-01 6.49838651e-02 1.72899219e-01] [ 4.27488482e-01 -8.13227752e-03 9.03984216e-01 -5.73499878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.12824100800002 meters Centerline goodness : 0.846967 Centerline is valid? [False, False] Translation: X:8.37, Y:0.17, Z:-0.57 [[ 0.8961546 0.13532241 -0.42260475 8.3696173 ] [-0.11870472 0.99076461 0.06553376 0.17119566] [ 0.42757002 -0.0085632 0.90394168 -0.5730427 ] [ 0. 0. 0. 1. ]] SLAMing on 94.158241008 meters Centerline goodness : 0.845130 Centerline is valid? [False, False] Translation: X:8.37, Y:0.17, Z:-0.57 [[ 0.89610365 0.13581925 -0.42255342 8.36885774] [-0.11891765 0.99069171 0.06624598 0.16939219] [ 0.42761764 -0.0091142 0.90391376 -0.57231542] [ 0. 0. 0. 1. ]] SLAMing on 94.188241008 meters Centerline goodness : 0.848709 Centerline is valid? [False, False] Translation: X:8.37, Y:0.17, Z:-0.57 [[ 0.89609298 0.13686986 -0.42223692 8.36663988] [-0.1193434 0.99053473 0.06780924 0.16693617] [ 0.42752138 -0.01037219 0.90394573 -0.57029731] [ 0. 0. 0. 1. ]] SLAMing on 94.218241008 meters Centerline goodness : 0.848979 Centerline is valid? [False, False] Translation: X:8.37, Y:0.17, Z:-0.57 [[ 0.8960869 0.13713288 -0.42216448 8.36589325] [-0.11950924 0.99049649 0.0680753 0.16679893] [ 0.42748779 -0.01054883 0.90395957 -0.56987616] [ 0. 0. 0. 1. ]] SLAMing on 94.24824100800001 meters Centerline goodness : 0.849379 Centerline is valid? [False, False] Translation: X:8.36, Y:0.17, Z:-0.57 [[ 0.89605469 0.13768695 -0.42205248 8.36481528] [-0.11984062 0.99041521 0.06867274 0.16683329] [ 0.42746254 -0.0109555 0.90396668 -0.56898917] [ 0. 0. 0. 1. ]] SLAMing on 94.27824100800001 meters Centerline goodness : 0.850253 Centerline is valid? [False, False] Translation: X:8.36, Y:0.17, Z:-0.57 [[ 0.89609553 0.13781329 -0.42192452 8.3646118 ] [-0.11996739 0.99039772 0.06870358 0.16710971] [ 0.42734135 -0.01094779 0.90402407 -0.56915475] [ 0. 0. 0. 1. ]] SLAMing on 94.30824100800001 meters Centerline goodness : 0.847438 Centerline is valid? [False, False] Translation: X:8.36, Y:0.17, Z:-0.57 [[ 0.8960916 0.13787489 -0.42191273 8.3645743 ] [-0.12000742 0.99038873 0.06876325 0.168042 ] [ 0.42733834 -0.01098551 0.90402503 -0.56891584] [ 0. 0. 0. 1. ]] SLAMing on 94.33824100800001 meters Centerline goodness : 0.850401 Centerline is valid? [False, False] Translation: X:8.36, Y:0.17, Z:-0.57 [[ 0.89600161 0.13795547 -0.42207749 8.36446331] [-0.11995731 0.99037465 0.06905286 0.16776472] [ 0.42754107 -0.01124019 0.90392605 -0.56812054] [ 0. 0. 0. 1. ]] SLAMing on 94.36824100800001 meters Centerline goodness : 0.850294 Centerline is valid? [False, False] Translation: X:8.36, Y:0.17, Z:-0.57 [[ 0.89664048 0.13318233 -0.42225386 8.36340778] [-0.11674839 0.99105343 0.06467549 0.17029993] [ 0.42708977 -0.00869321 0.90416744 -0.56916434] [ 0. 0. 0. 1. ]] SLAMing on 94.39824100800001 meters Centerline goodness : 0.850079 Centerline is valid? [False, False] Translation: X:8.36, Y:0.17, Z:-0.57 [[ 0.89653457 0.13349416 -0.42238024 8.36309978] [-0.11680249 0.99100692 0.06528755 0.16967394] [ 0.42729725 -0.00919748 0.90406441 -0.56794129] [ 0. 0. 0. 1. ]] SLAMing on 94.42824100800001 meters Centerline goodness : 0.850153 Centerline is valid? [False, False] Translation: X:8.36, Y:0.17, Z:-0.57 [[ 0.89642514 0.13333554 -0.42266252 8.36371136] [-0.11657075 0.99102679 0.06540004 0.16948735] [ 0.42759003 -0.00935615 0.90392435 -0.5673409 ] [ 0. 0. 0. 1. ]] SLAMing on 94.45824100800002 meters Centerline goodness : 0.849298 Centerline is valid? [False, False] Translation: X:8.37, Y:0.17, Z:-0.57 [[ 0.89634925 0.13219437 -0.4231816 8.36645049] [-0.11562963 0.99118231 0.06471026 0.1706042 ] [ 0.42800445 -0.00907067 0.90373111 -0.56751005] [ 0. 0. 0. 1. ]] SLAMing on 94.48824100800002 meters Centerline goodness : 0.850437 Centerline is valid? [False, False] Translation: X:8.37, Y:0.17, Z:-0.57 [[ 0.89625775 0.13179172 -0.42350088 8.36762133] [-0.11519185 0.99123481 0.06468687 0.1708678 ] [ 0.428314 -0.00919225 0.90358321 -0.56698705] [ 0. 0. 0. 1. ]] SLAMing on 94.51824100800002 meters Centerline goodness : 0.853550 Centerline is valid? [False, False] Translation: X:8.37, Y:0.17, Z:-0.56 [[ 0.89557447 0.13393274 -0.42427395 8.37411893] [-0.11407395 0.99085994 0.07199799 0.16789665] [ 0.43003895 -0.01608096 0.90266711 -0.55642407] [ 0. 0. 0. 1. ]] SLAMing on 94.548241008 meters Centerline goodness : 0.853056 Centerline is valid? [False, False] Translation: X:8.37, Y:0.17, Z:-0.55 [[ 0.89538496 0.13381245 -0.42471167 8.37493894] [-0.11372439 0.99086837 0.07243363 0.16782198] [ 0.43052588 -0.01655591 0.90242638 -0.5549074 ] [ 0. 0. 0. 1. ]] SLAMing on 94.578241008 meters Centerline goodness : 0.854286 Centerline is valid? [False, False] Translation: X:8.38, Y:0.17, Z:-0.55 [[ 0.89534948 0.13374448 -0.42480786 8.37527863] [-0.11360428 0.99087557 0.07252362 0.16809585] [ 0.43063137 -0.016674 0.90237387 -0.55447986] [ 0. 0. 0. 1. ]] SLAMing on 94.60824100800001 meters Centerline goodness : 0.855259 Centerline is valid? [False, False] Translation: X:8.38, Y:0.17, Z:-0.55 [[ 0.89456396 0.1388594 -0.42482159 8.37608389] [-0.11582257 0.99006513 0.07972558 0.16567238] [ 0.43167169 -0.0221157 0.90175964 -0.54712489] [ 0. 0. 0. 1. ]] SLAMing on 94.63824100800001 meters Centerline goodness : 0.852959 Centerline is valid? [False, False] Translation: X:8.38, Y:0.17, Z:-0.55 [[ 0.89454679 0.13910294 -0.42477807 8.37565546] [-0.1160346 0.99003042 0.0798482 0.16702687] [ 0.43165033 -0.02213899 0.90176929 -0.54658171] [ 0. 0. 0. 1. ]] SLAMing on 94.66824100800001 meters Centerline goodness : 0.852663 Centerline is valid? [False, False] Translation: X:8.38, Y:0.16, Z:-0.54 [[ 0.89371483 0.14458819 -0.4246976 8.3754185 ] [-0.11941763 0.98915909 0.08546178 0.16456029] [ 0.43245026 -0.02566208 0.90129253 -0.54296468] [ 0. 0. 0. 1. ]] SLAMing on 94.69824100800001 meters Centerline goodness : 0.854763 Centerline is valid? [False, False] Translation: X:8.38, Y:0.16, Z:-0.54 [[ 0.89284385 0.15010791 -0.4246145 8.37505261] [-0.12293911 0.98824663 0.09085465 0.16272971] [ 0.43326185 -0.02891729 0.90080406 -0.5395742 ] [ 0. 0. 0. 1. ]] SLAMing on 94.72824100800001 meters Centerline goodness : 0.858511 Centerline is valid? [False, False] Translation: X:8.37, Y:0.16, Z:-0.54 [[ 0.8929005 0.15081117 -0.42424603 8.37323182] [-0.1236742 0.98814413 0.0909718 0.16411411] [ 0.43293579 -0.02876048 0.90096584 -0.53964342] [ 0. 0. 0. 1. ]] SLAMing on 94.75824100800001 meters Centerline goodness : 0.855445 Centerline is valid? [False, False] Translation: X:8.37, Y:0.17, Z:-0.54 [[ 0.89298251 0.15205656 -0.42362842 8.37047974] [-0.12512577 0.98797133 0.0908636 0.1678539 ] [ 0.43234914 -0.02813278 0.90126731 -0.54037231] [ 0. 0. 0. 1. ]] SLAMing on 94.78824100800001 meters Centerline goodness : 0.856719 Centerline is valid? [False, False] Translation: X:8.37, Y:0.17, Z:-0.54 [[ 0.89305356 0.15255669 -0.4232987 8.36951144] [-0.12571416 0.98790119 0.09081402 0.17066906] [ 0.43203158 -0.02788715 0.90142722 -0.54046081] [ 0. 0. 0. 1. ]] SLAMing on 94.81824100800002 meters Centerline goodness : 0.855981 Centerline is valid? [False, False] Translation: X:8.37, Y:0.17, Z:-0.54 [[ 0.89217939 0.15787717 -0.42319112 8.37000774] [-0.12916392 0.98697524 0.09589868 0.16985259] [ 0.43281937 -0.0308978 0.90095101 -0.53756731] [ 0. 0. 0. 1. ]] SLAMing on 94.84824100800002 meters Centerline goodness : 0.858935 Centerline is valid? [False, False] Translation: X:8.37, Y:0.17, Z:-0.54 [[ 0.89218805 0.15767031 -0.42325 8.37031297] [-0.12934538 0.98703454 0.0950399 0.17346289] [ 0.43274734 -0.03004803 0.90101435 -0.5383713 ] [ 0. 0. 0. 1. ]] SLAMing on 94.87824100800002 meters Centerline goodness : 0.860735 Centerline is valid? [False, False] Translation: X:8.37, Y:0.17, Z:-0.54 [[ 0.89215623 0.1573846 -0.42342338 8.37091558] [-0.12920288 0.98708921 0.09466525 0.1746579 ] [ 0.4328555 -0.02974867 0.90097233 -0.5384076 ] [ 0. 0. 0. 1. ]] SLAMing on 94.908241008 meters Centerline goodness : 0.861828 Centerline is valid? [False, False] Translation: X:8.37, Y:0.18, Z:-0.54 [[ 0.89209707 0.1569913 -0.42369393 8.3720744 ] [-0.12897222 0.98716205 0.09421921 0.17594737] [ 0.43304616 -0.02940794 0.90089189 -0.53845505] [ 0. 0. 0. 1. ]] SLAMing on 94.938241008 meters Centerline goodness : 0.862188 Centerline is valid? [False, False] Translation: X:8.37, Y:0.18, Z:-0.54 [[ 0.89199414 0.15660418 -0.42405376 8.3733207 ] [-0.12873793 0.98723362 0.09378868 0.17722996] [ 0.43332783 -0.02906715 0.9007675 -0.53850305] [ 0. 0. 0. 1. ]] SLAMing on 94.968241008 meters Centerline goodness : 0.864359 Centerline is valid? [False, False] Translation: X:8.38, Y:0.18, Z:-0.54 [[ 0.8920342 0.15596514 -0.42420497 8.37516168] [-0.12864835 0.98736749 0.09249345 0.18047573] [ 0.43327195 -0.02793405 0.90083023 -0.54029203] [ 0. 0. 0. 1. ]] SLAMing on 94.99824100800001 meters Centerline goodness : 0.864108 Centerline is valid? [False, False] Translation: X:8.38, Y:0.18, Z:-0.54 [[ 0.89202163 0.15565812 -0.42434416 8.37609497] [-0.12858535 0.98743036 0.09190804 0.1823978 ] [ 0.43331654 -0.02741952 0.90082459 -0.54089382] [ 0. 0. 0. 1. ]] SLAMing on 95.02824100800001 meters Centerline goodness : 0.863891 Centerline is valid? [False, False] Translation: X:8.38, Y:0.18, Z:-0.54 [[ 0.89206885 0.15567408 -0.42423903 8.37600814] [-0.12872206 0.98743488 0.09166784 0.1837637 ] [ 0.43317872 -0.0271651 0.90089858 -0.54123678] [ 0. 0. 0. 1. ]] SLAMing on 95.05824100800001 meters Centerline goodness : 0.862476 Centerline is valid? [False, False] Translation: X:8.37, Y:0.19, Z:-0.54 [[ 0.89213952 0.15643399 -0.42381067 8.37359015] [-0.12942849 0.98731371 0.09197776 0.18507749] [ 0.43282254 -0.02720382 0.90106859 -0.54079135] [ 0. 0. 0. 1. ]] SLAMing on 95.08824100800001 meters Centerline goodness : 0.862679 Centerline is valid? [False, False] Translation: X:8.37, Y:0.19, Z:-0.54 [[ 0.89213542 0.15687952 -0.42365458 8.3720063 ] [-0.12976008 0.98723779 0.09232481 0.18550776] [ 0.43273169 -0.02739278 0.9011065 -0.53996834] [ 0. 0. 0. 1. ]] SLAMing on 95.11824100800001 meters Centerline goodness : 0.866403 Centerline is valid? [False, False] Translation: X:8.37, Y:0.19, Z:-0.54 [[ 0.8921427 0.15714655 -0.42354027 8.37107857] [-0.13006093 0.9871985 0.09232164 0.18633728] [ 0.43262634 -0.02727803 0.90116056 -0.53981629] [ 0. 0. 0. 1. ]] SLAMing on 95.14824100800001 meters Centerline goodness : 0.866619 Centerline is valid? [False, False] Translation: X:8.37, Y:0.19, Z:-0.54 [[ 0.89211575 0.15743083 -0.42349147 8.37048357] [-0.13038554 0.98715731 0.0923041 0.18744816] [ 0.43258421 -0.02712878 0.90118529 -0.53973878] [ 0. 0. 0. 1. ]] SLAMing on 95.17824100800001 meters Centerline goodness : 0.867646 Centerline is valid? [False, False] Translation: X:8.37, Y:0.19, Z:-0.54 [[ 0.89217978 0.15766423 -0.4232697 8.37004562] [-0.13092883 0.98713936 0.09172524 0.18979363] [ 0.43228797 -0.02641719 0.90134857 -0.54078472] [ 0. 0. 0. 1. ]] SLAMing on 95.20824100800002 meters Centerline goodness : 0.867964 Centerline is valid? [False, False] Translation: X:8.37, Y:0.19, Z:-0.54 [[ 0.89217291 0.15766487 -0.42328394 8.37028199] [-0.13107792 0.98714837 0.09141487 0.19098079] [ 0.43225697 -0.02607469 0.90137341 -0.54120027] [ 0. 0. 0. 1. ]] SLAMing on 95.23824100800002 meters Centerline goodness : 0.865958 Centerline is valid? [False, False] Translation: X:8.37, Y:0.19, Z:-0.54 [[ 0.89220053 0.15755252 -0.42326755 8.37066643] [-0.13117896 0.98717825 0.09094599 0.19234758] [ 0.43216929 -0.02561826 0.90142854 -0.5418849 ] [ 0. 0. 0. 1. ]] SLAMing on 95.26824100800002 meters Centerline goodness : 0.867248 Centerline is valid? [False, False] Translation: X:8.37, Y:0.19, Z:-0.54 [[ 0.89219337 0.15749573 -0.42330378 8.37092583] [-0.13135439 0.98720081 0.09044662 0.19423125] [ 0.43213079 -0.02509307 0.90146177 -0.54246096] [ 0. 0. 0. 1. ]] SLAMing on 95.298241008 meters Centerline goodness : 0.866679 Centerline is valid? [False, False] Translation: X:8.37, Y:0.19, Z:-0.54 [[ 0.89208637 0.15723123 -0.4236275 8.37168227] [-0.13111212 0.98724454 0.09032073 0.19443179] [ 0.43242517 -0.0250312 0.90132231 -0.54212048] [ 0. 0. 0. 1. ]] SLAMing on 95.328241008 meters Centerline goodness : 0.869168 Centerline is valid? [False, False] Translation: X:8.37, Y:0.19, Z:-0.54 [[ 0.89203299 0.15685882 -0.42387787 8.37278916] [-0.13081101 0.98730708 0.09007334 0.19449928] [ 0.43262642 -0.0249005 0.90122935 -0.54221289] [ 0. 0. 0. 1. ]] SLAMing on 95.35824100800001 meters Centerline goodness : 0.867922 Centerline is valid? [False, False] Translation: X:8.37, Y:0.19, Z:-0.54 [[ 0.89199975 0.15618944 -0.42419488 8.3748281 ] [-0.13033401 0.98742197 0.08950362 0.19496702] [ 0.43283887 -0.02455019 0.90113695 -0.54286342] [ 0. 0. 0. 1. ]] SLAMing on 95.38824100800001 meters Centerline goodness : 0.869109 Centerline is valid? [False, False] Translation: X:8.38, Y:0.20, Z:-0.54 [[ 0.8919391 0.15529395 -0.42465096 8.37729243] [-0.12971087 0.98757573 0.08870895 0.19681604] [ 0.43315094 -0.02404113 0.90100072 -0.54345476] [ 0. 0. 0. 1. ]] SLAMing on 95.41824100800001 meters Centerline goodness : 0.868871 Centerline is valid? [False, False] Translation: X:8.38, Y:0.20, Z:-0.54 [[ 0.89186944 0.15511255 -0.4248635 8.37768289] [-0.12954184 0.98760503 0.0886297 0.19733878] [ 0.43334491 -0.02400852 0.90090831 -0.54307091] [ 0. 0. 0. 1. ]] SLAMing on 95.44824100800001 meters Centerline goodness : 0.872003 Centerline is valid? [False, False] Translation: X:8.38, Y:0.20, Z:-0.54 [[ 0.89178845 0.15500764 -0.42507175 8.37786342] [-0.12946492 0.98762358 0.08853535 0.19768936] [ 0.43353454 -0.02392292 0.90081935 -0.5427089 ] [ 0. 0. 0. 1. ]] SLAMing on 95.47824100800001 meters Centerline goodness : 0.870674 Centerline is valid? [False, False] Translation: X:8.38, Y:0.20, Z:-0.54 [[ 0.89171935 0.15495439 -0.42523611 8.37775566] [-0.12938698 0.98763116 0.08856469 0.19801609] [ 0.43369992 -0.02395483 0.90073889 -0.54212155] [ 0. 0. 0. 1. ]] SLAMing on 95.50824100800001 meters Centerline goodness : 0.872651 Centerline is valid? [False, False] Translation: X:8.38, Y:0.20, Z:-0.54 [[ 0.8917544 0.15513675 -0.42509609 8.37603065] [-0.12943946 0.98759561 0.08888381 0.19913166] [ 0.43361218 -0.02423831 0.90077355 -0.54083856] [ 0. 0. 0. 1. ]] SLAMing on 95.53824100800001 meters Centerline goodness : 0.874019 Centerline is valid? [False, False] Translation: X:8.38, Y:0.20, Z:-0.54 [[ 0.89177999 0.15517917 -0.42502691 8.37535139] [-0.12941236 0.98758491 0.08904203 0.19979774] [ 0.43356763 -0.02440216 0.90079057 -0.54028552] [ 0. 0. 0. 1. ]] SLAMing on 95.56824100800002 meters Centerline goodness : 0.875561 Centerline is valid? [False, False] Translation: X:8.38, Y:0.20, Z:-0.54 [[ 0.89177756 0.15503984 -0.42508285 8.37534787] [-0.1292362 0.9876042 0.08908394 0.20042256] [ 0.43362517 -0.02450697 0.90076002 -0.53980733] [ 0. 0. 0. 1. ]] SLAMing on 95.59824100800002 meters Centerline goodness : 0.877896 Centerline is valid? [False, False] Translation: X:8.38, Y:0.20, Z:-0.53 [[ 0.89110545 0.15739921 -0.42562491 8.37969649] [-0.12955686 0.98712534 0.09380074 0.19978099] [ 0.43490929 -0.02844372 0.90002492 -0.53470039] [ 0. 0. 0. 1. ]] SLAMing on 95.62824100800002 meters Centerline goodness : 0.877906 Centerline is valid? [False, False] Translation: X:8.38, Y:0.20, Z:-0.53 [[ 0.89103819 0.15751219 -0.42572391 8.37932681] [-0.12955452 0.98710123 0.09405733 0.20024044] [ 0.43504777 -0.02865421 0.89995132 -0.53376896] [ 0. 0. 0. 1. ]] SLAMing on 95.658241008 meters Centerline goodness : 0.879546 Centerline is valid? [False, False] Translation: X:8.38, Y:0.20, Z:-0.53 [[ 0.89166128 0.15277851 -0.42614422 8.37842831] [-0.12642345 0.98791663 0.08965401 0.20338917] [ 0.43469217 -0.02606638 0.90020179 -0.53462812] [ 0. 0. 0. 1. ]] SLAMing on 95.688241008 meters Centerline goodness : 0.881196 Centerline is valid? [False, False] Translation: X:8.38, Y:0.20, Z:-0.53 [[ 0.89163638 0.15313565 -0.42606812 8.37745421] [-0.12651207 0.98784691 0.09029499 0.20455634] [ 0.43471746 -0.02660754 0.90017374 -0.53284527] [ 0. 0. 0. 1. ]] SLAMing on 95.718241008 meters Centerline goodness : 0.879876 Centerline is valid? [False, False] Translation: X:8.38, Y:0.21, Z:-0.53 [[ 0.89164657 0.15295634 -0.4261112 8.37784191] [-0.12648053 0.98788278 0.08994601 0.20627301] [ 0.43470573 -0.02630528 0.90018829 -0.5330125 ] [ 0. 0. 0. 1. ]] SLAMing on 95.74824100800001 meters Centerline goodness : 0.881617 Centerline is valid? [False, False] Translation: X:8.38, Y:0.21, Z:-0.53 [[ 0.89164878 0.15232267 -0.42633352 8.37935696] [-0.12618838 0.98799839 0.08908246 0.20849316] [ 0.4347861 -0.02563193 0.9001689 -0.53375324] [ 0. 0. 0. 1. ]] SLAMing on 95.77824100800001 meters Centerline goodness : 0.882230 Centerline is valid? [False, False] Translation: X:8.38, Y:0.21, Z:-0.53 [[ 0.89161329 0.15171888 -0.42662293 8.38096398] [-0.12584534 0.98810443 0.08838887 0.21054477] [ 0.43495826 -0.02512018 0.90010015 -0.53424214] [ 0. 0. 0. 1. ]] SLAMing on 95.80824100800001 meters Centerline goodness : 0.880455 Centerline is valid? [False, False] Translation: X:8.38, Y:0.21, Z:-0.54 [[ 0.89165014 0.15032057 -0.42704069 8.38471553] [-0.12520144 0.98835436 0.0864885 0.21474641] [ 0.43506853 -0.02365138 0.90008666 -0.53629149] [ 0. 0. 0. 1. ]] SLAMing on 95.83824100800001 meters Centerline goodness : 0.880010 Centerline is valid? [False, False] Translation: X:8.39, Y:0.22, Z:-0.54 [[ 0.89157729 0.14982584 -0.42736652 8.38611493] [-0.12497215 0.9884426 0.08580904 0.21645523] [ 0.43528369 -0.02309647 0.89999704 -0.53665334] [ 0. 0. 0. 1. ]] SLAMing on 95.86824100800001 meters Centerline goodness : 0.879150 Centerline is valid? [False, False] Translation: X:8.39, Y:0.22, Z:-0.54 [[ 0.89159779 0.14957757 -0.42741074 8.38654976] [-0.12499026 0.988493 0.08519988 0.21806242] [ 0.43523651 -0.02254184 0.90003391 -0.53713301] [ 0. 0. 0. 1. ]] SLAMing on 95.89824100800001 meters Centerline goodness : 0.881136 Centerline is valid? [False, False] Translation: X:8.39, Y:0.22, Z:-0.54 [[ 0.89146341 0.14973268 -0.42763665 8.38617791] [-0.1253003 0.98847941 0.0849016 0.22024834] [ 0.43542257 -0.02210367 0.89995478 -0.53670515] [ 0. 0. 0. 1. ]] SLAMing on 95.92824100800001 meters Centerline goodness : 0.882495 Centerline is valid? [False, False] Translation: X:8.39, Y:0.22, Z:-0.54 [[ 0.89153496 0.14988177 -0.42743523 8.385581 ] [-0.12553795 0.98846113 0.08476333 0.22161449] [ 0.43520759 -0.02191013 0.9000635 -0.53680085] [ 0. 0. 0. 1. ]] SLAMing on 95.95824100800002 meters Centerline goodness : 0.882495 Centerline is valid? [False, False] Translation: X:8.39, Y:0.22, Z:-0.54 [[ 0.89159839 0.14985286 -0.42731304 8.38548365] [-0.1256445 0.98847155 0.0844834 0.22226764] [ 0.43504686 -0.02163573 0.90014783 -0.53714371] [ 0. 0. 0. 1. ]] SLAMing on 95.98824100800002 meters Centerline goodness : 0.880646 Centerline is valid? [False, False] Translation: X:8.39, Y:0.22, Z:-0.54 [[ 0.8916137 0.15007075 -0.42720461 8.38501392] [-0.12589862 0.98844093 0.08446335 0.22352744] [ 0.43494201 -0.02152421 0.90020118 -0.53710607] [ 0. 0. 0. 1. ]] SLAMing on 96.01824100800002 meters Centerline goodness : 0.881548 Centerline is valid? [False, False] Translation: X:8.38, Y:0.22, Z:-0.54 [[ 0.8917153 0.15022657 -0.4269377 8.38442639] [-0.12616913 0.98842248 0.08427547 0.22468571] [ 0.43465523 -0.02128336 0.90034541 -0.53757534] [ 0. 0. 0. 1. ]] SLAMing on 96.048241008 meters Centerline goodness : 0.881830 Centerline is valid? [False, False] Translation: X:8.38, Y:0.22, Z:-0.54 [[ 0.89105576 0.15594293 -0.42626451 8.38336683] [-0.12994352 0.98746306 0.08961797 0.22259839] [ 0.43489575 -0.0244643 0.90014842 -0.53510355] [ 0. 0. 0. 1. ]] SLAMing on 96.078241008 meters Centerline goodness : 0.880526 Centerline is valid? [False, False] Translation: X:8.38, Y:0.22, Z:-0.54 [[ 0.89109654 0.15603413 -0.42614587 8.38363394] [-0.13016432 0.98745578 0.08937744 0.22299394] [ 0.43474614 -0.02417494 0.90022851 -0.53586935] [ 0. 0. 0. 1. ]] SLAMing on 96.10824100800001 meters Centerline goodness : 0.882235 Centerline is valid? [False, False] Translation: X:8.38, Y:0.22, Z:-0.54 [[ 0.89116242 0.1564275 -0.4258638 8.38342588] [-0.13073558 0.9874041 0.08911422 0.2243444 ] [ 0.43443958 -0.02373969 0.90038807 -0.53678214] [ 0. 0. 0. 1. ]] SLAMing on 96.13824100800001 meters Centerline goodness : 0.881416 Centerline is valid? [False, False] Translation: X:8.38, Y:0.23, Z:-0.54 [[ 0.89125435 0.15713885 -0.4254093 8.3822395 ] [-0.13152907 0.98729726 0.08913039 0.22519959] [ 0.43401128 -0.02348416 0.9006013 -0.53756531] [ 0. 0. 0. 1. ]] SLAMing on 96.16824100800001 meters Centerline goodness : 0.886563 Centerline is valid? [False, False] Translation: X:8.38, Y:0.23, Z:-0.54 [[ 0.89128967 0.15970474 -0.4243785 8.37778011] [-0.13406041 0.98689268 0.08983675 0.22540623] [ 0.43316339 -0.02317821 0.90101734 -0.53865891] [ 0. 0. 0. 1. ]] SLAMing on 96.19824100800001 meters Centerline goodness : 0.887292 Centerline is valid? [False, False] Translation: X:8.38, Y:0.23, Z:-0.54 [[ 0.89126967 0.16041011 -0.42415441 8.37648809] [-0.13476588 0.98678107 0.09000712 0.22534819] [ 0.4329856 -0.02305907 0.90110585 -0.53879232] [ 0. 0. 0. 1. ]] SLAMing on 96.22824100800001 meters Centerline goodness : 0.888014 Centerline is valid? [False, False] Translation: X:8.37, Y:0.22, Z:-0.54 [[ 0.89132183 0.16138622 -0.42367428 8.37473511] [-0.13571323 0.98662328 0.09031286 0.22489923] [ 0.43258216 -0.02299961 0.90130111 -0.53929937] [ 0. 0. 0. 1. ]] SLAMing on 96.25824100800001 meters Centerline goodness : 0.890167 Centerline is valid? [False, False] Translation: X:8.37, Y:0.22, Z:-0.54 [[ 0.89137485 0.1624603 -0.4231519 8.37415469] [-0.13695086 0.98645879 0.09024144 0.22440567] [ 0.43208256 -0.02248793 0.90155363 -0.54131443] [ 0. 0. 0. 1. ]] SLAMing on 96.28824100800001 meters Centerline goodness : 0.890630 Centerline is valid? [False, False] Translation: X:8.37, Y:0.22, Z:-0.54 [[ 0.89138181 0.16258261 -0.42309025 8.37482413] [-0.13717259 0.98644413 0.09006472 0.2240632 ] [ 0.43199785 -0.02224567 0.90160024 -0.54224072] [ 0. 0. 0. 1. ]] SLAMing on 96.31824100800002 meters Centerline goodness : 0.889458 Centerline is valid? [False, False] Translation: X:8.38, Y:0.22, Z:-0.54 [[ 0.8913839 0.16278638 -0.4230075 8.37518891] [-0.13737912 0.98641134 0.09010902 0.22348268] [ 0.43192792 -0.02220933 0.90163464 -0.5428009 ] [ 0. 0. 0. 1. ]] SLAMing on 96.34824100800002 meters Centerline goodness : 0.886602 Centerline is valid? [False, False] Translation: X:8.37, Y:0.22, Z:-0.54 [[ 0.8914257 0.16322476 -0.42275041 8.37468956] [-0.13775305 0.98633662 0.09035578 0.22289698] [ 0.43172251 -0.02231031 0.90173052 -0.54313045] [ 0. 0. 0. 1. ]] SLAMing on 96.37824100800002 meters Centerline goodness : 0.888135 Centerline is valid? [False, False] Translation: X:8.37, Y:0.22, Z:-0.55 [[ 0.89233971 0.16086574 -0.42172509 8.36946768] [-0.13725878 0.98679649 0.08598087 0.22377503] [ 0.42998821 -0.01883868 0.90263793 -0.54758428] [ 0. 0. 0. 1. ]] SLAMing on 96.408241008 meters Centerline goodness : 0.885267 Centerline is valid? [False, False] Translation: X:8.37, Y:0.22, Z:-0.55 [[ 0.8923008 0.16139993 -0.42160331 8.36880987] [-0.13764988 0.98670489 0.08640588 0.22241014] [ 0.42994395 -0.01906639 0.90265424 -0.54747537] [ 0. 0. 0. 1. ]] SLAMing on 96.438241008 meters Centerline goodness : 0.887272 Centerline is valid? [False, False] Translation: X:8.37, Y:0.22, Z:-0.55 [[ 0.89227217 0.16174669 -0.42153099 8.36844618] [-0.13791363 0.98664571 0.08666073 0.22149786] [ 0.42991883 -0.01919009 0.90266358 -0.54743205] [ 0. 0. 0. 1. ]] SLAMing on 96.468241008 meters Centerline goodness : 0.886721 Centerline is valid? [False, False] Translation: X:8.36, Y:0.22, Z:-0.55 [[ 0.89290596 0.15905848 -0.42121177 8.36469478] [-0.1367208 0.98713187 0.08293424 0.22295201] [ 0.42898295 -0.01646407 0.90316253 -0.54951687] [ 0. 0. 0. 1. ]] SLAMing on 96.49824100800001 meters Centerline goodness : 0.883708 Centerline is valid? [False, False] Translation: X:8.36, Y:0.22, Z:-0.55 [[ 0.89354766 0.15562616 -0.4211331 8.3619592 ] [-0.13456867 0.98771186 0.07947674 0.22466374] [ 0.42832681 -0.01434494 0.90351002 -0.55032941] [ 0. 0. 0. 1. ]] SLAMing on 96.52824100800001 meters Centerline goodness : 0.889792 Centerline is valid? [False, False] Translation: X:8.36, Y:0.23, Z:-0.55 [[ 0.89434497 0.15158858 -0.42091326 8.35934748] [-0.13190486 0.98836877 0.07568537 0.22612713] [ 0.42749056 -0.01216832 0.90393791 -0.55132688] [ 0. 0. 0. 1. ]] SLAMing on 96.55824100800001 meters Centerline goodness : 0.886739 Centerline is valid? [False, False] Translation: X:8.36, Y:0.23, Z:-0.55 [[ 0.8951208 0.1472356 -0.42080925 8.35729633] [-0.12889372 0.98904986 0.0718803 0.22736671] [ 0.42678467 -0.01010188 0.90429685 -0.55207627] [ 0. 0. 0. 1. ]] SLAMing on 96.58824100800001 meters Centerline goodness : 0.889553 Centerline is valid? [False, False] Translation: X:8.36, Y:0.23, Z:-0.55 [[ 0.89591644 0.14255453 -0.42072787 8.35610334] [-0.12531244 0.9897491 0.06850923 0.22551666] [ 0.42618134 -0.00865611 0.90459634 -0.55257547] [ 0. 0. 0. 1. ]] SLAMing on 96.61824100800001 meters Centerline goodness : 0.889025 Centerline is valid? [False, False] Translation: X:8.36, Y:0.23, Z:-0.55 [[ 8.96639103e-01 1.37002485e-01 -4.21032823e-01 8.35701222e+00] [-1.21330816e-01 9.90551044e-01 6.39332600e-02 2.26292676e-01] [ 4.25813518e-01 -6.24080515e-03 9.04789423e-01 -5.54148914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.64824100800001 meters Centerline goodness : 0.887157 Centerline is valid? [False, False] Translation: X:8.36, Y:0.22, Z:-0.55 [[ 8.96528878e-01 1.36293784e-01 -4.21497302e-01 8.35913489e+00] [-1.20407836e-01 9.90644948e-01 6.42225846e-02 2.23769541e-01] [ 4.26307312e-01 -6.82582342e-03 9.04552643e-01 -5.53461209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.67824100800001 meters Centerline goodness : 0.886731 Centerline is valid? [False, False] Translation: X:8.36, Y:0.22, Z:-0.55 [[ 8.97185906e-01 1.30420693e-01 -4.21957218e-01 8.36067051e+00] [-1.16159377e-01 9.91449285e-01 5.94585075e-02 2.24866704e-01] [ 4.26103802e-01 -4.33104727e-03 9.04663911e-01 -5.54944291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.70824100800002 meters Centerline goodness : 0.885753 Centerline is valid? [False, False] Translation: X:8.36, Y:0.22, Z:-0.55 [[ 8.97672907e-01 1.24542948e-01 -4.22696590e-01 8.36251518e+00] [-1.11475771e-01 9.92210282e-01 5.56049303e-02 2.22261463e-01] [ 4.26329104e-01 -2.79461119e-03 9.04563809e-01 -5.54975054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.73824100800002 meters Centerline goodness : 0.883549 Centerline is valid? [False, False] Translation: X:8.36, Y:0.22, Z:-0.56 [[ 8.98246621e-01 1.19197725e-01 -4.23018807e-01 8.36280089e+00] [-1.07566543e-01 9.92870335e-01 5.13608413e-02 2.22426161e-01] [ 4.26124920e-01 -6.32031543e-04 9.04664111e-01 -5.55795991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.76824100800002 meters Centerline goodness : 0.886073 Centerline is valid? [False, False] Translation: X:8.36, Y:0.22, Z:-0.56 [[ 8.98806460e-01 1.13852129e-01 -4.23302068e-01 8.36355266e+00] [-1.03445116e-01 9.93497166e-01 4.75656270e-02 2.20580874e-01] [ 4.25964853e-01 1.03623890e-03 9.04739117e-01 -5.56422768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.798241008 meters Centerline goodness : 0.884470 Centerline is valid? [False, False] Translation: X:8.37, Y:0.22, Z:-0.56 [[ 8.98686969e-01 1.13558511e-01 -4.23634509e-01 8.36510678e+00] [-1.02947651e-01 9.93531166e-01 4.79333182e-02 2.18689057e-01] [ 4.26337324e-01 5.35129213e-04 9.04564094e-01 -5.55896069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.828241008 meters Centerline goodness : 0.884467 Centerline is valid? [False, False] Translation: X:8.37, Y:0.22, Z:-0.56 [[ 8.98545968e-01 1.13190338e-01 -4.24031945e-01 8.36706950e+00] [-1.02438632e-01 9.93573308e-01 4.81498600e-02 2.17210801e-01] [ 4.26756921e-01 1.72389993e-04 9.04366353e-01 -5.55592049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.85824100800001 meters Centerline goodness : 0.884115 Centerline is valid? [False, False] Translation: X:8.37, Y:0.22, Z:-0.56 [[ 8.98421402e-01 1.12736656e-01 -4.24416576e-01 8.36915669e+00] [-1.01937061e-01 9.93624902e-01 4.81496543e-02 2.16450759e-01] [ 4.27139110e-01 5.09844652e-06 9.04185922e-01 -5.55522048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.88824100800001 meters Centerline goodness : 0.881448 Centerline is valid? [False, False] Translation: X:8.37, Y:0.22, Z:-0.56 [[ 8.98358545e-01 1.12670173e-01 -4.24567259e-01 8.37012345e+00] [-1.01758611e-01 9.93632411e-01 4.83716475e-02 2.15787209e-01] [ 4.27313831e-01 -2.51708363e-04 9.04103327e-01 -5.55338231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.91824100800001 meters Centerline goodness : 0.884679 Centerline is valid? [False, False] Translation: X:8.37, Y:0.21, Z:-0.55 [[ 8.98475136e-01 1.13783983e-01 -4.24023154e-01 8.36781640e+00] [-1.02460074e-01 9.93504985e-01 4.94952341e-02 2.14441028e-01] [ 4.26900882e-01 -1.02479335e-03 9.04297842e-01 -5.54527877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.94824100800001 meters Centerline goodness : 0.886083 Centerline is valid? [False, False] Translation: X:8.37, Y:0.21, Z:-0.55 [[ 8.98408089e-01 1.14758771e-01 -4.23902501e-01 8.36574049e+00] [-1.02899503e-01 9.93391247e-01 5.08480434e-02 2.12867746e-01] [ 4.26936292e-01 -2.06293661e-03 9.04279352e-01 -5.52520540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.97824100800001 meters Centerline goodness : 0.888125 Centerline is valid? [False, False] Translation: X:8.36, Y:0.21, Z:-0.55 [[ 8.99040394e-01 1.10476558e-01 -4.23699539e-01 8.36342384e+00] [-9.99707171e-02 9.93878727e-01 4.70205554e-02 2.14253622e-01] [ 4.26300628e-01 8.41681257e-05 9.04581543e-01 -5.53177117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.00824100800001 meters Centerline goodness : 0.888614 Centerline is valid? [False, False] Translation: X:8.36, Y:0.21, Z:-0.55 [[ 8.98852839e-01 1.11028061e-01 -4.23953233e-01 8.36276635e+00] [-9.99064500e-02 9.93816555e-01 4.84495167e-02 2.12047093e-01] [ 4.26710998e-01 -1.19332312e-03 9.04387251e-01 -5.50506215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.03824100800001 meters Centerline goodness : 0.891278 Centerline is valid? [False, False] Translation: X:8.36, Y:0.21, Z:-0.55 [[ 8.98849281e-01 1.11102840e-01 -4.23941187e-01 8.36302423e+00] [-9.99086933e-02 9.93808002e-01 4.86200332e-02 2.12405837e-01] [ 4.26717968e-01 -1.34667187e-03 9.04383747e-01 -5.50330948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.06824100800002 meters Centerline goodness : 0.889645 Centerline is valid? [False, False] Translation: X:8.36, Y:0.21, Z:-0.55 [[ 8.98864828e-01 1.10903089e-01 -4.23960524e-01 8.36379671e+00] [-9.98023844e-02 9.93830534e-01 4.83772011e-02 2.13870320e-01] [ 4.26710095e-01 -1.17229339e-03 9.04387705e-01 -5.50547904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.09824100800002 meters Centerline goodness : 0.887372 Centerline is valid? [False, False] Translation: X:8.36, Y:0.22, Z:-0.55 [[ 8.98870725e-01 1.11255446e-01 -4.23855689e-01 8.36311033e+00] [-1.00101004e-01 9.93791081e-01 4.85703238e-02 2.15250873e-01] [ 4.26627716e-01 -1.23006212e-03 9.04426492e-01 -5.50144467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.12824100800002 meters Centerline goodness : 0.890228 Centerline is valid? [False, False] Translation: X:8.36, Y:0.22, Z:-0.55 [[ 8.98861950e-01 1.11623580e-01 -4.23777502e-01 8.36238381e+00] [-1.00314778e-01 9.93749405e-01 4.89802513e-02 2.15315369e-01] [ 4.26595991e-01 -1.51533803e-03 9.04441023e-01 -5.49511376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.158241008 meters Centerline goodness : 0.888465 Centerline is valid? [False, False] Translation: X:8.36, Y:0.21, Z:-0.54 [[ 8.97898130e-01 1.16725688e-01 -4.24445593e-01 8.36390170e+00] [-1.02907353e-01 9.93145532e-01 5.54258925e-02 2.12025566e-01] [ 4.28005870e-01 -6.08823268e-03 9.03755448e-01 -5.43737349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.188241008 meters Centerline goodness : 0.888691 Centerline is valid? [False, False] Translation: X:8.36, Y:0.21, Z:-0.54 [[ 8.97908305e-01 1.16683222e-01 -4.24435745e-01 8.36408174e+00] [-1.02855593e-01 9.93150320e-01 5.54361607e-02 2.12928511e-01] [ 4.27996966e-01 -6.12099893e-03 9.03759443e-01 -5.43532237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.218241008 meters Centerline goodness : 0.887073 Centerline is valid? [False, False] Translation: X:8.36, Y:0.21, Z:-0.54 [[ 8.97879727e-01 1.16634488e-01 -4.24509589e-01 8.36459104e+00] [-1.02796469e-01 9.93155892e-01 5.54460102e-02 2.14055883e-01] [ 4.28071117e-01 -6.14576164e-03 9.03724155e-01 -5.43263060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.24824100800001 meters Centerline goodness : 0.892474 Centerline is valid? [False, False] Translation: X:8.36, Y:0.22, Z:-0.54 [[ 8.97871826e-01 1.16742540e-01 -4.24496601e-01 8.36471454e+00] [-1.03055724e-01 9.93145440e-01 5.51511838e-02 2.15874178e-01] [ 4.28025352e-01 -5.77188976e-03 9.03748296e-01 -5.43518585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.27824100800001 meters Centerline goodness : 0.889738 Centerline is valid? [False, False] Translation: X:8.36, Y:0.22, Z:-0.54 [[ 8.97841748e-01 1.16813001e-01 -4.24540832e-01 8.36498383e+00] [-1.03204181e-01 9.93138317e-01 5.50016459e-02 2.17218787e-01] [ 4.28052675e-01 -5.56838497e-03 9.03736632e-01 -5.43560126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.30824100800001 meters Centerline goodness : 0.891225 Centerline is valid? [False, False] Translation: X:8.37, Y:0.22, Z:-0.54 [[ 8.97836528e-01 1.16992545e-01 -4.24502431e-01 8.36510568e+00] [-1.03440854e-01 9.93118113e-01 5.49218014e-02 2.18292109e-01] [ 4.28006494e-01 -5.39990532e-03 9.03759527e-01 -5.43775603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33824100800001 meters Centerline goodness : 0.886303 Centerline is valid? [False, False] Translation: X:8.37, Y:0.22, Z:-0.54 [[ 8.97835416e-01 1.17049960e-01 -4.24488955e-01 8.36571973e+00] [-1.03630048e-01 9.93113021e-01 5.46565736e-02 2.19611872e-01] [ 4.27963059e-01 -5.08279654e-03 9.03781935e-01 -5.44307675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.36824100800001 meters Centerline goodness : 0.886117 Centerline is valid? [False, False] Translation: X:8.37, Y:0.22, Z:-0.54 [[ 8.97732552e-01 1.16583231e-01 -4.24834809e-01 8.36750694e+00] [-1.03205036e-01 9.93168113e-01 5.44593484e-02 2.19882296e-01] [ 4.28281432e-01 -5.04483799e-03 9.03631321e-01 -5.44282363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.39824100800001 meters Centerline goodness : 0.888864 Centerline is valid? [False, False] Translation: X:8.37, Y:0.22, Z:-0.54 [[ 8.97633616e-01 1.16169377e-01 -4.25157110e-01 8.36940043e+00] [-1.02789245e-01 9.93216326e-01 5.43663497e-02 2.19914906e-01] [ 4.28588687e-01 -5.09948478e-03 9.03485325e-01 -5.44280562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.42824100800001 meters Centerline goodness : 0.886298 Centerline is valid? [False, False] Translation: X:8.38, Y:0.22, Z:-0.54 [[ 0.89668219 0.11932026 -0.42629065 8.37502474] [-0.10368317 0.99281112 0.05979871 0.21734722] [ 0.43036129 -0.00942127 0.90260755 -0.53888177] [ 0. 0. 0. 1. ]] SLAMing on 97.45824100800002 meters Centerline goodness : 0.884131 Centerline is valid? [False, False] Translation: X:8.39, Y:0.21, Z:-0.53 [[ 0.89586756 0.11977623 -0.42787261 8.38501919] [-0.10159793 0.99268898 0.06516485 0.21499051] [ 0.43254962 -0.0149081 0.90148687 -0.53045884] [ 0. 0. 0. 1. ]] SLAMing on 97.48824100800002 meters Centerline goodness : 0.884619 Centerline is valid? [False, False] Translation: X:8.39, Y:0.21, Z:-0.53 [[ 0.89552647 0.11917505 -0.4287536 8.38743142] [-0.10080189 0.99275461 0.06540078 0.21441761] [ 0.43344125 -0.01534896 0.9010511 -0.52873147] [ 0. 0. 0. 1. ]] SLAMing on 97.51824100800002 meters Centerline goodness : 0.884906 Centerline is valid? [False, False] Translation: X:8.39, Y:0.21, Z:-0.52 [[ 0.8947971 0.12312546 -0.42915995 8.3901085 ] [-0.10183999 0.99216885 0.07231596 0.2111001 ] [ 0.43470307 -0.02100246 0.90032891 -0.52084395] [ 0. 0. 0. 1. ]] SLAMing on 97.548241008 meters Centerline goodness : 0.884439 Centerline is valid? [False, False] Translation: X:8.39, Y:0.21, Z:-0.52 [[ 0.894662 0.12282833 -0.42952662 8.391187 ] [-0.10146647 0.99220191 0.07238738 0.21086442] [ 0.43506835 -0.02117969 0.9001483 -0.52017337] [ 0. 0. 0. 1. ]] SLAMing on 97.578241008 meters Centerline goodness : 0.883791 Centerline is valid? [False, False] Translation: X:8.40, Y:0.21, Z:-0.51 [[ 0.89369573 0.12543189 -0.43078392 8.39764985] [-0.10178881 0.99177426 0.07760711 0.20944605] [ 0.4369748 -0.02550816 0.89911198 -0.51421285] [ 0. 0. 0. 1. ]] SLAMing on 97.60824100800001 meters Centerline goodness : 0.885141 Centerline is valid? [False, False] Translation: X:8.40, Y:0.21, Z:-0.51 [[ 0.89371922 0.12543566 -0.43073407 8.39828141] [-0.10181835 0.99177505 0.07755815 0.21100756] [ 0.43691987 -0.02545857 0.89914008 -0.51417187] [ 0. 0. 0. 1. ]] SLAMing on 97.63824100800001 meters Centerline goodness : 0.886562 Centerline is valid? [False, False] Translation: X:8.40, Y:0.21, Z:-0.51 [[ 0.89368537 0.12526887 -0.43085284 8.3990685 ] [-0.10179758 0.99180416 0.07721239 0.21301025] [ 0.43699395 -0.0251438 0.89911294 -0.51430762] [ 0. 0. 0. 1. ]] SLAMing on 97.66824100800001 meters Centerline goodness : 0.885587 Centerline is valid? [False, False] Translation: X:8.40, Y:0.22, Z:-0.51 [[ 0.89371626 0.12565229 -0.43067707 8.39874468] [-0.10242947 0.99177122 0.07679872 0.2164352 ] [ 0.43678306 -0.02452224 0.89923257 -0.51493743] [ 0. 0. 0. 1. ]] SLAMing on 97.69824100800001 meters Centerline goodness : 0.885122 Centerline is valid? [False, False] Translation: X:8.40, Y:0.22, Z:-0.51 [[ 0.89369432 0.12624509 -0.43054924 8.39781708] [-0.10296096 0.99169539 0.0770668 0.21729115] [ 0.436703 -0.0245444 0.89927085 -0.51449427] [ 0. 0. 0. 1. ]] SLAMing on 97.72824100800001 meters Centerline goodness : 0.888889 Centerline is valid? [False, False] Translation: X:8.40, Y:0.22, Z:-0.51 [[ 0.89361769 0.12663842 -0.43059276 8.39757759] [-0.10334287 0.99164714 0.07717644 0.2181873 ] [ 0.43676958 -0.02446754 0.89924061 -0.51412075] [ 0. 0. 0. 1. ]] SLAMing on 97.75824100800001 meters Centerline goodness : 0.889604 Centerline is valid? [False, False] Translation: X:8.40, Y:0.22, Z:-0.51 [[ 0.89359487 0.12751701 -0.43038078 8.39641796] [-0.10447338 0.99155255 0.07686901 0.2215004 ] [ 0.43654727 -0.02372642 0.89936841 -0.51478103] [ 0. 0. 0. 1. ]] SLAMing on 97.78824100800001 meters Centerline goodness : 0.888461 Centerline is valid? [False, False] Translation: X:8.40, Y:0.22, Z:-0.51 [[ 0.89266384 0.13270383 -0.43074466 8.39801522] [-0.10782663 0.9907997 0.08178855 0.22011005] [ 0.43763534 -0.02656394 0.89876007 -0.51205035] [ 0. 0. 0. 1. ]] SLAMing on 97.81824100800002 meters Centerline goodness : 0.890104 Centerline is valid? [False, False] Translation: X:8.40, Y:0.22, Z:-0.51 [[ 0.89267303 0.13273199 -0.43071693 8.39867358] [-0.10811189 0.99081139 0.0812687 0.2220257 ] [ 0.4375462 -0.02598076 0.89882052 -0.51290838] [ 0. 0. 0. 1. ]] SLAMing on 97.84824100800002 meters Centerline goodness : 0.890104 Centerline is valid? [False, False] Translation: X:8.40, Y:0.22, Z:-0.51 [[ 0.89267864 0.13275127 -0.43069937 8.39863138] [-0.10815181 0.99081006 0.0812318 0.22209781] [ 0.4375249 -0.02593298 0.89883227 -0.51297168] [ 0. 0. 0. 1. ]] SLAMing on 97.87824100800002 meters Centerline goodness : 0.890195 Centerline is valid? [False, False] Translation: X:8.40, Y:0.22, Z:-0.51 [[ 0.89267966 0.1325572 -0.43075701 8.39972615] [-0.10816891 0.99084755 0.08075038 0.22329213] [ 0.43751857 -0.0254897 0.89884803 -0.51374346] [ 0. 0. 0. 1. ]] SLAMing on 97.90824100800002 meters Centerline goodness : 0.888965 Centerline is valid? [False, False] Translation: X:8.40, Y:0.22, Z:-0.51 [[ 0.89261572 0.13260207 -0.4308757 8.40089555] [-0.10828729 0.99084671 0.08060186 0.2240396 ] [ 0.43761975 -0.02528813 0.89880447 -0.51404327] [ 0. 0. 0. 1. ]] SLAMing on 97.938241008 meters Centerline goodness : 0.889704 Centerline is valid? [False, False] Translation: X:8.40, Y:0.22, Z:-0.51 [[ 0.89253388 0.13239113 -0.43111005 8.40223771] [-0.10810294 0.99087637 0.08048456 0.2236686 ] [ 0.4378322 -0.02523093 0.8987026 -0.51419863] [ 0. 0. 0. 1. ]] SLAMing on 97.968241008 meters Centerline goodness : 0.890625 Centerline is valid? [False, False] Translation: X:8.40, Y:0.22, Z:-0.51 [[ 0.89243048 0.13230762 -0.43134966 8.40355358] [-0.10805443 0.99089027 0.08037857 0.22336514] [ 0.43805488 -0.02512304 0.89859711 -0.51437143] [ 0. 0. 0. 1. ]] SLAMing on 97.99824100800001 meters Centerline goodness : 0.890420 Centerline is valid? [False, False] Translation: X:8.41, Y:0.22, Z:-0.51 [[ 0.89226327 0.1317981 -0.43185127 8.40564659] [-0.10762568 0.99096225 0.08006576 0.22330472] [ 0.43850082 -0.02496145 0.89838408 -0.51430186] [ 0. 0. 0. 1. ]] SLAMing on 98.02824100800001 meters Centerline goodness : 0.887422 Centerline is valid? [False, False] Translation: X:8.41, Y:0.22, Z:-0.51 [[ 0.8919702 0.13167979 -0.4324923 8.40765508] [-0.10745381 0.99097749 0.08010804 0.22295215] [ 0.43913875 -0.02498103 0.89807188 -0.51359697] [ 0. 0. 0. 1. ]] SLAMing on 98.05824100800001 meters Centerline goodness : 0.886106 Centerline is valid? [False, False] Translation: X:8.41, Y:0.22, Z:-0.51 [[ 0.89181861 0.13143132 -0.43288033 8.4088567 ] [-0.10722859 0.99101226 0.0799796 0.22280169] [ 0.43950154 -0.02491014 0.89789637 -0.51329704] [ 0. 0. 0. 1. ]] SLAMing on 98.08824100800001 meters Centerline goodness : 0.888804 Centerline is valid? [False, False] Translation: X:8.41, Y:0.22, Z:-0.51 [[ 0.89176017 0.13152516 -0.4329722 8.40902106] [-0.10728707 0.99099884 0.08006737 0.22292108] [ 0.43960582 -0.02494857 0.89784425 -0.51294761] [ 0. 0. 0. 1. ]] SLAMing on 98.11824100800001 meters Centerline goodness : 0.889789 Centerline is valid? [False, False] Translation: X:8.41, Y:0.22, Z:-0.51 [[ 0.89071184 0.13507403 -0.43403621 8.41427631] [-0.1085799 0.99041287 0.08539762 0.22013943] [ 0.44141005 -0.02893706 0.89683879 -0.50775685] [ 0. 0. 0. 1. ]] SLAMing on 98.14824100800001 meters Centerline goodness : 0.888373 Centerline is valid? [False, False] Translation: X:8.42, Y:0.22, Z:-0.51 [[ 0.890592 0.1347651 -0.43437801 8.41609739] [-0.10829175 0.99045625 0.08526025 0.22055618] [ 0.44172252 -0.02889254 0.89668636 -0.50771253] [ 0. 0. 0. 1. ]] SLAMing on 98.17824100800001 meters Centerline goodness : 0.886217 Centerline is valid? [False, False] Translation: X:8.42, Y:0.22, Z:-0.51 [[ 0.89049456 0.1349077 -0.43453348 8.41687887] [-0.1083788 0.9904352 0.08539411 0.22084665] [ 0.44189757 -0.02894877 0.89659829 -0.50745187] [ 0. 0. 0. 1. ]] SLAMing on 98.20824100800002 meters Centerline goodness : 0.888043 Centerline is valid? [False, False] Translation: X:8.42, Y:0.22, Z:-0.51 [[ 0.89092175 0.13120482 -0.4347916 8.41526953] [-0.10597546 0.99099069 0.08189422 0.22248579] [ 0.44161934 -0.0268841 0.89679965 -0.50770976] [ 0. 0. 0. 1. ]] SLAMing on 98.23824100800002 meters Centerline goodness : 0.889392 Centerline is valid? [False, False] Translation: X:8.41, Y:0.22, Z:-0.51 [[ 0.89121443 0.12816275 -0.435099 8.41403981] [-0.10400011 0.99143377 0.079013 0.22412383] [ 0.44149837 -0.02516718 0.89690903 -0.50792923] [ 0. 0. 0. 1. ]] SLAMing on 98.26824100800002 meters Centerline goodness : 0.888377 Centerline is valid? [False, False] Translation: X:8.41, Y:0.22, Z:-0.51 [[ 0.89112117 0.12843645 -0.4352093 8.41449211] [-0.10411072 0.99139126 0.07939975 0.22411983] [ 0.44166052 -0.02544485 0.89682136 -0.5072718 ] [ 0. 0. 0. 1. ]] SLAMing on 98.298241008 meters Centerline goodness : 0.885049 Centerline is valid? [False, False] Translation: X:8.42, Y:0.22, Z:-0.51 [[ 0.89095742 0.12823096 -0.43560497 8.41591177] [-0.10387621 0.99141694 0.0793863 0.22408131] [ 0.44204593 -0.02548083 0.89663043 -0.50689618] [ 0. 0. 0. 1. ]] SLAMing on 98.328241008 meters Centerline goodness : 0.886599 Centerline is valid? [False, False] Translation: X:8.42, Y:0.22, Z:-0.51 [[ 0.89077086 0.12749921 -0.4362009 8.41863091] [-0.10317389 0.99151148 0.07912098 0.22401757] [ 0.44258607 -0.02547412 0.89636412 -0.50653308] [ 0. 0. 0. 1. ]] SLAMing on 98.35824100800001 meters Centerline goodness : 0.886099 Centerline is valid? [False, False] Translation: X:8.42, Y:0.22, Z:-0.51 [[ 0.89056125 0.12704815 -0.43676015 8.42111093] [-0.10276984 0.99157211 0.0788867 0.2243187 ] [ 0.44310159 -0.02536767 0.89611242 -0.50637175] [ 0. 0. 0. 1. ]] SLAMing on 98.38824100800001 meters Centerline goodness : 0.885406 Centerline is valid? [False, False] Translation: X:8.42, Y:0.22, Z:-0.51 [[ 0.89036574 0.12652023 -0.43731164 8.42323312] [-0.10225942 0.99164011 0.07869503 0.22467751] [ 0.44361228 -0.02534812 0.89586027 -0.50595778] [ 0. 0. 0. 1. ]] SLAMing on 98.41824100800001 meters Centerline goodness : 0.884338 Centerline is valid? [False, False] Translation: X:8.43, Y:0.22, Z:-0.51 [[ 0.89007494 0.12587478 -0.4380892 8.42585146] [-0.10159541 0.99172108 0.07853458 0.22499129] [ 0.44434781 -0.02539381 0.89549437 -0.5051252 ] [ 0. 0. 0. 1. ]] SLAMing on 98.44824100800001 meters Centerline goodness : 0.882944 Centerline is valid? [False, False] Translation: X:8.44, Y:0.22, Z:-0.49 [[ 0.89019354 0.12911082 -0.43690486 8.43745738] [-0.09938007 0.99093937 0.09034803 0.22002113] [ 0.44461113 -0.0370076 0.89495887 -0.48990001] [ 0. 0. 0. 1. ]] SLAMing on 98.47824100800001 meters Centerline goodness : 0.886182 Centerline is valid? [False, False] Translation: X:8.44, Y:0.22, Z:-0.48 [[ 0.889677 0.13126672 -0.4373144 8.44171997] [-0.09925704 0.99048018 0.09537847 0.21748965] [ 0.44567127 -0.0414495 0.89423658 -0.48406057] [ 0. 0. 0. 1. ]] SLAMing on 98.50824100800001 meters Centerline goodness : 0.886757 Centerline is valid? [False, False] Translation: X:8.45, Y:0.22, Z:-0.48 [[ 0.88898909 0.13393279 -0.43790456 8.44656646] [-0.09945545 0.98991699 0.1008611 0.21593094] [ 0.44699777 -0.04611243 0.89334575 -0.47770033] [ 0. 0. 0. 1. ]] SLAMing on 98.53824100800001 meters Centerline goodness : 0.882680 Centerline is valid? [False, False] Translation: X:8.45, Y:0.22, Z:-0.48 [[ 0.88880604 0.13309578 -0.43853088 8.44929687] [-0.09871903 0.99003774 0.10039835 0.21752847] [ 0.44752472 -0.04594332 0.89309061 -0.47726581] [ 0. 0. 0. 1. ]] SLAMing on 98.56824100800002 meters Centerline goodness : 0.883824 Centerline is valid? [False, False] Translation: X:8.45, Y:0.22, Z:-0.48 [[ 0.88849905 0.13223248 -0.43941325 8.4521496 ] [-0.09789628 0.99015769 0.10002032 0.21876343] [ 0.44831435 -0.04585104 0.89269924 -0.47618507] [ 0. 0. 0. 1. ]] SLAMing on 98.59824100800002 meters Centerline goodness : 0.883061 Centerline is valid? [False, False] Translation: X:8.45, Y:0.22, Z:-0.48 [[ 0.88828493 0.13200993 -0.43991279 8.45331563] [-0.09767323 0.99019048 0.0999137 0.2195964 ] [ 0.44878706 -0.04578414 0.89246512 -0.47536411] [ 0. 0. 0. 1. ]] SLAMing on 98.62824100800002 meters Centerline goodness : 0.882161 Centerline is valid? [False, False] Translation: X:8.45, Y:0.22, Z:-0.48 [[ 0.88815579 0.13197149 -0.44018499 8.45401915] [-0.0977336 0.99020832 0.09967764 0.22087826] [ 0.44902945 -0.0455084 0.8923573 -0.47512387] [ 0. 0. 0. 1. ]] SLAMing on 98.65824100800002 meters Centerline goodness : 0.882710 Centerline is valid? [False, False] Translation: X:8.45, Y:0.22, Z:-0.47 [[ 0.88806409 0.13228188 -0.44027681 8.45406383] [-0.09814613 0.99018184 0.09953525 0.2227664 ] [ 0.44912081 -0.04518221 0.89232789 -0.47497698] [ 0. 0. 0. 1. ]] SLAMing on 98.688241008 meters Centerline goodness : 0.879405 Centerline is valid? [False, False] Translation: X:8.45, Y:0.22, Z:-0.47 [[ 0.88728947 0.13795569 -0.44009729 8.45345333] [-0.10219233 0.98930468 0.1040816 0.2243914 ] [ 0.44974896 -0.04737594 0.89189764 -0.47241111] [ 0. 0. 0. 1. ]] SLAMing on 98.718241008 meters Centerline goodness : 0.879889 Centerline is valid? [False, False] Translation: X:8.45, Y:0.23, Z:-0.47 [[ 0.88708965 0.13878389 -0.4402397 8.45346341] [-0.10309495 0.98920842 0.10410633 0.22737934] [ 0.4499371 -0.04696516 0.89182447 -0.47234004] [ 0. 0. 0. 1. ]] SLAMing on 98.74824100800001 meters Centerline goodness : 0.880078 Centerline is valid? [False, False] Translation: X:8.45, Y:0.23, Z:-0.47 [[ 0.88696556 0.13915158 -0.44037362 8.45385393] [-0.10369208 0.98918659 0.10372004 0.22985901] [ 0.45004449 -0.04633284 0.89180336 -0.47290503] [ 0. 0. 0. 1. ]] SLAMing on 98.77824100800001 meters Centerline goodness : 0.878636 Centerline is valid? [False, False] Translation: X:8.46, Y:0.23, Z:-0.47 [[ 0.88595551 0.14408016 -0.44082166 8.45600809] [-0.10694583 0.98837026 0.10810562 0.22916872] [ 0.4512709 -0.04863273 0.89106085 -0.47060675] [ 0. 0. 0. 1. ]] SLAMing on 98.80824100800001 meters Centerline goodness : 0.878760 Centerline is valid? [False, False] Translation: X:8.46, Y:0.23, Z:-0.47 [[ 0.88553023 0.14581923 -0.44110426 8.45579022] [-0.10881702 0.98815474 0.10820843 0.23246498] [ 0.45165813 -0.04782218 0.89090851 -0.47105061] [ 0. 0. 0. 1. ]] SLAMing on 98.83824100800001 meters Centerline goodness : 0.878602 Centerline is valid? [False, False] Translation: X:8.46, Y:0.23, Z:-0.47 [[ 0.88534322 0.14542616 -0.44160912 8.45788134] [-0.1087975 0.98825346 0.10732291 0.23498312] [ 0.4520293 -0.04697165 0.8907655 -0.47177111] [ 0. 0. 0. 1. ]] SLAMing on 98.86824100800001 meters Centerline goodness : 0.879543 Centerline is valid? [False, False] Translation: X:8.46, Y:0.24, Z:-0.47 [[ 0.88520303 0.14544489 -0.44188391 8.4588784 ] [-0.10907726 0.98828129 0.10678131 0.23700999] [ 0.45223639 -0.04632365 0.89069432 -0.47223271] [ 0. 0. 0. 1. ]] SLAMing on 98.89824100800001 meters Centerline goodness : 0.877822 Centerline is valid? [False, False] Translation: X:8.46, Y:0.24, Z:-0.47 [[ 0.88500845 0.14577773 -0.44216389 8.45881469] [-0.10940159 0.98823883 0.10684247 0.23791916] [ 0.45253877 -0.04618306 0.89054802 -0.47158665] [ 0. 0. 0. 1. ]] SLAMing on 98.92824100800001 meters Centerline goodness : 0.881103 Centerline is valid? [False, False] Translation: X:8.46, Y:0.24, Z:-0.47 [[ 0.88476454 0.14683015 -0.44230376 8.45757912] [-0.11050264 0.98810224 0.10697261 0.23890603] [ 0.45274814 -0.04576984 0.89046294 -0.47100167] [ 0. 0. 0. 1. ]] SLAMing on 98.95824100800002 meters Centerline goodness : 0.880365 Centerline is valid? [False, False] Translation: X:8.46, Y:0.24, Z:-0.47 [[ 0.88452741 0.14647321 -0.44289599 8.45950649] [-0.11031404 0.9881751 0.10649316 0.23998983] [ 0.45325718 -0.04533848 0.89022601 -0.47095336] [ 0. 0. 0. 1. ]] SLAMing on 98.98824100800002 meters Centerline goodness : 0.880182 Centerline is valid? [False, False] Translation: X:8.46, Y:0.24, Z:-0.47 [[ 0.88431764 0.14581308 -0.44353226 8.46201925] [-0.10988371 0.98829542 0.10581937 0.24126605] [ 0.45377074 -0.04484096 0.88998955 -0.47108071] [ 0. 0. 0. 1. ]] SLAMing on 99.01824100800002 meters Centerline goodness : 0.880964 Centerline is valid? [False, False] Translation: X:8.47, Y:0.24, Z:-0.47 [[ 0.88397101 0.14503193 -0.44447833 8.46618549] [-0.10960338 0.98846115 0.10455451 0.24376971] [ 0.45451331 -0.04370683 0.889667 -0.47220497] [ 0. 0. 0. 1. ]] SLAMing on 99.048241008 meters Centerline goodness : 0.878954 Centerline is valid? [False, False] Translation: X:8.47, Y:0.24, Z:-0.47 [[ 0.88368151 0.14415801 -0.44533747 8.46986261] [-0.10894534 0.98860941 0.10383806 0.2445993 ] [ 0.4552339 -0.04324233 0.8893212 -0.47242089] [ 0. 0. 0. 1. ]] SLAMing on 99.078241008 meters Centerline goodness : 0.878360 Centerline is valid? [False, False] Translation: X:8.47, Y:0.25, Z:-0.47 [[ 0.88399644 0.13878608 -0.44641765 8.47291061] [-0.10547344 0.98950513 0.09876712 0.24741613] [ 0.45544006 -0.04022458 0.88935726 -0.47436681] [ 0. 0. 0. 1. ]] SLAMing on 99.10824100800001 meters Centerline goodness : 0.877928 Centerline is valid? [False, False] Translation: X:8.48, Y:0.25, Z:-0.48 [[ 0.88426006 0.13323453 -0.44758541 8.47682108] [-0.10170037 0.99037479 0.09388721 0.2480412 ] [ 0.45578633 -0.03750111 0.88929888 -0.47615546] [ 0. 0. 0. 1. ]] SLAMing on 99.13824100800001 meters Centerline goodness : 0.877515 Centerline is valid? [False, False] Translation: X:8.48, Y:0.25, Z:-0.48 [[ 0.88459658 0.12793202 -0.44846659 8.47876006] [-0.09805335 0.99116333 0.08933525 0.24931297] [ 0.45593248 -0.03505201 0.88932386 -0.47721914] [ 0. 0. 0. 1. ]] SLAMing on 99.16824100800001 meters Centerline goodness : 0.877726 Centerline is valid? [False, False] Translation: X:8.48, Y:0.25, Z:-0.48 [[ 0.88497733 0.1225796 -0.44920972 8.48071684] [-0.09435588 0.99192155 0.08478563 0.25089462] [ 0.45597379 -0.03264778 0.88939419 -0.47838417] [ 0. 0. 0. 1. ]] SLAMing on 99.19824100800001 meters Centerline goodness : 0.876110 Centerline is valid? [False, False] Translation: X:8.48, Y:0.25, Z:-0.48 [[ 0.88467996 0.12224938 -0.44988495 8.48274951] [-0.09385364 0.99195184 0.08498853 0.24945452] [ 0.456654 -0.03296431 0.88903345 -0.47745844] [ 0. 0. 0. 1. ]] SLAMing on 99.22824100800001 meters Centerline goodness : 0.878393 Centerline is valid? [False, False] Translation: X:8.48, Y:0.25, Z:-0.48 [[ 0.88490954 0.11767866 -0.45065157 8.48409366] [-0.09068409 0.99257032 0.0811206 0.25061752] [ 0.45684954 -0.03091746 0.88900653 -0.47800073] [ 0. 0. 0. 1. ]] SLAMing on 99.25824100800001 meters Centerline goodness : 0.877645 Centerline is valid? [False, False] Translation: X:8.49, Y:0.24, Z:-0.48 [[ 0.88448029 0.11801562 -0.45140551 8.48541934] [-0.09044763 0.99249839 0.08225679 0.24488547] [ 0.45772683 -0.03192595 0.88851949 -0.47588308] [ 0. 0. 0. 1. ]] SLAMing on 99.28824100800001 meters Centerline goodness : 0.879543 Centerline is valid? [False, False] Translation: X:8.48, Y:0.24, Z:-0.48 [[ 0.88483347 0.11385261 -0.45178237 8.484775 ] [-0.08761213 0.99304394 0.07866289 0.24479271] [ 0.45759572 -0.03002194 0.88865339 -0.47629656] [ 0. 0. 0. 1. ]] SLAMing on 99.31824100800002 meters Centerline goodness : 0.877811 Centerline is valid? [False, False] Translation: X:8.49, Y:0.24, Z:-0.48 [[ 0.88459296 0.11400347 -0.45221511 8.48624497] [-0.08748298 0.99301183 0.07921001 0.24331943] [ 0.45808517 -0.03050749 0.88838464 -0.4754061 ] [ 0. 0. 0. 1. ]] SLAMing on 99.34824100800002 meters Centerline goodness : 0.874763 Centerline is valid? [False, False] Translation: X:8.49, Y:0.24, Z:-0.48 [[ 0.88452567 0.11464149 -0.45218544 8.48701436] [-0.08795503 0.99293207 0.07968573 0.24330083] [ 0.45812471 -0.03071209 0.8883572 -0.47559649] [ 0. 0. 0. 1. ]] SLAMing on 99.37824100800002 meters Centerline goodness : 0.873348 Centerline is valid? [False, False] Translation: X:8.49, Y:0.24, Z:-0.48 [[ 0.88432976 0.1147403 -0.45254342 8.48848511] [-0.08799026 0.99291933 0.0798055 0.2423895 ] [ 0.45849602 -0.03075496 0.88816414 -0.47545966] [ 0. 0. 0. 1. ]] SLAMing on 99.40824100800002 meters Centerline goodness : 0.874481 Centerline is valid? [False, False] Translation: X:8.49, Y:0.24, Z:-0.47 [[ 0.88405638 0.11510959 -0.45298355 8.48925607] [-0.08809787 0.99286453 0.08036659 0.24044918] [ 0.45900227 -0.03114171 0.88788913 -0.47450154] [ 0. 0. 0. 1. ]] SLAMing on 99.438241008 meters Centerline goodness : 0.871854 Centerline is valid? [False, False] Translation: X:8.49, Y:0.24, Z:-0.48 [[ 0.88428172 0.11123661 -0.45351104 8.48985411] [-0.08563209 0.9933715 0.07668256 0.23909865] [ 0.45903485 -0.02897388 0.88794567 -0.4756081 ] [ 0. 0. 0. 1. ]] SLAMing on 99.468241008 meters Centerline goodness : 0.872159 Centerline is valid? [False, False] Translation: X:8.49, Y:0.24, Z:-0.48 [[ 0.88399281 0.11100503 -0.45413058 8.49222685] [-0.08530875 0.99339329 0.07676058 0.23797234] [ 0.45965109 -0.02911449 0.88762223 -0.4752244 ] [ 0. 0. 0. 1. ]] SLAMing on 99.49824100800001 meters Centerline goodness : 0.872454 Centerline is valid? [False, False] Translation: X:8.50, Y:0.24, Z:-0.48 [[ 0.88372693 0.11049643 -0.45477165 8.49527624] [-0.08478484 0.99344878 0.07662286 0.23707499] [ 0.46025889 -0.02915594 0.88730586 -0.47516534] [ 0. 0. 0. 1. ]] SLAMing on 99.52824100800001 meters Centerline goodness : 0.872639 Centerline is valid? [False, False] Translation: X:8.50, Y:0.24, Z:-0.48 [[ 0.8834703 0.10986425 -0.45542296 8.49846891] [-0.08415688 0.99351803 0.0764169 0.23592579] [ 0.4608664 -0.02918509 0.88698951 -0.47518812] [ 0. 0. 0. 1. ]] SLAMing on 99.55824100800001 meters Centerline goodness : 0.875275 Centerline is valid? [False, False] Translation: X:8.50, Y:0.23, Z:-0.47 [[ 0.882913 0.1083111 -0.45687344 8.5043377 ] [-0.08226472 0.99366313 0.07659048 0.23134514] [ 0.46227389 -0.03003817 0.88622828 -0.47335257] [ 0. 0. 0. 1. ]] SLAMing on 99.58824100800001 meters Centerline goodness : 0.871385 Centerline is valid? [False, False] Translation: X:8.51, Y:0.23, Z:-0.47 [[ 0.88325041 0.10289842 -0.457472 8.50630777] [-0.07835438 0.99429569 0.07236492 0.23091155] [ 0.46230867 -0.02807141 0.88627461 -0.47431244] [ 0. 0. 0. 1. ]] SLAMing on 99.61824100800001 meters Centerline goodness : 0.872579 Centerline is valid? [False, False] Translation: X:8.51, Y:0.23, Z:-0.47 [[ 0.88349659 0.0974042 -0.45819886 8.50847985] [-0.07433188 0.99490079 0.0681703 0.23021568] [ 0.46250248 -0.02616944 0.88623169 -0.47497004] [ 0. 0. 0. 1. ]] SLAMing on 99.64824100800001 meters Centerline goodness : 0.870729 Centerline is valid? [False, False] Translation: X:8.51, Y:0.23, Z:-0.47 [[ 0.88317161 0.09688321 -0.45893524 8.51121073] [-0.07347354 0.99493208 0.06864252 0.22682197] [ 0.4632597 -0.02690353 0.88581412 -0.47372906] [ 0. 0. 0. 1. ]] SLAMing on 99.67824100800001 meters Centerline goodness : 0.869534 Centerline is valid? [False, False] Translation: X:8.51, Y:0.22, Z:-0.47 [[ 0.88334122 0.094093 -0.45918929 8.51380951] [-0.07080911 0.99518914 0.06771005 0.22200249] [ 0.46335123 -0.02729629 0.88575422 -0.47301557] [ 0. 0. 0. 1. ]] SLAMing on 99.70824100800002 meters Centerline goodness : 0.867455 Centerline is valid? [False, False] Translation: X:8.52, Y:0.22, Z:-0.47 [[ 0.88297378 0.09441712 -0.459829 8.51501937] [-0.07049102 0.99512509 0.06897155 0.2190007 ] [ 0.46409947 -0.02848626 0.88532492 -0.47071101] [ 0. 0. 0. 1. ]] SLAMing on 99.73824100800002 meters Centerline goodness : 0.868930 Centerline is valid? [False, False] Translation: X:8.52, Y:0.22, Z:-0.47 [[ 0.88273 0.09462004 -0.46025514 8.51635533] [-0.07030668 0.99508533 0.06972913 0.21605907] [ 0.46459092 -0.02919298 0.8850441 -0.46974811] [ 0. 0. 0. 1. ]] SLAMing on 99.76824100800002 meters Centerline goodness : 0.868930 Centerline is valid? [False, False] Translation: X:8.52, Y:0.22, Z:-0.47 [[ 0.88273 0.09462004 -0.46025514 8.51635533] [-0.07030668 0.99508533 0.06972913 0.21605907] [ 0.46459092 -0.02919298 0.8850441 -0.46974811] [ 0. 0. 0. 1. ]] SLAMing on 99.798241008 meters Centerline goodness : 0.869840 Centerline is valid? [False, False] Translation: X:8.52, Y:0.21, Z:-0.47 [[ 0.8824342 0.09479369 -0.46078634 8.51796421] [-0.07013317 0.99505076 0.07039408 0.21320047] [ 0.46517871 -0.02980174 0.884715 -0.46879354] [ 0. 0. 0. 1. ]] SLAMing on 99.828241008 meters Centerline goodness : 0.873402 Centerline is valid? [False, False] Translation: X:8.52, Y:0.21, Z:-0.47 [[ 0.88212741 0.09540941 -0.46124644 8.51917836] [-0.07027623 0.9949684 0.07140817 0.20885463] [ 0.46573865 -0.03057644 0.88439391 -0.4677068 ] [ 0. 0. 0. 1. ]] SLAMing on 99.85824100800001 meters Centerline goodness : 0.869260 Centerline is valid? [False, False] Translation: X:8.52, Y:0.21, Z:-0.47 [[ 0.88199581 0.09609774 -0.46135519 8.51885484] [-0.07057503 0.99488236 0.07230667 0.20679846] [ 0.46594265 -0.03121403 0.88426418 -0.46663539] [ 0. 0. 0. 1. ]] SLAMing on 99.88824100800001 meters Centerline goodness : 0.870656 Centerline is valid? [False, False] Translation: X:8.52, Y:0.20, Z:-0.46 [[ 0.88166198 0.09619871 -0.46197183 8.51998758] [-0.07008707 0.99483676 0.07340037 0.20392433] [ 0.46664758 -0.03233606 0.88385203 -0.4643017 ] [ 0. 0. 0. 1. ]] SLAMing on 99.91824100800001 meters Centerline goodness : 0.870331 Centerline is valid? [False, False] Translation: X:8.52, Y:0.20, Z:-0.46 [[ 0.88133139 0.09659967 -0.46251864 8.52059751] [-0.06984853 0.99475946 0.07466453 0.20145908] [ 0.46730736 -0.03349794 0.88346008 -0.46183251] [ 0. 0. 0. 1. ]] SLAMing on 99.94824100800001 meters Centerline goodness : 0.870900 Centerline is valid? [False, False] Translation: X:8.52, Y:0.20, Z:-0.46 [[ 0.88095485 0.09619419 -0.4633198 8.52305327] [-0.06894012 0.99476359 0.07544972 0.19755155] [ 0.46815149 -0.03452647 0.88297345 -0.45970862] [ 0. 0. 0. 1. ]] SLAMing on 99.97824100800001 meters Centerline goodness : 0.869009 Centerline is valid? [False, False] Translation: X:8.53, Y:0.19, Z:-0.45 [[ 0.879966 0.09980553 -0.46443374 8.52813606] [-0.07011382 0.99425974 0.0808185 0.19437677] [ 0.4698339 -0.03855431 0.88191251 -0.45427897] [ 0. 0. 0. 1. ]] SLAMing on 100.00824100800001 meters Centerline goodness : 0.868454 Centerline is valid? [False, False] Translation: X:8.53, Y:0.19, Z:-0.45 [[ 0.87966576 0.09893306 -0.46518856 8.53161567] [-0.0693505 0.99435277 0.08033107 0.19424739] [ 0.47050893 -0.03840343 0.88155914 -0.45425645] [ 0. 0. 0. 1. ]] SLAMing on 100.03824100800001 meters Centerline goodness : 0.866242 Centerline is valid? [False, False] Translation: X:8.54, Y:0.19, Z:-0.45 [[ 0.87855525 0.10190202 -0.46664403 8.53833749] [-0.06953052 0.99385517 0.08612443 0.19171906] [ 0.47255284 -0.04321907 0.88024197 -0.44685915] [ 0. 0. 0. 1. ]] SLAMing on 100.06824100800002 meters Centerline goodness : 0.865005 Centerline is valid? [False, False] Translation: X:8.55, Y:0.19, Z:-0.44 [[ 0.87777726 0.10283062 -0.46790272 8.54726788] [-0.06819507 0.99356591 0.09042247 0.18853189] [ 0.47419039 -0.04746213 0.87914209 -0.4407686 ] [ 0. 0. 0. 1. ]] SLAMing on 100.09824100800002 meters Centerline goodness : 0.866947 Centerline is valid? [False, False] Translation: X:8.55, Y:0.19, Z:-0.44 [[ 0.87749209 0.10232667 -0.46854763 8.54982296] [-0.06766645 0.99361575 0.09027174 0.18847838] [ 0.47479351 -0.04750778 0.87881405 -0.44024236] [ 0. 0. 0. 1. ]] SLAMing on 100.12824100800002 meters Centerline goodness : 0.865309 Centerline is valid? [False, False] Translation: X:8.55, Y:0.19, Z:-0.44 [[ 0.87720923 0.10184222 -0.46918241 8.55242269] [-0.06721584 0.9936693 0.09001858 0.18904891] [ 0.47537985 -0.04742864 0.87850129 -0.43988676] [ 0. 0. 0. 1. ]] SLAMing on 100.15824100800002 meters Centerline goodness : 0.863687 Centerline is valid? [False, False] Translation: X:8.55, Y:0.19, Z:-0.44 [[ 0.87693855 0.10150279 -0.46976161 8.55442855] [-0.06685618 0.99370365 0.08990716 0.18958497] [ 0.47592966 -0.04743659 0.87820313 -0.43929044] [ 0. 0. 0. 1. ]] SLAMing on 100.188241008 meters Centerline goodness : 0.868009 Centerline is valid? [False, False] Translation: X:8.56, Y:0.19, Z:-0.43 [[ 0.87588392 0.10594012 -0.47074839 8.55799464] [-0.06855023 0.99302478 0.09593047 0.18695186] [ 0.4776277 -0.05175405 0.87703666 -0.43287122] [ 0. 0. 0. 1. ]] SLAMing on 100.218241008 meters Centerline goodness : 0.868266 Centerline is valid? [False, False] Translation: X:8.56, Y:0.19, Z:-0.43 [[ 0.87536073 0.10589392 -0.47173092 8.55991152] [-0.06823289 0.99301132 0.09629531 0.18682662] [ 0.47863124 -0.05210557 0.87646857 -0.43062961] [ 0. 0. 0. 1. ]] SLAMing on 100.24824100800001 meters Centerline goodness : 0.868405 Centerline is valid? [False, False] Translation: X:8.56, Y:0.19, Z:-0.43 [[ 0.87515398 0.10660608 -0.47195409 8.55938009] [-0.06857898 0.99290785 0.09711293 0.18700576] [ 0.47895975 -0.05262264 0.87625819 -0.42895716] [ 0. 0. 0. 1. ]] SLAMing on 100.27824100800001 meters Centerline goodness : 0.868310 Centerline is valid? [False, False] Translation: X:8.56, Y:0.19, Z:-0.43 [[ 0.87493171 0.10673668 -0.47233651 8.55979619] [-0.06873962 0.99290362 0.0970426 0.18802274] [ 0.47934264 -0.05243741 0.8760599 -0.42832085] [ 0. 0. 0. 1. ]] SLAMing on 100.30824100800001 meters Centerline goodness : 0.870057 Centerline is valid? [False, False] Translation: X:8.56, Y:0.19, Z:-0.43 [[ 0.87465821 0.10625606 -0.47295102 8.56182386] [-0.06843273 0.99297471 0.09653078 0.18902221] [ 0.47988538 -0.05206611 0.87578487 -0.4281566 ] [ 0. 0. 0. 1. ]] SLAMing on 100.33824100800001 meters Centerline goodness : 0.866847 Centerline is valid? [False, False] Translation: X:8.56, Y:0.19, Z:-0.43 [[ 0.87440382 0.10595687 -0.47348823 8.56357978] [-0.06829392 0.9930262 0.09609846 0.19068602] [ 0.48036851 -0.05169249 0.87554211 -0.42799092] [ 0. 0. 0. 1. ]] SLAMing on 100.36824100800001 meters Centerline goodness : 0.866900 Centerline is valid? [False, False] Translation: X:8.57, Y:0.19, Z:-0.43 [[ 0.87348258 0.11051861 -0.47414535 8.56663729] [-0.07102329 0.99240106 0.10047801 0.18975305] [ 0.48164704 -0.05409043 0.87469444 -0.42528374] [ 0. 0. 0. 1. ]] SLAMing on 100.39824100800001 meters Centerline goodness : 0.867750 Centerline is valid? [False, False] Translation: X:8.57, Y:0.19, Z:-0.43 [[ 0.87320255 0.10992476 -0.47479875 8.56917061] [-0.07093069 0.99252237 0.09933877 0.192464 ] [ 0.48216817 -0.05306506 0.8744701 -0.42603923] [ 0. 0. 0. 1. ]] SLAMing on 100.42824100800001 meters Centerline goodness : 0.868568 Centerline is valid? [False, False] Translation: X:8.57, Y:0.19, Z:-0.43 [[ 0.87286867 0.10956248 -0.4754959 8.57096422] [-0.07066754 0.99257675 0.09898232 0.19358804] [ 0.48281092 -0.05279644 0.87413165 -0.42543954] [ 0. 0. 0. 1. ]] SLAMing on 100.45824100800002 meters Centerline goodness : 0.870805 Centerline is valid? [False, False] Translation: X:8.57, Y:0.19, Z:-0.43 [[ 0.87262059 0.10926271 -0.47601992 8.57259532] [-0.0704662 0.99262268 0.09866476 0.19405401] [ 0.48328855 -0.05255359 0.87388231 -0.42522498] [ 0. 0. 0. 1. ]] SLAMing on 100.48824100800002 meters Centerline goodness : 0.870662 Centerline is valid? [False, False] Translation: X:8.57, Y:0.19, Z:-0.42 [[ 0.87238217 0.10896922 -0.47652394 8.5740585 ] [-0.07023871 0.99266407 0.09841023 0.19452435] [ 0.48375188 -0.0523809 0.87363629 -0.42482641] [ 0. 0. 0. 1. ]] SLAMing on 100.51824100800002 meters Centerline goodness : 0.874055 Centerline is valid? [False, False] Translation: X:8.59, Y:0.20, Z:-0.42 [[ 0.87443385 0.10692639 -0.47321474 8.59174634] [-0.07250826 0.99325803 0.09044904 0.19611464] [ 0.47969573 -0.04477972 0.87629149 -0.42142345] [ 0. 0. 0. 1. ]] SLAMing on 100.548241008 meters Centerline goodness : 0.874291 Centerline is valid? [False, False] Translation: X:8.59, Y:0.20, Z:-0.42 [[ 0.87425073 0.10712114 -0.47350894 8.59172978] [-0.07271078 0.99324295 0.09045208 0.1972225 ] [ 0.47999875 -0.04464859 0.87613224 -0.42076175] [ 0. 0. 0. 1. ]] SLAMing on 100.578241008 meters Centerline goodness : 0.875124 Centerline is valid? [False, False] Translation: X:8.59, Y:0.20, Z:-0.42 [[ 0.87402244 0.10705218 -0.47394578 8.59236145] [-0.07258483 0.99324846 0.09049272 0.19733406] [ 0.48043336 -0.04469139 0.87589181 -0.41989497] [ 0. 0. 0. 1. ]] SLAMing on 100.60824100800001 meters Centerline goodness : 0.875597 Centerline is valid? [False, False] Translation: X:8.59, Y:0.20, Z:-0.42 [[ 0.87381029 0.10716479 -0.47431138 8.59243122] [-0.07250683 0.99322344 0.09082929 0.19706659] [ 0.48083088 -0.04497675 0.87565904 -0.41868833] [ 0. 0. 0. 1. ]] SLAMing on 100.63824100800001 meters Centerline goodness : 0.875984 Centerline is valid? [False, False] Translation: X:8.59, Y:0.20, Z:-0.42 [[ 0.87408638 0.10316419 -0.47468953 8.59195023] [-0.06994104 0.99373435 0.0871797 0.19966246] [ 0.48070911 -0.04300231 0.87582507 -0.41934235] [ 0. 0. 0. 1. ]] SLAMing on 100.66824100800001 meters Centerline goodness : 0.872529 Centerline is valid? [False, False] Translation: X:8.59, Y:0.20, Z:-0.42 [[ 0.87393837 0.10320548 -0.47495301 8.59236949] [-0.06998974 0.99373355 0.08714972 0.20054605] [ 0.48097107 -0.04292165 0.8756852 -0.41882413] [ 0. 0. 0. 1. ]] SLAMing on 100.69824100800001 meters Centerline goodness : 0.878166 Centerline is valid? [False, False] Translation: X:8.59, Y:0.20, Z:-0.42 [[ 0.87373065 0.10273336 -0.47543727 8.59405417] [-0.06959003 0.99378777 0.08685103 0.20106414] [ 0.48140625 -0.04279871 0.87545205 -0.41852398] [ 0. 0. 0. 1. ]] SLAMing on 100.72824100800001 meters Centerline goodness : 0.877719 Centerline is valid? [False, False] Translation: X:8.60, Y:0.20, Z:-0.42 [[ 0.87355053 0.1022539 -0.47587142 8.59573689] [-0.06920658 0.99384404 0.08651284 0.20126133] [ 0.48178825 -0.0426399 0.87524963 -0.41841808] [ 0. 0. 0. 1. ]] SLAMing on 100.75824100800001 meters Centerline goodness : 0.877818 Centerline is valid? [False, False] Translation: X:8.60, Y:0.20, Z:-0.42 [[ 0.87331734 0.10179682 -0.47639713 8.59785089] [-0.06883815 0.99389814 0.08618464 0.20148726] [ 0.48226354 -0.04247224 0.87499599 -0.4182859 ] [ 0. 0. 0. 1. ]] SLAMing on 100.78824100800001 meters Centerline goodness : 0.882884 Centerline is valid? [False, False] Translation: X:8.60, Y:0.20, Z:-0.42 [[ 0.87302358 0.10133792 -0.47703298 8.60004018] [-0.0683917 0.9939464 0.08598335 0.20155744] [ 0.48285858 -0.04244039 0.87466931 -0.41767578] [ 0. 0. 0. 1. ]] SLAMing on 100.81824100800002 meters Centerline goodness : 0.882038 Centerline is valid? [False, False] Translation: X:8.60, Y:0.20, Z:-0.42 [[ 0.87277181 0.10094619 -0.47757642 8.6017037 ] [-0.06796339 0.99398326 0.08589681 0.20115339] [ 0.48337393 -0.0425106 0.87438121 -0.41696771] [ 0. 0. 0. 1. ]] SLAMing on 100.84824100800002 meters Centerline goodness : 0.878342 Centerline is valid? [False, False] Translation: X:8.60, Y:0.20, Z:-0.42 [[ 0.87307923 0.09623976 -0.47798594 8.60136886] [-0.06478524 0.99453203 0.081908 0.20293647] [ 0.48325513 -0.04054574 0.87454018 -0.41742736] [ 0. 0. 0. 1. ]] SLAMing on 100.87824100800002 meters Centerline goodness : 0.880415 Centerline is valid? [False, False] Translation: X:8.60, Y:0.20, Z:-0.42 [[ 0.87274685 0.09595234 -0.47865027 8.60259753] [-0.06413229 0.99453101 0.08243248 0.20102489] [ 0.48394213 -0.04124575 0.87412745 -0.4153259 ] [ 0. 0. 0. 1. ]] SLAMing on 100.90824100800002 meters Centerline goodness : 0.877204 Centerline is valid? [False, False] Translation: X:8.60, Y:0.20, Z:-0.41 [[ 0.87248886 0.09546896 -0.47921694 8.60445248] [-0.06354517 0.99456786 0.08244265 0.20072061] [ 0.48448448 -0.04147837 0.87381596 -0.41445179] [ 0. 0. 0. 1. ]] SLAMing on 100.938241008 meters Centerline goodness : 0.880418 Centerline is valid? [False, False] Translation: X:8.61, Y:0.20, Z:-0.41 [[ 0.87216868 0.09500175 -0.47989214 8.60664341] [-0.06301151 0.99460713 0.0823784 0.20100848] [ 0.48513024 -0.04160913 0.87345139 -0.41353056] [ 0. 0. 0. 1. ]] SLAMing on 100.968241008 meters Centerline goodness : 0.882807 Centerline is valid? [False, False] Translation: X:8.61, Y:0.20, Z:-0.41 [[ 0.87192692 0.09449908 -0.4804304 8.60875699] [-0.0625352 0.99465598 0.08215124 0.2012056 ] [ 0.48562618 -0.04158607 0.87317685 -0.41318062] [ 0. 0. 0. 1. ]] SLAMing on 100.99824100800001 meters Centerline goodness : 0.878437 Centerline is valid? [False, False] Translation: X:8.61, Y:0.20, Z:-0.41 [[ 0.87158478 0.09347665 -0.48125054 8.61264118] [-0.06163055 0.99475776 0.08160069 0.20157643] [ 0.48635547 -0.04146218 0.87277675 -0.41297896] [ 0. 0. 0. 1. ]] SLAMing on 101.02824100800001 meters Centerline goodness : 0.882017 Centerline is valid? [False, False] Translation: X:8.61, Y:0.20, Z:-0.41 [[ 0.87138413 0.09297033 -0.48171175 8.61447627] [-0.06114565 0.99480503 0.08138893 0.20119887] [ 0.48677603 -0.04146644 0.87254205 -0.41268425] [ 0. 0. 0. 1. ]] SLAMing on 101.05824100800001 meters Centerline goodness : 0.881685 Centerline is valid? [False, False] Translation: X:8.62, Y:0.20, Z:-0.41 [[ 0.87047113 0.0964833 -0.48267068 8.61843873] [-0.06195806 0.99427861 0.08701291 0.19805876] [ 0.48830442 -0.04583689 0.87146874 -0.40606951] [ 0. 0. 0. 1. ]] SLAMing on 101.08824100800001 meters Centerline goodness : 0.883050 Centerline is valid? [False, False] Translation: X:8.62, Y:0.20, Z:-0.41 [[ 0.87027764 0.09636645 -0.48304279 8.61927829] [-0.06167802 0.99427662 0.0872343 0.19682637] [ 0.48868461 -0.04612494 0.8712404 -0.40518139] [ 0. 0. 0. 1. ]] SLAMing on 101.11824100800001 meters Centerline goodness : 0.880583 Centerline is valid? [False, False] Translation: X:8.63, Y:0.19, Z:-0.39 [[ 0.87019561 0.09798862 -0.48286419 8.62529374] [-0.05973244 0.99377658 0.09402207 0.19371523] [ 0.48907222 -0.05297494 0.87063311 -0.3944982 ] [ 0. 0. 0. 1. ]] SLAMing on 101.14824100800001 meters Centerline goodness : 0.882901 Centerline is valid? [False, False] Translation: X:8.62, Y:0.20, Z:-0.40 [[ 0.87062306 0.09301571 -0.48307718 8.62488965] [-0.05639381 0.99435953 0.08982686 0.19586302] [ 0.4887077 -0.05096277 0.87095785 -0.39531954] [ 0. 0. 0. 1. ]] SLAMing on 101.17824100800001 meters Centerline goodness : 0.883218 Centerline is valid? [False, False] Translation: X:8.63, Y:0.20, Z:-0.39 [[ 0.87034956 0.0931157 -0.48355052 8.625463 ] [-0.05612299 0.99431783 0.09045587 0.19524245] [ 0.48922577 -0.05158992 0.87063002 -0.39345798] [ 0. 0. 0. 1. ]] SLAMing on 101.20824100800002 meters Centerline goodness : 0.881958 Centerline is valid? [False, False] Translation: X:8.63, Y:0.19, Z:-0.39 [[ 0.87009541 0.09309814 -0.48401107 8.62600389] [-0.05588093 0.99430055 0.09079503 0.19442339] [ 0.48970532 -0.05195335 0.87033876 -0.39210292] [ 0. 0. 0. 1. ]] SLAMing on 101.23824100800002 meters Centerline goodness : 0.881972 Centerline is valid? [False, False] Translation: X:8.63, Y:0.19, Z:-0.39 [[ 0.869598 0.09234588 -0.485048 8.62938513] [-0.05495504 0.99435297 0.09078607 0.19436455] [ 0.49069264 -0.05229155 0.86976223 -0.3903058 ] [ 0. 0. 0. 1. ]] SLAMing on 101.26824100800002 meters Centerline goodness : 0.885693 Centerline is valid? [False, False] Translation: X:8.63, Y:0.20, Z:-0.39 [[ 0.86938258 0.09180607 -0.48553638 8.63175019] [-0.05458327 0.99441846 0.0902917 0.19543747] [ 0.49111566 -0.05199587 0.86954116 -0.39041413] [ 0. 0. 0. 1. ]] SLAMing on 101.298241008 meters Centerline goodness : 0.882649 Centerline is valid? [False, False] Translation: X:8.63, Y:0.20, Z:-0.39 [[ 0.86916003 0.09089977 -0.486105 8.63480098] [-0.05400868 0.99452992 0.08940527 0.1965044 ] [ 0.49157289 -0.0514536 0.86931503 -0.39099113] [ 0. 0. 0. 1. ]] SLAMing on 101.328241008 meters Centerline goodness : 0.882595 Centerline is valid? [False, False] Translation: X:8.64, Y:0.19, Z:-0.39 [[ 0.86818008 0.09523904 -0.48702451 8.63827662] [-0.05593381 0.99393721 0.09465849 0.19448234] [ 0.49308696 -0.05493948 0.86824357 -0.38602886] [ 0. 0. 0. 1. ]] SLAMing on 101.35824100800001 meters Centerline goodness : 0.884186 Centerline is valid? [False, False] Translation: X:8.64, Y:0.19, Z:-0.38 [[ 0.86795081 0.09528467 -0.48742407 8.63906981] [-0.05582722 0.99392142 0.09488697 0.19474193] [ 0.4935025 -0.05514569 0.86799437 -0.38491782] [ 0. 0. 0. 1. ]] SLAMing on 101.38824100800001 meters Centerline goodness : 0.880635 Centerline is valid? [False, False] Translation: X:8.64, Y:0.20, Z:-0.38 [[ 0.86772589 0.09451445 -0.48797419 8.64099514] [-0.05504469 0.99398847 0.09464143 0.19590337] [ 0.4939857 -0.05526243 0.86771205 -0.3837146 ] [ 0. 0. 0. 1. ]] SLAMing on 101.41824100800001 meters Centerline goodness : 0.882311 Centerline is valid? [False, False] Translation: X:8.64, Y:0.20, Z:-0.38 [[ 0.86759643 0.09400506 -0.48830266 8.64223131] [-0.05465435 0.99404624 0.09426009 0.19735278] [ 0.49425635 -0.05509185 0.86756875 -0.3833415 ] [ 0. 0. 0. 1. ]] SLAMing on 101.44824100800001 meters Centerline goodness : 0.883670 Centerline is valid? [False, False] Translation: X:8.64, Y:0.20, Z:-0.38 [[ 0.86744946 0.09416465 -0.48853296 8.64184572] [-0.05452169 0.99400369 0.09478419 0.19728086] [ 0.49452889 -0.05558485 0.86738198 -0.38180083] [ 0. 0. 0. 1. ]] SLAMing on 101.47824100800001 meters Centerline goodness : 0.882827 Centerline is valid? [False, False] Translation: X:8.64, Y:0.20, Z:-0.38 [[ 0.8680071 0.0902637 -0.48827874 8.63815048] [-0.05202859 0.9944591 0.09134613 0.19945837] [ 0.49381848 -0.05388464 0.86789386 -0.38172583] [ 0. 0. 0. 1. ]] SLAMing on 101.50824100800001 meters Centerline goodness : 0.880195 Centerline is valid? [False, False] Translation: X:8.64, Y:0.20, Z:-0.38 [[ 0.86794834 0.09001843 -0.48842847 8.63865907] [-0.05196144 0.99449877 0.09095165 0.20136797] [ 0.49392883 -0.05356189 0.86785104 -0.38167707] [ 0. 0. 0. 1. ]] SLAMing on 101.53824100800001 meters Centerline goodness : 0.879271 Centerline is valid? [False, False] Translation: X:8.64, Y:0.20, Z:-0.38 [[ 0.86787594 0.08931374 -0.48868641 8.64038757] [-0.0516726 0.99459961 0.09000866 0.20427152] [ 0.49408632 -0.05286466 0.86780414 -0.38236857] [ 0. 0. 0. 1. ]] SLAMing on 101.56824100800002 meters Centerline goodness : 0.879339 Centerline is valid? [False, False] Translation: X:8.64, Y:0.21, Z:-0.38 [[ 0.8677659 0.08933519 -0.48887786 8.64059566] [-0.05187178 0.99461905 0.08967867 0.2065284 ] [ 0.49425869 -0.05246113 0.86773047 -0.38231716] [ 0. 0. 0. 1. ]] SLAMing on 101.59824100800002 meters Centerline goodness : 0.879485 Centerline is valid? [False, False] Translation: X:8.64, Y:0.21, Z:-0.38 [[ 0.86772395 0.08919843 -0.48897729 8.64104115] [-0.05196884 0.99465514 0.08922105 0.20825471] [ 0.49432215 -0.05200766 0.86772162 -0.3827021 ] [ 0. 0. 0. 1. ]] SLAMing on 101.62824100800002 meters Centerline goodness : 0.878894 Centerline is valid? [False, False] Translation: X:8.61, Y:0.21, Z:-0.40 [[ 0.87117708 0.09355275 -0.48197343 8.60969452] [-0.04922807 0.9933753 0.1038369 0.21186906] [ 0.48849473 -0.06673371 0.87001121 -0.39704532] [ 0. 0. 0. 1. ]] SLAMing on 101.65824100800002 meters Centerline goodness : 0.878894 Centerline is valid? [False, False] Translation: X:8.61, Y:0.21, Z:-0.40 [[ 0.87118968 0.09354124 -0.48195287 8.60967249] [-0.04924671 0.99337996 0.10378353 0.2119917 ] [ 0.48847036 -0.06668054 0.87002897 -0.39712476] [ 0. 0. 0. 1. ]] SLAMing on 101.688241008 meters Centerline goodness : 0.876779 Centerline is valid? [False, False] Translation: X:8.59, Y:0.22, Z:-0.42 [[ 0.87269689 0.08916733 -0.48005138 8.58918825] [-0.0466991 0.99391902 0.09972046 0.21979556] [ 0.48602401 -0.06460777 0.87155407 -0.41686678] [ 0. 0. 0. 1. ]] SLAMing on 101.718241008 meters Centerline goodness : 0.876453 Centerline is valid? [False, False] Translation: X:8.59, Y:0.22, Z:-0.41 [[ 0.87181135 0.09388579 -0.48076026 8.59143769] [-0.04979499 0.99336223 0.10369152 0.22082014] [ 0.48730425 -0.06645999 0.87069951 -0.41444972] [ 0. 0. 0. 1. ]] SLAMing on 101.74824100800001 meters Centerline goodness : 0.874687 Centerline is valid? [False, False] Translation: X:8.59, Y:0.22, Z:-0.41 [[ 0.87174085 0.09433096 -0.48080097 8.5908144 ] [-0.05035922 0.99334507 0.10358342 0.22236232] [ 0.48737239 -0.06608513 0.8706899 -0.41439563] [ 0. 0. 0. 1. ]] SLAMing on 101.77824100800001 meters Centerline goodness : 0.879600 Centerline is valid? [False, False] Translation: X:8.59, Y:0.22, Z:-0.41 [[ 0.87166238 0.09424677 -0.4809597 8.5909311 ] [-0.05056263 0.99339288 0.10302427 0.2242386 ] [ 0.48749165 -0.06548379 0.87066857 -0.41474295] [ 0. 0. 0. 1. ]] SLAMing on 101.80824100800001 meters Centerline goodness : 0.879922 Centerline is valid? [False, False] Translation: X:8.59, Y:0.23, Z:-0.42 [[ 0.87159432 0.09424337 -0.48108369 8.59085663] [-0.05080822 0.99342841 0.10255987 0.22610708] [ 0.48758779 -0.0649476 0.8706549 -0.41500487] [ 0. 0. 0. 1. ]] SLAMing on 101.83824100800001 meters Centerline goodness : 0.878850 Centerline is valid? [False, False] Translation: X:8.59, Y:0.23, Z:-0.42 [[ 0.87167064 0.09506324 -0.48078403 8.58917668] [-0.05199043 0.99340819 0.10216243 0.23003234] [ 0.48732668 -0.06405582 0.87086713 -0.41595788] [ 0. 0. 0. 1. ]] SLAMing on 101.86824100800001 meters Centerline goodness : 0.880217 Centerline is valid? [False, False] Translation: X:8.59, Y:0.23, Z:-0.42 [[ 0.8716493 0.09509796 -0.48081585 8.58891086] [-0.05224828 0.99343519 0.10176763 0.23182828] [ 0.48733728 -0.06358388 0.87089578 -0.4162618 ] [ 0. 0. 0. 1. ]] SLAMing on 101.89824100800001 meters Centerline goodness : 0.878402 Centerline is valid? [False, False] Translation: X:8.59, Y:0.23, Z:-0.42 [[ 0.8716714 0.0950024 -0.48079468 8.58898846] [-0.05237404 0.99347112 0.10135135 0.23328703] [ 0.48728425 -0.06316391 0.87095602 -0.41673647] [ 0. 0. 0. 1. ]] SLAMing on 101.92824100800001 meters Centerline goodness : 0.879990 Centerline is valid? [False, False] Translation: X:8.59, Y:0.24, Z:-0.42 [[ 0.87167567 0.09476979 -0.48083283 8.58961758] [-0.05251192 0.99353763 0.10062538 0.23524651] [ 0.48726176 -0.06246324 0.87101913 -0.41764061] [ 0. 0. 0. 1. ]] SLAMing on 101.95824100800002 meters Centerline goodness : 0.879586 Centerline is valid? [False, False] Translation: X:8.59, Y:0.24, Z:-0.42 [[ 0.87179287 0.0950435 -0.48056625 8.58954379] [-0.0533784 0.99358753 0.09967226 0.2390941 ] [ 0.48695784 -0.06124171 0.8712758 -0.41971911] [ 0. 0. 0. 1. ]] SLAMing on 101.98824100800002 meters Centerline goodness : 0.878303 Centerline is valid? [False, False] Translation: X:8.59, Y:0.24, Z:-0.42 [[ 0.87169114 0.0948548 -0.48078802 8.58997515] [-0.05341803 0.99363417 0.09918498 0.2405353 ] [ 0.48713558 -0.06077592 0.87120906 -0.41987503] [ 0. 0. 0. 1. ]] SLAMing on 102.01824100800002 meters Centerline goodness : 0.876490 Centerline is valid? [False, False] Translation: X:8.59, Y:0.24, Z:-0.42 [[ 0.87208364 0.09007525 -0.48099539 8.59003341] [-0.05077514 0.99426381 0.09413476 0.24411976] [ 0.48671553 -0.05767077 0.87165479 -0.42249834] [ 0. 0. 0. 1. ]] SLAMing on 102.048241008 meters Centerline goodness : 0.876169 Centerline is valid? [False, False] Translation: X:8.59, Y:0.25, Z:-0.42 [[ 0.87201977 0.08970731 -0.48117992 8.59119296] [-0.05067863 0.99432566 0.09353158 0.24505339] [ 0.48684001 -0.05717585 0.87161788 -0.42305208] [ 0. 0. 0. 1. ]] SLAMing on 102.078241008 meters Centerline goodness : 0.878027 Centerline is valid? [False, False] Translation: X:8.59, Y:0.25, Z:-0.43 [[ 0.87240012 0.08475596 -0.48138805 8.59170256] [-0.0477263 0.99491626 0.08867825 0.2483172 ] [ 0.48645681 -0.05438805 0.87201015 -0.42534991] [ 0. 0. 0. 1. ]] SLAMing on 102.10824100800001 meters Centerline goodness : 0.874127 Centerline is valid? [False, False] Translation: X:8.59, Y:0.25, Z:-0.43 [[ 0.87284107 0.07964039 -0.48146223 8.59236796] [-0.04440105 0.99546182 0.08416841 0.25052287] [ 0.48598047 -0.05208821 0.87241607 -0.42716781] [ 0. 0. 0. 1. ]] SLAMing on 102.13824100800001 meters Centerline goodness : 0.872108 Centerline is valid? [False, False] Translation: X:8.59, Y:0.25, Z:-0.43 [[ 0.87332887 0.07451089 -0.48139881 8.59204678] [-0.04104379 0.99597377 0.07969726 0.2525159 ] [ 0.4853989 -0.04984349 0.87287086 -0.42874998] [ 0. 0. 0. 1. ]] SLAMing on 102.16824100800001 meters Centerline goodness : 0.871863 Centerline is valid? [False, False] Translation: X:8.59, Y:0.25, Z:-0.43 [[ 0.87370825 0.06934615 -0.4814821 8.59196522] [-0.03753976 0.99644693 0.0753942 0.2541332 ] [ 0.48499965 -0.04779781 0.87320714 -0.42982196] [ 0. 0. 0. 1. ]] SLAMing on 102.19824100800001 meters Centerline goodness : 0.870646 Centerline is valid? [False, False] Translation: X:8.59, Y:0.26, Z:-0.43 [[ 0.87405374 0.06413265 -0.48157767 8.59200257] [-0.03397661 0.99689099 0.07109107 0.25520751] [ 0.4846397 -0.04577503 0.87351531 -0.4308414 ] [ 0. 0. 0. 1. ]] SLAMing on 102.22824100800001 meters Centerline goodness : 0.871561 Centerline is valid? [False, False] Translation: X:8.60, Y:0.25, Z:-0.43 [[ 0.87363095 0.06297671 -0.48249652 8.59562298] [-0.03253688 0.99693059 0.07120917 0.25171914] [ 0.48550006 -0.0465116 0.87299849 -0.42920725] [ 0. 0. 0. 1. ]] SLAMing on 102.25824100800001 meters Centerline goodness : 0.871255 Centerline is valid? [False, False] Translation: X:8.60, Y:0.25, Z:-0.43 [[ 0.87389706 0.05699348 -0.4827584 8.59733043] [-0.0284572 0.99739803 0.0662371 0.25377586] [ 0.48527736 -0.04414645 0.87324508 -0.43079614] [ 0. 0. 0. 1. ]] SLAMing on 102.28824100800001 meters Centerline goodness : 0.871056 Centerline is valid? [False, False] Translation: X:8.60, Y:0.25, Z:-0.43 [[ 0.87364691 0.0564282 -0.48327728 8.59958013] [-0.02777658 0.99741658 0.06624666 0.25248796] [ 0.48576695 -0.0444524 0.8729573 -0.43017663] [ 0. 0. 0. 1. ]] SLAMing on 102.31824100800002 meters Centerline goodness : 0.872665 Centerline is valid? [False, False] Translation: X:8.60, Y:0.25, Z:-0.43 [[ 0.87339889 0.0561203 -0.4837612 8.60123088] [-0.0271743 0.99740657 0.06664601 0.25085713] [ 0.48624679 -0.04506268 0.87265882 -0.42889889] [ 0. 0. 0. 1. ]] SLAMing on 102.34824100800002 meters Centerline goodness : 0.870300 Centerline is valid? [False, False] Translation: X:8.60, Y:0.25, Z:-0.43 [[ 0.87341548 0.05042328 -0.48435823 8.60264037] [-0.02252903 0.99774383 0.06324311 0.24793204] [ 0.48645436 -0.04432539 0.87258089 -0.42760961] [ 0. 0. 0. 1. ]] SLAMing on 102.37824100800002 meters Centerline goodness : 0.869218 Centerline is valid? [False, False] Translation: X:8.61, Y:0.24, Z:-0.41 [[ 0.87357661 0.05605273 -0.48344803 8.61023244] [-0.02106497 0.99676938 0.07750528 0.24168911] [ 0.48623057 -0.05752298 0.87193517 -0.40942815] [ 0. 0. 0. 1. ]] SLAMing on 102.40824100800002 meters Centerline goodness : 0.871311 Centerline is valid? [False, False] Translation: X:8.61, Y:0.24, Z:-0.41 [[ 0.87348708 0.05500207 -0.4837304 8.6123923 ] [-0.01983992 0.99679385 0.07751386 0.23988844] [ 0.48644291 -0.05811018 0.87177778 -0.40839581] [ 0. 0. 0. 1. ]] SLAMing on 102.438241008 meters Centerline goodness : 0.868818 Centerline is valid? [False, False] Translation: X:8.60, Y:0.24, Z:-0.40 [[ 0.8732231 0.05558841 -0.48413979 8.60367492] [-0.01270353 0.99573176 0.09141601 0.2350326 ] [ 0.48715504 -0.07367629 0.87020214 -0.40345606] [ 0. 0. 0. 1. ]] SLAMing on 102.468241008 meters Centerline goodness : 0.867796 Centerline is valid? [False, False] Translation: X:8.61, Y:0.23, Z:-0.40 [[ 0.87308522 0.05495994 -0.48446011 8.60518256] [-0.01185449 0.99572561 0.09159689 0.23381846] [ 0.4874235 -0.07422886 0.87000483 -0.40256227] [ 0. 0. 0. 1. ]] SLAMing on 102.49824100800001 meters Centerline goodness : 0.868325 Centerline is valid? [False, False] Translation: X:8.56, Y:0.23, Z:-0.42 [[ 8.74018659e-01 5.44699507e-02 -4.82829586e-01 8.56355487e+00] [-6.41142584e-03 9.94902952e-01 1.00633040e-01 2.33042271e-01] [ 4.85850057e-01 -8.48595285e-02 8.69912974e-01 -4.19847634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.52824100800001 meters Centerline goodness : 0.868190 Centerline is valid? [False, False] Translation: X:8.57, Y:0.23, Z:-0.42 [[ 8.74343189e-01 4.81756250e-02 -4.82911066e-01 8.56504421e+00] [-2.16546689e-03 9.95438097e-01 9.53850398e-02 2.34708443e-01] [ 4.85303307e-01 -8.23535319e-02 8.70458842e-01 -4.21811592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.55824100800001 meters Centerline goodness : 0.870173 Centerline is valid? [False, False] Translation: X:8.57, Y:0.24, Z:-0.42 [[ 8.74623808e-01 4.18791200e-02 -4.82989993e-01 8.56602355e+00] [ 2.15001801e-03 9.95917058e-01 9.02473914e-02 2.36910099e-01] [ 4.84797454e-01 -7.99709543e-02 8.70962729e-01 -4.23238189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.58824100800001 meters Centerline goodness : 0.870170 Centerline is valid? [False, False] Translation: X:8.53, Y:0.24, Z:-0.43 [[ 8.76989295e-01 4.37772444e-02 -4.78511578e-01 8.53343361e+00] [ 7.61798114e-03 9.94449347e-01 1.04940282e-01 2.37093601e-01] [ 4.80449522e-01 -9.56767962e-02 8.71787937e-01 -4.34765414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.61824100800001 meters Centerline goodness : 0.869640 Centerline is valid? [False, False] Translation: X:8.51, Y:0.24, Z:-0.45 [[ 0.87807265 0.03975862 -0.47687281 8.51112829] [ 0.0107696 0.99464812 0.10275764 0.2413982 ] [ 0.47840614 -0.0953644 0.87294513 -0.45125656] [ 0. 0. 0. 1. ]] SLAMing on 102.64824100800001 meters Centerline goodness : 0.869302 Centerline is valid? [False, False] Translation: X:8.51, Y:0.25, Z:-0.46 [[ 0.87839389 0.03351347 -0.47676097 8.51263739] [ 0.01420267 0.99526758 0.0961287 0.24664987] [ 0.47772634 -0.09121014 0.87376098 -0.45585709] [ 0. 0. 0. 1. ]] SLAMing on 102.67824100800001 meters Centerline goodness : 0.866889 Centerline is valid? [False, False] Translation: X:8.49, Y:0.25, Z:-0.47 [[ 0.87893345 0.03222916 -0.47585426 8.49441528] [ 0.01563812 0.99523041 0.09629063 0.25340552] [ 0.47668799 -0.09207453 0.87423729 -0.47152865] [ 0. 0. 0. 1. ]] SLAMing on 102.70824100800002 meters Centerline goodness : 0.866033 Centerline is valid? [False, False] Translation: X:8.50, Y:0.26, Z:-0.47 [[ 0.87885754 0.031624 -0.47603502 8.49576852] [ 0.01565114 0.99535246 0.09501853 0.25726074] [ 0.4768275 -0.09095825 0.87427806 -0.47292825] [ 0. 0. 0. 1. ]] SLAMing on 102.73824100800002 meters Centerline goodness : 0.866023 Centerline is valid? [False, False] Translation: X:8.48, Y:0.26, Z:-0.49 [[ 0.87980037 0.03076184 -0.47434694 8.47651682] [ 0.01744445 0.99514209 0.09689119 0.26162713] [ 0.47502315 -0.09351963 0.87498976 -0.48620228] [ 0. 0. 0. 1. ]] SLAMing on 102.76824100800002 meters Centerline goodness : 0.866690 Centerline is valid? [False, False] Translation: X:8.48, Y:0.26, Z:-0.49 [[ 0.87977763 0.03028874 -0.47441956 8.47733904] [ 0.01738271 0.99525116 0.09577562 0.26488883] [ 0.47506754 -0.09250794 0.8750732 -0.48749196] [ 0. 0. 0. 1. ]] SLAMing on 102.798241008 meters Centerline goodness : 0.864603 Centerline is valid? [False, False] Translation: X:8.48, Y:0.27, Z:-0.49 [[ 0.87935863 0.03519843 -0.47485731 8.47882362] [ 0.01375024 0.99497105 0.09921466 0.26676483] [ 0.47596147 -0.09377467 0.87445239 -0.48681034] [ 0. 0. 0. 1. ]] SLAMing on 102.828241008 meters Centerline goodness : 0.864910 Centerline is valid? [False, False] Translation: X:8.48, Y:0.27, Z:-0.49 [[ 0.87927995 0.03454072 -0.47505127 8.48021227] [ 0.01390198 0.99508111 0.09808321 0.26935349] [ 0.47610241 -0.09284675 0.87447469 -0.48798487] [ 0. 0. 0. 1. ]] SLAMing on 102.85824100800001 meters Centerline goodness : 0.865293 Centerline is valid? [False, False] Translation: X:8.48, Y:0.27, Z:-0.49 [[ 0.87924889 0.03387175 -0.47515691 8.48164418] [ 0.01394575 0.99521103 0.09674979 0.27226342] [ 0.47615848 -0.09169356 0.87456583 -0.48966406] [ 0. 0. 0. 1. ]] SLAMing on 102.88824100800001 meters Centerline goodness : 0.865014 Centerline is valid? [False, False] Translation: X:8.48, Y:0.28, Z:-0.49 [[ 0.87912794 0.03346085 -0.47540976 8.48326448] [ 0.01385538 0.9953162 0.09567489 0.27539801] [ 0.4763844 -0.09069745 0.87454667 -0.49090702] [ 0. 0. 0. 1. ]] SLAMing on 102.91824100800001 meters Centerline goodness : 0.862781 Centerline is valid? [False, False] Translation: X:8.48, Y:0.28, Z:-0.49 [[ 0.87910615 0.03468658 -0.47536219 8.48229471] [ 0.01210882 0.9954011 0.0950265 0.28002626] [ 0.47647219 -0.08929445 0.87464321 -0.49277346] [ 0. 0. 0. 1. ]] SLAMing on 102.94824100800001 meters Centerline goodness : 0.862361 Centerline is valid? [False, False] Translation: X:8.48, Y:0.28, Z:-0.49 [[ 0.87916494 0.0350681 -0.47522546 8.48163741] [ 0.01143031 0.99544948 0.09460278 0.2816611 ] [ 0.47638048 -0.08860343 0.87476344 -0.49367853] [ 0. 0. 0. 1. ]] SLAMing on 102.97824100800001 meters Centerline goodness : 0.863036 Centerline is valid? [False, False] Translation: X:8.48, Y:0.28, Z:-0.49 [[ 0.87926396 0.03560685 -0.47500215 8.4804242 ] [ 0.01064878 0.9954836 0.09433456 0.28302116] [ 0.4762158 -0.08800318 0.87491368 -0.49446976] [ 0. 0. 0. 1. ]] SLAMing on 103.00824100800001 meters Centerline goodness : 0.863638 Centerline is valid? [False, False] Translation: X:8.48, Y:0.28, Z:-0.50 [[ 0.87932779 0.03627715 -0.47483325 8.47908688] [ 0.0097657 0.99551092 0.09414158 0.28484159] [ 0.47611687 -0.08741838 0.87502614 -0.49510735] [ 0. 0. 0. 1. ]] SLAMing on 103.03824100800001 meters Centerline goodness : 0.859816 Centerline is valid? [False, False] Translation: X:8.48, Y:0.29, Z:-0.50 [[ 8.79296968e-01 3.84988968e-02 -4.74715364e-01 8.47778414e+00] [ 7.26874733e-03 9.95526781e-01 9.41997535e-02 2.88728476e-01] [ 4.76218445e-01 -8.62801437e-02 8.75083842e-01 -4.97131508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.06824100800002 meters Centerline goodness : 0.860277 Centerline is valid? [False, False] Translation: X:8.48, Y:0.29, Z:-0.50 [[ 8.79270119e-01 3.82215268e-02 -4.74787503e-01 8.47895751e+00] [ 7.13242177e-03 9.95607109e-01 9.33574470e-02 2.90198208e-01] [ 4.76270077e-01 -8.54727983e-02 8.75134969e-01 -4.98407354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.09824100800002 meters Centerline goodness : 0.859178 Centerline is valid? [False, False] Translation: X:8.48, Y:0.29, Z:-0.50 [[ 0.87956873 0.03338789 -0.47459888 8.47877149] [ 0.00986897 0.99603962 0.08836113 0.29304229] [ 0.47566947 -0.08240349 0.8757558 -0.50120187] [ 0. 0. 0. 1. ]] SLAMing on 103.12824100800002 meters Centerline goodness : 0.858905 Centerline is valid? [False, False] Translation: X:8.48, Y:0.29, Z:-0.50 [[ 0.87994292 0.02838386 -0.47423075 8.47808094] [ 0.01290515 0.99641719 0.08358371 0.29488125] [ 0.4749041 -0.07966891 0.87642396 -0.50354182] [ 0. 0. 0. 1. ]] SLAMing on 103.15824100800002 meters Centerline goodness : 0.857534 Centerline is valid? [False, False] Translation: X:8.48, Y:0.30, Z:-0.51 [[ 0.8801373 0.02243877 -0.47418861 8.47992923] [ 0.01682964 0.9967795 0.07840531 0.29554062] [ 0.4744208 -0.07698787 0.87692518 -0.50599355] [ 0. 0. 0. 1. ]] SLAMing on 103.188241008 meters Centerline goodness : 0.857673 Centerline is valid? [False, False] Translation: X:8.48, Y:0.30, Z:-0.51 [[ 0.88033714 0.01663229 -0.47405684 8.48097474] [ 0.02068637 0.99708816 0.07339804 0.29714137] [ 0.47389724 -0.07442153 0.87742968 -0.50805801] [ 0. 0. 0. 1. ]] SLAMing on 103.218241008 meters Centerline goodness : 0.853325 Centerline is valid? [False, False] Translation: X:8.48, Y:0.30, Z:-0.51 [[ 0.88063208 0.01120133 -0.47366832 8.48116207] [ 0.02431865 0.99733419 0.06879761 0.29762835] [ 0.47317624 -0.07210436 0.87801208 -0.51001846] [ 0. 0. 0. 1. ]] SLAMing on 103.24824100800001 meters Centerline goodness : 0.854787 Centerline is valid? [False, False] Translation: X:8.48, Y:0.30, Z:-0.51 [[ 8.80526452e-01 5.28320157e-03 -4.73967568e-01 8.48406904e+00] [ 2.87062350e-02 9.97508048e-01 6.44487880e-02 2.95329004e-01] [ 4.73126959e-01 -7.03546870e-02 8.78180561e-01 -5.10751851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.27824100800001 meters Centerline goodness : 0.856879 Centerline is valid? [False, False] Translation: X:8.49, Y:0.30, Z:-0.51 [[ 8.80556259e-01 -5.99444470e-04 -4.73941257e-01 8.48588847e+00] [ 3.27885514e-02 9.97680261e-01 5.96574149e-02 2.95797041e-01] [ 4.72806076e-01 -6.80715573e-02 8.78533254e-01 -5.12354725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.30824100800001 meters Centerline goodness : 0.854970 Centerline is valid? [False, False] Translation: X:8.49, Y:0.30, Z:-0.51 [[ 8.80703512e-01 -6.16862089e-03 -4.73627778e-01 8.48692876e+00] [ 3.65943788e-02 9.97812729e-01 5.50509718e-02 2.95998664e-01] [ 4.72252237e-01 -6.58156986e-02 8.79002911e-01 -5.14260013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.33824100800001 meters Centerline goodness : 0.853987 Centerline is valid? [False, False] Translation: X:8.49, Y:0.29, Z:-0.51 [[ 8.80458713e-01 -6.54989585e-03 -4.74077582e-01 8.48927723e+00] [ 3.71362896e-02 9.97785349e-01 5.51841737e-02 2.93734027e-01] [ 4.72666215e-01 -6.61928689e-02 8.78752043e-01 -5.13822588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.36824100800001 meters Centerline goodness : 0.853082 Centerline is valid? [False, False] Translation: X:8.49, Y:0.29, Z:-0.52 [[ 0.88048317 -0.01212557 -0.47392231 8.49072463] [ 0.04111375 0.99785953 0.05085295 0.29295948] [ 0.47229127 -0.06425989 0.87909705 -0.51515633] [ 0. 0. 0. 1. ]] SLAMing on 103.39824100800001 meters Centerline goodness : 0.850530 Centerline is valid? [False, False] Translation: X:8.49, Y:0.29, Z:-0.51 [[ 0.8803011 -0.01239373 -0.47425349 8.49200674] [ 0.04153628 0.99783338 0.05102241 0.2915898 ] [ 0.47259361 -0.06461381 0.87890861 -0.51450669] [ 0. 0. 0. 1. ]] SLAMing on 103.42824100800001 meters Centerline goodness : 0.849253 Centerline is valid? [False, False] Translation: X:8.49, Y:0.29, Z:-0.51 [[ 0.88006868 -0.01277208 -0.47467462 8.4935019 ] [ 0.0420432 0.99780808 0.05110199 0.29056865] [ 0.47298149 -0.0649301 0.87867661 -0.51375615] [ 0. 0. 0. 1. ]] SLAMing on 103.45824100800002 meters Centerline goodness : 0.851028 Centerline is valid? [False, False] Translation: X:8.49, Y:0.29, Z:-0.51 [[ 0.88008737 -0.01825631 -0.47446066 8.49357787] [ 0.04597704 0.99784144 0.04688884 0.29086404] [ 0.4725805 -0.06308057 0.87902703 -0.51436373] [ 0. 0. 0. 1. ]] SLAMing on 103.48824100800002 meters Centerline goodness : 0.847380 Centerline is valid? [False, False] Translation: X:8.48, Y:0.29, Z:-0.51 [[ 0.88178692 -0.01568631 -0.47138706 8.48203301] [ 0.04515993 0.99766284 0.05127799 0.28833362] [ 0.46948099 -0.06650407 0.88043444 -0.51388108] [ 0. 0. 0. 1. ]] SLAMing on 103.51824100800002 meters Centerline goodness : 0.848942 Centerline is valid? [False, False] Translation: X:8.48, Y:0.29, Z:-0.51 [[ 0.88168074 -0.01578611 -0.47158231 8.48241195] [ 0.04533269 0.99765085 0.05135887 0.28826365] [ 0.46966374 -0.06666022 0.88032516 -0.51338923] [ 0. 0. 0. 1. ]] SLAMing on 103.548241008 meters Centerline goodness : 0.847611 Centerline is valid? [False, False] Translation: X:8.48, Y:0.29, Z:-0.51 [[ 0.88162337 -0.0162668 -0.47167321 8.48351664] [ 0.04556228 0.99767128 0.05075517 0.28998103] [ 0.4697492 -0.06623745 0.88031147 -0.51405009] [ 0. 0. 0. 1. ]] SLAMing on 103.578241008 meters Centerline goodness : 0.847611 Centerline is valid? [False, False] Translation: X:8.48, Y:0.29, Z:-0.52 [[ 0.88331037 -0.01252879 -0.46862118 8.47679276] [ 0.04263259 0.99764736 0.05368622 0.28809971] [ 0.46684606 -0.06740013 0.8817664 -0.51708377] [ 0. 0. 0. 1. ]] SLAMing on 103.60824100800001 meters Centerline goodness : 0.845153 Centerline is valid? [False, False] Translation: X:8.48, Y:0.29, Z:-0.52 [[ 0.88297817 -0.0140954 -0.46920237 8.48093625] [ 0.04371833 0.99767396 0.05230092 0.29124228] [ 0.46737378 -0.06669332 0.88154055 -0.51806001] [ 0. 0. 0. 1. ]] SLAMing on 103.63824100800001 meters Centerline goodness : 0.843687 Centerline is valid? [False, False] Translation: X:8.47, Y:0.29, Z:-0.51 [[ 8.84885334e-01 -8.04589007e-03 -4.65739422e-01 8.46657874e+00] [ 4.18728873e-02 9.97176832e-01 6.23299796e-02 2.87886552e-01] [ 4.63923061e-01 -7.46567392e-02 8.82724059e-01 -5.14416831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.66824100800001 meters Centerline goodness : 0.842465 Centerline is valid? [False, False] Translation: X:8.47, Y:0.29, Z:-0.51 [[ 8.84716527e-01 -8.44605371e-03 -4.66052927e-01 8.46784548e+00] [ 4.21809250e-02 9.97184340e-01 6.20013036e-02 2.88370246e-01] [ 4.64217014e-01 -7.45121215e-02 8.82581728e-01 -5.14261697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.69824100800001 meters Centerline goodness : 0.842394 Centerline is valid? [False, False] Translation: X:8.44, Y:0.28, Z:-0.51 [[ 8.88977288e-01 1.30694298e-03 -4.57949422e-01 8.44405391e+00] [ 3.76359123e-02 9.96404676e-01 7.59029572e-02 2.83014947e-01] [ 4.56402146e-01 -8.47113493e-02 8.85731939e-01 -5.11654619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.72824100800001 meters Centerline goodness : 0.843430 Centerline is valid? [False, False] Translation: X:8.45, Y:0.29, Z:-0.51 [[ 8.88968041e-01 -4.82558855e-03 -4.57943814e-01 8.44537424e+00] [ 4.16496094e-02 9.96652585e-01 7.03486660e-02 2.85784570e-01] [ 4.56071412e-01 -8.16108967e-02 8.86193280e-01 -5.13823184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.75824100800001 meters Centerline goodness : 0.842849 Centerline is valid? [False, False] Translation: X:8.45, Y:0.29, Z:-0.52 [[ 0.88913771 -0.01035873 -0.45752249 8.44535963] [ 0.04523682 0.99683697 0.0653428 0.28882882] [ 0.45539846 -0.07879561 0.88679394 -0.51599685] [ 0. 0. 0. 1. ]] SLAMing on 103.78824100800001 meters Centerline goodness : 0.844154 Centerline is valid? [False, False] Translation: X:8.45, Y:0.29, Z:-0.52 [[ 0.88884629 -0.01084852 -0.45807704 8.44699741] [ 0.04578689 0.9968188 0.06523685 0.28941311] [ 0.45591208 -0.07895945 0.88651541 -0.51507486] [ 0. 0. 0. 1. ]] SLAMing on 103.81824100800002 meters Centerline goodness : 0.845037 Centerline is valid? [False, False] Translation: X:8.45, Y:0.29, Z:-0.52 [[ 0.88869309 -0.01134407 -0.45836221 8.44837912] [ 0.04618757 0.9968236 0.06488 0.29030919] [ 0.45617026 -0.07882905 0.8863942 -0.51506717] [ 0. 0. 0. 1. ]] SLAMing on 103.84824100800002 meters Centerline goodness : 0.845219 Centerline is valid? [False, False] Translation: X:8.45, Y:0.29, Z:-0.52 [[ 0.88868496 -0.01190689 -0.45836369 8.44922029] [ 0.04648613 0.99685162 0.06423311 0.29227072] [ 0.45615577 -0.07839055 0.88644054 -0.51573298] [ 0. 0. 0. 1. ]] SLAMing on 103.87824100800002 meters Centerline goodness : 0.846078 Centerline is valid? [False, False] Translation: X:8.45, Y:0.29, Z:-0.52 [[ 0.88877064 -0.01138624 -0.45821077 8.44783495] [ 0.04604478 0.99685229 0.06453983 0.29238716] [ 0.45603359 -0.07845932 0.88649732 -0.51542049] [ 0. 0. 0. 1. ]] SLAMing on 103.90824100800002 meters Centerline goodness : 0.845344 Centerline is valid? [False, False] Translation: X:8.45, Y:0.29, Z:-0.51 [[ 0.88877205 -0.01052533 -0.45822861 8.44605736] [ 0.04547714 0.99682819 0.0653099 0.29243252] [ 0.45608779 -0.07888454 0.8864317 -0.51403558] [ 0. 0. 0. 1. ]] SLAMing on 103.938241008 meters Centerline goodness : 0.848453 Centerline is valid? [False, False] Translation: X:8.42, Y:0.29, Z:-0.51 [[ 8.92836828e-01 1.15019433e-03 -4.50378813e-01 8.42287920e+00] [ 3.94416988e-02 9.95955067e-01 8.07332451e-02 2.88056040e-01] [ 4.48649920e-01 -8.98453200e-02 8.89179997e-01 -5.06094137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.968241008 meters Centerline goodness : 0.848046 Centerline is valid? [False, False] Translation: X:8.42, Y:0.29, Z:-0.51 [[ 8.92977449e-01 7.85172888e-03 -4.50032916e-01 8.41988355e+00] [ 3.42889498e-02 9.95755626e-01 8.54107794e-02 2.89059865e-01] [ 4.48793431e-01 -9.17010560e-02 8.88918091e-01 -5.05617557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.99824100800001 meters Centerline goodness : 0.849122 Centerline is valid? [False, False] Translation: X:8.42, Y:0.29, Z:-0.51 [[ 8.93143361e-01 8.16004955e-03 -4.49698065e-01 8.41938836e+00] [ 3.34504133e-02 9.95861318e-01 8.45062392e-02 2.92006704e-01] [ 4.48526483e-01 -9.05187727e-02 8.89173968e-01 -5.07712555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.02824100800001 meters Centerline goodness : 0.851275 Centerline is valid? [False, False] Translation: X:8.42, Y:0.29, Z:-0.51 [[ 0.8933346 0.00882299 -0.44930552 8.418137 ] [ 0.03241497 0.99593784 0.08400646 0.29395214] [ 0.44822156 -0.0896101 0.88941973 -0.50936723] [ 0. 0. 0. 1. ]] SLAMing on 104.05824100800001 meters Centerline goodness : 0.850340 Centerline is valid? [False, False] Translation: X:8.42, Y:0.29, Z:-0.51 [[ 0.8935096 0.00957986 -0.44894189 8.41669553] [ 0.03145256 0.99598174 0.08385167 0.29488977] [ 0.44794121 -0.08904264 0.88961794 -0.51042455] [ 0. 0. 0. 1. ]] SLAMing on 104.08824100800001 meters Centerline goodness : 0.851222 Centerline is valid? [False, False] Translation: X:8.42, Y:0.30, Z:-0.51 [[ 0.89363254 0.01012566 -0.44868513 8.41577699] [ 0.03071308 0.99602195 0.08364795 0.29560898] [ 0.44774723 -0.08853103 0.88976664 -0.51135824] [ 0. 0. 0. 1. ]] SLAMing on 104.11824100800001 meters Centerline goodness : 0.854323 Centerline is valid? [False, False] Translation: X:8.42, Y:0.30, Z:-0.52 [[ 8.94013186e-01 5.45045550e-03 -4.48007495e-01 8.41522237e+00] [ 3.31830329e-02 9.96374318e-01 7.83396779e-02 2.99440023e-01] [ 4.46810149e-01 -8.49029525e-02 8.90590916e-01 -5.15523105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.14824100800001 meters Centerline goodness : 0.851493 Centerline is valid? [False, False] Translation: X:8.42, Y:0.30, Z:-0.52 [[ 8.94230634e-01 -4.65138482e-05 -4.47606492e-01 8.41547838e+00] [ 3.65780170e-02 9.96662986e-01 7.29721872e-02 3.02629512e-01] [ 4.46109428e-01 -8.16265230e-02 8.91248275e-01 -5.18474425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.17824100800001 meters Centerline goodness : 0.851381 Centerline is valid? [False, False] Translation: X:8.41, Y:0.30, Z:-0.52 [[ 8.94545826e-01 -4.49464955e-03 -4.46953647e-01 8.41231569e+00] [ 3.96726408e-02 9.96801276e-01 6.93779389e-02 3.02241175e-01] [ 4.45212136e-01 -7.97935772e-02 8.91862735e-01 -5.18653532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.20824100800002 meters Centerline goodness : 0.850987 Centerline is valid? [False, False] Translation: X:8.41, Y:0.30, Z:-0.52 [[ 0.89487182 -0.00914619 -0.4462295 8.40923508] [ 0.04284617 0.99693291 0.06549029 0.30291356] [ 0.44426189 -0.07772464 0.89251905 -0.5191449 ] [ 0. 0. 0. 1. ]] SLAMing on 104.23824100800002 meters Centerline goodness : 0.853816 Centerline is valid? [False, False] Translation: X:8.41, Y:0.31, Z:-0.52 [[ 0.8949708 -0.01444132 -0.44589092 8.40877245] [ 0.04632744 0.99708079 0.06069319 0.30608393] [ 0.44371279 -0.07497562 0.89302722 -0.52070092] [ 0. 0. 0. 1. ]] SLAMing on 104.26824100800002 meters Centerline goodness : 0.852529 Centerline is valid? [False, False] Translation: X:8.41, Y:0.31, Z:-0.52 [[ 0.89489478 -0.01545487 -0.44600952 8.41098625] [ 0.04690971 0.99712129 0.05957019 0.30835348] [ 0.44380493 -0.07423123 0.89304362 -0.52204785] [ 0. 0. 0. 1. ]] SLAMing on 104.298241008 meters Centerline goodness : 0.853591 Centerline is valid? [False, False] Translation: X:8.42, Y:0.31, Z:-0.52 [[ 0.89459859 -0.01235504 -0.44669981 8.41712336] [ 0.04462508 0.99709095 0.0617919 0.31073197] [ 0.4446369 -0.07521296 0.8925475 -0.52379933] [ 0. 0. 0. 1. ]] SLAMing on 104.328241008 meters Centerline goodness : 0.848549 Centerline is valid? [False, False] Translation: X:8.42, Y:0.31, Z:-0.53 [[ 0.89458873 -0.01325081 -0.44669388 8.4195114 ] [ 0.04506592 0.99713979 0.06067366 0.31293193] [ 0.44461227 -0.07440864 0.89262718 -0.52564889] [ 0. 0. 0. 1. ]] SLAMing on 104.35824100800001 meters Centerline goodness : 0.847946 Centerline is valid? [False, False] Translation: X:8.42, Y:0.31, Z:-0.53 [[ 0.89455309 -0.01390162 -0.44674547 8.42140819] [ 0.04543246 0.99716732 0.05994355 0.31402123] [ 0.44464667 -0.07391943 0.89265069 -0.52681441] [ 0. 0. 0. 1. ]] SLAMing on 104.38824100800001 meters Centerline goodness : 0.844184 Centerline is valid? [False, False] Translation: X:8.42, Y:0.31, Z:-0.53 [[ 0.89449688 -0.01409181 -0.44685204 8.42213801] [ 0.04560849 0.99716481 0.05985156 0.31345195] [ 0.44474171 -0.07391728 0.89260352 -0.5268075 ] [ 0. 0. 0. 1. ]] SLAMing on 104.41824100800001 meters Centerline goodness : 0.845616 Centerline is valid? [False, False] Translation: X:8.42, Y:0.31, Z:-0.53 [[ 0.89483169 -0.01767161 -0.44605377 8.4177648 ] [ 0.04799287 0.99723305 0.05677079 0.31136137] [ 0.44381633 -0.0722077 0.89320385 -0.52678055] [ 0. 0. 0. 1. ]] SLAMing on 104.44824100800001 meters Centerline goodness : 0.849374 Centerline is valid? [False, False] Translation: X:8.42, Y:0.31, Z:-0.53 [[ 0.89491407 -0.02217453 -0.44568722 8.41645076] [ 0.05093598 0.99731279 0.05265662 0.31296377] [ 0.44332193 -0.06982466 0.89363873 -0.52787473] [ 0. 0. 0. 1. ]] SLAMing on 104.47824100800001 meters Centerline goodness : 0.845751 Centerline is valid? [False, False] Translation: X:8.42, Y:0.31, Z:-0.53 [[ 0.89487852 -0.02220349 -0.44575715 8.41690932] [ 0.05092284 0.99731894 0.05255282 0.31273384] [ 0.44339519 -0.06972762 0.89360996 -0.52802793] [ 0. 0. 0. 1. ]] SLAMing on 104.50824100800001 meters Centerline goodness : 0.845173 Centerline is valid? [False, False] Translation: X:8.40, Y:0.31, Z:-0.53 [[ 0.89762243 -0.01296949 -0.44057436 8.40076123] [ 0.04618995 0.99683112 0.06476262 0.30796376] [ 0.4383383 -0.07848249 0.89537704 -0.52841785] [ 0. 0. 0. 1. ]] SLAMing on 104.53824100800001 meters Centerline goodness : 0.845137 Centerline is valid? [False, False] Translation: X:8.40, Y:0.31, Z:-0.53 [[ 0.89758437 -0.01380536 -0.4406265 8.40307396] [ 0.04658815 0.99688301 0.06366951 0.3095236 ] [ 0.43837409 -0.07767673 0.89542978 -0.53013826] [ 0. 0. 0. 1. ]] SLAMing on 104.56824100800002 meters Centerline goodness : 0.843339 Centerline is valid? [False, False] Translation: X:8.41, Y:0.31, Z:-0.53 [[ 0.89750715 -0.01485799 -0.44074954 8.40597036] [ 0.0471286 0.9969403 0.06236133 0.31131729] [ 0.43847441 -0.07674164 0.89546128 -0.5320928 ] [ 0. 0. 0. 1. ]] SLAMing on 104.59824100800002 meters Centerline goodness : 0.841171 Centerline is valid? [False, False] Translation: X:8.41, Y:0.31, Z:-0.53 [[ 0.89737792 -0.01559231 -0.44098724 8.4084055 ] [ 0.04755065 0.99697305 0.06151151 0.31246609] [ 0.43869329 -0.0761683 0.89540303 -0.5332268 ] [ 0. 0. 0. 1. ]] SLAMing on 104.62824100800002 meters Centerline goodness : 0.843481 Centerline is valid? [False, False] Translation: X:8.41, Y:0.31, Z:-0.53 [[ 0.8972518 -0.01562243 -0.44124274 8.40925059] [ 0.04759897 0.99697192 0.06149256 0.31141818] [ 0.43894596 -0.07617701 0.89527845 -0.53301278] [ 0. 0. 0. 1. ]] SLAMing on 104.65824100800002 meters Centerline goodness : 0.845821 Centerline is valid? [False, False] Translation: X:8.39, Y:0.31, Z:-0.53 [[ 0.90019202 -0.00977017 -0.43538358 8.38809495] [ 0.04361008 0.99674535 0.06780015 0.30632977] [ 0.43330414 -0.08002027 0.8976883 -0.5344434 ] [ 0. 0. 0. 1. ]] SLAMing on 104.688241008 meters Centerline goodness : 0.844142 Centerline is valid? [False, False] Translation: X:8.39, Y:0.31, Z:-0.54 [[ 0.90029747 -0.01425941 -0.43504152 8.38649575] [ 0.04646045 0.99690156 0.0634721 0.30831922] [ 0.4327885 -0.077356 0.89817045 -0.53570349] [ 0. 0. 0. 1. ]] SLAMing on 104.718241008 meters Centerline goodness : 0.846171 Centerline is valid? [False, False] Translation: X:8.38, Y:0.31, Z:-0.54 [[ 0.90057826 -0.01808503 -0.43431754 8.38342046] [ 0.04873089 0.9970364 0.05952912 0.31062222] [ 0.43195382 -0.07477531 0.89879061 -0.53723519] [ 0. 0. 0. 1. ]] SLAMing on 104.74824100800001 meters Centerline goodness : 0.844906 Centerline is valid? [False, False] Translation: X:8.38, Y:0.31, Z:-0.54 [[ 0.90082369 -0.01728051 -0.43384106 8.38126831] [ 0.0479843 0.99704918 0.05992029 0.31058919] [ 0.43152542 -0.07479518 0.89899472 -0.5373971 ] [ 0. 0. 0. 1. ]] SLAMing on 104.77824100800001 meters Centerline goodness : 0.849120 Centerline is valid? [False, False] Translation: X:8.38, Y:0.31, Z:-0.54 [[ 0.90091128 -0.01712547 -0.43366529 8.38083687] [ 0.04779748 0.99705803 0.05992226 0.31065626] [ 0.43136327 -0.07471275 0.89907938 -0.5376879 ] [ 0. 0. 0. 1. ]] SLAMing on 104.80824100800001 meters Centerline goodness : 0.847725 Centerline is valid? [False, False] Translation: X:8.38, Y:0.31, Z:-0.54 [[ 0.90091453 -0.01729023 -0.433652 8.3814129 ] [ 0.04781073 0.99707837 0.05957235 0.31120912] [ 0.43135501 -0.07440281 0.89910905 -0.53833304] [ 0. 0. 0. 1. ]] SLAMing on 104.83824100800001 meters Centerline goodness : 0.846614 Centerline is valid? [False, False] Translation: X:8.38, Y:0.31, Z:-0.54 [[ 0.9012054 -0.02109404 -0.43287858 8.3808772 ] [ 0.050243 0.99716531 0.0560088 0.3136492 ] [ 0.43047005 -0.07222455 0.89971059 -0.54061021] [ 0. 0. 0. 1. ]] SLAMing on 104.86824100800001 meters Centerline goodness : 0.849340 Centerline is valid? [False, False] Translation: X:8.38, Y:0.31, Z:-0.54 [[ 0.90120975 -0.02626512 -0.43258655 8.38085232] [ 0.05382642 0.99721675 0.05158939 0.31448419] [ 0.43002756 -0.06977745 0.90011522 -0.54179726] [ 0. 0. 0. 1. ]] SLAMing on 104.89824100800001 meters Centerline goodness : 0.848946 Centerline is valid? [False, False] Translation: X:8.36, Y:0.31, Z:-0.54 [[ 0.9042729 -0.02084398 -0.42644584 8.36123251] [ 0.05146799 0.99684568 0.060413 0.30875523] [ 0.42384145 -0.07657815 0.90249333 -0.5425408 ] [ 0. 0. 0. 1. ]] SLAMing on 104.92824100800001 meters Centerline goodness : 0.845221 Centerline is valid? [False, False] Translation: X:8.35, Y:0.31, Z:-0.54 [[ 0.90647337 -0.01836201 -0.42186357 8.34881137] [ 0.05048297 0.99660118 0.06509657 0.30520295] [ 0.41923443 -0.08030523 0.90431939 -0.54442641] [ 0. 0. 0. 1. ]] SLAMing on 104.95824100800002 meters Centerline goodness : 0.848376 Centerline is valid? [False, False] Translation: X:8.33, Y:0.30, Z:-0.55 [[ 0.91002274 -0.0165364 -0.41422839 8.33046639] [ 0.04995018 0.99629824 0.06996289 0.30002577] [ 0.41153808 -0.08435861 0.90748005 -0.55030578] [ 0. 0. 0. 1. ]] SLAMing on 104.98824100800002 meters Centerline goodness : 0.849298 Centerline is valid? [False, False] Translation: X:8.33, Y:0.30, Z:-0.55 [[ 0.90978152 -0.01700959 -0.41473878 8.33247217] [ 0.05049125 0.99627546 0.06989885 0.29898766] [ 0.41200511 -0.08453336 0.90725184 -0.54971964] [ 0. 0. 0. 1. ]] SLAMing on 105.01824100800002 meters Centerline goodness : 0.851594 Centerline is valid? [False, False] Translation: X:8.31, Y:0.30, Z:-0.55 [[ 0.9127271 -0.01170855 -0.40840195 8.31352121] [ 0.04826092 0.99568094 0.07931172 0.29503804] [ 0.40570941 -0.09209981 0.90935004 -0.5501224 ] [ 0. 0. 0. 1. ]] SLAMing on 105.04824100800002 meters Centerline goodness : 0.849588 Centerline is valid? [False, False] Translation: X:8.31, Y:0.30, Z:-0.55 [[ 0.91283532 -0.01713834 -0.40796807 8.31466623] [ 0.05175523 0.9959169 0.07396569 0.29868385] [ 0.40503465 -0.08863298 0.90999513 -0.55338335] [ 0. 0. 0. 1. ]] SLAMing on 105.078241008 meters Centerline goodness : 0.851242 Centerline is valid? [False, False] Translation: X:8.30, Y:0.30, Z:-0.56 [[ 0.91587811 -0.01197103 -0.40127794 8.29879427] [ 0.0486507 0.99549812 0.08134255 0.29522292] [ 0.39849768 -0.09402231 0.91233733 -0.55717146] [ 0. 0. 0. 1. ]] SLAMing on 105.10824100800001 meters Centerline goodness : 0.853667 Centerline is valid? [False, False] Translation: X:8.28, Y:0.29, Z:-0.55 [[ 9.17838961e-01 -6.55564099e-03 -3.96898809e-01 8.28323677e+00] [ 4.68641916e-02 9.94660612e-01 9.19457106e-02 2.92336039e-01] [ 3.94176850e-01 -1.02991697e-01 9.13245488e-01 -5.52065430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.13824100800001 meters Centerline goodness : 0.854239 Centerline is valid? [False, False] Translation: X:8.28, Y:0.29, Z:-0.55 [[ 0.91790093 -0.01154605 -0.39664161 8.28317174] [ 0.05007396 0.99495625 0.08691754 0.29367696] [ 0.39363749 -0.0996431 0.91384943 -0.55438098] [ 0. 0. 0. 1. ]] SLAMing on 105.16824100800001 meters Centerline goodness : 0.851108 Centerline is valid? [False, False] Translation: X:8.28, Y:0.30, Z:-0.56 [[ 0.91796746 -0.01650533 -0.39631215 8.28317726] [ 0.05302889 0.99527151 0.08137905 0.29730597] [ 0.39309501 -0.09571932 0.91450212 -0.55751446] [ 0. 0. 0. 1. ]] SLAMing on 105.19824100800001 meters Centerline goodness : 0.851247 Centerline is valid? [False, False] Translation: X:8.26, Y:0.29, Z:-0.55 [[ 0.92066633 -0.00894999 -0.39024789 8.26460527] [ 0.04887352 0.99451313 0.09249332 0.29358385] [ 0.38727883 -0.10422827 0.91605217 -0.55310823] [ 0. 0. 0. 1. ]] SLAMing on 105.22824100800001 meters Centerline goodness : 0.855197 Centerline is valid? [False, False] Translation: X:8.25, Y:0.29, Z:-0.55 [[ 9.22841349e-01 8.04073646e-04 -3.85179435e-01 8.24614381e+00] [ 4.24174107e-02 9.93703595e-01 1.03701153e-01 2.89238982e-01] [ 3.82837573e-01 -1.12038026e-01 9.16996660e-01 -5.48572929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.25824100800001 meters Centerline goodness : 0.852131 Centerline is valid? [False, False] Translation: X:8.25, Y:0.29, Z:-0.56 [[ 9.23135976e-01 -4.16889223e-03 -3.84451025e-01 8.24606041e+00] [ 4.47272601e-02 9.94316252e-01 9.66160659e-02 2.93669111e-01] [ 3.81863121e-01 -1.06385207e-01 9.18075566e-01 -5.55602392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.28824100800001 meters Centerline goodness : 0.853378 Centerline is valid? [False, False] Translation: X:8.25, Y:0.30, Z:-0.56 [[ 0.92342197 -0.00939383 -0.38367125 8.24631795] [ 0.04752536 0.99480471 0.09002742 0.29809747] [ 0.38083226 -0.10136741 0.91907096 -0.56156915] [ 0. 0. 0. 1. ]] SLAMing on 105.31824100800002 meters Centerline goodness : 0.854300 Centerline is valid? [False, False] Translation: X:8.25, Y:0.30, Z:-0.55 [[ 9.22675583e-01 -5.85982641e-03 -3.85532658e-01 8.25196129e+00] [ 4.68127196e-02 9.94190327e-01 9.69234896e-02 2.96653581e-01] [ 3.82724885e-01 -1.07476769e-01 9.17589454e-01 -5.52843875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.34824100800002 meters Centerline goodness : 0.854780 Centerline is valid? [False, False] Translation: X:8.24, Y:0.29, Z:-0.55 [[ 9.24119433e-01 -2.63566179e-03 -3.82094656e-01 8.23820031e+00] [ 4.55696403e-02 9.93599660e-01 1.03359199e-01 2.93788033e-01] [ 3.79376700e-01 -1.12928160e-01 9.18324861e-01 -5.46936174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.37824100800002 meters Centerline goodness : 0.856623 Centerline is valid? [False, False] Translation: X:8.24, Y:0.30, Z:-0.55 [[ 9.24319903e-01 -7.81525152e-03 -3.81538517e-01 8.23763738e+00] [ 4.88538842e-02 9.93987193e-01 9.79936649e-02 2.96872162e-01] [ 3.78478554e-01 -1.09217133e-01 9.19143951e-01 -5.49952712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.40824100800002 meters Centerline goodness : 0.859810 Centerline is valid? [False, False] Translation: X:8.26, Y:0.30, Z:-0.55 [[ 0.92594389 -0.01319811 -0.37743041 8.25686479] [ 0.04899427 0.99514154 0.0853984 0.30288782] [ 0.37446958 -0.09756605 0.92209186 -0.55284122] [ 0. 0. 0. 1. ]] SLAMing on 105.438241008 meters Centerline goodness : 0.857770 Centerline is valid? [False, False] Translation: X:8.26, Y:0.31, Z:-0.56 [[ 0.92587926 -0.02030061 -0.37727374 8.26009026] [ 0.05394963 0.99542664 0.07883685 0.30629925] [ 0.37394789 -0.09334719 0.92274009 -0.55663073] [ 0. 0. 0. 1. ]] SLAMing on 105.468241008 meters Centerline goodness : 0.857770 Centerline is valid? [False, False] Translation: X:8.26, Y:0.31, Z:-0.56 [[ 0.92587926 -0.02030061 -0.37727374 8.26009026] [ 0.05394963 0.99542664 0.07883685 0.30629925] [ 0.37394789 -0.09334719 0.92274009 -0.55663073] [ 0. 0. 0. 1. ]] SLAMing on 105.49824100800001 meters Centerline goodness : 0.856986 Centerline is valid? [False, False] Translation: X:8.25, Y:0.30, Z:-0.55 [[ 0.92648369 -0.01877021 -0.37586652 8.25374213] [ 0.05307365 0.99529032 0.0811194 0.30496126] [ 0.37257369 -0.09510441 0.92311646 -0.55437384] [ 0. 0. 0. 1. ]] SLAMing on 105.52824100800001 meters Centerline goodness : 0.859193 Centerline is valid? [False, False] Translation: X:8.24, Y:0.30, Z:-0.55 [[ 0.92781808 -0.01580005 -0.37269822 8.24246933] [ 0.05187558 0.99485966 0.08696652 0.30301097] [ 0.36940835 -0.10002305 0.92386842 -0.55128473] [ 0. 0. 0. 1. ]] SLAMing on 105.55824100800001 meters Centerline goodness : 0.859311 Centerline is valid? [False, False] Translation: X:8.24, Y:0.30, Z:-0.55 [[ 0.92830254 -0.01407452 -0.37155928 8.23606356] [ 0.05178449 0.99443842 0.09170927 0.30212231] [ 0.36820206 -0.10437496 0.92386856 -0.54812841] [ 0. 0. 0. 1. ]] SLAMing on 105.58824100800001 meters Centerline goodness : 0.862552 Centerline is valid? [False, False] Translation: X:8.24, Y:0.31, Z:-0.55 [[ 0.92845508 -0.02013481 -0.37089859 8.23699421] [ 0.05560224 0.99481277 0.08518182 0.30647781] [ 0.36725953 -0.09971029 0.92475851 -0.55287033] [ 0. 0. 0. 1. ]] SLAMing on 105.61824100800001 meters Centerline goodness : 0.857698 Centerline is valid? [False, False] Translation: X:8.23, Y:0.30, Z:-0.55 [[ 0.92963132 -0.01657742 -0.36811791 8.22687689] [ 0.05414638 0.99428913 0.09196354 0.30471107] [ 0.36449112 -0.10542444 0.92521993 -0.54969392] [ 0. 0. 0. 1. ]] SLAMing on 105.64824100800001 meters Centerline goodness : 0.858892 Centerline is valid? [False, False] Translation: X:8.22, Y:0.30, Z:-0.55 [[ 0.92973814 -0.01481315 -0.3679233 8.22378951] [ 0.05318611 0.99411487 0.09437614 0.30462858] [ 0.36436002 -0.10731351 0.92505437 -0.54771731] [ 0. 0. 0. 1. ]] SLAMing on 105.67824100800001 meters Centerline goodness : 0.860454 Centerline is valid? [False, False] Translation: X:8.22, Y:0.30, Z:-0.54 [[ 0.93009613 -0.01076527 -0.36715842 8.21547164] [ 0.05158585 0.99349217 0.10154907 0.30345552] [ 0.36367581 -0.11339057 0.92459855 -0.54138736] [ 0. 0. 0. 1. ]] SLAMing on 105.70824100800002 meters Centerline goodness : 0.861164 Centerline is valid? [False, False] Translation: X:8.22, Y:0.31, Z:-0.55 [[ 0.93022691 -0.01574245 -0.36664708 8.2153851 ] [ 0.05404239 0.99406352 0.09443056 0.30857662] [ 0.36298392 -0.10765633 0.9255554 -0.54779861] [ 0. 0. 0. 1. ]] SLAMing on 105.73824100800002 meters Centerline goodness : 0.861369 Centerline is valid? [False, False] Translation: X:8.23, Y:0.31, Z:-0.55 [[ 0.93163887 -0.01985648 -0.36284258 8.23344855] [ 0.05290059 0.99527976 0.08136172 0.31487313] [ 0.35951431 -0.09499433 0.92829173 -0.55236948] [ 0. 0. 0. 1. ]] SLAMing on 105.76824100800002 meters Centerline goodness : 0.859225 Centerline is valid? [False, False] Translation: X:8.23, Y:0.31, Z:-0.55 [[ 0.93212028 -0.01574401 -0.36180646 8.22640915] [ 0.0507074 0.99488675 0.08734474 0.31404132] [ 0.35858129 -0.09976207 0.92815246 -0.54822317] [ 0. 0. 0. 1. ]] SLAMing on 105.79824100800002 meters Centerline goodness : 0.860155 Centerline is valid? [False, False] Translation: X:8.21, Y:0.31, Z:-0.54 [[ 0.93332253 -0.01114885 -0.35886594 8.21427588] [ 0.04866649 0.99422154 0.09568226 0.31244864] [ 0.3557255 -0.10676715 0.92847194 -0.54303437] [ 0. 0. 0. 1. ]] SLAMing on 105.828241008 meters Centerline goodness : 0.859221 Centerline is valid? [False, False] Translation: X:8.23, Y:0.32, Z:-0.55 [[ 0.93477655 -0.01604364 -0.35487379 8.23227305] [ 0.04833223 0.99543416 0.08230939 0.31799442] [ 0.35193294 -0.09409273 0.93128393 -0.54699153] [ 0. 0. 0. 1. ]] SLAMing on 105.85824100800001 meters Centerline goodness : 0.857853 Centerline is valid? [False, False] Translation: X:8.25, Y:0.32, Z:-0.55 [[ 0.93627186 -0.02003685 -0.35070433 8.25053906] [ 0.04795621 0.99631531 0.07110557 0.32321232] [ 0.34798736 -0.0833926 0.93378288 -0.5485055 ] [ 0. 0. 0. 1. ]] SLAMing on 105.88824100800001 meters Centerline goodness : 0.857483 Centerline is valid? [False, False] Translation: X:8.24, Y:0.32, Z:-0.55 [[ 0.93683565 -0.01694138 -0.34935935 8.24323498] [ 0.04621475 0.99606465 0.07562677 0.32200128] [ 0.34670328 -0.08699541 0.93393182 -0.54532528] [ 0. 0. 0. 1. ]] SLAMing on 105.91824100800001 meters Centerline goodness : 0.856226 Centerline is valid? [False, False] Translation: X:8.24, Y:0.32, Z:-0.54 [[ 0.93715837 -0.01475139 -0.34859229 8.23768822] [ 0.0456282 0.99570713 0.08053187 0.32113055] [ 0.34590787 -0.09137675 0.93380835 -0.54223046] [ 0. 0. 0. 1. ]] SLAMing on 105.94824100800001 meters Centerline goodness : 0.857780 Centerline is valid? [False, False] Translation: X:8.25, Y:0.32, Z:-0.54 [[ 0.93668581 -0.01386369 -0.34989641 8.24509587] [ 0.046393 0.99532086 0.08475893 0.32022774] [ 0.34708412 -0.09562522 0.9329461 -0.53740582] [ 0. 0. 0. 1. ]] SLAMing on 105.97824100800001 meters Centerline goodness : 0.859342 Centerline is valid? [False, False] Translation: X:8.24, Y:0.32, Z:-0.53 [[ 0.93721446 -0.01102109 -0.34857939 8.23638535] [ 0.04597957 0.99468069 0.09217485 0.31842826] [ 0.34570932 -0.10241513 0.93273587 -0.53026088] [ 0. 0. 0. 1. ]] SLAMing on 106.00824100800001 meters Centerline goodness : 0.858159 Centerline is valid? [False, False] Translation: X:8.25, Y:0.32, Z:-0.54 [[ 0.93895015 -0.01658742 -0.34365312 8.25229451] [ 0.0461126 0.99589246 0.07792204 0.3241053 ] [ 0.34094903 -0.08901165 0.93585826 -0.5352759 ] [ 0. 0. 0. 1. ]] SLAMing on 106.03824100800001 meters Centerline goodness : 0.859538 Centerline is valid? [False, False] Translation: X:8.27, Y:0.33, Z:-0.54 [[ 0.94078323 -0.0197015 -0.33843576 8.26854714] [ 0.04535857 0.99664897 0.06806933 0.32794917] [ 0.33596058 -0.07938945 0.93852427 -0.53596318] [ 0. 0. 0. 1. ]] SLAMing on 106.06824100800002 meters Centerline goodness : 0.860269 Centerline is valid? [False, False] Translation: X:8.26, Y:0.33, Z:-0.53 [[ 0.94189531 -0.01911441 -0.33536228 8.2575852 ] [ 0.04607469 0.99629488 0.07261981 0.32532484] [ 0.33273164 -0.08385197 0.93928617 -0.52997278] [ 0. 0. 0. 1. ]] SLAMing on 106.09824100800002 meters Centerline goodness : 0.858408 Centerline is valid? [False, False] Translation: X:8.25, Y:0.32, Z:-0.53 [[ 0.94584584 -0.01169722 -0.32440533 8.25444197] [ 0.03995105 0.99594789 0.08057117 0.31966642] [ 0.32214835 -0.08916824 0.94248049 -0.52706457] [ 0. 0. 0. 1. ]] SLAMing on 106.12824100800002 meters Centerline goodness : 0.859760 Centerline is valid? [False, False] Translation: X:8.27, Y:0.33, Z:-0.53 [[ 0.94736683 -0.01602171 -0.31974894 8.27182115] [ 0.03976593 0.99690147 0.06786842 0.32542766] [ 0.31767083 -0.07701141 0.94506851 -0.53111073] [ 0. 0. 0. 1. ]] SLAMing on 106.15824100800002 meters Centerline goodness : 0.860716 Centerline is valid? [False, False] Translation: X:8.29, Y:0.33, Z:-0.53 [[ 0.94889164 -0.01820598 -0.3150765 8.28973408] [ 0.03847098 0.99756234 0.05821821 0.33082749] [ 0.31324853 -0.06736408 0.94727897 -0.53289341] [ 0. 0. 0. 1. ]] SLAMing on 106.188241008 meters Centerline goodness : 0.863726 Centerline is valid? [False, False] Translation: X:8.29, Y:0.33, Z:-0.53 [[ 0.95199154 -0.00852203 -0.3060057 8.29173968] [ 0.03020229 0.9973502 0.06618466 0.32780103] [ 0.30463082 -0.07224931 0.94972633 -0.52974098] [ 0. 0. 0. 1. ]] SLAMing on 106.218241008 meters Centerline goodness : 0.862419 Centerline is valid? [False, False] Translation: X:8.31, Y:0.33, Z:-0.54 [[ 0.95335662 -0.01117695 -0.30163923 8.30806971] [ 0.02859124 0.99816493 0.05337903 0.33397671] [ 0.30048909 -0.05951349 0.95192671 -0.53519786] [ 0. 0. 0. 1. ]] SLAMing on 106.24824100800001 meters Centerline goodness : 0.863971 Centerline is valid? [False, False] Translation: X:8.32, Y:0.34, Z:-0.54 [[ 0.95473115 -0.01058121 -0.29728179 8.32473064] [ 0.02474229 0.99872894 0.04391278 0.34148124] [ 0.29643928 -0.04928033 0.95377943 -0.53911219] [ 0. 0. 0. 1. ]] SLAMing on 106.27824100800001 meters Centerline goodness : 0.859874 Centerline is valid? [False, False] Translation: X:8.34, Y:0.35, Z:-0.54 [[ 0.9561207 -0.01037788 -0.2927892 8.34208123] [ 0.02205779 0.99908585 0.03661856 0.34550623] [ 0.29214152 -0.04147004 0.95547557 -0.53928816] [ 0. 0. 0. 1. ]] SLAMing on 106.30824100800001 meters Centerline goodness : 0.863950 Centerline is valid? [False, False] Translation: X:8.34, Y:0.34, Z:-0.54 [[ 9.55734426e-01 -6.30078126e-03 -2.94163233e-01 8.34497309e+00] [ 1.94714678e-02 9.98933474e-01 4.18661799e-02 3.42722281e-01] [ 2.93585710e-01 -4.57407393e-02 9.54837795e-01 -5.35373769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.33824100800001 meters Centerline goodness : 0.861094 Centerline is valid? [False, False] Translation: X:8.35, Y:0.34, Z:-0.53 [[ 9.55589492e-01 -6.78360322e-03 -2.94622988e-01 8.34610468e+00] [ 1.99002141e-02 9.98938445e-01 4.15447333e-02 3.43219591e-01] [ 2.94028407e-01 -4.55627711e-02 9.54710076e-01 -5.34921533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.36824100800001 meters Centerline goodness : 0.862058 Centerline is valid? [False, False] Translation: X:8.35, Y:0.34, Z:-0.54 [[ 9.55388843e-01 -7.70815761e-03 -2.95250304e-01 8.34851723e+00] [ 2.06794066e-02 9.98951849e-01 4.08358462e-02 3.44561675e-01] [ 2.94626068e-01 -4.51197130e-02 9.54546851e-01 -5.35063243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.39824100800001 meters Centerline goodness : 0.864400 Centerline is valid? [False, False] Translation: X:8.35, Y:0.35, Z:-0.54 [[ 0.95518322 -0.00886056 -0.29588257 8.35163608] [ 0.02161766 0.99897093 0.03987184 0.34619289] [ 0.2952248 -0.04448121 0.95439182 -0.53581965] [ 0. 0. 0. 1. ]] SLAMing on 106.42824100800001 meters Centerline goodness : 0.865561 Centerline is valid? [False, False] Translation: X:8.35, Y:0.35, Z:-0.53 [[ 9.55430221e-01 -8.19848795e-03 -2.95103165e-01 8.34579602e+00] [ 2.33490427e-02 9.98581458e-01 4.78528346e-02 3.45227318e-01] [ 2.94292228e-01 -5.26104207e-02 9.54266330e-01 -5.30643961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.45824100800002 meters Centerline goodness : 0.867043 Centerline is valid? [False, False] Translation: X:8.35, Y:0.34, Z:-0.53 [[ 0.95521391 -0.00894576 -0.29578094 8.34802371] [ 0.02412511 0.99856985 0.04770989 0.34470852] [ 0.29493113 -0.0527089 0.95406363 -0.53000942] [ 0. 0. 0. 1. ]] SLAMing on 106.48824100800002 meters Centerline goodness : 0.867357 Centerline is valid? [False, False] Translation: X:8.37, Y:0.35, Z:-0.53 [[ 0.95670397 -0.01243789 -0.29079687 8.36580842] [ 0.02431825 0.99900906 0.0372762 0.34820598] [ 0.29004507 -0.04273396 0.9560584 -0.53157749] [ 0. 0. 0. 1. ]] SLAMing on 106.51824100800002 meters Centerline goodness : 0.869703 Centerline is valid? [False, False] Translation: X:8.36, Y:0.35, Z:-0.52 [[ 0.95703731 -0.01223853 -0.28970642 8.35779247] [ 0.0260249 0.99870204 0.04378278 0.34816218] [ 0.28879456 -0.04944134 0.95611362 -0.52495351] [ 0. 0. 0. 1. ]] SLAMing on 106.54824100800002 meters Centerline goodness : 0.870736 Centerline is valid? [False, False] Translation: X:8.36, Y:0.34, Z:-0.52 [[ 9.60129279e-01 -5.98871385e-03 -2.79492223e-01 8.35851341e+00] [ 2.09413035e-02 9.98502269e-01 5.05438545e-02 3.44238795e-01] [ 2.78770926e-01 -5.43815660e-02 9.58816675e-01 -5.22752850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.578241008 meters Centerline goodness : 0.868364 Centerline is valid? [False, False] Translation: X:8.38, Y:0.35, Z:-0.53 [[ 0.96146423 -0.0097418 -0.2747574 8.37690143] [ 0.02128273 0.99901042 0.03905417 0.34872154] [ 0.27410505 -0.04339678 0.96072012 -0.52598366] [ 0. 0. 0. 1. ]] SLAMing on 106.60824100800001 meters Centerline goodness : 0.869034 Centerline is valid? [False, False] Translation: X:8.38, Y:0.35, Z:-0.53 [[ 0.96128432 -0.01025365 -0.27536759 8.3786304 ] [ 0.02181289 0.99900314 0.03894778 0.34831401] [ 0.27469373 -0.04344645 0.96054972 -0.52544253] [ 0. 0. 0. 1. ]] SLAMing on 106.63824100800001 meters Centerline goodness : 0.868027 Centerline is valid? [False, False] Translation: X:8.39, Y:0.34, Z:-0.52 [[ 9.60753227e-01 -8.05879242e-03 -2.77287383e-01 8.38559310e+00] [ 2.14668420e-02 9.98740366e-01 4.53525737e-02 3.44972783e-01] [ 2.76572615e-01 -4.95251160e-02 9.59716026e-01 -5.18380945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.66824100800001 meters Centerline goodness : 0.870755 Centerline is valid? [False, False] Translation: X:8.39, Y:0.34, Z:-0.52 [[ 9.63345800e-01 -1.42277296e-03 -2.68258914e-01 8.38769361e+00] [ 1.59314852e-02 9.98524384e-01 5.19157247e-02 3.40619349e-01] [ 2.67789202e-01 -5.42865583e-02 9.61946939e-01 -5.15119424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.69824100800001 meters Centerline goodness : 0.870307 Centerline is valid? [False, False] Translation: X:8.41, Y:0.34, Z:-0.52 [[ 9.64556281e-01 -4.27243451e-03 -2.63842620e-01 8.40598531e+00] [ 1.54817230e-02 9.99062824e-01 4.04201667e-02 3.44890360e-01] [ 2.63422660e-01 -4.30722640e-02 9.63718466e-01 -5.19339977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.72824100800001 meters Centerline goodness : 0.869737 Centerline is valid? [False, False] Translation: X:8.41, Y:0.35, Z:-0.52 [[ 9.64477442e-01 -4.81318014e-03 -2.64121368e-01 8.40755647e+00] [ 1.58939915e-02 9.99079949e-01 3.98326139e-02 3.45412087e-01] [ 2.63686641e-01 -4.26156003e-02 9.63666574e-01 -5.20084485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.75824100800001 meters Centerline goodness : 0.869511 Centerline is valid? [False, False] Translation: X:8.41, Y:0.34, Z:-0.52 [[ 9.64139743e-01 -4.45948768e-04 -2.65394719e-01 8.41036947e+00] [ 1.31225572e-02 9.98855525e-01 4.59939087e-02 3.41732047e-01] [ 2.65070471e-01 -4.78272127e-02 9.63042161e-01 -5.15254048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.78824100800001 meters Centerline goodness : 0.869956 Centerline is valid? [False, False] Translation: X:8.43, Y:0.35, Z:-0.52 [[ 9.65413506e-01 -3.15620229e-03 -2.60704434e-01 8.42741153e+00] [ 1.25568063e-02 9.99329233e-01 3.44007389e-02 3.46172782e-01] [ 2.60420986e-01 -3.64845530e-02 9.64805570e-01 -5.19124443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.81824100800002 meters Centerline goodness : 0.869778 Centerline is valid? [False, False] Translation: X:8.43, Y:0.35, Z:-0.52 [[ 9.65426581e-01 -3.14092467e-03 -2.60656195e-01 8.42741260e+00] [ 1.24691946e-02 9.99339214e-01 3.41416887e-02 3.46593666e-01] [ 2.60376721e-01 -3.62114666e-02 9.64827805e-01 -5.19512524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.84824100800002 meters Centerline goodness : 0.871784 Centerline is valid? [False, False] Translation: X:8.44, Y:0.35, Z:-0.52 [[ 9.66663925e-01 -3.96850035e-03 -2.56017786e-01 8.44378474e+00] [ 1.05416767e-02 9.99648948e-01 2.43074965e-02 3.50114662e-01] [ 2.55831446e-01 -2.61960367e-02 9.66366410e-01 -5.22236663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.87824100800002 meters Centerline goodness : 0.869125 Centerline is valid? [False, False] Translation: X:8.45, Y:0.35, Z:-0.52 [[ 9.66373072e-01 5.41615210e-04 -2.57143524e-01 8.44588796e+00] [ 7.39711274e-03 9.99525391e-01 2.99044230e-02 3.46430020e-01] [ 2.57037678e-01 -3.08009488e-02 9.65910417e-01 -5.18626645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.90824100800002 meters Centerline goodness : 0.868868 Centerline is valid? [False, False] Translation: X:8.46, Y:0.35, Z:-0.52 [[ 9.67706653e-01 -1.66967699e-03 -2.52073493e-01 8.46355228e+00] [ 6.98683234e-03 9.99771544e-01 2.02000953e-02 3.49829459e-01] [ 2.51982178e-01 -2.13089619e-02 9.67497240e-01 -5.20461282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.938241008 meters Centerline goodness : 0.869978 Centerline is valid? [False, False] Translation: X:8.46, Y:0.35, Z:-0.52 [[ 9.67694363e-01 -1.58237231e-03 -2.52121234e-01 8.46366681e+00] [ 6.93276029e-03 9.99769194e-01 2.03346060e-02 3.49702423e-01] [ 2.52030866e-01 -2.14255797e-02 9.67481983e-01 -5.20371076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.968241008 meters Centerline goodness : 0.867179 Centerline is valid? [False, False] Translation: X:8.47, Y:0.35, Z:-0.52 [[ 9.67610011e-01 -2.08781496e-03 -2.52441097e-01 8.46524738e+00] [ 7.40899115e-03 9.99769915e-01 2.01301590e-02 3.50265501e-01] [ 2.52340986e-01 -2.13484773e-02 9.67402847e-01 -5.20526507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.99824100800001 meters Centerline goodness : 0.866896 Centerline is valid? [False, False] Translation: X:8.47, Y:0.35, Z:-0.52 [[ 9.67415345e-01 9.99526880e-04 -2.53192714e-01 8.46892396e+00] [ 5.24199142e-03 9.99698804e-01 2.39754480e-02 3.48130924e-01] [ 2.53140418e-01 -2.45214504e-02 9.67118724e-01 -5.19821793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.02824100800001 meters Centerline goodness : 0.865974 Centerline is valid? [False, False] Translation: X:8.47, Y:0.35, Z:-0.52 [[ 9.67330199e-01 5.79881187e-04 -2.53519130e-01 8.47043336e+00] [ 5.62617449e-03 9.99702004e-01 2.37539348e-02 3.48380619e-01] [ 2.53457356e-01 -2.44042414e-02 9.67038676e-01 -5.20062020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.05824100800001 meters Centerline goodness : 0.865149 Centerline is valid? [False, False] Translation: X:8.47, Y:0.35, Z:-0.52 [[ 9.67173565e-01 -9.24875444e-05 -2.54116681e-01 8.47295996e+00] [ 6.25859209e-03 9.99705268e-01 2.34564867e-02 3.48525158e-01] [ 2.54039615e-01 -2.42769065e-02 9.66889087e-01 -5.20266794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.08824100800001 meters Centerline goodness : 0.862156 Centerline is valid? [False, False] Translation: X:8.48, Y:0.35, Z:-0.52 [[ 9.66843267e-01 -1.35929637e-03 -2.55366894e-01 8.47793880e+00] [ 7.33493758e-03 9.99721074e-01 2.24493383e-02 3.48773873e-01] [ 2.55265150e-01 -2.35780918e-02 9.66583559e-01 -5.21302175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.11824100800001 meters Centerline goodness : 0.860940 Centerline is valid? [False, False] Translation: X:8.48, Y:0.35, Z:-0.52 [[ 9.66499367e-01 1.80075901e-03 -2.56662680e-01 8.48258116e+00] [ 5.15445453e-03 9.99637554e-01 2.64233327e-02 3.46187323e-01] [ 2.56617236e-01 -2.68610904e-02 9.66139781e-01 -5.20018404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.14824100800001 meters Centerline goodness : 0.862985 Centerline is valid? [False, False] Translation: X:8.48, Y:0.35, Z:-0.52 [[ 9.66378223e-01 1.31835915e-03 -2.57121356e-01 8.48455133e+00] [ 5.55449329e-03 9.99646463e-01 2.60018635e-02 3.46749753e-01] [ 2.57064734e-01 -2.65558135e-02 9.66029250e-01 -5.20457334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.17824100800001 meters Centerline goodness : 0.859588 Centerline is valid? [False, False] Translation: X:8.48, Y:0.35, Z:-0.52 [[ 9.66381866e-01 1.59625747e-03 -2.57106089e-01 8.48396624e+00] [ 5.27716405e-03 9.99646931e-01 2.60415828e-02 3.47121378e-01] [ 2.57056882e-01 -2.65229044e-02 9.66032243e-01 -5.20193148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.20824100800002 meters Centerline goodness : 0.863852 Centerline is valid? [False, False] Translation: X:8.48, Y:0.34, Z:-0.52 [[ 9.66184522e-01 1.67567500e-03 -2.57846197e-01 8.48385994e+00] [ 5.79545599e-03 9.99585151e-01 2.82123988e-02 3.43338243e-01] [ 2.57786504e-01 -2.87527193e-02 9.65773990e-01 -5.15398174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.23824100800002 meters Centerline goodness : 0.864193 Centerline is valid? [False, False] Translation: X:8.48, Y:0.34, Z:-0.51 [[ 9.66010850e-01 1.38197076e-03 -2.58497830e-01 8.48473087e+00] [ 6.32385302e-03 9.99560099e-01 2.89761561e-02 3.41895802e-01] [ 2.58424160e-01 -2.96259835e-02 9.65577161e-01 -5.13163131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.26824100800002 meters Centerline goodness : 0.867025 Centerline is valid? [False, False] Translation: X:8.49, Y:0.34, Z:-0.51 [[ 9.65868356e-01 7.00891275e-04 -2.59032485e-01 8.48693447e+00] [ 6.93578045e-03 9.99567833e-01 2.85664527e-02 3.42827533e-01] [ 2.58940562e-01 -2.93880251e-02 9.65446078e-01 -5.13340872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.29824100800002 meters Centerline goodness : 0.864824 Centerline is valid? [False, False] Translation: X:8.49, Y:0.35, Z:-0.52 [[ 9.65859686e-01 1.41774325e-04 -2.59065719e-01 8.48871876e+00] [ 7.23964823e-03 9.99594536e-01 2.75381909e-02 3.45377231e-01] [ 2.58964581e-01 -2.84735731e-02 9.65467038e-01 -5.15285021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.328241008 meters Centerline goodness : 0.865108 Centerline is valid? [False, False] Translation: X:8.49, Y:0.35, Z:-0.52 [[ 9.65887211e-01 4.47045486e-05 -2.58963111e-01 8.48879368e+00] [ 7.16110277e-03 9.99612957e-01 2.68822258e-02 3.48650670e-01] [ 2.58864083e-01 -2.78196596e-02 9.65513052e-01 -5.16132057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.35824100800001 meters Centerline goodness : 0.865136 Centerline is valid? [False, False] Translation: X:8.49, Y:0.35, Z:-0.52 [[ 9.65928083e-01 7.08459223e-05 -2.58810615e-01 8.48877454e+00] [ 6.97610600e-03 9.99629497e-01 2.63097260e-02 3.50836293e-01] [ 2.58716589e-01 -2.72187935e-02 9.65569710e-01 -5.17051550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.38824100800001 meters Centerline goodness : 0.865136 Centerline is valid? [False, False] Translation: X:8.49, Y:0.35, Z:-0.52 [[ 9.65928083e-01 7.08459223e-05 -2.58810615e-01 8.48877454e+00] [ 6.97610600e-03 9.99629497e-01 2.63097260e-02 3.50836293e-01] [ 2.58716589e-01 -2.72187935e-02 9.65569710e-01 -5.17051550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.41824100800001 meters Centerline goodness : 0.867500 Centerline is valid? [False, False] Translation: X:8.49, Y:0.35, Z:-0.51 [[ 9.65639216e-01 4.87745799e-03 -2.59840557e-01 8.48988564e+00] [ 3.50617460e-03 9.99488380e-01 3.17912737e-02 3.48130954e-01] [ 2.59862678e-01 -3.16099469e-02 9.65128074e-01 -5.13323808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.44824100800001 meters Centerline goodness : 0.864716 Centerline is valid? [False, False] Translation: X:8.49, Y:0.35, Z:-0.51 [[ 9.65744713e-01 5.84545381e-03 -2.59428177e-01 8.48747153e+00] [ 2.47908980e-03 9.99492790e-01 3.17492761e-02 3.49412039e-01] [ 2.59482181e-01 -3.13048413e-02 9.65240387e-01 -5.13317287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.47824100800001 meters Centerline goodness : 0.863674 Centerline is valid? [False, False] Translation: X:8.49, Y:0.35, Z:-0.51 [[ 9.65696489e-01 5.41730084e-03 -2.59616916e-01 8.48868839e+00] [ 2.72177738e-03 9.99516280e-01 3.09806132e-02 3.51038924e-01] [ 2.59659165e-01 -3.06244888e-02 9.65214618e-01 -5.14259642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.50824100800001 meters Centerline goodness : 0.863444 Centerline is valid? [False, False] Translation: X:8.49, Y:0.35, Z:-0.52 [[ 9.65642180e-01 4.88689651e-03 -2.59829365e-01 8.49017697e+00] [ 3.09820941e-03 9.99535633e-01 3.03136980e-02 3.52850318e-01] [ 2.59856848e-01 -3.00771912e-02 9.65178626e-01 -5.15104321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.53824100800001 meters Centerline goodness : 0.863357 Centerline is valid? [False, False] Translation: X:8.49, Y:0.35, Z:-0.52 [[ 9.65612974e-01 4.36708269e-03 -2.59947136e-01 8.49154977e+00] [ 3.48741545e-03 9.99551380e-01 2.97468834e-02 3.54261737e-01] [ 2.59960425e-01 -2.96305202e-02 9.65164551e-01 -5.15939087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.56824100800002 meters Centerline goodness : 0.863234 Centerline is valid? [False, False] Translation: X:8.49, Y:0.36, Z:-0.52 [[ 9.65522552e-01 3.70615451e-03 -2.60293039e-01 8.49379454e+00] [ 4.05594092e-03 9.99563104e-01 2.92771477e-02 3.55152219e-01] [ 2.60287823e-01 -2.93234795e-02 9.65085687e-01 -5.16683690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.59824100800002 meters Centerline goodness : 0.860923 Centerline is valid? [False, False] Translation: X:8.50, Y:0.36, Z:-0.52 [[ 9.65378399e-01 2.87333542e-03 -2.60837670e-01 8.49619402e+00] [ 4.73073082e-03 9.99582029e-01 2.85199596e-02 3.56354963e-01] [ 2.60810594e-01 -2.87665057e-02 9.64961306e-01 -5.17353077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.62824100800002 meters Centerline goodness : 0.864585 Centerline is valid? [False, False] Translation: X:8.50, Y:0.36, Z:-0.52 [[ 9.65201392e-01 2.15220407e-03 -2.61498835e-01 8.49858784e+00] [ 5.37470930e-03 9.99591647e-01 2.80651427e-02 3.57134810e-01] [ 2.61452453e-01 -2.84939950e-02 9.64795682e-01 -5.17371592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.65824100800002 meters Centerline goodness : 0.863105 Centerline is valid? [False, False] Translation: X:8.50, Y:0.36, Z:-0.52 [[ 9.65018867e-01 1.55277629e-03 -2.62175849e-01 8.50089296e+00] [ 5.92864813e-03 9.99597522e-01 2.77424815e-02 3.56865067e-01] [ 2.62113407e-01 -2.83263664e-02 9.64621262e-01 -5.17369820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.688241008 meters Centerline goodness : 0.862309 Centerline is valid? [False, False] Translation: X:8.51, Y:0.35, Z:-0.51 [[ 9.64518314e-01 1.21510398e-03 -2.64013155e-01 8.51100913e+00] [ 7.32839352e-03 9.99480885e-01 3.13728418e-02 3.54995362e-01] [ 2.63914223e-01 -3.21944728e-02 9.64008713e-01 -5.13875113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.718241008 meters Centerline goodness : 0.866034 Centerline is valid? [False, False] Translation: X:8.51, Y:0.36, Z:-0.51 [[ 9.64316175e-01 1.37753490e-04 -2.64753271e-01 8.51446634e+00] [ 8.21960904e-03 9.99502235e-01 3.04584976e-02 3.55973897e-01] [ 2.64625682e-01 -3.15477903e-02 9.63835040e-01 -5.14865891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.74824100800001 meters Centerline goodness : 0.864940 Centerline is valid? [False, False] Translation: X:8.52, Y:0.36, Z:-0.52 [[ 9.64194552e-01 -6.74467146e-04 -2.65195045e-01 8.51679192e+00] [ 8.88388347e-03 9.99517655e-01 2.97579098e-02 3.56848644e-01] [ 2.65047059e-01 -3.10483764e-02 9.63735469e-01 -5.15668230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77824100800001 meters Centerline goodness : 0.865245 Centerline is valid? [False, False] Translation: X:8.52, Y:0.35, Z:-0.51 [[ 9.63769309e-01 -2.01687658e-03 -2.66729547e-01 8.52124191e+00] [ 1.05533093e-02 9.99476776e-01 3.05745442e-02 3.54373831e-01] [ 2.66528322e-01 -3.22816867e-02 9.63286326e-01 -5.12904487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.80824100800001 meters Centerline goodness : 0.865170 Centerline is valid? [False, False] Translation: X:8.52, Y:0.35, Z:-0.51 [[ 9.63541584e-01 -2.76448101e-03 -2.67544339e-01 8.52381257e+00] [ 1.14146932e-02 9.99460942e-01 3.07819660e-02 3.52352913e-01] [ 2.67315021e-01 -3.27136408e-02 9.63053736e-01 -5.12000380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83824100800001 meters Centerline goodness : 0.866734 Centerline is valid? [False, False] Translation: X:8.53, Y:0.35, Z:-0.51 [[ 9.63278523e-01 -3.39881371e-03 -2.68482654e-01 8.52631340e+00] [ 1.22450841e-02 9.99435605e-01 3.12814663e-02 3.50861939e-01] [ 2.68224804e-01 -3.34203573e-02 9.62776472e-01 -5.10379830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.86824100800001 meters Centerline goodness : 0.864452 Centerline is valid? [False, False] Translation: X:8.53, Y:0.35, Z:-0.51 [[ 9.62929667e-01 -1.80152859e-03 -2.69746568e-01 8.53227569e+00] [ 1.20965994e-02 9.99260136e-01 3.65082632e-02 3.48153078e-01] [ 2.69481222e-01 -3.84179059e-02 9.62239022e-01 -5.05461238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.89824100800001 meters Centerline goodness : 0.867534 Centerline is valid? [False, False] Translation: X:8.53, Y:0.35, Z:-0.50 [[ 9.62759961e-01 -2.31557906e-03 -2.70347732e-01 8.53401095e+00] [ 1.26714234e-02 9.99250879e-01 3.65665900e-02 3.47816407e-01] [ 2.70060536e-01 -3.86305393e-02 9.62068079e-01 -5.04718381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.92824100800001 meters Centerline goodness : 0.862453 Centerline is valid? [False, False] Translation: X:8.53, Y:0.35, Z:-0.50 [[ 9.62666989e-01 -2.05154053e-03 -2.70680734e-01 8.53373578e+00] [ 1.27410776e-02 9.99206362e-01 3.77400427e-02 3.46104673e-01] [ 2.70388486e-01 -3.97798575e-02 9.61929119e-01 -5.02246599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.95824100800002 meters Centerline goodness : 0.866809 Centerline is valid? [False, False] Translation: X:8.54, Y:0.34, Z:-0.50 [[ 9.62325459e-01 2.23656159e-03 -2.71890988e-01 8.53644410e+00] [ 9.90901184e-03 9.99013425e-01 4.32895900e-02 3.43229043e-01] [ 2.71719567e-01 -4.43528456e-02 9.61353890e-01 -4.98397082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.98824100800002 meters Centerline goodness : 0.868996 Centerline is valid? [False, False] Translation: X:8.54, Y:0.34, Z:-0.50 [[ 9.62236938e-01 1.80390299e-03 -2.72207314e-01 8.53792207e+00] [ 1.01640283e-02 9.99042643e-01 4.25498467e-02 3.44883667e-01] [ 2.72023470e-01 -4.37097570e-02 9.61297399e-01 -4.99207859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.01824100800002 meters Centerline goodness : 0.868090 Centerline is valid? [False, False] Translation: X:8.54, Y:0.35, Z:-0.50 [[ 9.62314164e-01 2.17495056e-03 -2.71931460e-01 8.53676470e+00] [ 9.69144404e-03 9.99058507e-01 4.22868201e-02 3.46377764e-01] [ 2.71767410e-01 -4.33286145e-02 9.61387074e-01 -4.99542641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.04824100800002 meters Centerline goodness : 0.864996 Centerline is valid? [False, False] Translation: X:8.55, Y:0.35, Z:-0.50 [[ 9.63661461e-01 2.18183482e-03 -2.67117629e-01 8.55330333e+00] [ 7.32491605e-03 9.99374794e-01 3.45885447e-02 3.48935316e-01] [ 2.67026092e-01 -3.52882617e-02 9.63042992e-01 -5.00222777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.078241008 meters Centerline goodness : 0.865645 Centerline is valid? [False, False] Translation: X:8.57, Y:0.35, Z:-0.50 [[ 9.64985262e-01 2.24467063e-03 -2.62294501e-01 8.57069804e+00] [ 5.14488372e-03 9.99609043e-01 2.74825816e-02 3.51632711e-01] [ 2.62253644e-01 -2.78697609e-02 9.64596445e-01 -5.00417366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.10824100800001 meters Centerline goodness : 0.865300 Centerline is valid? [False, False] Translation: X:8.57, Y:0.35, Z:-0.50 [[ 9.65056259e-01 2.84425724e-03 -2.62027339e-01 8.56929620e+00] [ 4.57056905e-03 9.99606272e-01 2.76841099e-02 3.52016254e-01] [ 2.62002913e-01 -2.79143376e-02 9.64663290e-01 -5.00223862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.13824100800001 meters Centerline goodness : 0.869236 Centerline is valid? [False, False] Translation: X:8.57, Y:0.35, Z:-0.50 [[ 9.65020048e-01 2.75952540e-03 -2.62161576e-01 8.56984146e+00] [ 4.58061221e-03 9.99614513e-01 2.73832816e-02 3.52981660e-01] [ 2.62136081e-01 -2.76262762e-02 9.64635405e-01 -5.00506775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.16824100800001 meters Centerline goodness : 0.866264 Centerline is valid? [False, False] Translation: X:8.57, Y:0.35, Z:-0.50 [[ 9.64949582e-01 2.12098641e-03 -2.62426762e-01 8.57191520e+00] [ 5.02462124e-03 9.99634728e-01 2.65549054e-02 3.54753641e-01] [ 2.62387228e-01 -2.69427400e-02 9.64586456e-01 -5.01815594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.19824100800001 meters Centerline goodness : 0.866876 Centerline is valid? [False, False] Translation: X:8.58, Y:0.35, Z:-0.50 [[ 9.64697095e-01 6.02593234e-03 -2.63292997e-01 8.57505657e+00] [ 2.17249364e-03 9.99522103e-01 3.08358025e-02 3.52771191e-01] [ 2.63352985e-01 -3.03192115e-02 9.64222978e-01 -5.00705704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.22824100800001 meters Centerline goodness : 0.867192 Centerline is valid? [False, False] Translation: X:8.58, Y:0.35, Z:-0.50 [[ 9.64583429e-01 5.63223721e-03 -2.63717816e-01 8.57660902e+00] [ 2.50462383e-03 9.99531383e-01 3.05080506e-02 3.52744393e-01] [ 2.63766062e-01 -3.00880740e-02 9.64117302e-01 -5.00980247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.25824100800001 meters Centerline goodness : 0.867323 Centerline is valid? [False, False] Translation: X:8.58, Y:0.35, Z:-0.50 [[ 9.64309572e-01 5.06753387e-03 -2.64728861e-01 8.57940807e+00] [ 3.21691133e-03 9.99518813e-01 3.08511652e-02 3.50846000e-01] [ 2.64757816e-01 -3.06016832e-02 9.63829257e-01 -4.99696100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.28824100800001 meters Centerline goodness : 0.869434 Centerline is valid? [False, False] Translation: X:8.58, Y:0.35, Z:-0.50 [[ 9.64134272e-01 4.48478212e-03 -2.65377077e-01 8.58124542e+00] [ 3.88465439e-03 9.99511692e-01 3.10046395e-02 3.49142105e-01] [ 2.65386540e-01 -3.09235337e-02 9.63646055e-01 -4.98868323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.31824100800002 meters Centerline goodness : 0.869593 Centerline is valid? [False, False] Translation: X:8.58, Y:0.35, Z:-0.50 [[ 9.64008502e-01 4.17197162e-03 -2.65838677e-01 8.58256418e+00] [ 4.34704572e-03 9.99495893e-01 3.14493647e-02 3.48400234e-01] [ 2.65835872e-01 -3.14730679e-02 9.63504403e-01 -4.97715946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.34824100800002 meters Centerline goodness : 0.872347 Centerline is valid? [False, False] Translation: X:8.59, Y:0.35, Z:-0.49 [[ 9.63536657e-01 5.46477372e-03 -2.67520554e-01 8.59101694e+00] [ 4.73384782e-03 9.99286804e-01 3.74629613e-02 3.46346997e-01] [ 2.67534486e-01 -3.73633381e-02 9.62823597e-01 -4.91342955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.37824100800002 meters Centerline goodness : 0.870933 Centerline is valid? [False, False] Translation: X:8.59, Y:0.34, Z:-0.49 [[ 9.63213635e-01 9.71262495e-03 -2.68561274e-01 8.59379311e+00] [ 1.75484140e-03 9.99098044e-01 4.24266372e-02 3.44192885e-01] [ 2.68731118e-01 -4.13371979e-02 9.62327814e-01 -4.88749839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.40824100800002 meters Centerline goodness : 0.873083 Centerline is valid? [False, False] Translation: X:8.59, Y:0.35, Z:-0.49 [[ 9.63149042e-01 9.70667157e-03 -2.68793049e-01 8.59422375e+00] [ 1.67052275e-03 9.99113441e-01 4.20659256e-02 3.45565481e-01] [ 2.68963069e-01 -4.09647808e-02 9.62278938e-01 -4.88831569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.438241008 meters Centerline goodness : 0.872871 Centerline is valid? [False, False] Translation: X:8.59, Y:0.35, Z:-0.49 [[ 9.63300513e-01 5.42848920e-03 -2.68370364e-01 8.59254196e+00] [ 4.73662569e-03 9.99296048e-01 3.72152186e-02 3.48744994e-01] [ 2.68383467e-01 -3.71206091e-02 9.62596683e-01 -4.90376778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.468241008 meters Centerline goodness : 0.871254 Centerline is valid? [False, False] Translation: X:8.59, Y:0.35, Z:-0.48 [[ 9.62993530e-01 9.70366563e-03 -2.69349772e-01 8.59439358e+00] [ 2.30684538e-03 9.99018337e-01 4.42384525e-02 3.45521588e-01] [ 2.69514636e-01 -4.32226918e-02 9.62025810e-01 -4.83407378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.49824100800001 meters Centerline goodness : 0.871569 Centerline is valid? [False, False] Translation: X:8.60, Y:0.34, Z:-0.48 [[ 9.62614813e-01 1.36663671e-02 -2.70529023e-01 8.59765674e+00] [-5.22726319e-04 9.98818307e-01 4.85974976e-02 3.44176097e-01] [ 2.70873492e-01 -4.66392584e-02 9.61484441e-01 -4.81508416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.52824100800001 meters Centerline goodness : 0.872175 Centerline is valid? [False, False] Translation: X:8.60, Y:0.35, Z:-0.48 [[ 9.62577842e-01 1.32140170e-02 -2.70683001e-01 8.59876784e+00] [-3.45306061e-04 9.98869552e-01 4.75341829e-02 3.46558422e-01] [ 2.71005125e-01 -4.56618827e-02 9.61494261e-01 -4.82862710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.55824100800001 meters Centerline goodness : 0.872361 Centerline is valid? [False, False] Translation: X:8.62, Y:0.35, Z:-0.48 [[ 9.63834229e-01 1.38475901e-02 -2.66142488e-01 8.61505386e+00] [-3.50499606e-03 9.99221431e-01 3.92968958e-02 3.50964807e-01] [ 2.66479445e-01 -3.69428649e-02 9.63132353e-01 -4.84774069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.58824100800001 meters Centerline goodness : 0.872411 Centerline is valid? [False, False] Translation: X:8.63, Y:0.36, Z:-0.49 [[ 0.96488439 0.01682634 -0.26213545 8.63130884] [-0.00887747 0.99946501 0.03147843 0.3573902 ] [ 0.26252487 -0.02804595 0.96451756 -0.48770206] [ 0. 0. 0. 1. ]] SLAMing on 108.61824100800001 meters Centerline goodness : 0.873196 Centerline is valid? [False, False] Translation: X:8.63, Y:0.36, Z:-0.49 [[ 0.96489978 0.01667906 -0.26208819 8.63180363] [-0.00895668 0.9994906 0.03063191 0.3599282 ] [ 0.2624656 -0.02720928 0.96455765 -0.48899076] [ 0. 0. 0. 1. ]] SLAMing on 108.64824100800001 meters Centerline goodness : 0.873614 Centerline is valid? [False, False] Translation: X:8.63, Y:0.36, Z:-0.49 [[ 0.9648738 0.01635073 -0.2622045 8.63292271] [-0.00882021 0.99951483 0.02987138 0.36227322] [ 0.26256571 -0.02650941 0.9645499 -0.49011131] [ 0. 0. 0. 1. ]] SLAMing on 108.67824100800001 meters Centerline goodness : 0.874954 Centerline is valid? [False, False] Translation: X:8.64, Y:0.37, Z:-0.49 [[ 9.64714257e-01 1.53251189e-02 -2.62852703e-01 8.63613440e+00] [-8.13327565e-03 9.99562780e-01 2.84270674e-02 3.65410878e-01] [ 2.63173427e-01 -2.52861437e-02 9.64417108e-01 -4.91847996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.70824100800002 meters Centerline goodness : 0.875939 Centerline is valid? [False, False] Translation: X:8.64, Y:0.36, Z:-0.49 [[ 9.64625018e-01 1.50853784e-02 -2.63193856e-01 8.63708920e+00] [-7.84132483e-03 9.99561540e-01 2.85524368e-02 3.64579057e-01] [ 2.63509181e-01 -2.54786064e-02 9.64320358e-01 -4.91398295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.73824100800002 meters Centerline goodness : 0.875640 Centerline is valid? [False, False] Translation: X:8.64, Y:0.36, Z:-0.49 [[ 9.64469652e-01 1.45113202e-02 -2.63794829e-01 8.63896838e+00] [-7.19907279e-03 9.99563149e-01 2.86650565e-02 3.63102531e-01] [ 2.64095558e-01 -2.57474989e-02 9.64152790e-01 -4.90785577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.76824100800002 meters Centerline goodness : 0.877668 Centerline is valid? [False, False] Translation: X:8.64, Y:0.36, Z:-0.49 [[ 9.64249948e-01 1.37508760e-02 -2.64637395e-01 8.64148581e+00] [-6.27058350e-03 9.99557120e-01 2.90902810e-02 3.61336556e-01] [ 2.64920209e-01 -2.63908711e-02 9.63909127e-01 -4.89399960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.79824100800002 meters Centerline goodness : 0.878348 Centerline is valid? [False, False] Translation: X:8.64, Y:0.36, Z:-0.49 [[ 9.64317122e-01 8.05791714e-03 -2.64627206e-01 8.64258612e+00] [-1.57808392e-03 9.99693907e-01 2.46901194e-02 3.61295692e-01] [ 2.64745157e-01 -2.33915010e-02 9.64034667e-01 -4.90126425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.828241008 meters Centerline goodness : 0.879577 Centerline is valid? [False, False] Translation: X:8.65, Y:0.36, Z:-0.49 [[ 9.64062326e-01 7.05295196e-03 -2.65582544e-01 8.64588514e+00] [-4.43846269e-04 9.99688923e-01 2.49371152e-02 3.59724683e-01] [ 2.65675807e-01 -2.39230555e-02 9.63765559e-01 -4.89136450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.85824100800001 meters Centerline goodness : 0.880063 Centerline is valid? [False, False] Translation: X:8.65, Y:0.36, Z:-0.49 [[ 9.63852479e-01 6.08197160e-03 -2.66367057e-01 8.64863989e+00] [ 6.24063650e-04 9.99685151e-01 2.50840403e-02 3.57977756e-01] [ 2.66435752e-01 -2.43435445e-02 9.63545215e-01 -4.88385170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.88824100800001 meters Centerline goodness : 0.880428 Centerline is valid? [False, False] Translation: X:8.66, Y:0.35, Z:-0.48 [[ 9.63625033e-01 2.95182753e-03 -2.67241618e-01 8.66324577e+00] [ 5.58937896e-03 9.99497712e-01 3.11942818e-02 3.54636945e-01] [ 2.67199466e-01 -3.15533055e-02 9.63124516e-01 -4.79943604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.91824100800001 meters Centerline goodness : 0.883731 Centerline is valid? [False, False] Translation: X:8.67, Y:0.35, Z:-0.48 [[ 9.63412299e-01 2.40689648e-03 -2.68012965e-01 8.66542315e+00] [ 6.33263922e-03 9.99476116e-01 3.17394274e-02 3.53009843e-01] [ 2.67948951e-01 -3.22753841e-02 9.62892340e-01 -4.78502342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.94824100800001 meters Centerline goodness : 0.883234 Centerline is valid? [False, False] Translation: X:8.67, Y:0.35, Z:-0.48 [[ 9.63160647e-01 1.79561798e-03 -2.68920703e-01 8.66770849e+00] [ 7.14290404e-03 9.99454104e-01 3.22563557e-02 3.51547062e-01] [ 2.68831820e-01 -3.29889271e-02 9.62622035e-01 -4.76805225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.97824100800001 meters Centerline goodness : 0.880232 Centerline is valid? [False, False] Translation: X:8.67, Y:0.35, Z:-0.47 [[ 9.62859420e-01 5.34845233e-03 -2.69950240e-01 8.67099180e+00] [ 5.38279687e-03 9.99224839e-01 3.89967540e-02 3.47495725e-01] [ 2.69949557e-01 -3.90014792e-02 9.62084259e-01 -4.70296048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.00824100800001 meters Centerline goodness : 0.882180 Centerline is valid? [False, False] Translation: X:8.68, Y:0.34, Z:-0.46 [[ 9.62462207e-01 8.17587033e-03 -2.71292563e-01 8.67608605e+00] [ 4.49246789e-03 9.98929387e-01 4.60423521e-02 3.44099438e-01] [ 2.71378550e-01 -4.55327969e-02 9.61395053e-01 -4.62366401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.03824100800001 meters Centerline goodness : 0.882802 Centerline is valid? [False, False] Translation: X:8.68, Y:0.35, Z:-0.46 [[ 9.62347990e-01 7.42860275e-03 -2.71718903e-01 8.67798890e+00] [ 5.02440006e-03 9.98969568e-01 4.51060610e-02 3.45953524e-01] [ 2.71773990e-01 -4.47729516e-02 9.61319032e-01 -4.63151189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.06824100800002 meters Centerline goodness : 0.883037 Centerline is valid? [False, False] Translation: X:8.68, Y:0.35, Z:-0.46 [[ 9.61988114e-01 1.19593945e-02 -2.72829326e-01 8.68037849e+00] [ 1.72318351e-03 9.98754929e-01 4.98560270e-02 3.45174829e-01] [ 2.73085882e-01 -4.84310403e-02 9.60769762e-01 -4.60561423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.09824100800002 meters Centerline goodness : 0.885444 Centerline is valid? [False, False] Translation: X:8.68, Y:0.35, Z:-0.46 [[ 9.62005757e-01 1.20928271e-02 -2.72761228e-01 8.68095936e+00] [ 9.51891013e-04 9.98864035e-01 4.76417223e-02 3.49779786e-01] [ 2.73027504e-01 -4.60912501e-02 9.60901441e-01 -4.64364687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.12824100800002 meters Centerline goodness : 0.882024 Centerline is valid? [False, False] Translation: X:8.70, Y:0.35, Z:-0.47 [[ 9.63122660e-01 1.27859761e-02 -2.68758742e-01 8.69874378e+00] [-2.15904096e-03 9.99205364e-01 3.97992433e-02 3.52925004e-01] [ 2.69054049e-01 -3.77512919e-02 9.62384933e-01 -4.66042976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.15824100800002 meters Centerline goodness : 0.880047 Centerline is valid? [False, False] Translation: X:8.70, Y:0.35, Z:-0.47 [[ 9.63088982e-01 1.25180250e-02 -2.68892006e-01 8.69984914e+00] [-2.16471805e-03 9.99245985e-01 3.87656379e-02 3.54948319e-01] [ 2.69174527e-01 -3.67526834e-02 9.62389897e-01 -4.67611976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.188241008 meters Centerline goodness : 0.877398 Centerline is valid? [False, False] Translation: X:8.70, Y:0.36, Z:-0.47 [[ 9.63088885e-01 1.21974190e-02 -2.68907088e-01 8.70081304e+00] [-2.12036190e-03 9.99285616e-01 3.77327665e-02 3.56993319e-01] [ 2.69175227e-01 -3.57698277e-02 9.62426733e-01 -4.69280043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.218241008 meters Centerline goodness : 0.874332 Centerline is valid? [False, False] Translation: X:8.70, Y:0.36, Z:-0.47 [[ 9.63105511e-01 1.22523778e-02 -2.68845038e-01 8.70139653e+00] [-2.45129556e-03 9.99321053e-01 3.67617083e-02 3.59699928e-01] [ 2.69112925e-01 -3.47463851e-02 9.62481648e-01 -4.71128791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.24824100800001 meters Centerline goodness : 0.875912 Centerline is valid? [False, False] Translation: X:8.70, Y:0.36, Z:-0.47 [[ 9.63119049e-01 1.20984563e-02 -2.68803506e-01 8.70177640e+00] [-2.45608036e-03 9.99342313e-01 3.61788490e-02 3.60786916e-01] [ 2.69064426e-01 -3.41843356e-02 9.62515333e-01 -4.72054122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27824100800001 meters Centerline goodness : 0.875912 Centerline is valid? [False, False] Translation: X:8.70, Y:0.36, Z:-0.47 [[ 9.63119049e-01 1.20984563e-02 -2.68803506e-01 8.70177640e+00] [-2.45608036e-03 9.99342313e-01 3.61788490e-02 3.60786916e-01] [ 2.69064426e-01 -3.41843356e-02 9.62515333e-01 -4.72054122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.30824100800001 meters Centerline goodness : 0.874236 Centerline is valid? [False, False] Translation: X:8.72, Y:0.36, Z:-0.47 [[ 9.64338070e-01 1.10090894e-02 -2.64444487e-01 8.71933161e+00] [-3.92515584e-03 9.99619539e-01 2.73014717e-02 3.63904677e-01] [ 2.64644441e-01 -2.52898627e-02 9.64014389e-01 -4.73167451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33824100800001 meters Centerline goodness : 0.872222 Centerline is valid? [False, False] Translation: X:8.72, Y:0.36, Z:-0.47 [[ 9.64207644e-01 1.09055304e-02 -2.64923932e-01 8.71997280e+00] [-3.70268973e-03 9.99610184e-01 2.76725380e-02 3.63669213e-01] [ 2.65122444e-01 -2.57011415e-02 9.63872160e-01 -4.71828794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.36824100800001 meters Centerline goodness : 0.873863 Centerline is valid? [False, False] Translation: X:8.72, Y:0.36, Z:-0.47 [[ 9.64106902e-01 1.12990997e-02 -2.65273842e-01 8.71918417e+00] [-3.65644245e-03 9.99564367e-01 2.92866268e-02 3.60802283e-01] [ 2.65489193e-01 -2.72654805e-02 9.63728220e-01 -4.68429987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.39824100800001 meters Centerline goodness : 0.869827 Centerline is valid? [False, False] Translation: X:8.72, Y:0.36, Z:-0.47 [[ 9.63964888e-01 1.11612429e-02 -2.65795263e-01 8.71994030e+00] [-3.38613427e-03 9.99553343e-01 2.96925648e-02 3.60030394e-01] [ 2.66007949e-01 -2.77225715e-02 9.63572120e-01 -4.67057420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.42824100800001 meters Centerline goodness : 0.870882 Centerline is valid? [False, False] Translation: X:8.72, Y:0.36, Z:-0.47 [[ 9.63915037e-01 1.07163494e-02 -2.65994288e-01 8.72120719e+00] [-3.04372030e-03 9.99567768e-01 2.92405890e-02 3.60497215e-01] [ 2.66192670e-01 -2.73758312e-02 9.63531020e-01 -4.67667271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.45824100800002 meters Centerline goodness : 0.868698 Centerline is valid? [False, False] Translation: X:8.72, Y:0.36, Z:-0.47 [[ 9.63875540e-01 1.01439236e-02 -2.66159809e-01 8.72271680e+00] [-2.62750434e-03 9.99588022e-01 2.85811647e-02 3.61894020e-01] [ 2.66340082e-01 -2.68493495e-02 9.63505098e-01 -4.68639840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.48824100800002 meters Centerline goodness : 0.868178 Centerline is valid? [False, False] Translation: X:8.73, Y:0.36, Z:-0.47 [[ 9.63431501e-01 1.31510601e-02 -2.67631823e-01 8.72829153e+00] [-4.55662109e-03 9.99454540e-01 3.27087201e-02 3.60802980e-01] [ 2.67915995e-01 -3.02931145e-02 9.62965912e-01 -4.67016729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.51824100800002 meters Centerline goodness : 0.868597 Centerline is valid? [False, False] Translation: X:8.73, Y:0.36, Z:-0.47 [[ 9.63306936e-01 1.24465962e-02 -2.68113463e-01 8.73110258e+00] [-4.05767482e-03 9.99485375e-01 3.18201274e-02 3.61391752e-01] [ 2.68371538e-01 -2.95646322e-02 9.62861698e-01 -4.68620088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.54824100800002 meters Centerline goodness : 0.865571 Centerline is valid? [False, False] Translation: X:8.73, Y:0.36, Z:-0.47 [[ 9.63124804e-01 1.18802812e-02 -2.68792618e-01 8.73353295e+00] [-3.51160576e-03 9.99494625e-01 3.15937344e-02 3.60568876e-01] [ 2.69032120e-01 -2.94848155e-02 9.62679783e-01 -4.68644281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.578241008 meters Centerline goodness : 0.865641 Centerline is valid? [False, False] Translation: X:8.74, Y:0.36, Z:-0.47 [[ 9.62934806e-01 1.12859972e-02 -2.69498026e-01 8.73577399e+00] [-2.92541900e-03 9.99502482e-01 3.14042911e-02 3.59513212e-01] [ 2.69718374e-01 -2.94518903e-02 9.62488745e-01 -4.68402718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.60824100800001 meters Centerline goodness : 0.864313 Centerline is valid? [False, False] Translation: X:8.74, Y:0.36, Z:-0.47 [[ 9.63011813e-01 6.59002866e-03 -2.69378581e-01 8.73577550e+00] [ 6.67649420e-04 9.99639471e-01 2.68418039e-02 3.61192168e-01] [ 2.69458351e-01 -2.60288247e-02 9.62660219e-01 -4.69706022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.63824100800001 meters Centerline goodness : 0.866384 Centerline is valid? [False, False] Translation: X:8.74, Y:0.36, Z:-0.47 [[ 9.62560927e-01 9.77464146e-03 -2.70889124e-01 8.74057376e+00] [-1.08764786e-03 9.99480853e-01 3.22000364e-02 3.57990282e-01] [ 2.71063236e-01 -3.06998649e-02 9.62071848e-01 -4.65640973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.66824100800001 meters Centerline goodness : 0.865068 Centerline is valid? [False, False] Translation: X:8.74, Y:0.36, Z:-0.47 [[ 9.62395590e-01 9.06060948e-03 -2.71500706e-01 8.74290731e+00] [-4.17276979e-04 9.99491737e-01 3.18762294e-02 3.57972325e-01] [ 2.71651530e-01 -3.05642516e-02 9.61910221e-01 -4.65699470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69824100800001 meters Centerline goodness : 0.864038 Centerline is valid? [False, False] Translation: X:8.75, Y:0.36, Z:-0.46 [[ 9.62034637e-01 1.20716382e-02 -2.72660288e-01 8.74735492e+00] [-2.13760669e-03 9.99323989e-01 3.67014429e-02 3.55186085e-01] [ 2.72919013e-01 -3.47252188e-02 9.61410095e-01 -4.62662285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.72824100800001 meters Centerline goodness : 0.865545 Centerline is valid? [False, False] Translation: X:8.75, Y:0.36, Z:-0.46 [[ 9.61927368e-01 1.15281284e-02 -2.73061974e-01 8.74901027e+00] [-1.61568899e-03 9.99332414e-01 3.64981503e-02 3.55039054e-01] [ 2.73300437e-01 -3.46673864e-02 9.61303825e-01 -4.62630639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.75824100800001 meters Centerline goodness : 0.862264 Centerline is valid? [False, False] Translation: X:8.75, Y:0.35, Z:-0.46 [[ 9.61641750e-01 1.10184129e-02 -2.74087102e-01 8.75138392e+00] [-9.07028689e-04 9.99315204e-01 3.69905435e-02 3.53924985e-01] [ 2.74306986e-01 -3.53230461e-02 9.60993215e-01 -4.60706382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.78824100800001 meters Centerline goodness : 0.866378 Centerline is valid? [False, False] Translation: X:8.75, Y:0.35, Z:-0.46 [[ 9.61456498e-01 1.01180283e-02 -2.74770865e-01 8.75408556e+00] [-1.41667588e-04 9.99340800e-01 3.63035260e-02 3.54568118e-01] [ 2.74957056e-01 -3.48653349e-02 9.60824139e-01 -4.61097524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.81824100800002 meters Centerline goodness : 0.865387 Centerline is valid? [False, False] Translation: X:8.76, Y:0.35, Z:-0.46 [[ 9.61007872e-01 1.37163654e-02 -2.76180613e-01 8.75861837e+00] [-2.47392039e-03 9.99155501e-01 4.10141930e-02 3.52550563e-01] [ 2.76509945e-01 -3.87317135e-02 9.60230235e-01 -4.58572848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.84824100800002 meters Centerline goodness : 0.864669 Centerline is valid? [False, False] Translation: X:8.76, Y:0.35, Z:-0.46 [[ 9.60921992e-01 1.29504765e-02 -2.76516202e-01 8.76088063e+00] [-1.97834367e-03 9.99200839e-01 3.99220479e-02 3.54254005e-01] [ 2.76812231e-01 -3.78149297e-02 9.60179681e-01 -4.60056573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.87824100800002 meters Centerline goodness : 0.866240 Centerline is valid? [False, False] Translation: X:8.77, Y:0.35, Z:-0.46 [[ 9.60345675e-01 1.69123957e-02 -2.78298681e-01 8.76506846e+00] [-4.49714129e-03 9.98968317e-01 4.51893529e-02 3.51912894e-01] [ 2.78775826e-01 -4.21458511e-02 9.59430960e-01 -4.55922168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.90824100800002 meters Centerline goodness : 0.867087 Centerline is valid? [False, False] Translation: X:8.77, Y:0.36, Z:-0.46 [[ 9.60440246e-01 1.20006624e-02 -2.78227459e-01 8.76546773e+00] [-9.30091726e-04 9.99203742e-01 3.98875413e-02 3.55359574e-01] [ 2.78484595e-01 -3.80508229e-02 9.59686649e-01 -4.58204045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.938241008 meters Centerline goodness : 0.862834 Centerline is valid? [False, False] Translation: X:8.77, Y:0.35, Z:-0.45 [[ 9.59892463e-01 1.53601492e-02 -2.79947363e-01 8.77074344e+00] [-2.94450710e-03 9.98995371e-01 4.47166483e-02 3.53454344e-01] [ 2.80352974e-01 -4.20988667e-02 9.58973355e-01 -4.54812562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.968241008 meters Centerline goodness : 0.862292 Centerline is valid? [False, False] Translation: X:8.77, Y:0.35, Z:-0.45 [[ 9.59415990e-01 1.91599949e-02 -2.81342945e-01 8.77476970e+00] [-5.40956071e-03 9.98756007e-01 4.95698975e-02 3.51565237e-01] [ 2.81942715e-01 -4.60362105e-02 9.58326131e-01 -4.51796904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.99824100800001 meters Centerline goodness : 0.864164 Centerline is valid? [False, False] Translation: X:8.78, Y:0.35, Z:-0.45 [[ 9.59216153e-01 1.82362518e-02 -2.82084759e-01 8.77751582e+00] [-4.65154551e-03 9.98800025e-01 4.87531876e-02 3.53260299e-01] [ 2.82635340e-01 -4.54527149e-02 9.58149944e-01 -4.52071902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.02824100800001 meters Centerline goodness : 0.864526 Centerline is valid? [False, False] Translation: X:8.78, Y:0.35, Z:-0.45 [[ 9.59041037e-01 1.76053959e-02 -2.82719543e-01 8.77967946e+00] [-4.14077503e-03 9.98831413e-01 4.81524876e-02 3.54675695e-01] [ 2.83236904e-01 -4.50095336e-02 9.57993214e-01 -4.52156307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05824100800001 meters Centerline goodness : 0.859914 Centerline is valid? [False, False] Translation: X:8.80, Y:0.36, Z:-0.45 [[ 9.60254976e-01 1.52604260e-02 -2.78706836e-01 8.79820577e+00] [-5.00526653e-03 9.99285212e-01 3.74701463e-02 3.59269051e-01] [ 2.79079430e-01 -3.45858924e-02 9.59644980e-01 -4.54584037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.08824100800001 meters Centerline goodness : 0.860468 Centerline is valid? [False, False] Translation: X:8.80, Y:0.36, Z:-0.45 [[ 9.60060813e-01 1.48150744e-02 -2.79398905e-01 8.79966902e+00] [-4.51873341e-03 9.99287913e-01 3.74599389e-02 3.59568539e-01] [ 2.79754921e-01 -3.47012903e-02 9.59444112e-01 -4.53450004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.11824100800001 meters Centerline goodness : 0.860497 Centerline is valid? [False, False] Translation: X:8.80, Y:0.36, Z:-0.45 [[ 9.59984668e-01 1.47537403e-02 -2.79663664e-01 8.80005840e+00] [-4.41950463e-03 9.99285089e-01 3.75470158e-02 3.59417839e-01] [ 2.80017689e-01 -3.48085846e-02 9.59363568e-01 -4.52846209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.14824100800001 meters Centerline goodness : 0.863165 Centerline is valid? [False, False] Translation: X:8.80, Y:0.36, Z:-0.45 [[ 9.59858114e-01 1.42963382e-02 -2.80121431e-01 8.80155085e+00] [-3.98918504e-03 9.99294994e-01 3.73309801e-02 3.60019435e-01] [ 2.80457639e-01 -3.47149880e-02 9.59238439e-01 -4.52601003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.17824100800001 meters Centerline goodness : 0.863994 Centerline is valid? [False, False] Translation: X:8.81, Y:0.36, Z:-0.45 [[ 9.59454356e-01 1.75678747e-02 -2.81316031e-01 8.80593217e+00] [-6.12328128e-03 9.99119330e-01 4.15098786e-02 3.59401473e-01] [ 2.81797525e-01 -3.81042567e-02 9.58716966e-01 -4.50627053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.20824100800002 meters Centerline goodness : 0.861808 Centerline is valid? [False, False] Translation: X:8.81, Y:0.36, Z:-0.45 [[ 9.59286582e-01 1.68376938e-02 -2.81932164e-01 8.80824594e+00] [-5.48030464e-03 9.99143117e-01 4.10243479e-02 3.60510670e-01] [ 2.82381336e-01 -3.78090324e-02 9.58556862e-01 -4.50689508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.23824100800002 meters Centerline goodness : 0.862651 Centerline is valid? [False, False] Translation: X:8.81, Y:0.36, Z:-0.45 [[ 9.59133292e-01 1.62327152e-02 -2.82488633e-01 8.81009705e+00] [-4.95372352e-03 9.99163371e-01 4.05958043e-02 3.60889834e-01] [ 2.82911275e-01 -3.75374168e-02 9.58411265e-01 -4.50678749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.26824100800002 meters Centerline goodness : 0.861544 Centerline is valid? [False, False] Translation: X:8.81, Y:0.36, Z:-0.45 [[ 9.58908317e-01 1.56431049e-02 -2.83284545e-01 8.81245555e+00] [-4.33006155e-03 9.99169447e-01 4.05174960e-02 3.60887687e-01] [ 2.83683082e-01 -3.76259244e-02 9.58179628e-01 -4.49920846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.29824100800002 meters Centerline goodness : 0.858815 Centerline is valid? [False, False] Translation: X:8.81, Y:0.36, Z:-0.45 [[ 9.58889103e-01 1.05870306e-02 -2.83583501e-01 8.81356899e+00] [-5.14632307e-04 9.99367081e-01 3.55692573e-02 3.63150454e-01] [ 2.83780589e-01 -3.39610320e-02 9.58287653e-01 -4.51251194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.328241008 meters Centerline goodness : 0.860664 Centerline is valid? [False, False] Translation: X:8.82, Y:0.36, Z:-0.45 [[ 9.58320444e-01 1.36690762e-02 -2.85368328e-01 8.81916113e+00] [-2.11947351e-03 9.99167440e-01 4.07422965e-02 3.60614921e-01] [ 2.85687651e-01 -3.84393451e-02 9.57551556e-01 -4.47019847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.35824100800001 meters Centerline goodness : 0.861111 Centerline is valid? [False, False] Translation: X:8.82, Y:0.36, Z:-0.45 [[ 9.58121157e-01 1.27626089e-02 -2.86078597e-01 8.82219126e+00] [-1.34895807e-03 9.99196424e-01 4.00585296e-02 3.61248978e-01] [ 2.86359962e-01 -3.79950168e-02 9.57368451e-01 -4.47527479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.38824100800001 meters Centerline goodness : 0.860054 Centerline is valid? [False, False] Translation: X:8.83, Y:0.36, Z:-0.45 [[ 9.57860384e-01 1.16558927e-02 -2.86997603e-01 8.82598786e+00] [-3.01513937e-04 9.99216554e-01 3.95750785e-02 3.61998138e-01] [ 2.87234039e-01 -3.78208661e-02 9.57113467e-01 -4.47515868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.41824100800001 meters Centerline goodness : 0.857406 Centerline is valid? [False, False] Translation: X:8.83, Y:0.36, Z:-0.45 [[ 9.57646018e-01 1.01728468e-02 -2.87768340e-01 8.83035091e+00] [ 9.34098551e-04 9.99260735e-01 3.84332139e-02 3.63125280e-01] [ 2.87946578e-01 -3.70742183e-02 9.56928561e-01 -4.48864795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.44824100800001 meters Centerline goodness : 0.857535 Centerline is valid? [False, False] Translation: X:8.84, Y:0.36, Z:-0.45 [[ 9.57140240e-01 7.25198059e-03 -2.89534055e-01 8.83889138e+00] [ 3.66814490e-03 9.99302755e-01 3.71557441e-02 3.64082105e-01] [ 2.89601632e-01 -3.66253107e-02 9.56446277e-01 -4.49437218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.47824100800001 meters Centerline goodness : 0.862293 Centerline is valid? [False, False] Translation: X:8.84, Y:0.36, Z:-0.45 [[ 9.56823003e-01 6.27466433e-03 -2.90603459e-01 8.84222514e+00] [ 4.76423663e-03 9.99294135e-01 3.72630336e-02 3.63529681e-01] [ 2.90632145e-01 -3.70386313e-02 9.56117721e-01 -4.48113048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.50824100800001 meters Centerline goodness : 0.861961 Centerline is valid? [False, False] Translation: X:8.84, Y:0.36, Z:-0.45 [[ 9.56514616e-01 5.75248598e-03 -2.91627671e-01 8.84440779e+00] [ 5.58120891e-03 9.99261514e-01 3.80167826e-02 3.62020025e-01] [ 2.91630999e-01 -3.79912431e-02 9.55776138e-01 -4.45555580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.53824100800001 meters Centerline goodness : 0.859974 Centerline is valid? [False, False] Translation: X:8.86, Y:0.36, Z:-0.43 [[ 9.56349740e-01 3.15014735e-03 -2.92207549e-01 8.85613557e+00] [ 1.04470168e-02 9.98934140e-01 4.49604797e-02 3.59177949e-01] [ 2.92037729e-01 -4.60506403e-02 9.55297495e-01 -4.33628581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.56824100800002 meters Centerline goodness : 0.858799 Centerline is valid? [False, False] Translation: X:8.86, Y:0.36, Z:-0.42 [[ 9.55978330e-01 5.42531745e-03 -2.93387115e-01 8.86180562e+00] [ 1.03979254e-02 9.98574850e-01 5.23464601e-02 3.56937701e-01] [ 2.93252990e-01 -5.30926988e-02 9.54559505e-01 -4.24537310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.59824100800002 meters Centerline goodness : 0.857404 Centerline is valid? [False, False] Translation: X:8.86, Y:0.36, Z:-0.42 [[ 9.55750411e-01 4.05860030e-03 -2.94150778e-01 8.86498780e+00] [ 1.16474831e-02 9.98598710e-01 5.16231839e-02 3.57782076e-01] [ 2.93948106e-01 -5.27649954e-02 9.54363854e-01 -4.24477446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.62824100800002 meters Centerline goodness : 0.858158 Centerline is valid? [False, False] Translation: X:8.87, Y:0.36, Z:-0.42 [[ 9.55544079e-01 2.78794298e-03 -2.94835106e-01 8.86744561e+00] [ 1.28896574e-02 9.98604343e-01 5.12174008e-02 3.59118559e-01] [ 2.94566409e-01 -5.27408076e-02 9.54174532e-01 -4.23566016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.65824100800002 meters Centerline goodness : 0.857358 Centerline is valid? [False, False] Translation: X:8.87, Y:0.36, Z:-0.42 [[ 9.55470872e-01 2.29057896e-03 -2.95076543e-01 8.86857170e+00] [ 1.32949955e-02 9.98620262e-01 5.08017320e-02 3.60837462e-01] [ 2.94785780e-01 -5.24626165e-02 9.54122119e-01 -4.23603367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.688241008 meters Centerline goodness : 0.856767 Centerline is valid? [False, False] Translation: X:8.87, Y:0.36, Z:-0.42 [[ 9.55400659e-01 1.79695099e-03 -2.95307216e-01 8.86987238e+00] [ 1.36605195e-02 9.98642120e-01 5.02723248e-02 3.62680289e-01] [ 2.94996561e-01 -5.20642623e-02 9.54078792e-01 -4.23931117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.718241008 meters Centerline goodness : 0.858747 Centerline is valid? [False, False] Translation: X:8.87, Y:0.37, Z:-0.43 [[ 9.55325421e-01 1.08171732e-03 -2.95554006e-01 8.87155232e+00] [ 1.40703533e-02 9.98693030e-01 4.91350799e-02 3.65271596e-01] [ 2.95220876e-01 -5.10985402e-02 9.54061619e-01 -4.25159694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.74824100800001 meters Centerline goodness : 0.859371 Centerline is valid? [False, False] Translation: X:8.87, Y:0.37, Z:-0.43 [[ 9.55163134e-01 1.25779444e-04 -2.96080008e-01 8.87415312e+00] [ 1.46610020e-02 9.98753097e-01 4.77211255e-02 3.68607042e-01] [ 2.95716827e-01 -4.99222894e-02 9.53970295e-01 -4.26534631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77824100800001 meters Centerline goodness : 0.854576 Centerline is valid? [False, False] Translation: X:8.88, Y:0.37, Z:-0.42 [[ 9.54416715e-01 6.94066468e-03 -2.98396652e-01 8.88164814e+00] [ 1.05357624e-02 9.98323189e-01 5.69193192e-02 3.67562523e-01] [ 2.98291355e-01 -5.74685858e-02 9.52743213e-01 -4.19811018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.80824100800001 meters Centerline goodness : 0.855329 Centerline is valid? [False, False] Translation: X:8.90, Y:0.37, Z:-0.42 [[ 9.55739993e-01 5.20533574e-03 -2.94166569e-01 8.89889505e+00] [ 8.82855097e-03 9.98885819e-01 4.63592289e-02 3.72302073e-01] [ 2.94080129e-01 -4.69044337e-02 9.54629170e-01 -4.22562880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.83824100800001 meters Centerline goodness : 0.856374 Centerline is valid? [False, False] Translation: X:8.92, Y:0.38, Z:-0.42 [[ 9.57212941e-01 5.29331905e-03 -2.89336080e-01 8.91626277e+00] [ 6.18204890e-03 9.99230482e-01 3.87327531e-02 3.75404156e-01] [ 2.89318456e-01 -3.88641823e-02 9.56443624e-01 -4.23790950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.86824100800001 meters Centerline goodness : 0.854964 Centerline is valid? [False, False] Translation: X:8.93, Y:0.37, Z:-0.41 [[ 9.56437851e-01 1.07763857e-02 -2.91737050e-01 8.92748143e+00] [ 3.74902496e-03 9.98782668e-01 4.91846224e-02 3.74401174e-01] [ 2.91911942e-01 -4.81357640e-02 9.55233148e-01 -4.14499220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.89824100800001 meters Centerline goodness : 0.854457 Centerline is valid? [False, False] Translation: X:8.93, Y:0.37, Z:-0.41 [[ 9.56067835e-01 1.50935667e-02 -2.92756688e-01 8.93052400e+00] [ 6.03715173e-04 9.98570101e-01 5.34545503e-02 3.74454365e-01] [ 2.93144895e-01 -5.12829178e-02 9.54691643e-01 -4.12612729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.92824100800001 meters Centerline goodness : 0.855599 Centerline is valid? [False, False] Translation: X:8.93, Y:0.38, Z:-0.41 [[ 9.55983858e-01 1.42041146e-02 -2.93075258e-01 8.93312449e+00] [ 1.04388873e-03 9.98656637e-01 5.18057177e-02 3.77813215e-01] [ 2.93417406e-01 -4.98313678e-02 9.54684796e-01 -4.14889829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.95824100800002 meters Centerline goodness : 0.855837 Centerline is valid? [False, False] Translation: X:8.94, Y:0.38, Z:-0.41 [[ 9.55334798e-01 1.95908428e-02 -2.94875605e-01 8.94294873e+00] [-1.82570516e-03 9.98172503e-01 6.04013376e-02 3.77485406e-01] [ 2.95520034e-01 -5.71651437e-02 9.53624693e-01 -4.09320573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.98824100800002 meters Centerline goodness : 0.853561 Centerline is valid? [False, False] Translation: X:8.96, Y:0.38, Z:-0.41 [[ 9.56615809e-01 1.71854074e-02 -2.90845070e-01 8.96055311e+00] [-3.03203217e-03 9.98792025e-01 4.90438362e-02 3.81744933e-01] [ 2.91336575e-01 -4.60342574e-02 9.55512348e-01 -4.12706513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.01824100800002 meters Centerline goodness : 0.852728 Centerline is valid? [False, False] Translation: X:8.98, Y:0.38, Z:-0.41 [[ 9.57974748e-01 1.59636530e-02 -2.86408004e-01 8.97818813e+00] [-4.66366984e-03 9.99185067e-01 4.00930337e-02 3.84576140e-01] [ 2.86814632e-01 -3.70724014e-02 9.57268512e-01 -4.13918744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.04824100800002 meters Centerline goodness : 0.855874 Centerline is valid? [False, False] Translation: X:8.98, Y:0.38, Z:-0.41 [[ 9.57467221e-01 2.00577088e-02 -2.87844071e-01 8.98159637e+00] [-7.16842051e-03 9.98926598e-01 4.57631492e-02 3.81451421e-01] [ 2.88453003e-01 -4.17533279e-02 9.56583256e-01 -4.09281219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.078241008 meters Centerline goodness : 0.854337 Centerline is valid? [False, False] Translation: X:8.99, Y:0.38, Z:-0.40 [[ 0.95689511 0.02381053 -0.28945605 8.98611491] [-0.00903108 0.99859119 0.0522884 0.37824438] [ 0.29029327 -0.04742041 0.95576206 -0.40275125] [ 0. 0. 0. 1. ]] SLAMing on 111.10824100800001 meters Centerline goodness : 0.852859 Centerline is valid? [False, False] Translation: X:9.01, Y:0.38, Z:-0.40 [[ 0.95824781 0.02292266 -0.28501875 9.00892015] [-0.00960565 0.99879952 0.04803385 0.3792315 ] [ 0.28577766 -0.04329054 0.95731764 -0.39831901] [ 0. 0. 0. 1. ]] SLAMing on 111.13824100800001 meters Centerline goodness : 0.851570 Centerline is valid? [False, False] Translation: X:9.01, Y:0.38, Z:-0.39 [[ 0.95783658 0.02626963 -0.2861101 9.01287702] [-0.01142277 0.99850582 0.05343828 0.37643738] [ 0.28708641 -0.04791697 0.95670547 -0.39393465] [ 0. 0. 0. 1. ]] SLAMing on 111.16824100800001 meters Centerline goodness : 0.852489 Centerline is valid? [False, False] Translation: X:9.02, Y:0.37, Z:-0.39 [[ 0.95737336 0.02795996 -0.28749692 9.01962336] [-0.01169739 0.99824053 0.0581293 0.37399821] [ 0.28861638 -0.05228847 0.95601595 -0.3897314 ] [ 0. 0. 0. 1. ]] SLAMing on 111.19824100800001 meters Centerline goodness : 0.852489 Centerline is valid? [False, False] Translation: X:9.02, Y:0.37, Z:-0.39 [[ 0.95738005 0.02798558 -0.28747217 9.01955932] [-0.01174226 0.99824323 0.05807386 0.37411979] [ 0.28859237 -0.05222319 0.95602677 -0.38980519] [ 0. 0. 0. 1. ]] SLAMing on 111.22824100800001 meters Centerline goodness : 0.851808 Centerline is valid? [False, False] Translation: X:9.02, Y:0.38, Z:-0.39 [[ 0.95720665 0.02694115 -0.28814858 9.02301119] [-0.01091856 0.99831054 0.05706888 0.37536793] [ 0.28919926 -0.05148054 0.95588364 -0.39091354] [ 0. 0. 0. 1. ]] SLAMing on 111.25824100800001 meters Centerline goodness : 0.853540 Centerline is valid? [False, False] Translation: X:9.04, Y:0.38, Z:-0.39 [[ 0.95852816 0.02421434 -0.28396731 9.04139798] [-0.01163132 0.99887766 0.04591451 0.37914714] [ 0.28476039 -0.04070744 0.95773401 -0.39454965] [ 0. 0. 0. 1. ]] SLAMing on 111.28824100800001 meters Centerline goodness : 0.853544 Centerline is valid? [False, False] Translation: X:9.04, Y:0.38, Z:-0.40 [[ 0.95835005 0.02340424 -0.28463559 9.04453095] [-0.0109518 0.99891511 0.04526205 0.37943088] [ 0.28538611 -0.04025961 0.95756667 -0.39529318] [ 0. 0. 0. 1. ]] SLAMing on 111.31824100800002 meters Centerline goodness : 0.857739 Centerline is valid? [False, False] Translation: X:9.07, Y:0.38, Z:-0.40 [[ 0.95917399 0.01961506 -0.28213562 9.06695378] [-0.01053451 0.99937761 0.03366615 0.38199675] [ 0.28262039 -0.02931954 0.95878365 -0.39817827] [ 0. 0. 0. 1. ]] SLAMing on 111.34824100800002 meters Centerline goodness : 0.859175 Centerline is valid? [False, False] Translation: X:9.07, Y:0.38, Z:-0.40 [[ 0.95891103 0.0184912 -0.2831037 9.07088178] [-0.00945343 0.99940213 0.0332569 0.38135687] [ 0.2835494 -0.02921411 0.95851253 -0.39814421] [ 0. 0. 0. 1. ]] SLAMing on 111.37824100800002 meters Centerline goodness : 0.857266 Centerline is valid? [False, False] Translation: X:9.07, Y:0.38, Z:-0.40 [[ 9.58639065e-01 1.74233882e-02 -2.84090777e-01 9.07461996e+00] [-8.32954183e-03 9.99414445e-01 3.31871446e-02 3.80203973e-01] [ 2.84502658e-01 -2.94481473e-02 9.58222857e-01 -3.97532215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.40824100800002 meters Centerline goodness : 0.857629 Centerline is valid? [False, False] Translation: X:9.08, Y:0.38, Z:-0.40 [[ 9.58364204e-01 1.64537979e-02 -2.85074244e-01 9.07808793e+00] [-7.25520573e-03 9.99419284e-01 3.32934795e-02 3.78924903e-01] [ 2.85456501e-01 -2.98390067e-02 9.57927043e-01 -3.96598214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.438241008 meters Centerline goodness : 0.858338 Centerline is valid? [False, False] Translation: X:9.10, Y:0.37, Z:-0.38 [[ 9.58597945e-01 1.67032006e-02 -2.84272726e-01 9.09743914e+00] [-3.60480426e-03 9.98910024e-01 4.65378326e-02 3.74336112e-01] [ 2.84740206e-01 -4.35863232e-02 9.57613308e-01 -3.82570732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.468241008 meters Centerline goodness : 0.858879 Centerline is valid? [False, False] Translation: X:9.10, Y:0.37, Z:-0.38 [[ 9.58333133e-01 1.53776716e-02 -2.85238729e-01 9.10151745e+00] [-2.31371835e-03 9.98935044e-01 4.60806361e-02 3.74730871e-01] [ 2.85643575e-01 -4.35006383e-02 9.57348130e-01 -3.82345673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.49824100800001 meters Centerline goodness : 0.856891 Centerline is valid? [False, False] Translation: X:9.10, Y:0.38, Z:-0.38 [[ 9.58157864e-01 1.46605195e-02 -2.85864611e-01 9.10409989e+00] [-1.54481808e-03 9.98937828e-01 4.60524578e-02 3.75294488e-01] [ 2.86236127e-01 -4.36839158e-02 9.57162784e-01 -3.81822647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.52824100800001 meters Centerline goodness : 0.853871 Centerline is valid? [False, False] Translation: X:9.11, Y:0.37, Z:-0.38 [[ 9.57559477e-01 1.75483407e-02 -2.87701068e-01 9.10992602e+00] [-2.77935090e-03 9.98660718e-01 5.16628070e-02 3.73379402e-01] [ 2.88222351e-01 -4.86705882e-02 9.56325808e-01 -3.76330134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.55824100800001 meters Centerline goodness : 0.856601 Centerline is valid? [False, False] Translation: X:9.11, Y:0.37, Z:-0.38 [[ 9.57416949e-01 1.68443567e-02 -2.88217026e-01 9.11193513e+00] [-2.12378487e-03 9.98680451e-01 5.13112716e-02 3.74771537e-01] [ 2.88701015e-01 -4.85141701e-02 9.56189364e-01 -3.75943414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.58824100800001 meters Centerline goodness : 0.853222 Centerline is valid? [False, False] Translation: X:9.13, Y:0.38, Z:-0.38 [[ 9.58585060e-01 1.36077167e-02 -2.84481131e-01 9.13285989e+00] [-1.88022529e-03 9.99138534e-01 4.14566625e-02 3.79458417e-01] [ 2.84800190e-01 -3.92048487e-02 9.57784857e-01 -3.76115194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.61824100800001 meters Centerline goodness : 0.852798 Centerline is valid? [False, False] Translation: X:9.14, Y:0.38, Z:-0.38 [[ 9.58461650e-01 1.27927328e-02 -2.84934398e-01 9.13524991e+00] [-1.30316557e-03 9.99179633e-01 4.04766990e-02 3.81516766e-01] [ 2.85218455e-01 -3.84240470e-02 9.57692031e-01 -3.77034594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.64824100800001 meters Centerline goodness : 0.856015 Centerline is valid? [False, False] Translation: X:9.14, Y:0.38, Z:-0.38 [[ 9.58255298e-01 1.15152825e-02 -2.85681961e-01 9.13877955e+00] [-3.37489093e-04 9.99233479e-01 3.91451216e-02 3.84662314e-01] [ 2.85913747e-01 -3.74146056e-02 9.57524661e-01 -3.78086179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.67824100800001 meters Centerline goodness : 0.853376 Centerline is valid? [False, False] Translation: X:9.14, Y:0.39, Z:-0.38 [[ 9.58039319e-01 1.02577288e-02 -2.86453212e-01 9.14283649e+00] [ 4.29062414e-04 9.99307018e-01 3.72196176e-02 3.89286920e-01] [ 2.86636494e-01 -3.57807634e-02 9.57371014e-01 -3.80232833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.70824100800002 meters Centerline goodness : 0.853314 Centerline is valid? [False, False] Translation: X:9.15, Y:0.39, Z:-0.38 [[ 9.57806810e-01 8.94909236e-03 -2.87273437e-01 9.14658219e+00] [ 1.47459541e-03 9.99348970e-01 3.60480380e-02 3.91242764e-01] [ 2.87409011e-01 -3.49506684e-02 9.57170054e-01 -3.81051320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.73824100800002 meters Centerline goodness : 0.853516 Centerline is valid? [False, False] Translation: X:9.15, Y:0.39, Z:-0.38 [[ 9.57155203e-01 1.15596511e-02 -2.89344590e-01 9.15378468e+00] [ 1.53530762e-04 9.99182508e-01 4.04263784e-02 3.90269771e-01] [ 2.89575368e-01 -3.87387417e-02 9.56370961e-01 -3.77861676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.76824100800002 meters Centerline goodness : 0.852410 Centerline is valid? [False, False] Translation: X:9.16, Y:0.39, Z:-0.38 [[ 9.56844670e-01 1.01054382e-02 -2.90424101e-01 9.15850705e+00] [ 1.35557433e-03 9.99229101e-01 3.92347673e-02 3.92754500e-01] [ 2.90596697e-01 -3.79352695e-02 9.56093340e-01 -3.78640374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.79824100800002 meters Centerline goodness : 0.852326 Centerline is valid? [False, False] Translation: X:9.16, Y:0.40, Z:-0.38 [[ 9.56506899e-01 8.17345741e-03 -2.91595176e-01 9.16433458e+00] [ 2.81641972e-03 9.99302040e-01 3.72491675e-02 3.96384989e-01] [ 2.91696109e-01 -3.64503401e-02 9.55816276e-01 -3.80501934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.828241008 meters Centerline goodness : 0.850848 Centerline is valid? [False, False] Translation: X:9.17, Y:0.39, Z:-0.38 [[ 9.55960146e-01 1.11720948e-02 -2.93283792e-01 9.16992585e+00] [ 1.26355366e-03 9.99109324e-01 4.21777520e-02 3.94571717e-01] [ 2.93493785e-01 -4.06908298e-02 9.55094579e-01 -3.76422005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.85824100800001 meters Centerline goodness : 0.848205 Centerline is valid? [False, False] Translation: X:9.17, Y:0.39, Z:-0.38 [[ 9.55764755e-01 1.08289367e-02 -2.93932759e-01 9.17164772e+00] [ 1.69238585e-03 9.99103033e-01 4.23115353e-02 3.94819071e-01] [ 2.94127299e-01 -4.09373218e-02 9.54889139e-01 -3.75243466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.88824100800001 meters Centerline goodness : 0.850606 Centerline is valid? [False, False] Translation: X:9.17, Y:0.40, Z:-0.38 [[ 9.55735238e-01 5.94596639e-03 -2.94167979e-01 9.17294672e+00] [ 5.28047977e-03 9.99288129e-01 3.73544199e-02 3.98310662e-01] [ 2.94180677e-01 -3.72542835e-02 9.55023480e-01 -3.76990288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.91824100800001 meters Centerline goodness : 0.850334 Centerline is valid? [False, False] Translation: X:9.18, Y:0.40, Z:-0.37 [[ 9.55082005e-01 8.18070625e-03 -2.96228696e-01 9.18104832e+00] [ 5.43215030e-03 9.98967633e-01 4.51016729e-02 3.96474992e-01] [ 2.96291843e-01 -4.46849550e-02 9.54051570e-01 -3.67006039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.94824100800001 meters Centerline goodness : 0.851008 Centerline is valid? [False, False] Translation: X:9.18, Y:0.40, Z:-0.37 [[ 9.54845670e-01 7.26986630e-03 -2.97013292e-01 9.18383117e+00] [ 6.32102175e-03 9.98977210e-01 4.47725115e-02 3.97427448e-01] [ 2.97035000e-01 -4.46282662e-02 9.53823111e-01 -3.66431104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.97824100800001 meters Centerline goodness : 0.852210 Centerline is valid? [False, False] Translation: X:9.19, Y:0.40, Z:-0.36 [[ 9.54281132e-01 1.02978919e-02 -2.98733117e-01 9.18943648e+00] [ 5.11555028e-03 9.98697361e-01 5.07682264e-02 3.95405413e-01] [ 2.98866781e-01 -4.99753448e-02 9.52985368e-01 -3.60277207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.00824100800001 meters Centerline goodness : 0.855088 Centerline is valid? [False, False] Translation: X:9.21, Y:0.40, Z:-0.36 [[ 9.55759602e-01 7.18616508e-03 -2.94061120e-01 9.20776712e+00] [ 5.02812456e-03 9.99156335e-01 4.07594880e-02 3.98874737e-01] [ 2.94105936e-01 -4.04348479e-02 9.54917128e-01 -3.61310638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.03824100800001 meters Centerline goodness : 0.855760 Centerline is valid? [False, False] Translation: X:9.22, Y:0.40, Z:-0.35 [[ 9.55193737e-01 7.35567671e-03 -2.95889875e-01 9.22008708e+00] [ 7.34688186e-03 9.98793889e-01 4.85467794e-02 3.97270053e-01] [ 2.95890094e-01 -4.85454476e-02 9.53987627e-01 -3.50591100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.06824100800002 meters Centerline goodness : 0.852844 Centerline is valid? [False, False] Translation: X:9.23, Y:0.40, Z:-0.35 [[ 9.54638197e-01 9.77879648e-03 -2.97607606e-01 9.22653370e+00] [ 6.33996296e-03 9.98566538e-01 5.31476664e-02 3.95308438e-01] [ 2.97700717e-01 -5.26236136e-02 9.53207762e-01 -3.46915965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.09824100800002 meters Centerline goodness : 0.853785 Centerline is valid? [False, False] Translation: X:9.23, Y:0.40, Z:-0.35 [[ 9.54356688e-01 8.79863755e-03 -2.98539604e-01 9.22983812e+00] [ 7.31283197e-03 9.98577926e-01 5.28076514e-02 3.95994738e-01] [ 2.98579694e-01 -5.25805053e-02 9.52935180e-01 -3.46362232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.12824100800002 meters Centerline goodness : 0.852676 Centerline is valid? [False, False] Translation: X:9.23, Y:0.39, Z:-0.34 [[ 9.53789508e-01 1.22687035e-02 -3.00225006e-01 9.23498908e+00] [ 5.64335198e-03 9.98258405e-01 5.87223114e-02 3.94477394e-01] [ 3.00422582e-01 -5.77029999e-02 9.52059156e-01 -3.40614500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.15824100800002 meters Centerline goodness : 0.851523 Centerline is valid? [False, False] Translation: X:9.26, Y:0.40, Z:-0.34 [[ 9.54698761e-01 8.20557736e-03 -2.97460827e-01 9.25915185e+00] [ 6.42869245e-03 9.98817709e-01 4.81856413e-02 3.99355759e-01] [ 2.97504532e-01 -4.79150563e-02 9.53517279e-01 -3.41811936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.18824100800002 meters Centerline goodness : 0.852447 Centerline is valid? [False, False] Translation: X:9.26, Y:0.40, Z:-0.34 [[ 9.54386103e-01 7.26740096e-03 -2.98486769e-01 9.26272957e+00] [ 7.28644454e-03 9.98839090e-01 4.76170036e-02 4.00238883e-01] [ 2.98486305e-01 -4.76199138e-02 9.53225193e-01 -3.41594158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.218241008 meters Centerline goodness : 0.852320 Centerline is valid? [False, False] Translation: X:9.27, Y:0.40, Z:-0.34 [[ 9.53870342e-01 5.30391285e-03 -3.00172015e-01 9.26947493e+00] [ 8.99845504e-03 9.98889608e-01 4.62447602e-02 4.01776169e-01] [ 3.00083984e-01 -4.68125896e-02 9.52763446e-01 -3.42147815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.24824100800001 meters Centerline goodness : 0.850636 Centerline is valid? [False, False] Translation: X:9.28, Y:0.40, Z:-0.34 [[ 9.53223322e-01 7.33932328e-03 -3.02177816e-01 9.27754697e+00] [ 8.24526141e-03 9.98701813e-01 5.02663337e-02 4.00442725e-01] [ 3.02154454e-01 -5.04065767e-02 9.51925345e-01 -3.39334608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.27824100800001 meters Centerline goodness : 0.847330 Centerline is valid? [False, False] Translation: X:9.28, Y:0.40, Z:-0.34 [[ 9.52927737e-01 6.07408853e-03 -3.03136657e-01 9.28183739e+00] [ 9.33247805e-03 9.98737976e-01 4.93493602e-02 4.01617832e-01] [ 3.03053844e-01 -4.98553904e-02 9.51668434e-01 -3.40001825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.30824100800001 meters Centerline goodness : 0.848722 Centerline is valid? [False, False] Translation: X:9.29, Y:0.40, Z:-0.34 [[ 9.52634217e-01 5.02205426e-03 -3.04077008e-01 9.28549779e+00] [ 1.02033302e-02 9.98772950e-01 4.84611891e-02 4.03226607e-01] [ 3.03947265e-01 -4.92683851e-02 9.51414046e-01 -3.40356243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.33824100800001 meters Centerline goodness : 0.848683 Centerline is valid? [False, False] Translation: X:9.29, Y:0.40, Z:-0.34 [[ 9.52188889e-01 8.11650194e-03 -3.05402099e-01 9.29070569e+00] [ 8.30405344e-03 9.98590100e-01 5.24295215e-02 4.01962786e-01] [ 3.05397057e-01 -5.24588832e-02 9.50778998e-01 -3.38498696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.36824100800001 meters Centerline goodness : 0.846340 Centerline is valid? [False, False] Translation: X:9.31, Y:0.41, Z:-0.34 [[ 9.53421080e-01 3.70138040e-03 -3.01619866e-01 9.31277835e+00] [ 9.43524716e-03 9.99069478e-01 4.20850917e-02 4.06338622e-01] [ 3.01494975e-01 -4.29706716e-02 9.52498977e-01 -3.38927322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.39824100800001 meters Centerline goodness : 0.846936 Centerline is valid? [False, False] Translation: X:9.32, Y:0.40, Z:-0.33 [[ 9.52782675e-01 6.74477471e-03 -3.03578133e-01 9.31827554e+00] [ 8.35984107e-03 9.98791682e-01 4.84281804e-02 4.03213966e-01] [ 3.03537952e-01 -4.86793962e-02 9.51575025e-01 -3.31794041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.42824100800001 meters Centerline goodness : 0.850067 Centerline is valid? [False, False] Translation: X:9.34, Y:0.41, Z:-0.33 [[ 9.54271311e-01 4.04021610e-03 -2.98914606e-01 9.33750645e+00] [ 8.33157392e-03 9.99160810e-01 4.01031174e-02 4.06181519e-01] [ 2.98825786e-01 -4.07596836e-02 9.53436835e-01 -3.30883620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.45824100800002 meters Centerline goodness : 0.849275 Centerline is valid? [False, False] Translation: X:9.35, Y:0.41, Z:-0.33 [[ 9.56884809e-01 5.23611724e-04 -2.90467189e-01 9.35321492e+00] [ 1.30220767e-02 9.98915612e-01 4.46992699e-02 4.06929261e-01] [ 2.90175615e-01 -4.65545383e-02 9.55840357e-01 -3.26195323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.48824100800002 meters Centerline goodness : 0.848339 Centerline is valid? [False, False] Translation: X:9.37, Y:0.41, Z:-0.33 [[ 9.58412854e-01 -1.80133381e-03 -2.85379672e-01 9.37124882e+00] [ 1.24857074e-02 9.99287259e-01 3.56241650e-02 4.11544214e-01] [ 2.85112099e-01 -3.77058247e-02 9.57752244e-01 -3.26965715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.51824100800002 meters Centerline goodness : 0.849514 Centerline is valid? [False, False] Translation: X:9.37, Y:0.41, Z:-0.33 [[ 9.58187003e-01 -2.77254622e-03 -2.86129308e-01 9.37381074e+00] [ 1.33866821e-02 9.99292520e-01 3.51462078e-02 4.13138020e-01] [ 2.85829433e-01 -3.75069616e-02 9.57546220e-01 -3.26582115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.54824100800002 meters Centerline goodness : 0.843860 Centerline is valid? [False, False] Translation: X:9.38, Y:0.41, Z:-0.32 [[ 9.57530964e-01 -2.56142759e-03 -2.88319081e-01 9.38433968e+00] [ 1.43351966e-02 9.99146806e-01 3.87319228e-02 4.14154964e-01] [ 2.87973880e-01 -4.12201261e-02 9.56750723e-01 -3.23259364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.578241008 meters Centerline goodness : 0.847641 Centerline is valid? [False, False] Translation: X:9.39, Y:0.41, Z:-0.32 [[ 9.56843320e-01 -7.89710463e-04 -2.90603231e-01 9.39266149e+00] [ 1.41897099e-02 9.98930463e-01 4.40066107e-02 4.13080175e-01] [ 2.90257667e-01 -4.62310071e-02 9.55831146e-01 -3.17379691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.60824100800001 meters Centerline goodness : 0.847668 Centerline is valid? [False, False] Translation: X:9.39, Y:0.42, Z:-0.32 [[ 9.56684105e-01 -6.47278173e-03 -2.91056053e-01 9.39486297e+00] [ 1.85457174e-02 9.99077199e-01 3.87402504e-02 4.16100377e-01] [ 2.90536709e-01 -4.24600251e-02 9.55921318e-01 -3.18769263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.63824100800001 meters Centerline goodness : 0.844482 Centerline is valid? [False, False] Translation: X:9.41, Y:0.42, Z:-0.31 [[ 9.55970178e-01 -8.71232732e-03 -2.93334473e-01 9.40995348e+00] [ 2.25518445e-02 9.98784388e-01 4.38310376e-02 4.16064742e-01] [ 2.92596022e-01 -4.85163983e-02 9.55004569e-01 -3.10789926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.66824100800001 meters Centerline goodness : 0.846408 Centerline is valid? [False, False] Translation: X:9.42, Y:0.42, Z:-0.31 [[ 9.55461872e-01 -6.11557127e-03 -2.95051201e-01 9.41611968e+00] [ 2.13167488e-02 9.98603850e-01 4.83316374e-02 4.15039477e-01] [ 2.94343690e-01 -5.24685691e-02 9.54258268e-01 -3.07356995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.69824100800001 meters Centerline goodness : 0.842608 Centerline is valid? [False, False] Translation: X:9.42, Y:0.41, Z:-0.30 [[ 9.54851946e-01 -3.40848553e-03 -2.97062524e-01 9.42248087e+00] [ 2.01930912e-02 9.98366243e-01 5.34516953e-02 4.13937938e-01] [ 2.96395007e-01 -5.70370659e-02 9.53360778e-01 -3.02519403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.72824100800001 meters Centerline goodness : 0.840185 Centerline is valid? [False, False] Translation: X:9.43, Y:0.42, Z:-0.30 [[ 9.54582285e-01 -4.41855805e-03 -2.97914648e-01 9.42571980e+00] [ 2.10372863e-02 9.98394038e-01 5.26001621e-02 4.15748964e-01] [ 2.97203792e-01 -5.64784987e-02 9.53142217e-01 -3.02804628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.75824100800001 meters Centerline goodness : 0.835814 Centerline is valid? [False, False] Translation: X:9.43, Y:0.42, Z:-0.30 [[ 9.53837104e-01 -1.49933494e-03 -3.00320714e-01 9.43274915e+00] [ 1.95971968e-02 9.98167021e-01 5.72586101e-02 4.16725963e-01] [ 2.99684383e-01 -6.05008310e-02 9.52118123e-01 -2.98459563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.78824100800001 meters Centerline goodness : 0.836259 Centerline is valid? [False, False] Translation: X:9.43, Y:0.42, Z:-0.30 [[ 9.53644204e-01 -2.02747860e-03 -3.00929596e-01 9.43456808e+00] [ 1.99938576e-02 9.98194720e-01 5.66352005e-02 4.18323421e-01] [ 3.00271507e-01 -6.00265742e-02 9.51963147e-01 -2.98562840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.81824100800002 meters Centerline goodness : 0.835963 Centerline is valid? [False, False] Translation: X:9.45, Y:0.42, Z:-0.30 [[ 9.54887980e-01 -1.66592769e-03 -2.96961564e-01 9.45287047e+00] [ 1.72224538e-02 9.98611848e-01 4.97771456e-02 4.21399600e-01] [ 2.96466411e-01 -5.26460048e-02 9.53591142e-01 -2.98245090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.84824100800002 meters Centerline goodness : 0.831454 Centerline is valid? [False, False] Translation: X:9.47, Y:0.43, Z:-0.30 [[ 9.56111270e-01 6.43414542e-04 -2.93003116e-01 9.47100612e+00] [ 1.25126505e-02 9.98995667e-01 4.30243017e-02 4.26820104e-01] [ 2.92736526e-01 -4.48022653e-02 9.55142965e-01 -2.99686212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.87824100800002 meters Centerline goodness : 0.832038 Centerline is valid? [False, False] Translation: X:9.49, Y:0.43, Z:-0.30 [[ 9.57490817e-01 2.19545364e-03 -2.88455397e-01 9.48800604e+00] [ 8.50931735e-03 9.99320900e-01 3.58514905e-02 4.31096457e-01] [ 2.88338217e-01 -3.67820315e-02 9.56821903e-01 -3.01327340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.90824100800002 meters Centerline goodness : 0.831590 Centerline is valid? [False, False] Translation: X:9.50, Y:0.44, Z:-0.30 [[ 9.58892252e-01 4.36386568e-03 -2.83736861e-01 9.50405973e+00] [ 4.09514995e-03 9.99564824e-01 2.92128916e-02 4.35252306e-01] [ 2.83740867e-01 -2.91739604e-02 9.58457094e-01 -3.02410966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.93824100800002 meters Centerline goodness : 0.830324 Centerline is valid? [False, False] Translation: X:9.51, Y:0.43, Z:-0.30 [[ 9.58653239e-01 9.30382686e-03 -2.84424694e-01 9.50509800e+00] [ 2.84887003e-04 9.99433546e-01 3.36527197e-02 4.34875562e-01] [ 2.84576680e-01 -3.23423176e-02 9.58107555e-01 -3.00767187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.968241008 meters Centerline goodness : 0.828506 Centerline is valid? [False, False] Translation: X:9.52, Y:0.44, Z:-0.30 [[ 9.59982777e-01 1.25525977e-02 -2.79777591e-01 9.52060691e+00] [-5.10691872e-03 9.99613531e-01 2.73259644e-02 4.39108486e-01] [ 2.80012477e-01 -2.48036538e-02 9.59675878e-01 -3.01850857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.99824100800001 meters Centerline goodness : 0.830288 Centerline is valid? [False, False] Translation: X:9.52, Y:0.44, Z:-0.30 [[ 9.59653266e-01 1.70675605e-02 -2.80667611e-01 9.52277882e+00] [-8.46418042e-03 9.99457234e-01 3.18370132e-02 4.37523211e-01] [ 2.81058654e-01 -2.81768724e-02 9.59276861e-01 -3.00135032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.02824100800001 meters Centerline goodness : 0.830242 Centerline is valid? [False, False] Translation: X:9.52, Y:0.44, Z:-0.30 [[ 9.59646391e-01 1.70133529e-02 -2.80694407e-01 9.52340065e+00] [-8.54975543e-03 9.99471916e-01 3.13494898e-02 4.38948357e-01] [ 2.81079537e-01 -2.76845562e-02 9.59285077e-01 -3.00928906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.05824100800001 meters Centerline goodness : 0.828768 Centerline is valid? [False, False] Translation: X:9.53, Y:0.44, Z:-0.30 [[ 9.59482448e-01 1.65950139e-02 -2.81279289e-01 9.52572293e+00] [-8.23220022e-03 9.99488981e-01 3.08870304e-02 4.40013250e-01] [ 2.81648120e-01 -2.73200161e-02 9.59128747e-01 -3.01312851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.08824100800001 meters Centerline goodness : 0.828768 Centerline is valid? [False, False] Translation: X:9.53, Y:0.44, Z:-0.30 [[ 9.59482448e-01 1.65950139e-02 -2.81279289e-01 9.52572293e+00] [-8.23220022e-03 9.99488981e-01 3.08870304e-02 4.40013250e-01] [ 2.81648120e-01 -2.73200161e-02 9.59128747e-01 -3.01312851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.11824100800001 meters Centerline goodness : 0.829282 Centerline is valid? [False, False] Translation: X:9.53, Y:0.44, Z:-0.30 [[ 9.59295060e-01 1.60438657e-02 -2.81949609e-01 9.52801524e+00] [-7.67696497e-03 9.99497474e-01 3.07548881e-02 4.39486619e-01] [ 2.82301350e-01 -2.73384949e-02 9.58936158e-01 -3.01111677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.14824100800001 meters Centerline goodness : 0.829421 Centerline is valid? [False, False] Translation: X:9.53, Y:0.44, Z:-0.30 [[ 9.59050490e-01 1.55699714e-02 -2.82806885e-01 9.52989244e+00] [-6.91176605e-03 9.99477099e-01 3.15872694e-02 4.36652359e-01] [ 2.83150818e-01 -2.83390911e-02 9.58656617e-01 -2.99041154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.17824100800001 meters Centerline goodness : 0.831433 Centerline is valid? [False, False] Translation: X:9.53, Y:0.43, Z:-0.30 [[ 9.58783691e-01 1.48237308e-02 -2.83750051e-01 9.53208311e+00] [-5.92198520e-03 9.99463773e-01 3.22039733e-02 4.34542800e-01] [ 2.84075280e-01 -2.91962808e-02 9.58357351e-01 -2.96940030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.20824100800002 meters Centerline goodness : 0.833494 Centerline is valid? [False, False] Translation: X:9.54, Y:0.44, Z:-0.30 [[ 9.58338689e-01 1.14145456e-02 -2.85406140e-01 9.54028388e+00] [-2.77633147e-03 9.99526239e-01 3.06527110e-02 4.35296673e-01] [ 2.85620813e-01 -2.85832969e-02 9.57916357e-01 -2.97456380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.23824100800002 meters Centerline goodness : 0.835169 Centerline is valid? [False, False] Translation: X:9.55, Y:0.43, Z:-0.29 [[ 9.57623720e-01 1.24850438e-02 -2.87751514e-01 9.55048968e+00] [-2.47493782e-03 9.99379866e-01 3.51248968e-02 4.34385364e-01] [ 2.88011605e-01 -3.29242672e-02 9.57060765e-01 -2.93726000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.26824100800002 meters Centerline goodness : 0.834750 Centerline is valid? [False, False] Translation: X:9.55, Y:0.44, Z:-0.30 [[ 9.57445110e-01 1.11841197e-02 -2.88398641e-01 9.55471930e+00] [-1.47425394e-03 9.99425381e-01 3.38634603e-02 4.36172203e-01] [ 2.88611654e-01 -3.19972316e-02 9.56911433e-01 -2.95705959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.29824100800002 meters Centerline goodness : 0.837626 Centerline is valid? [False, False] Translation: X:9.57, Y:0.44, Z:-0.29 [[ 9.56757680e-01 1.27525789e-02 -2.90606460e-01 9.57280408e+00] [-5.93684254e-04 9.99122072e-01 4.18895406e-02 4.35133492e-01] [ 2.90885528e-01 -3.99056111e-02 9.55925286e-01 -2.90148423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.328241008 meters Centerline goodness : 0.834209 Centerline is valid? [False, False] Translation: X:9.57, Y:0.43, Z:-0.29 [[ 9.56618642e-01 1.22065627e-02 -2.91087226e-01 9.57477244e+00] [-1.02961472e-04 9.99136014e-01 4.15597814e-02 4.34977302e-01] [ 2.91343033e-01 -3.97268909e-02 9.55793394e-01 -2.90357077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.35824100800001 meters Centerline goodness : 0.835350 Centerline is valid? [False, False] Translation: X:9.58, Y:0.43, Z:-0.29 [[ 9.56420777e-01 1.17634213e-02 -2.91754895e-01 9.57687952e+00] [ 3.51235300e-04 9.99141086e-01 4.14363098e-02 4.34415232e-01] [ 2.91991736e-01 -3.97330223e-02 9.55595162e-01 -2.90015115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.38824100800001 meters Centerline goodness : 0.839886 Centerline is valid? [False, False] Translation: X:9.58, Y:0.43, Z:-0.29 [[ 9.56234095e-01 1.13772271e-02 -2.92381453e-01 9.57847982e+00] [ 7.44505188e-04 9.99145937e-01 4.13139457e-02 4.34010500e-01] [ 2.92601779e-01 -3.97234830e-02 9.55408941e-01 -2.89532893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.41824100800001 meters Centerline goodness : 0.838352 Centerline is valid? [False, False] Translation: X:9.60, Y:0.44, Z:-0.29 [[ 9.57727925e-01 9.40625999e-03 -2.87521727e-01 9.59567450e+00] [-6.31402597e-05 9.99472144e-01 3.24873662e-02 4.35705874e-01] [ 2.87675542e-01 -3.10959037e-02 9.57222977e-01 -2.89661350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.44824100800001 meters Centerline goodness : 0.836666 Centerline is valid? [False, False] Translation: X:9.60, Y:0.44, Z:-0.29 [[ 9.57597254e-01 9.37848228e-03 -2.87957537e-01 9.59667780e+00] [ 7.53593669e-05 9.99461865e-01 3.28020562e-02 4.35211996e-01] [ 2.88110211e-01 -3.14328592e-02 9.57081231e-01 -2.88893862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.47824100800001 meters Centerline goodness : 0.840124 Centerline is valid? [False, False] Translation: X:9.60, Y:0.43, Z:-0.29 [[ 9.57544725e-01 9.38758061e-03 -2.88131868e-01 9.59709930e+00] [ 1.07119857e-04 9.99458011e-01 3.29191796e-02 4.34804634e-01] [ 2.88284735e-01 -3.15524514e-02 9.57024741e-01 -2.88622351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.50824100800001 meters Centerline goodness : 0.841129 Centerline is valid? [False, False] Translation: X:9.60, Y:0.43, Z:-0.29 [[ 9.57399283e-01 9.25415293e-03 -2.88619079e-01 9.59828868e+00] [ 3.43719050e-04 9.99449132e-01 3.31860649e-02 4.34430465e-01] [ 2.88767197e-01 -3.18715186e-02 9.56868702e-01 -2.87835392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.53824100800001 meters Centerline goodness : 0.841106 Centerline is valid? [False, False] Translation: X:9.60, Y:0.43, Z:-0.28 [[ 9.56966568e-01 1.33284529e-02 -2.89891946e-01 9.60113284e+00] [-1.79983941e-03 9.99198100e-01 3.99989679e-02 4.30992318e-01] [ 2.90192606e-01 -3.77559161e-02 9.56223165e-01 -2.81196856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.56824100800002 meters Centerline goodness : 0.840795 Centerline is valid? [False, False] Translation: X:9.60, Y:0.43, Z:-0.28 [[ 9.56795469e-01 1.28194300e-02 -2.90479074e-01 9.60307044e+00] [-1.32768219e-03 9.99209810e-01 3.97239626e-02 4.31046260e-01] [ 2.90758779e-01 -3.76220436e-02 9.56056439e-01 -2.81090778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.59824100800002 meters Centerline goodness : 0.840008 Centerline is valid? [False, False] Translation: X:9.61, Y:0.43, Z:-0.28 [[ 9.56641932e-01 1.22396715e-02 -2.91009285e-01 9.60559028e+00] [-9.19679949e-04 9.99238628e-01 3.90040756e-02 4.31215693e-01] [ 2.91265115e-01 -3.70452988e-02 9.55924829e-01 -2.82101577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.62824100800002 meters Centerline goodness : 0.842460 Centerline is valid? [False, False] Translation: X:9.61, Y:0.43, Z:-0.28 [[ 9.56572489e-01 1.20326411e-02 -2.91246095e-01 9.60680521e+00] [-8.84169693e-04 9.99262829e-01 3.83799089e-02 4.32877319e-01] [ 2.91493209e-01 -3.64556540e-02 9.55877971e-01 -2.83015444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.65824100800002 meters Centerline goodness : 0.843857 Centerline is valid? [False, False] Translation: X:9.61, Y:0.44, Z:-0.28 [[ 9.56503344e-01 1.17229097e-02 -2.91485721e-01 9.60798196e+00] [-8.21390786e-04 9.99296511e-01 3.74941168e-02 4.35038717e-01] [ 2.91720205e-01 -3.56238245e-02 9.55840084e-01 -2.84041243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.68824100800002 meters Centerline goodness : 0.843343 Centerline is valid? [False, False] Translation: X:9.61, Y:0.43, Z:-0.28 [[ 9.56162224e-01 1.63245305e-02 -2.92382132e-01 9.60996345e+00] [-4.14329953e-03 9.99099200e-01 4.22329462e-02 4.33368591e-01] [ 2.92808187e-01 -3.91701210e-02 9.55368550e-01 -2.81687732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.718241008 meters Centerline goodness : 0.842318 Centerline is valid? [False, False] Translation: X:9.61, Y:0.44, Z:-0.28 [[ 9.56148441e-01 1.63909841e-02 -2.92423483e-01 9.61013699e+00] [-4.37071733e-03 9.99120125e-01 4.17117920e-02 4.35315318e-01] [ 2.92849884e-01 -3.86045645e-02 9.55378790e-01 -2.82344213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.74824100800001 meters Centerline goodness : 0.843789 Centerline is valid? [False, False] Translation: X:9.61, Y:0.44, Z:-0.28 [[ 9.56099811e-01 1.61530088e-02 -2.92595680e-01 9.61098799e+00] [-4.32576514e-03 9.99148804e-01 4.10238328e-02 4.37547951e-01] [ 2.93009282e-01 -3.79571786e-02 9.55355857e-01 -2.83096353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.77824100800001 meters Centerline goodness : 0.844164 Centerline is valid? [False, False] Translation: X:9.61, Y:0.44, Z:-0.28 [[ 9.55964733e-01 1.57354144e-02 -2.93059422e-01 9.61243005e+00] [-4.03061266e-03 9.99171361e-01 4.05011781e-02 4.39964769e-01] [ 2.93453885e-01 -3.75364889e-02 9.55236007e-01 -2.83166277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.80824100800001 meters Centerline goodness : 0.845945 Centerline is valid? [False, False] Translation: X:9.61, Y:0.44, Z:-0.28 [[ 9.55935036e-01 1.55559041e-02 -2.93165858e-01 9.61296563e+00] [-3.88101832e-03 9.99177537e-01 4.03631876e-02 4.40724211e-01] [ 2.93552626e-01 -3.74468031e-02 9.55209188e-01 -2.83240401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.83824100800001 meters Centerline goodness : 0.845134 Centerline is valid? [False, False] Translation: X:9.61, Y:0.44, Z:-0.28 [[ 9.55814270e-01 1.49991480e-02 -2.93588329e-01 9.61448431e+00] [-3.34701609e-03 9.99188021e-01 4.01509261e-02 4.41592108e-01] [ 2.93952171e-01 -3.73941833e-02 9.55088371e-01 -2.82967127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.86824100800001 meters Centerline goodness : 0.846802 Centerline is valid? [False, False] Translation: X:9.62, Y:0.44, Z:-0.28 [[ 9.55770900e-01 1.46045012e-02 -2.93749374e-01 9.61522557e+00] [-2.98894860e-03 9.99197109e-01 3.99525117e-02 4.41819889e-01] [ 2.94097012e-01 -3.73074463e-02 9.55047173e-01 -2.82912490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.89824100800001 meters Centerline goodness : 0.849130 Centerline is valid? [False, False] Translation: X:9.61, Y:0.44, Z:-0.28 [[ 9.55908327e-01 1.01059219e-02 -2.93491297e-01 9.61373433e+00] [ 5.14098832e-04 9.99348575e-01 3.60854651e-02 4.42309415e-01] [ 2.93664787e-01 -3.46452801e-02 9.55280429e-01 -2.82729012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.92824100800001 meters Centerline goodness : 0.850864 Centerline is valid? [False, False] Translation: X:9.62, Y:0.44, Z:-0.28 [[ 9.55668809e-01 9.56402387e-03 -2.94288391e-01 9.61569601e+00] [ 1.21672004e-03 9.99335525e-01 3.64283830e-02 4.40935585e-01] [ 2.94441245e-01 -3.51715360e-02 9.55022155e-01 -2.81263420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.95824100800002 meters Centerline goodness : 0.849773 Centerline is valid? [False, False] Translation: X:9.62, Y:0.44, Z:-0.28 [[ 9.55335335e-01 8.26256344e-03 -2.95408408e-01 9.61909257e+00] [ 2.67453381e-03 9.99326401e-01 3.66004290e-02 4.39741014e-01] [ 2.95511834e-01 -3.57557628e-02 9.54669724e-01 -2.79462764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.98824100800002 meters Centerline goodness : 0.848923 Centerline is valid? [False, False] Translation: X:9.62, Y:0.44, Z:-0.28 [[ 9.55178595e-01 7.81278522e-03 -2.95927039e-01 9.62073976e+00] [ 3.17917940e-03 9.99323297e-01 3.66447839e-02 4.39196482e-01] [ 2.96013083e-01 -3.59431183e-02 9.54507385e-01 -2.78932168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.01824100800002 meters Centerline goodness : 0.846928 Centerline is valid? [False, False] Translation: X:9.63, Y:0.44, Z:-0.27 [[ 9.54662013e-01 9.72284748e-03 -2.97533037e-01 9.62775508e+00] [ 3.10177355e-03 9.99087363e-01 4.26007128e-02 4.36700105e-01] [ 2.97675697e-01 -4.15921623e-02 9.53760594e-01 -2.72702449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.04824100800002 meters Centerline goodness : 0.846605 Centerline is valid? [False, False] Translation: X:9.63, Y:0.44, Z:-0.27 [[ 9.54442266e-01 8.73480586e-03 -2.98267771e-01 9.63083401e+00] [ 4.04717468e-03 9.99100583e-01 4.22095359e-02 4.36779974e-01] [ 2.98368196e-01 -4.14937069e-02 9.53548474e-01 -2.72715348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.078241008 meters Centerline goodness : 0.843178 Centerline is valid? [False, False] Translation: X:9.63, Y:0.43, Z:-0.27 [[ 9.53768320e-01 7.09237076e-03 -3.00459133e-01 9.63053106e+00] [ 1.02331980e-02 9.98375480e-01 5.60507148e-02 4.34918661e-01] [ 3.00368563e-01 -5.65340539e-02 9.52146326e-01 -2.68663790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.10824100800001 meters Centerline goodness : 0.846567 Centerline is valid? [False, False] Translation: X:9.63, Y:0.44, Z:-0.27 [[ 9.53571170e-01 6.02488288e-03 -3.01107497e-01 9.63350132e+00] [ 1.11965410e-02 9.98399510e-01 5.54351484e-02 4.35370405e-01] [ 3.00959568e-01 -5.62327218e-02 9.51977531e-01 -2.69141234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.13824100800001 meters Centerline goodness : 0.844396 Centerline is valid? [False, False] Translation: X:9.63, Y:0.44, Z:-0.27 [[ 9.53641853e-01 7.08522128e-04 -3.00943041e-01 9.63421797e+00] [ 1.52156005e-02 9.98604762e-01 5.05669344e-02 4.38029956e-01] [ 3.00558982e-01 -5.28017742e-02 9.52300515e-01 -2.70812014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.16824100800001 meters Centerline goodness : 0.846519 Centerline is valid? [False, False] Translation: X:9.61, Y:0.43, Z:-0.26 [[ 9.56588901e-01 4.39694345e-03 -2.91407518e-01 9.61455902e+00] [ 1.41718844e-02 9.98001545e-01 6.15798240e-02 4.33766434e-01] [ 2.91095916e-01 -6.30363699e-02 9.54614888e-01 -2.62095599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.19824100800001 meters Centerline goodness : 0.848005 Centerline is valid? [False, False] Translation: X:9.61, Y:0.44, Z:-0.26 [[ 9.56730148e-01 -3.53370563e-04 -2.90976459e-01 9.61363809e+00] [ 1.76038388e-02 9.98237806e-01 5.66691047e-02 4.36884063e-01] [ 2.90443676e-01 -5.93393436e-02 9.55050424e-01 -2.63767584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.22824100800001 meters Centerline goodness : 0.851403 Centerline is valid? [False, False] Translation: X:9.60, Y:0.44, Z:-0.26 [[ 9.57936770e-01 2.01842903e-03 -2.86972246e-01 9.60248108e+00] [ 1.69109454e-02 9.97840556e-01 6.34684609e-02 4.36176650e-01] [ 2.86480652e-01 -6.56517444e-02 9.55834026e-01 -2.60087969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.25824100800001 meters Centerline goodness : 0.849340 Centerline is valid? [False, False] Translation: X:9.60, Y:0.44, Z:-0.26 [[ 9.58058432e-01 1.97863284e-03 -2.86566095e-01 9.60147537e+00] [ 1.67248904e-02 9.97885650e-01 6.28053070e-02 4.39475050e-01] [ 2.86084463e-01 -6.49639404e-02 9.55999669e-01 -2.60710889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.28824100800001 meters Centerline goodness : 0.849590 Centerline is valid? [False, False] Translation: X:9.60, Y:0.44, Z:-0.26 [[ 9.58094347e-01 2.04005188e-03 -2.86445563e-01 9.60098345e+00] [ 1.64941296e-02 9.97922651e-01 6.22762178e-02 4.41618833e-01] [ 2.85977562e-01 -6.43911624e-02 9.56070401e-01 -2.61154227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.31824100800002 meters Centerline goodness : 0.852346 Centerline is valid? [False, False] Translation: X:9.60, Y:0.44, Z:-0.26 [[ 9.58193775e-01 2.60770636e-03 -2.86108176e-01 9.59950552e+00] [ 1.58113628e-02 9.97947860e-01 6.20489236e-02 4.43745376e-01] [ 2.85682848e-01 -6.39786526e-02 9.56186197e-01 -2.61472039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.34824100800002 meters Centerline goodness : 0.852021 Centerline is valid? [False, False] Translation: X:9.60, Y:0.45, Z:-0.26 [[ 9.58250551e-01 8.04273873e-03 -2.85816716e-01 9.59814707e+00] [ 1.11236906e-02 9.97798981e-01 6.53716811e-02 4.47688092e-01] [ 2.85713395e-01 -6.58217862e-02 9.56051959e-01 -2.61962898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.37824100800002 meters Centerline goodness : 0.853331 Centerline is valid? [False, False] Translation: X:9.60, Y:0.45, Z:-0.26 [[ 9.58323217e-01 8.16932892e-03 -2.85569384e-01 9.59779953e+00] [ 1.05728691e-02 9.97892116e-01 6.40276441e-02 4.51893510e-01] [ 2.85490500e-01 -6.43784656e-02 9.56216810e-01 -2.63896853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.40824100800002 meters Centerline goodness : 0.852322 Centerline is valid? [False, False] Translation: X:9.60, Y:0.45, Z:-0.26 [[ 9.58108833e-01 1.29659872e-02 -2.86110726e-01 9.59910312e+00] [ 6.84856338e-03 9.97651875e-01 6.81456819e-02 4.52461343e-01] [ 2.86322478e-01 -6.72504272e-02 9.55770275e-01 -2.62659175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.43824100800002 meters Centerline goodness : 0.851083 Centerline is valid? [False, False] Translation: X:9.60, Y:0.46, Z:-0.26 [[ 9.58072705e-01 1.29670074e-02 -2.86231634e-01 9.59961605e+00] [ 6.52516864e-03 9.97728910e-01 6.70406127e-02 4.55699098e-01] [ 2.86450892e-01 -6.60974908e-02 9.55812224e-01 -2.63980789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.468241008 meters Centerline goodness : 0.850713 Centerline is valid? [False, False] Translation: X:9.60, Y:0.46, Z:-0.27 [[ 9.58085507e-01 1.35686842e-02 -2.86160884e-01 9.59941681e+00] [ 5.49859715e-03 9.97822775e-01 6.57227087e-02 4.60350974e-01] [ 2.86429618e-01 -6.45414581e-02 9.55924931e-01 -2.66325317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.49824100800001 meters Centerline goodness : 0.853162 Centerline is valid? [False, False] Translation: X:9.60, Y:0.46, Z:-0.27 [[ 9.57724029e-01 1.75128130e-02 -2.87154986e-01 9.60294570e+00] [ 2.68057871e-03 9.97558891e-01 6.97787533e-02 4.59738553e-01] [ 2.87676031e-01 -6.75985303e-02 9.55339175e-01 -2.65058724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.52824100800001 meters Centerline goodness : 0.852630 Centerline is valid? [False, False] Translation: X:9.61, Y:0.46, Z:-0.27 [[ 9.57626594e-01 1.67446250e-02 -2.87525518e-01 9.60538733e+00] [ 3.15197693e-03 9.97639442e-01 6.85974427e-02 4.61545290e-01] [ 2.87995436e-01 -6.65970092e-02 9.55313282e-01 -2.66658621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.55824100800001 meters Centerline goodness : 0.851454 Centerline is valid? [False, False] Translation: X:9.61, Y:0.46, Z:-0.27 [[ 9.57483536e-01 1.56664918e-02 -2.88062214e-01 9.60837926e+00] [ 3.98120374e-03 9.97711711e-01 6.74943762e-02 4.62599492e-01] [ 2.88460444e-01 -6.57715884e-02 9.55230166e-01 -2.67903711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.58824100800001 meters Centerline goodness : 0.849821 Centerline is valid? [False, False] Translation: X:9.62, Y:0.47, Z:-0.27 [[ 9.58950704e-01 1.15362466e-02 -2.83338070e-01 9.62450837e+00] [ 4.19853176e-03 9.98485030e-01 5.48636282e-02 4.66847042e-01] [ 2.83541742e-01 -5.38011188e-02 9.57449487e-01 -2.71536521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.61824100800001 meters Centerline goodness : 0.848683 Centerline is valid? [False, False] Translation: X:9.63, Y:0.46, Z:-0.26 [[ 9.58507078e-01 1.48781295e-02 -2.84680212e-01 9.62902223e+00] [ 3.00540020e-03 9.98054193e-01 6.22799767e-02 4.63123381e-01] [ 2.85052888e-01 -6.05513764e-02 9.56597293e-01 -2.63436857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.64824100800001 meters Centerline goodness : 0.848296 Centerline is valid? [False, False] Translation: X:9.65, Y:0.47, Z:-0.27 [[ 9.59904368e-01 1.18528269e-02 -2.80076980e-01 9.64515122e+00] [ 2.42782266e-03 9.98716736e-01 5.05864286e-02 4.66063851e-01] [ 2.80317160e-01 -4.92381110e-02 9.58643781e-01 -2.66618276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.67824100800001 meters Centerline goodness : 0.849862 Centerline is valid? [False, False] Translation: X:9.65, Y:0.47, Z:-0.27 [[ 9.59834558e-01 1.16565051e-02 -2.80324360e-01 9.64615061e+00] [ 2.54253490e-03 9.98734177e-01 5.02352450e-02 4.66619734e-01] [ 2.80555087e-01 -4.89302586e-02 9.58589940e-01 -2.66963707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.70824100800002 meters Centerline goodness : 0.850308 Centerline is valid? [False, False] Translation: X:9.66, Y:0.46, Z:-0.26 [[ 9.59822122e-01 1.57520849e-02 -2.80166674e-01 9.65552355e+00] [ 1.83785256e-03 9.98048868e-01 6.24105706e-02 4.63604070e-01] [ 2.80603129e-01 -6.04179514e-02 9.57920433e-01 -2.55638780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.73824100800002 meters Centerline goodness : 0.847104 Centerline is valid? [False, False] Translation: X:9.65, Y:0.47, Z:-0.26 [[ 9.59937094e-01 1.19978041e-02 -2.79958619e-01 9.65449742e+00] [ 4.36691560e-03 9.98321109e-01 5.77571980e-02 4.66493575e-01] [ 2.80181558e-01 -5.66658324e-02 9.58273071e-01 -2.57677468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.76824100800002 meters Centerline goodness : 0.847533 Centerline is valid? [False, False] Translation: X:9.65, Y:0.47, Z:-0.26 [[ 9.60021443e-01 1.25656924e-02 -2.79644296e-01 9.65414665e+00] [ 3.61722892e-03 9.98351688e-01 5.72784705e-02 4.67952642e-01] [ 2.79903098e-01 -5.60000973e-02 9.58393575e-01 -2.59280948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.79824100800002 meters Centerline goodness : 0.845994 Centerline is valid? [False, False] Translation: X:9.67, Y:0.47, Z:-0.26 [[ 9.61448836e-01 1.17446312e-02 -2.74732962e-01 9.66987207e+00] [ 1.34344011e-03 9.98874960e-01 4.74026374e-02 4.71948382e-01] [ 2.74980602e-01 -4.59442978e-02 9.60351389e-01 -2.62419465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.828241008 meters Centerline goodness : 0.843973 Centerline is valid? [False, False] Translation: X:9.69, Y:0.48, Z:-0.27 [[ 9.62752591e-01 1.04706232e-02 -2.70181078e-01 9.68569850e+00] [-4.39591369e-04 9.99309198e-01 3.71609014e-02 4.75169438e-01] [ 2.70383534e-01 -3.56579849e-02 9.62092123e-01 -2.65144497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.85824100800001 meters Centerline goodness : 0.844011 Centerline is valid? [False, False] Translation: X:9.69, Y:0.47, Z:-0.27 [[ 9.62678595e-01 1.08871463e-02 -2.70428166e-01 9.68624608e+00] [-8.80933297e-04 9.99311347e-01 3.70952233e-02 4.74329113e-01] [ 2.70645796e-01 -3.54725482e-02 9.62025234e-01 -2.65564711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.88824100800001 meters Centerline goodness : 0.844037 Centerline is valid? [False, False] Translation: X:9.69, Y:0.47, Z:-0.27 [[ 9.62685270e-01 1.09567077e-02 -2.70401594e-01 9.68652540e+00] [-1.01955071e-03 9.99319817e-01 3.68627587e-02 4.74605366e-01] [ 2.70621566e-01 -3.52115467e-02 9.62041639e-01 -2.66173214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.91824100800001 meters Centerline goodness : 0.843940 Centerline is valid? [False, False] Translation: X:9.69, Y:0.47, Z:-0.27 [[ 9.62602504e-01 1.07271759e-02 -2.70705277e-01 9.68763476e+00] [-8.35567330e-04 9.99328585e-01 3.66289657e-02 4.74564374e-01] [ 2.70916447e-01 -3.50329416e-02 9.61965161e-01 -2.66354066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.94824100800001 meters Centerline goodness : 0.840895 Centerline is valid? [False, False] Translation: X:9.69, Y:0.48, Z:-0.27 [[ 9.62670586e-01 6.48843794e-03 -2.70597938e-01 9.68726276e+00] [ 2.34971173e-03 9.99474655e-01 3.23248126e-02 4.76066130e-01] [ 2.70665518e-01 -3.17539734e-02 9.62149605e-01 -2.67518099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.97824100800001 meters Centerline goodness : 0.839308 Centerline is valid? [False, False] Translation: X:9.69, Y:0.47, Z:-0.27 [[ 9.62509813e-01 5.28660585e-03 -2.71195338e-01 9.69132894e+00] [ 3.52362018e-03 9.99481996e-01 3.19894377e-02 4.73232882e-01] [ 2.71223973e-01 -3.17457371e-02 9.61992601e-01 -2.68604150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.00824100800001 meters Centerline goodness : 0.839308 Centerline is valid? [False, False] Translation: X:9.69, Y:0.47, Z:-0.27 [[ 9.62509813e-01 5.28660585e-03 -2.71195338e-01 9.69132894e+00] [ 3.52362018e-03 9.99481996e-01 3.19894377e-02 4.73232882e-01] [ 2.71223973e-01 -3.17457371e-02 9.61992601e-01 -2.68604150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.03824100800001 meters Centerline goodness : 0.838559 Centerline is valid? [False, False] Translation: X:9.70, Y:0.47, Z:-0.27 [[ 9.62253152e-01 4.08482794e-03 -2.72125313e-01 9.69555071e+00] [ 4.71150849e-03 9.99487486e-01 3.16633473e-02 4.72622166e-01] [ 2.72115184e-01 -3.17502765e-02 9.61740738e-01 -2.68905477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.06824100800002 meters Centerline goodness : 0.837586 Centerline is valid? [False, False] Translation: X:9.70, Y:0.47, Z:-0.27 [[ 9.62014470e-01 2.90778470e-03 -2.72982975e-01 9.69961913e+00] [ 5.86040714e-03 9.99492884e-01 3.12990456e-02 4.71808237e-01] [ 2.72935552e-01 -3.17099261e-02 9.61509576e-01 -2.69416366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.09824100800002 meters Centerline goodness : 0.840454 Centerline is valid? [False, False] Translation: X:9.70, Y:0.47, Z:-0.27 [[ 9.61713805e-01 1.52555087e-03 -2.74051509e-01 9.70430321e+00] [ 7.28889883e-03 9.99488382e-01 3.11423390e-02 4.70483644e-01] [ 2.73958809e-01 -3.19475511e-02 9.61210656e-01 -2.69209883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.12824100800002 meters Centerline goodness : 0.839684 Centerline is valid? [False, False] Translation: X:9.72, Y:0.47, Z:-0.26 [[ 9.61497827e-01 -3.00268625e-03 -2.74796128e-01 9.72213249e+00] [ 1.38088203e-02 9.99205034e-01 3.73980943e-02 4.65587425e-01] [ 2.74465379e-01 -3.97527968e-02 9.60774932e-01 -2.60225257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.15824100800002 meters Centerline goodness : 0.840884 Centerline is valid? [False, False] Translation: X:9.73, Y:0.46, Z:-0.26 [[ 9.61173327e-01 -3.99445228e-03 -2.75916437e-01 9.72572598e+00] [ 1.50299169e-02 9.99168776e-01 3.78927162e-02 4.63046339e-01] [ 2.75535728e-01 -4.05684692e-02 9.60434413e-01 -2.58590328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.18824100800002 meters Centerline goodness : 0.841533 Centerline is valid? [False, False] Translation: X:9.74, Y:0.46, Z:-0.25 [[ 9.61017546e-01 -6.84626801e-03 -2.76402614e-01 9.74037494e+00] [ 2.00827111e-02 9.98781222e-01 4.50860925e-02 4.59624686e-01] [ 2.75757069e-01 -4.88794398e-02 9.59983770e-01 -2.48392041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.218241008 meters Centerline goodness : 0.841389 Centerline is valid? [False, False] Translation: X:9.73, Y:0.45, Z:-0.24 [[ 9.63308391e-01 -3.59503720e-03 -2.68372911e-01 9.72530521e+00] [ 1.92143626e-02 9.98268430e-01 5.55963139e-02 4.54924054e-01] [ 2.67708334e-01 -5.87130101e-02 9.61709431e-01 -2.41962170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.24824100800001 meters Centerline goodness : 0.843333 Centerline is valid? [False, False] Translation: X:9.72, Y:0.45, Z:-0.24 [[ 9.66726498e-01 1.57145811e-03 -2.55807366e-01 9.72342389e+00] [ 1.45298848e-02 9.98029486e-01 6.10411908e-02 4.49031433e-01] [ 2.55399217e-01 -6.27269882e-02 9.64798717e-01 -2.42687932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.27824100800001 meters Centerline goodness : 0.843156 Centerline is valid? [False, False] Translation: X:9.71, Y:0.45, Z:-0.24 [[ 9.67714584e-01 2.78371886e-03 -2.52033201e-01 9.71334517e+00] [ 1.49182148e-02 9.97553390e-01 6.82984706e-02 4.47363440e-01] [ 2.51606698e-01 -6.98533115e-02 9.65305436e-01 -2.38283573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.30824100800001 meters Centerline goodness : 0.845742 Centerline is valid? [False, False] Translation: X:9.72, Y:0.44, Z:-0.24 [[ 9.70210870e-01 8.18992457e-03 -2.42123507e-01 9.71545804e+00] [ 1.02293020e-02 9.97152175e-01 7.47188135e-02 4.43684837e-01] [ 2.42045923e-01 -7.49697595e-02 9.67364102e-01 -2.36870162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.33824100800001 meters Centerline goodness : 0.843637 Centerline is valid? [False, False] Translation: X:9.72, Y:0.45, Z:-0.24 [[ 9.70144388e-01 7.33519713e-03 -2.42417123e-01 9.71809233e+00] [ 1.07927514e-02 9.97246576e-01 7.33674551e-02 4.45875602e-01] [ 2.42287811e-01 -7.37933726e-02 9.67394002e-01 -2.39251100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.36824100800001 meters Centerline goodness : 0.844024 Centerline is valid? [False, False] Translation: X:9.72, Y:0.45, Z:-0.24 [[ 9.70247751e-01 3.26773251e-03 -2.42092179e-01 9.71776197e+00] [ 1.35587196e-02 9.97606410e-01 6.78056938e-02 4.50518555e-01] [ 2.41734280e-01 -6.90707819e-02 9.67881070e-01 -2.42779472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.39824100800001 meters Centerline goodness : 0.845515 Centerline is valid? [False, False] Translation: X:9.72, Y:0.45, Z:-0.24 [[ 9.72836860e-01 1.01395445e-02 -2.31269613e-01 9.71870638e+00] [ 6.93236205e-03 9.97316163e-01 7.28863112e-02 4.46372495e-01] [ 2.31387957e-01 -7.25097348e-02 9.70155633e-01 -2.41868913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.42824100800001 meters Centerline goodness : 0.845541 Centerline is valid? [False, False] Translation: X:9.72, Y:0.45, Z:-0.24 [[ 9.72930785e-01 6.32458116e-03 -2.31010146e-01 9.71750433e+00] [ 9.63113649e-03 9.97647252e-01 6.78763702e-02 4.49840424e-01] [ 2.30895927e-01 -6.82639004e-02 9.70580811e-01 -2.43991697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.45824100800002 meters Centerline goodness : 0.849458 Centerline is valid? [False, False] Translation: X:9.72, Y:0.45, Z:-0.24 [[ 9.75347530e-01 1.36837718e-02 -2.20249745e-01 9.71609781e+00] [ 2.29546087e-03 9.97392483e-01 7.21315851e-02 4.45648131e-01] [ 2.20662472e-01 -7.08589380e-02 9.72772884e-01 -2.40500662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.48824100800002 meters Centerline goodness : 0.849365 Centerline is valid? [False, False] Translation: X:9.71, Y:0.45, Z:-0.24 [[ 9.75534373e-01 9.46764730e-03 -2.19643007e-01 9.71491868e+00] [ 5.29440198e-03 9.97770815e-01 6.65234621e-02 4.50193987e-01] [ 2.19783203e-01 -6.60588023e-02 9.73309600e-01 -2.43568019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.51824100800002 meters Centerline goodness : 0.850297 Centerline is valid? [False, False] Translation: X:9.72, Y:0.45, Z:-0.25 [[ 9.75563256e-01 8.80459007e-03 -2.19542279e-01 9.71618690e+00] [ 5.65755058e-03 9.97858891e-01 6.51584606e-02 4.53457468e-01] [ 2.19645909e-01 -6.48082716e-02 9.73424657e-01 -2.45701538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.54824100800002 meters Centerline goodness : 0.850813 Centerline is valid? [False, False] Translation: X:9.72, Y:0.45, Z:-0.25 [[ 9.78219497e-01 1.50908526e-02 -2.07023868e-01 9.71598719e+00] [-2.63371228e-04 9.97443187e-01 7.14634179e-02 4.48873600e-01] [ 2.07572991e-01 -6.98523846e-02 9.75722347e-01 -2.47613322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.578241008 meters Centerline goodness : 0.850080 Centerline is valid? [False, False] Translation: X:9.72, Y:0.45, Z:-0.25 [[ 9.78331376e-01 1.05035584e-02 -2.06778609e-01 9.71601872e+00] [ 3.20780989e-03 9.97823538e-01 6.58627068e-02 4.52850640e-01] [ 2.07020356e-01 -6.50988590e-02 9.76168382e-01 -2.50640038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.60824100800001 meters Centerline goodness : 0.850039 Centerline is valid? [False, False] Translation: X:9.72, Y:0.46, Z:-0.25 [[ 9.78441212e-01 6.38290047e-03 -2.06426871e-01 9.71565611e+00] [ 6.17656379e-03 9.98170808e-01 6.01405690e-02 4.56896537e-01] [ 2.06433148e-01 -6.01190199e-02 9.76612031e-01 -2.54020943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.63824100800001 meters Centerline goodness : 0.850732 Centerline is valid? [False, False] Translation: X:9.73, Y:0.46, Z:-0.26 [[ 9.79452710e-01 4.67633374e-03 -2.01619742e-01 9.73176785e+00] [ 5.38805803e-03 9.98767507e-01 4.93400008e-02 4.60338736e-01] [ 2.01601978e-01 -4.94125363e-02 9.78220345e-01 -2.57379651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.66824100800001 meters Centerline goodness : 0.852820 Centerline is valid? [False, False] Translation: X:9.75, Y:0.46, Z:-0.26 [[ 9.80418973e-01 5.03416396e-03 -1.96858564e-01 9.74874985e+00] [ 3.25491592e-03 9.99122345e-01 4.17605760e-02 4.63286223e-01] [ 1.96896020e-01 -4.15836191e-02 9.79542118e-01 -2.59118114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.69824100800001 meters Centerline goodness : 0.851944 Centerline is valid? [False, False] Translation: X:9.77, Y:0.47, Z:-0.26 [[ 9.81440133e-01 5.19513003e-03 -1.91698398e-01 9.76512072e+00] [ 1.30288334e-03 9.99429273e-01 3.37554569e-02 4.66542968e-01] [ 1.91764355e-01 -3.33787208e-02 9.80873230e-01 -2.61329317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.72824100800001 meters Centerline goodness : 0.852476 Centerline is valid? [False, False] Translation: X:9.78, Y:0.47, Z:-0.26 [[ 9.82353049e-01 7.15047781e-03 -1.86899324e-01 9.78242335e+00] [-1.92763331e-03 9.99602935e-01 2.81115096e-02 4.68830205e-01] [ 1.87026124e-01 -2.72551538e-02 9.81976774e-01 -2.61734712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.75824100800001 meters Centerline goodness : 0.852345 Centerline is valid? [False, False] Translation: X:9.79, Y:0.47, Z:-0.26 [[ 9.82115626e-01 1.12024409e-02 -1.87945212e-01 9.78508913e+00] [-5.13926290e-03 9.99451453e-01 3.27166913e-02 4.67523455e-01] [ 1.88208622e-01 -3.11656739e-02 9.81634461e-01 -2.59989875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.78824100800001 meters Centerline goodness : 0.853154 Centerline is valid? [False, False] Translation: X:9.80, Y:0.47, Z:-0.26 [[ 9.83036240e-01 1.22061384e-02 -1.83004812e-01 9.80239962e+00] [-7.82861528e-03 9.99666138e-01 2.46236732e-02 4.72083143e-01] [ 1.83244274e-01 -2.27732888e-02 9.82803599e-01 -2.63901703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.81824100800002 meters Centerline goodness : 0.856208 Centerline is valid? [False, False] Translation: X:9.80, Y:0.47, Z:-0.26 [[ 0.98281482 0.01644295 -0.18386042 9.80443187] [-0.01126152 0.99951044 0.02919013 0.47132821] [ 0.18425038 -0.02661794 0.98251885 -0.26219092] [ 0. 0. 0. 1. ]] SLAMing on 115.84824100800002 meters Centerline goodness : 0.857684 Centerline is valid? [False, False] Translation: X:9.82, Y:0.47, Z:-0.26 [[ 0.98373825 0.0179015 -0.17871371 9.81785313] [-0.0144696 0.99968538 0.02048848 0.47446826] [ 0.17902425 -0.01756939 0.98368777 -0.26442211] [ 0. 0. 0. 1. ]] SLAMing on 115.87824100800002 meters Centerline goodness : 0.857095 Centerline is valid? [False, False] Translation: X:9.83, Y:0.48, Z:-0.27 [[ 9.84635851e-01 1.84858754e-02 -1.73639034e-01 9.83330182e+00] [-1.66434867e-02 9.99788745e-01 1.20606320e-02 4.77152667e-01] [ 1.73825304e-01 -8.98537170e-03 9.84735511e-01 -2.66844064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.90824100800002 meters Centerline goodness : 0.856772 Centerline is valid? [False, False] Translation: X:9.84, Y:0.48, Z:-0.26 [[ 0.98441361 0.02278587 -0.1743865 9.835043 ] [-0.02011625 0.99965207 0.01706111 0.47508849] [ 0.17471457 -0.01328718 0.98452947 -0.26463675] [ 0. 0. 0. 1. ]] SLAMing on 115.93824100800002 meters Centerline goodness : 0.857317 Centerline is valid? [False, False] Translation: X:9.84, Y:0.48, Z:-0.27 [[ 0.98440562 0.02256959 -0.1744597 9.83590022] [-0.01997247 0.99966224 0.01662823 0.47713211] [ 0.17477607 -0.01288453 0.9845239 -0.26528994] [ 0. 0. 0. 1. ]] SLAMing on 115.968241008 meters Centerline goodness : 0.859211 Centerline is valid? [False, False] Translation: X:9.84, Y:0.48, Z:-0.27 [[ 0.98410464 0.02477086 -0.17585354 9.84263897] [-0.02168091 0.99957532 0.01947103 0.47761177] [ 0.17626117 -0.01534886 0.98422376 -0.26661047] [ 0. 0. 0. 1. ]] SLAMing on 115.99824100800001 meters Centerline goodness : 0.856118 Centerline is valid? [False, False] Translation: X:9.85, Y:0.48, Z:-0.27 [[ 0.98398149 0.02355278 -0.17670796 9.84658692] [-0.02058899 0.99961523 0.01858734 0.47866198] [ 0.17707775 -0.01465136 0.9840878 -0.26796508] [ 0. 0. 0. 1. ]] SLAMing on 116.02824100800001 meters Centerline goodness : 0.856914 Centerline is valid? [False, False] Translation: X:9.85, Y:0.48, Z:-0.27 [[ 0.98380345 0.02515277 -0.17747706 9.85163153] [-0.02166244 0.99953248 0.02157705 0.47668189] [ 0.17793681 -0.01738299 0.98388837 -0.26826632] [ 0. 0. 0. 1. ]] SLAMing on 116.05824100800001 meters Centerline goodness : 0.855504 Centerline is valid? [False, False] Translation: X:9.86, Y:0.47, Z:-0.26 [[ 0.98348821 0.02415432 -0.17935302 9.86351788] [-0.01926989 0.99939579 0.02892629 0.47322537] [ 0.17994334 -0.02499255 0.98335943 -0.25927589] [ 0. 0. 0. 1. ]] SLAMing on 116.08824100800001 meters Centerline goodness : 0.857119 Centerline is valid? [False, False] Translation: X:9.86, Y:0.47, Z:-0.26 [[ 0.98336215 0.02393768 -0.18007186 9.86472451] [-0.01890401 0.99938251 0.02961823 0.47215465] [ 0.18066966 -0.02572136 0.98320745 -0.25732282] [ 0. 0. 0. 1. ]] SLAMing on 116.11824100800001 meters Centerline goodness : 0.856913 Centerline is valid? [False, False] Translation: X:9.87, Y:0.47, Z:-0.26 [[ 0.98328528 0.02393103 -0.180492 9.86544141] [-0.01876592 0.99936556 0.0302706 0.47120852] [ 0.18110189 -0.02637754 0.98311054 -0.25590586] [ 0. 0. 0. 1. ]] SLAMing on 116.14824100800001 meters Centerline goodness : 0.855883 Centerline is valid? [False, False] Translation: X:9.87, Y:0.47, Z:-0.25 [[ 0.98320017 0.02353637 -0.18100683 9.86676651] [-0.01828804 0.99936409 0.0306099 0.47102768] [ 0.18161217 -0.0267854 0.98300537 -0.2547682 ] [ 0. 0. 0. 1. ]] SLAMing on 116.17824100800001 meters Centerline goodness : 0.854306 Centerline is valid? [False, False] Translation: X:9.87, Y:0.47, Z:-0.25 [[ 0.98280466 0.02654667 -0.18273006 9.87189365] [-0.02024024 0.99913626 0.03629143 0.46826013] [ 0.18353564 -0.03196889 0.98249308 -0.25058755] [ 0. 0. 0. 1. ]] SLAMing on 116.20824100800002 meters Centerline goodness : 0.854973 Centerline is valid? [False, False] Translation: X:9.88, Y:0.47, Z:-0.25 [[ 0.98251877 0.03018301 -0.18370042 9.8752188 ] [-0.02299981 0.99888991 0.04110913 0.46645148] [ 0.18473729 -0.03616542 0.98212229 -0.24850773] [ 0. 0. 0. 1. ]] SLAMing on 116.23824100800002 meters Centerline goodness : 0.856780 Centerline is valid? [False, False] Translation: X:9.88, Y:0.47, Z:-0.25 [[ 0.98247016 0.02962241 -0.18405135 9.87709003] [-0.02258217 0.99893519 0.04023095 0.46853605] [ 0.1850471 -0.03536943 0.98209296 -0.24968706] [ 0. 0. 0. 1. ]] SLAMing on 116.26824100800002 meters Centerline goodness : 0.857786 Centerline is valid? [False, False] Translation: X:9.89, Y:0.47, Z:-0.25 [[ 0.98325378 0.03103 -0.17958046 9.89340158] [-0.02583 0.99917863 0.03122315 0.47244551] [ 0.18040181 -0.02606171 0.98324767 -0.25399777] [ 0. 0. 0. 1. ]] SLAMing on 116.29824100800002 meters Centerline goodness : 0.857072 Centerline is valid? [False, False] Translation: X:9.91, Y:0.48, Z:-0.26 [[ 0.98402413 0.03224665 -0.17509042 9.90870907] [-0.02877912 0.99933684 0.02230803 0.47573228] [ 0.17569367 -0.01691269 0.9842996 -0.25734426] [ 0. 0. 0. 1. ]] SLAMing on 116.328241008 meters Centerline goodness : 0.857056 Centerline is valid? [False, False] Translation: X:9.93, Y:0.48, Z:-0.26 [[ 9.84749970e-01 3.42915550e-02 -1.70562555e-01 9.92513205e+00] [-3.21839466e-02 9.99367782e-01 1.51072716e-02 4.78877487e-01] [ 1.70972774e-01 -9.38750907e-03 9.85231031e-01 -2.59814085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.35824100800001 meters Centerline goodness : 0.855826 Centerline is valid? [False, False] Translation: X:9.94, Y:0.48, Z:-0.26 [[ 9.85337449e-01 3.94249789e-02 -1.65999344e-01 9.94152419e+00] [-3.82967345e-02 9.99216440e-01 9.99329478e-03 4.82713450e-01] [ 1.66263259e-01 -3.48953479e-03 9.86075226e-01 -2.62723871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.38824100800001 meters Centerline goodness : 0.855265 Centerline is valid? [False, False] Translation: X:9.94, Y:0.48, Z:-0.26 [[ 9.85032219e-01 4.34160971e-02 -1.66812977e-01 9.94423034e+00] [-4.16388349e-02 9.99032686e-01 1.41386249e-02 4.81331055e-01] [ 1.67265460e-01 -6.98110302e-03 9.85887179e-01 -2.62112920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.41824100800001 meters Centerline goodness : 0.852521 Centerline is valid? [False, False] Translation: X:9.95, Y:0.48, Z:-0.26 [[ 9.84984933e-01 4.33208221e-02 -1.67116692e-01 9.94545684e+00] [-4.16344030e-02 9.99040575e-01 1.35833191e-02 4.82894446e-01] [ 1.67544797e-01 -6.42156097e-03 9.85843550e-01 -2.62962656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.44824100800001 meters Centerline goodness : 0.850621 Centerline is valid? [False, False] Translation: X:9.95, Y:0.48, Z:-0.26 [[ 0.98463783 0.04711011 -0.16813383 9.94907036] [-0.0447351 0.99883873 0.01788772 0.48161147] [ 0.16878128 -0.01009145 0.98560187 -0.2620913 ] [ 0. 0. 0. 1. ]] SLAMing on 116.47824100800001 meters Centerline goodness : 0.850119 Centerline is valid? [False, False] Translation: X:9.95, Y:0.48, Z:-0.26 [[ 0.98458276 0.04669219 -0.16857235 9.95058205] [-0.0443214 0.99885871 0.01780134 0.48208716] [ 0.16921114 -0.01005552 0.98552853 -0.26195267] [ 0. 0. 0. 1. ]] SLAMing on 116.50824100800001 meters Centerline goodness : 0.851949 Centerline is valid? [False, False] Translation: X:9.95, Y:0.48, Z:-0.26 [[ 0.984542 0.04653237 -0.16885431 9.95138066] [-0.0441203 0.99886386 0.01801085 0.48134792] [ 0.16950056 -0.01028254 0.98547645 -0.26156958] [ 0. 0. 0. 1. ]] SLAMing on 116.53824100800001 meters Centerline goodness : 0.851674 Centerline is valid? [False, False] Translation: X:9.96, Y:0.48, Z:-0.26 [[ 0.98430816 0.04518388 -0.17057508 9.95580928] [-0.04233576 0.99889719 0.0202997 0.47732288] [ 0.17130419 -0.01275973 0.98513556 -0.25676415] [ 0. 0. 0. 1. ]] SLAMing on 116.56824100800002 meters Centerline goodness : 0.852272 Centerline is valid? [False, False] Translation: X:9.96, Y:0.47, Z:-0.25 [[ 0.98416923 0.04449556 -0.17155484 9.96460443] [-0.04063058 0.99883651 0.02597669 0.47421969] [ 0.17251109 -0.01859509 0.98483204 -0.2511747 ] [ 0. 0. 0. 1. ]] SLAMing on 116.59824100800002 meters Centerline goodness : 0.852371 Centerline is valid? [False, False] Translation: X:9.97, Y:0.47, Z:-0.25 [[ 0.98408263 0.04370047 -0.1722546 9.96690838] [-0.03979127 0.9988675 0.02608398 0.47296823] [ 0.1731994 -0.01881457 0.98470705 -0.25072522] [ 0. 0. 0. 1. ]] SLAMing on 116.62824100800002 meters Centerline goodness : 0.854257 Centerline is valid? [False, False] Translation: X:9.97, Y:0.47, Z:-0.25 [[ 0.98396411 0.04276399 -0.17316432 9.96977897] [-0.03875916 0.9988986 0.02644461 0.47179042] [ 0.17410447 -0.01930884 0.98453786 -0.24961121] [ 0. 0. 0. 1. ]] SLAMing on 116.65824100800002 meters Centerline goodness : 0.857386 Centerline is valid? [False, False] Translation: X:9.99, Y:0.47, Z:-0.24 [[ 0.98392606 0.03893068 -0.17428113 9.98673463] [-0.03361191 0.99887779 0.03336768 0.46912583] [ 0.17538458 -0.02697341 0.98413042 -0.24139346] [ 0. 0. 0. 1. ]] SLAMing on 116.68824100800002 meters Centerline goodness : 0.855754 Centerline is valid? [False, False] Translation: X:9.99, Y:0.47, Z:-0.24 [[ 0.98378065 0.03770121 -0.1753689 9.99057879] [-0.0324176 0.99893286 0.03289733 0.46924074] [ 0.17642202 -0.02667872 0.983953 -0.24161414] [ 0. 0. 0. 1. ]] SLAMing on 116.718241008 meters Centerline goodness : 0.856797 Centerline is valid? [False, False] Translation: X:9.99, Y:0.47, Z:-0.24 [[ 0.98359993 0.03645878 -0.17664067 9.99478108] [-0.03114283 0.99897744 0.03277508 0.46838585] [ 0.17765498 -0.02673647 0.98372957 -0.24123286] [ 0. 0. 0. 1. ]] SLAMing on 116.74824100800001 meters Centerline goodness : 0.859610 Centerline is valid? [False, False] Translation: X:10.01, Y:0.47, Z:-0.23 [[ 0.98350575 0.03275967 -0.1778855 10.00988575] [-0.02621636 0.9988948 0.03901117 0.46508826] [ 0.1789669 -0.0337042 0.98327762 -0.23321181] [ 0. 0. 0. 1. ]] SLAMing on 116.77824100800001 meters Centerline goodness : 0.857738 Centerline is valid? [False, False] Translation: X:10.02, Y:0.46, Z:-0.23 [[ 0.98327447 0.03295775 -0.17912317 10.0180627 ] [-0.02539836 0.99869388 0.04433342 0.46382608] [ 0.18035034 -0.03904249 0.98282727 -0.22851565] [ 0. 0. 0. 1. ]] SLAMing on 116.80824100800001 meters Centerline goodness : 0.859010 Centerline is valid? [False, False] Translation: X:10.02, Y:0.47, Z:-0.23 [[ 0.98319961 0.03157851 -0.17978134 10.02126506] [-0.02413212 0.9987638 0.04345713 0.4651229 ] [ 0.1809314 -0.03838852 0.98274623 -0.22941018] [ 0. 0. 0. 1. ]] SLAMing on 116.83824100800001 meters Centerline goodness : 0.856375 Centerline is valid? [False, False] Translation: X:10.02, Y:0.47, Z:-0.23 [[ 0.98312345 0.03088754 -0.18031706 10.02314484] [-0.02343147 0.99878579 0.04333482 0.4653064 ] [ 0.18143662 -0.03837838 0.98265347 -0.22930809] [ 0. 0. 0. 1. ]] SLAMing on 116.86824100800001 meters Centerline goodness : 0.860681 Centerline is valid? [False, False] Translation: X:10.02, Y:0.46, Z:-0.23 [[ 0.98479583 0.03414989 -0.17032605 10.02400747] [-0.02650872 0.99854605 0.04693685 0.46124881] [ 0.17168129 -0.04170809 0.98426926 -0.22559658] [ 0. 0. 0. 1. ]] SLAMing on 116.89824100800001 meters Centerline goodness : 0.860681 Centerline is valid? [False, False] Translation: X:10.02, Y:0.46, Z:-0.23 [[ 0.98479583 0.03414989 -0.17032605 10.02400747] [-0.02650872 0.99854605 0.04693685 0.46124881] [ 0.17168129 -0.04170809 0.98426926 -0.22559658] [ 0. 0. 0. 1. ]] SLAMing on 116.92824100800001 meters Centerline goodness : 0.858480 Centerline is valid? [False, False] Translation: X:10.03, Y:0.46, Z:-0.22 [[ 0.98617637 0.03913858 -0.16101039 10.02781291] [-0.03132281 0.99821764 0.05079798 0.45726904] [ 0.16271157 -0.04505247 0.98564457 -0.22381122] [ 0. 0. 0. 1. ]] SLAMing on 116.95824100800002 meters Centerline goodness : 0.857969 Centerline is valid? [False, False] Translation: X:10.03, Y:0.46, Z:-0.23 [[ 0.98629786 0.03486176 -0.16124884 10.0285405 ] [-0.02786942 0.99857894 0.04542462 0.46183014] [ 0.16260328 -0.04030829 0.98586785 -0.22631765] [ 0. 0. 0. 1. ]] SLAMing on 116.98824100800002 meters Centerline goodness : 0.861077 Centerline is valid? [False, False] Translation: X:10.03, Y:0.46, Z:-0.23 [[ 0.98627352 0.03437962 -0.16150102 10.02989684] [-0.02752705 0.99863102 0.04447868 0.46434597] [ 0.16280909 -0.0394225 0.9858697 -0.22750971] [ 0. 0. 0. 1. ]] SLAMing on 117.01824100800002 meters Centerline goodness : 0.860829 Centerline is valid? [False, False] Translation: X:10.03, Y:0.46, Z:-0.23 [[ 0.98734395 0.04458326 -0.15219806 10.03366309] [-0.03709395 0.99797359 0.05169862 0.46182119] [ 0.15419453 -0.0453987 0.98699696 -0.22531994] [ 0. 0. 0. 1. ]] SLAMing on 117.04824100800002 meters Centerline goodness : 0.860911 Centerline is valid? [False, False] Translation: X:10.03, Y:0.46, Z:-0.23 [[ 0.98734309 0.04490535 -0.15210893 10.0334696 ] [-0.03752386 0.99799056 0.05105679 0.46380354] [ 0.15409599 -0.04470286 0.98704411 -0.22630487] [ 0. 0. 0. 1. ]] SLAMing on 117.078241008 meters Centerline goodness : 0.861295 Centerline is valid? [False, False] Translation: X:10.03, Y:0.47, Z:-0.23 [[ 0.98732713 0.04536648 -0.15207573 10.03318345] [-0.03807091 0.99799575 0.05054788 0.46603054] [ 0.15406411 -0.04411763 0.98707542 -0.22699328] [ 0. 0. 0. 1. ]] SLAMing on 117.10824100800001 meters Centerline goodness : 0.860745 Centerline is valid? [False, False] Translation: X:10.03, Y:0.47, Z:-0.23 [[ 0.98712185 0.05078169 -0.15169597 10.03228671] [-0.04297468 0.99759895 0.05430942 0.46768029] [ 0.15408966 -0.04709093 0.98693405 -0.22748225] [ 0. 0. 0. 1. ]] SLAMing on 117.13824100800001 meters Centerline goodness : 0.857860 Centerline is valid? [False, False] Translation: X:10.04, Y:0.46, Z:-0.23 [[ 0.98800537 0.0604049 -0.1421149 10.03719197] [-0.05228812 0.99681742 0.06017468 0.46366206] [ 0.14529746 -0.05202198 0.98801941 -0.22673263] [ 0. 0. 0. 1. ]] SLAMing on 117.16824100800001 meters Centerline goodness : 0.860739 Centerline is valid? [False, False] Translation: X:10.05, Y:0.47, Z:-0.23 [[ 0.98845286 0.06295631 -0.13783119 10.05130238] [-0.05645894 0.99712408 0.05055644 0.46770648] [ 0.14061765 -0.04219086 0.9891646 -0.23215806] [ 0. 0. 0. 1. ]] SLAMing on 117.19824100800001 meters Centerline goodness : 0.862648 Centerline is valid? [False, False] Translation: X:10.06, Y:0.47, Z:-0.23 [[ 0.98875058 0.06861951 -0.13290468 10.06381205] [-0.06319657 0.99700379 0.04460536 0.46933495] [ 0.13556727 -0.03570446 0.99012459 -0.23437296] [ 0. 0. 0. 1. ]] SLAMing on 117.22824100800001 meters Centerline goodness : 0.863375 Centerline is valid? [False, False] Translation: X:10.08, Y:0.47, Z:-0.24 [[ 0.98924617 0.06929153 -0.1288049 10.07812696] [-0.0654766 0.9972874 0.03362522 0.47214765] [ 0.13078545 -0.02482991 0.99109971 -0.23916386] [ 0. 0. 0. 1. ]] SLAMing on 117.25824100800001 meters Centerline goodness : 0.863602 Centerline is valid? [False, False] Translation: X:10.09, Y:0.48, Z:-0.25 [[ 0.98968131 0.07014395 -0.12494289 10.09328004] [-0.06787311 0.9974437 0.02234536 0.47587482] [ 0.12619089 -0.01363452 0.99191227 -0.24540747] [ 0. 0. 0. 1. ]] SLAMing on 117.28824100800001 meters Centerline goodness : 0.861766 Centerline is valid? [False, False] Translation: X:10.10, Y:0.47, Z:-0.25 [[ 0.98931987 0.07417968 -0.12547338 10.09583874] [-0.07140925 0.99709657 0.02644155 0.47495655] [ 0.1270705 -0.0171992 0.99174456 -0.24548383] [ 0. 0. 0. 1. ]] SLAMing on 117.31824100800002 meters Centerline goodness : 0.860614 Centerline is valid? [False, False] Translation: X:10.10, Y:0.48, Z:-0.25 [[ 0.98898181 0.0789317 -0.12523883 10.09622493] [-0.07570858 0.99666959 0.0302974 0.47585256] [ 0.12721316 -0.02048192 0.99166391 -0.24596595] [ 0. 0. 0. 1. ]] SLAMing on 117.34824100800002 meters Centerline goodness : 0.860281 Centerline is valid? [False, False] Translation: X:10.11, Y:0.48, Z:-0.25 [[ 0.98949821 0.0793686 -0.12080533 10.1112222 ] [-0.07750326 0.99679008 0.02006943 0.47854344] [ 0.12201043 -0.01049585 0.99247332 -0.25044836] [ 0. 0. 0. 1. ]] SLAMing on 117.37824100800002 meters Centerline goodness : 0.860502 Centerline is valid? [False, False] Translation: X:10.11, Y:0.48, Z:-0.25 [[ 9.89716080e-01 7.68602455e-02 -1.20642379e-01 1.01092419e+01] [-7.54250769e-02 9.97016194e-01 1.64245609e-02 4.79104647e-01] [ 1.21544801e-01 -7.15619132e-03 9.92560149e-01 -2.51100040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.40824100800002 meters Centerline goodness : 0.860315 Centerline is valid? [False, False] Translation: X:10.11, Y:0.48, Z:-0.25 [[ 0.98934537 0.08027965 -0.12145339 10.11221158] [-0.07820756 0.99670002 0.02174037 0.47503039] [ 0.1227979 -0.01201016 0.99235902 -0.24868734] [ 0. 0. 0. 1. ]] SLAMing on 117.43824100800002 meters Centerline goodness : 0.857910 Centerline is valid? [False, False] Translation: X:10.11, Y:0.47, Z:-0.25 [[ 0.98933569 0.0800873 -0.12165904 10.11301443] [-0.0780081 0.9967151 0.02176589 0.47445159] [ 0.12300257 -0.01204338 0.99233327 -0.24878225] [ 0. 0. 0. 1. ]] SLAMing on 117.468241008 meters Centerline goodness : 0.858389 Centerline is valid? [False, False] Translation: X:10.13, Y:0.48, Z:-0.25 [[ 9.89941601e-01 7.95561800e-02 -1.16989065e-01 1.01288451e+01] [-7.86876772e-02 9.96826715e-01 1.20312135e-02 4.76038666e-01] [ 1.17574982e-01 -2.70460104e-03 9.93060325e-01 -2.52238893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.49824100800001 meters Centerline goodness : 0.858881 Centerline is valid? [False, False] Translation: X:10.13, Y:0.47, Z:-0.25 [[ 9.89890808e-01 7.95782267e-02 -1.17403126e-01 1.01296520e+01] [-7.86035147e-02 9.96822275e-01 1.29166261e-02 4.72445180e-01] [ 1.18057933e-01 -3.55775118e-03 9.93000336e-01 -2.51164619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.52824100800001 meters Centerline goodness : 0.859250 Centerline is valid? [False, False] Translation: X:10.13, Y:0.47, Z:-0.25 [[ 9.89865121e-01 7.93414972e-02 -1.17779324e-01 1.01309845e+01] [-7.83597791e-02 9.96841031e-01 1.29500457e-02 4.71518303e-01] [ 1.18434739e-01 -3.58963675e-03 9.92955350e-01 -2.51451766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.55824100800001 meters Centerline goodness : 0.858940 Centerline is valid? [False, False] Translation: X:10.13, Y:0.47, Z:-0.25 [[ 9.89852700e-01 7.92820368e-02 -1.17923669e-01 1.01319526e+01] [-7.83032811e-02 9.96845895e-01 1.29173280e-02 4.71332095e-01] [ 1.18575838e-01 -3.55244173e-03 9.92938644e-01 -2.52155204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.58824100800001 meters Centerline goodness : 0.856956 Centerline is valid? [False, False] Translation: X:10.13, Y:0.47, Z:-0.25 [[ 9.89843902e-01 7.87802967e-02 -1.18333069e-01 1.01341221e+01] [-7.78586651e-02 9.96887308e-01 1.23985042e-02 4.72070086e-01] [ 1.18941492e-01 -3.05932894e-03 9.92896551e-01 -2.53497998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.61824100800001 meters Centerline goodness : 0.856945 Centerline is valid? [False, False] Translation: X:10.14, Y:0.47, Z:-0.25 [[ 9.89683018e-01 7.86886270e-02 -1.19731469e-01 1.01426110e+01] [-7.74469321e-02 9.96883690e-01 1.49960192e-02 4.69830178e-01] [ 1.20538364e-01 -5.56847065e-03 9.92693052e-01 -2.54348969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.64824100800001 meters Centerline goodness : 0.856063 Centerline is valid? [False, False] Translation: X:10.14, Y:0.47, Z:-0.26 [[ 9.89982352e-01 7.42369491e-02 -1.20099199e-01 1.01436075e+01] [-7.35196169e-02 9.97239554e-01 1.03988932e-02 4.71182815e-01] [ 1.20539653e-01 -1.46507368e-03 9.92707432e-01 -2.55960712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.67824100800001 meters Centerline goodness : 0.854734 Centerline is valid? [False, False] Translation: X:10.15, Y:0.47, Z:-0.26 [[ 9.89934444e-01 7.30032607e-02 -1.21244876e-01 1.01476821e+01] [-7.22937278e-02 9.97330750e-01 1.02465812e-02 4.69375149e-01] [ 1.21669277e-01 -1.37819959e-03 9.92569739e-01 -2.56558823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.70824100800002 meters Centerline goodness : 0.854540 Centerline is valid? [False, False] Translation: X:10.15, Y:0.47, Z:-0.26 [[ 9.89904247e-01 7.18397868e-02 -1.22182760e-01 1.01511801e+01] [-7.11306506e-02 9.97415246e-01 1.01615442e-02 4.67305918e-01] [ 1.22596951e-01 -1.36801650e-03 9.92455599e-01 -2.57043208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.73824100800002 meters Centerline goodness : 0.854815 Centerline is valid? [False, False] Translation: X:10.16, Y:0.47, Z:-0.26 [[ 9.90143023e-01 6.59682393e-02 -1.23551548e-01 1.01555957e+01] [-6.57522604e-02 9.97818951e-01 5.82928742e-03 4.65147161e-01] [ 1.23666624e-01 2.35196528e-03 9.92321034e-01 -2.58173278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.76824100800002 meters Centerline goodness : 0.856636 Centerline is valid? [False, False] Translation: X:10.16, Y:0.46, Z:-0.26 [[ 9.90071976e-01 6.49167323e-02 -1.24672770e-01 1.01589192e+01] [-6.46152939e-02 9.97889311e-01 6.46429491e-03 4.62225897e-01] [ 1.24829265e-01 1.65565044e-03 9.92176856e-01 -2.57180431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.79824100800002 meters Centerline goodness : 0.856669 Centerline is valid? [False, False] Translation: X:10.16, Y:0.46, Z:-0.26 [[ 9.90008638e-01 6.37294608e-02 -1.25783353e-01 1.01626532e+01] [-6.34102404e-02 9.97966089e-01 6.54422851e-03 4.60649598e-01] [ 1.25944581e-01 1.49710987e-03 9.92036149e-01 -2.57071695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.828241008 meters Centerline goodness : 0.854744 Centerline is valid? [False, False] Translation: X:10.18, Y:0.46, Z:-0.25 [[ 9.90419894e-01 5.97196565e-02 -1.24507013e-01 1.01834803e+01] [-5.82263356e-02 9.98181485e-01 1.56018065e-02 4.56496331e-01] [ 1.25212330e-01 -8.20275242e-03 9.92096057e-01 -2.51364789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85824100800001 meters Centerline goodness : 0.853462 Centerline is valid? [False, False] Translation: X:10.19, Y:0.46, Z:-0.25 [[ 9.90355947e-01 5.89180398e-02 -1.25394426e-01 1.01860819e+01] [-5.73789459e-02 9.98226585e-01 1.58537619e-02 4.55458077e-01] [ 1.26106123e-01 -8.50586733e-03 9.91980290e-01 -2.50676292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.88824100800001 meters Centerline goodness : 0.854312 Centerline is valid? [False, False] Translation: X:10.19, Y:0.45, Z:-0.25 [[ 9.90283017e-01 5.83060465e-02 -1.26253519e-01 1.01881620e+01] [-5.66864241e-02 9.98257549e-01 1.63864571e-02 4.53681318e-01] [ 1.26988958e-01 -9.07036963e-03 9.91862658e-01 -2.49495216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.91824100800001 meters Centerline goodness : 0.854841 Centerline is valid? [False, False] Translation: X:10.19, Y:0.45, Z:-0.25 [[ 9.90220378e-01 5.78312083e-02 -1.26961235e-01 1.01897869e+01] [-5.61089972e-02 9.98278159e-01 1.71025419e-02 4.51904713e-01] [ 1.27731688e-01 -9.81161796e-03 9.91760227e-01 -2.47928339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.94824100800001 meters Centerline goodness : 0.851201 Centerline is valid? [False, False] Translation: X:10.19, Y:0.45, Z:-0.25 [[ 9.90163191e-01 5.61488781e-02 -1.28156773e-01 1.01938849e+01] [-5.43891620e-02 9.98371796e-01 1.71923031e-02 4.50996036e-01] [ 1.28913437e-01 -1.00528462e-02 9.91604894e-01 -2.47068192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.97824100800001 meters Centerline goodness : 0.852540 Centerline is valid? [False, False] Translation: X:10.20, Y:0.45, Z:-0.24 [[ 0.98983882 0.05728941 -0.13014237 10.20186226] [-0.05484266 0.99824573 0.0223103 0.44888958] [ 0.13119221 -0.01494624 0.99124428 -0.24354739] [ 0. 0. 0. 1. ]] SLAMing on 118.00824100800001 meters Centerline goodness : 0.853207 Centerline is valid? [False, False] Translation: X:10.20, Y:0.45, Z:-0.24 [[ 0.9897746 0.05648112 -0.13098142 10.20454491] [-0.05407114 0.9982972 0.02188636 0.449407 ] [ 0.13199455 -0.01458025 0.99114321 -0.24384133] [ 0. 0. 0. 1. ]] SLAMing on 118.03824100800001 meters Centerline goodness : 0.850313 Centerline is valid? [False, False] Translation: X:10.21, Y:0.45, Z:-0.24 [[ 0.98971072 0.05570607 -0.13179346 10.20700012] [-0.05333818 0.99834649 0.02143199 0.44987492] [ 0.13276943 -0.01418184 0.99104548 -0.2440256 ] [ 0. 0. 0. 1. ]] SLAMing on 118.06824100800002 meters Centerline goodness : 0.848419 Centerline is valid? [False, False] Translation: X:10.23, Y:0.45, Z:-0.25 [[ 9.90224668e-01 5.47925734e-02 -1.28268786e-01 1.02261561e+01] [-5.37439449e-02 9.98487082e-01 1.16247828e-02 4.53303550e-01] [ 1.28711678e-01 -4.61747612e-03 9.91671308e-01 -2.47453106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.09824100800002 meters Centerline goodness : 0.850882 Centerline is valid? [False, False] Translation: X:10.23, Y:0.46, Z:-0.25 [[ 9.90170014e-01 5.42156176e-02 -1.28934128e-01 1.02282559e+01] [-5.32362018e-02 9.98520995e-01 1.10330897e-02 4.55047501e-01] [ 1.29341599e-01 -4.06067136e-03 9.91591782e-01 -2.47903903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.12824100800002 meters Centerline goodness : 0.845169 Centerline is valid? [False, False] Translation: X:10.23, Y:0.46, Z:-0.25 [[ 9.89862945e-01 5.67414918e-02 -1.30198898e-01 1.02335329e+01] [-5.54149611e-02 9.98368152e-01 1.37918352e-02 4.58010821e-01] [ 1.30769002e-01 -6.43705980e-03 9.91391967e-01 -2.48606103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.15824100800002 meters Centerline goodness : 0.844300 Centerline is valid? [False, False] Translation: X:10.24, Y:0.46, Z:-0.25 [[ 9.89540677e-01 6.01468182e-02 -1.31116773e-01 1.02368065e+01] [-5.83052301e-02 9.98139334e-01 1.78429359e-02 4.57685898e-01] [ 1.31946004e-01 -1.00115173e-02 9.91206347e-01 -2.47741485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.18824100800002 meters Centerline goodness : 0.844272 Centerline is valid? [False, False] Translation: X:10.24, Y:0.46, Z:-0.25 [[ 9.89502397e-01 5.97515143e-02 -1.31585572e-01 1.02384286e+01] [-5.80339139e-02 9.98172350e-01 1.68530067e-02 4.60534577e-01] [ 1.32352073e-01 -9.03966479e-03 9.91161548e-01 -2.48745191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.218241008 meters Centerline goodness : 0.837851 Centerline is valid? [False, False] Translation: X:10.26, Y:0.47, Z:-0.25 [[ 9.89732007e-01 6.27938253e-02 -1.28403623e-01 1.02578061e+01] [-6.19699147e-02 9.98023773e-01 1.04056445e-02 4.65516094e-01] [ 1.28803279e-01 -2.34163785e-03 9.91667400e-01 -2.51408542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.24824100800001 meters Centerline goodness : 0.835114 Centerline is valid? [False, False] Translation: X:10.26, Y:0.47, Z:-0.25 [[ 9.89369969e-01 6.65046248e-02 -1.29322078e-01 1.02604771e+01] [-6.51491338e-02 9.97767426e-01 1.46885350e-02 4.65380458e-01] [ 1.30010212e-01 -6.10717412e-03 9.91493846e-01 -2.49885351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.27824100800001 meters Centerline goodness : 0.834357 Centerline is valid? [False, False] Translation: X:10.26, Y:0.47, Z:-0.25 [[ 9.89006842e-01 7.02989790e-02 -1.30090427e-01 1.02628176e+01] [-6.84148497e-02 9.97477888e-01 1.89016414e-02 4.65873450e-01] [ 1.31091090e-01 -9.79373572e-03 9.91321950e-01 -2.48330923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.30824100800001 meters Centerline goodness : 0.830043 Centerline is valid? [False, False] Translation: X:10.26, Y:0.47, Z:-0.25 [[ 0.9886868 0.07448763 -0.13019215 10.26277429] [-0.07215201 0.9971382 0.02257214 0.46984107] [ 0.13150091 -0.01292315 0.99123181 -0.2464309 ] [ 0. 0. 0. 1. ]] SLAMing on 118.33824100800001 meters Centerline goodness : 0.828687 Centerline is valid? [False, False] Translation: X:10.28, Y:0.47, Z:-0.25 [[ 9.89206716e-01 7.59358788e-02 -1.25314865e-01 1.02786330e+01] [-7.46454770e-02 9.97097797e-01 1.49678197e-02 4.73177247e-01] [ 1.26087771e-01 -5.45207985e-03 9.92004107e-01 -2.48769832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.36824100800001 meters Centerline goodness : 0.827096 Centerline is valid? [False, False] Translation: X:10.28, Y:0.48, Z:-0.25 [[ 9.89160927e-01 7.55619355e-02 -1.25900974e-01 1.02799062e+01] [-7.43164839e-02 9.97128310e-01 1.45668690e-02 4.75139665e-01] [ 1.26640126e-01 -5.05245993e-03 9.91935860e-01 -2.48416452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.39824100800001 meters Centerline goodness : 0.826768 Centerline is valid? [False, False] Translation: X:10.28, Y:0.48, Z:-0.25 [[ 9.89126616e-01 7.48713251e-02 -1.26581286e-01 1.02820214e+01] [-7.36993981e-02 9.97183307e-01 1.39230631e-02 4.77150612e-01] [ 1.27267184e-01 -4.44270764e-03 9.91858521e-01 -2.48670696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.42824100800001 meters Centerline goodness : 0.827831 Centerline is valid? [False, False] Translation: X:10.28, Y:0.48, Z:-0.25 [[ 9.89099928e-01 7.41597805e-02 -1.27207151e-01 1.02842573e+01] [-7.30717328e-02 9.97239261e-01 1.32052257e-02 4.79484525e-01] [ 1.27835262e-01 -3.76604087e-03 9.91788265e-01 -2.49241649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.45824100800002 meters Centerline goodness : 0.827169 Centerline is valid? [False, False] Translation: X:10.29, Y:0.48, Z:-0.25 [[ 9.88744412e-01 7.55193728e-02 -1.29156153e-01 1.02915052e+01] [-7.39027078e-02 9.97115889e-01 1.72711646e-02 4.81470356e-01] [ 1.30087960e-01 -7.53177807e-03 9.91473850e-01 -2.46525529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.48824100800002 meters Centerline goodness : 0.824906 Centerline is valid? [False, False] Translation: X:10.29, Y:0.48, Z:-0.25 [[ 9.88717674e-01 7.50766960e-02 -1.29618094e-01 1.02927548e+01] [-7.35120266e-02 9.97152468e-01 1.68207437e-02 4.83164266e-01] [ 1.30511848e-01 -7.10247785e-03 9.91421309e-01 -2.46453334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.51824100800002 meters Centerline goodness : 0.824435 Centerline is valid? [False, False] Translation: X:10.29, Y:0.48, Z:-0.25 [[ 9.88658468e-01 7.44396460e-02 -1.30434554e-01 1.02947168e+01] [-7.29218865e-02 9.97203125e-01 1.63806827e-02 4.84158468e-01] [ 1.31289117e-01 -6.68336693e-03 9.91321593e-01 -2.46198684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.54824100800002 meters Centerline goodness : 0.823806 Centerline is valid? [False, False] Translation: X:10.30, Y:0.48, Z:-0.25 [[ 9.88357882e-01 7.62188895e-02 -1.31679074e-01 1.03002883e+01] [-7.43406816e-02 9.97049432e-01 1.91283386e-02 4.84354587e-01] [ 1.32748487e-01 -9.11653209e-03 9.91107829e-01 -2.46491357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.578241008 meters Centerline goodness : 0.822904 Centerline is valid? [False, False] Translation: X:10.31, Y:0.48, Z:-0.25 [[ 0.98801298 0.078774 -0.13275919 10.30527473] [-0.0764715 0.99682098 0.02236186 0.48448785] [ 0.13409868 -0.01194152 0.99089603 -0.2470642 ] [ 0. 0. 0. 1. ]] SLAMing on 118.60824100800001 meters Centerline goodness : 0.821923 Centerline is valid? [False, False] Translation: X:10.31, Y:0.49, Z:-0.25 [[ 0.98799267 0.07789091 -0.13342972 10.30810157] [-0.07573595 0.9969034 0.02115833 0.48783372] [ 0.13466459 -0.01079884 0.99083239 -0.24854454] [ 0. 0. 0. 1. ]] SLAMing on 118.63824100800001 meters Centerline goodness : 0.822104 Centerline is valid? [False, False] Translation: X:10.31, Y:0.49, Z:-0.25 [[ 0.98760125 0.08075024 -0.13462235 10.31227382] [-0.0781129 0.99663682 0.02476748 0.48849164] [ 0.13616957 -0.01394465 0.9905874 -0.24753038] [ 0. 0. 0. 1. ]] SLAMing on 118.66824100800001 meters Centerline goodness : 0.821114 Centerline is valid? [False, False] Translation: X:10.32, Y:0.49, Z:-0.25 [[ 0.98723504 0.08376763 -0.13546202 10.31570245] [-0.0805603 0.99632785 0.0289976 0.48647324] [ 0.13739364 -0.01771459 0.99035811 -0.2460665 ] [ 0. 0. 0. 1. ]] SLAMing on 118.69824100800001 meters Centerline goodness : 0.819856 Centerline is valid? [False, False] Translation: X:10.32, Y:0.49, Z:-0.25 [[ 0.98716594 0.08321641 -0.13630274 10.31800121] [-0.08008151 0.99638556 0.02833317 0.48745779] [ 0.13816787 -0.01705421 0.99026198 -0.24651231] [ 0. 0. 0. 1. ]] SLAMing on 118.72824100800001 meters Centerline goodness : 0.819908 Centerline is valid? [False, False] Translation: X:10.32, Y:0.49, Z:-0.25 [[ 0.98674555 0.08656098 -0.1372604 10.3215785 ] [-0.08297684 0.99604929 0.03163312 0.48930131] [ 0.13945632 -0.0198244 0.99002976 -0.24615213] [ 0. 0. 0. 1. ]] SLAMing on 118.75824100800001 meters Centerline goodness : 0.817907 Centerline is valid? [False, False] Translation: X:10.32, Y:0.49, Z:-0.25 [[ 0.9867212 0.08657947 -0.13742368 10.32211435] [-0.08309324 0.99606209 0.03091654 0.49290855] [ 0.13955926 -0.01908702 0.99002975 -0.24665109] [ 0. 0. 0. 1. ]] SLAMing on 118.78824100800001 meters Centerline goodness : 0.818043 Centerline is valid? [False, False] Translation: X:10.32, Y:0.49, Z:-0.25 [[ 0.98631483 0.09042185 -0.1378657 10.32435208] [-0.08641072 0.99565094 0.03481952 0.49375702] [ 0.14041455 -0.02242993 0.9898387 -0.2459266 ] [ 0. 0. 0. 1. ]] SLAMing on 118.81824100800002 meters Centerline goodness : 0.818043 Centerline is valid? [False, False] Translation: X:10.32, Y:0.49, Z:-0.25 [[ 0.98632919 0.09056196 -0.13767086 10.32396419] [-0.08657855 0.99564176 0.0346647 0.49416266] [ 0.14021016 -0.02227147 0.98987125 -0.24607563] [ 0. 0. 0. 1. ]] SLAMing on 118.84824100800002 meters Centerline goodness : 0.817846 Centerline is valid? [False, False] Translation: X:10.33, Y:0.50, Z:-0.25 [[ 0.98628993 0.0903607 -0.13808376 10.3251607 ] [-0.08651848 0.99568378 0.03359107 0.49808918] [ 0.14052307 -0.02118374 0.98985075 -0.24689533] [ 0. 0. 0. 1. ]] SLAMing on 118.87824100800002 meters Centerline goodness : 0.817272 Centerline is valid? [False, False] Translation: X:10.33, Y:0.50, Z:-0.24 [[ 0.985857 0.09460922 -0.13832959 10.32617267] [-0.09019117 0.99520385 0.03787953 0.49944247] [ 0.14124989 -0.02486769 0.98966159 -0.24480828] [ 0. 0. 0. 1. ]] SLAMing on 118.90824100800002 meters Centerline goodness : 0.817008 Centerline is valid? [False, False] Translation: X:10.33, Y:0.50, Z:-0.24 [[ 0.98582314 0.09448983 -0.13865209 10.32669117] [-0.0900953 0.99522124 0.03765001 0.50068509] [ 0.14154705 -0.02462435 0.98962522 -0.24428384] [ 0. 0. 0. 1. ]] SLAMing on 118.93824100800002 meters Centerline goodness : 0.816794 Centerline is valid? [False, False] Translation: X:10.33, Y:0.50, Z:-0.24 [[ 0.98668494 0.09902369 -0.12902381 10.33228401] [-0.09456961 0.99470556 0.04021742 0.49686365] [ 0.13232318 -0.02748019 0.99082562 -0.24448278] [ 0. 0. 0. 1. ]] SLAMing on 118.968241008 meters Centerline goodness : 0.818107 Centerline is valid? [False, False] Translation: X:10.34, Y:0.49, Z:-0.25 [[ 0.98768477 0.10280166 -0.11794324 10.33618057] [-0.0979171 0.99410751 0.04650265 0.49313084] [ 0.12202881 -0.0343813 0.99193089 -0.24654409] [ 0. 0. 0. 1. ]] SLAMing on 118.99824100800001 meters Centerline goodness : 0.817031 Centerline is valid? [False, False] Translation: X:10.34, Y:0.49, Z:-0.25 [[ 0.98847765 0.10725685 -0.10680781 10.34062009] [-0.10218208 0.99340992 0.05191864 0.48929677] [ 0.11167257 -0.04040657 0.99292323 -0.24874199] [ 0. 0. 0. 1. ]] SLAMing on 119.02824100800001 meters Centerline goodness : 0.817684 Centerline is valid? [False, False] Translation: X:10.35, Y:0.49, Z:-0.25 [[ 0.98911484 0.11138818 -0.09614839 10.34572126] [-0.10629571 0.99272408 0.05656955 0.48556467] [ 0.10175 -0.04573362 0.99375821 -0.25061775] [ 0. 0. 0. 1. ]] SLAMing on 119.05824100800001 meters Centerline goodness : 0.816100 Centerline is valid? [False, False] Translation: X:10.35, Y:0.48, Z:-0.25 [[ 0.98959953 0.1156807 -0.08550292 10.35035107] [-0.1107082 0.99199219 0.0607881 0.48085152] [ 0.09185024 -0.05069 0.9944818 -0.25187608] [ 0. 0. 0. 1. ]] SLAMing on 119.08824100800001 meters Centerline goodness : 0.816019 Centerline is valid? [False, False] Translation: X:10.35, Y:0.48, Z:-0.26 [[ 0.99007503 0.1201812 -0.07285549 10.35161826] [-0.11599724 0.99148471 0.05918367 0.47609405] [ 0.07934787 -0.05014523 0.99558494 -0.25799581] [ 0. 0. 0. 1. ]] SLAMing on 119.11824100800001 meters Centerline goodness : 0.816800 Centerline is valid? [False, False] Translation: X:10.35, Y:0.48, Z:-0.26 [[ 0.99005009 0.11969211 -0.07399067 10.35422326] [-0.11561784 0.99165084 0.05710621 0.4764204 ] [ 0.08020808 -0.04798337 0.99562255 -0.25839936] [ 0. 0. 0. 1. ]] SLAMing on 119.14824100800001 meters Centerline goodness : 0.815977 Centerline is valid? [False, False] Translation: X:10.36, Y:0.48, Z:-0.26 [[ 0.9899873 0.11982606 -0.07461138 10.35618404] [-0.11578854 0.99167776 0.05628701 0.47690148] [ 0.0807351 -0.04708428 0.99562288 -0.25914422] [ 0. 0. 0. 1. ]] SLAMing on 119.17824100800001 meters Centerline goodness : 0.818338 Centerline is valid? [False, False] Translation: X:10.36, Y:0.48, Z:-0.26 [[ 0.98971899 0.12134308 -0.07571117 10.36019636] [-0.11726012 0.99150749 0.05624014 0.47796715] [ 0.08189254 -0.04678404 0.9955425 -0.26091734] [ 0. 0. 0. 1. ]] SLAMing on 119.20824100800002 meters Centerline goodness : 0.819495 Centerline is valid? [False, False] Translation: X:10.36, Y:0.48, Z:-0.26 [[ 0.98966008 0.12153308 -0.07617503 10.36227908] [-0.11748845 0.99152122 0.05551693 0.47914856] [ 0.08227631 -0.04599321 0.99554771 -0.26216336] [ 0. 0. 0. 1. ]] SLAMing on 119.23824100800002 meters Centerline goodness : 0.819386 Centerline is valid? [False, False] Translation: X:10.37, Y:0.48, Z:-0.26 [[ 0.98955781 0.12161515 -0.07736345 10.36550454] [-0.11761987 0.99157446 0.05427389 0.4793958 ] [ 0.08331215 -0.04460767 0.99552461 -0.26305087] [ 0. 0. 0. 1. ]] SLAMing on 119.26824100800002 meters Centerline goodness : 0.819907 Centerline is valid? [False, False] Translation: X:10.37, Y:0.48, Z:-0.26 [[ 0.98939453 0.12201223 -0.07881297 10.36873887] [-0.11809078 0.99160593 0.05265219 0.47897231] [ 0.08457562 -0.0427867 0.995498 -0.26323872] [ 0. 0. 0. 1. ]] SLAMing on 119.29824100800002 meters Centerline goodness : 0.821673 Centerline is valid? [False, False] Translation: X:10.38, Y:0.48, Z:-0.27 [[ 0.98913617 0.12795479 -0.07236851 10.37931907] [-0.12464664 0.9910134 0.04853506 0.47546524] [ 0.07792846 -0.03898729 0.99619634 -0.26753087] [ 0. 0. 0. 1. ]] SLAMing on 119.32824100800002 meters Centerline goodness : 0.823644 Centerline is valid? [False, False] Translation: X:10.38, Y:0.48, Z:-0.27 [[ 0.98896458 0.12880978 -0.07319227 10.38183167] [-0.12551907 0.99093285 0.04792753 0.47611712] [ 0.07870216 -0.0382116 0.99616557 -0.26833048] [ 0. 0. 0. 1. ]] SLAMing on 119.35824100800001 meters Centerline goodness : 0.822990 Centerline is valid? [False, False] Translation: X:10.38, Y:0.48, Z:-0.27 [[ 0.98878346 0.12988861 -0.07373074 10.38437386] [-0.12658585 0.99080104 0.04784676 0.47695602] [ 0.07926724 -0.03797682 0.99612974 -0.26968843] [ 0. 0. 0. 1. ]] SLAMing on 119.38824100800001 meters Centerline goodness : 0.824098 Centerline is valid? [False, False] Translation: X:10.39, Y:0.48, Z:-0.27 [[ 0.988267 0.13360489 -0.07401403 10.38609845] [-0.13012892 0.99023713 0.04996889 0.47637866] [ 0.07996753 -0.03975124 0.99600453 -0.26994735] [ 0. 0. 0. 1. ]] SLAMing on 119.41824100800001 meters Centerline goodness : 0.825108 Centerline is valid? [False, False] Translation: X:10.39, Y:0.48, Z:-0.27 [[ 0.98806942 0.13417146 -0.07560978 10.38976435] [-0.13072821 0.9902162 0.04880587 0.47578905] [ 0.08141839 -0.03833925 0.99594234 -0.27025878] [ 0. 0. 0. 1. ]] SLAMing on 119.44824100800001 meters Centerline goodness : 0.823200 Centerline is valid? [False, False] Translation: X:10.39, Y:0.47, Z:-0.27 [[ 0.98791882 0.13454077 -0.07691025 10.39266745] [-0.13119003 0.99023786 0.04709722 0.4744831 ] [ 0.08249594 -0.03643837 0.99592503 -0.2706311 ] [ 0. 0. 0. 1. ]] SLAMing on 119.47824100800001 meters Centerline goodness : 0.825487 Centerline is valid? [False, False] Translation: X:10.40, Y:0.47, Z:-0.27 [[ 0.9878229 0.13412266 -0.07884811 10.39688644] [-0.13094038 0.99040198 0.04425528 0.47342464] [ 0.08402696 -0.03339197 0.99590383 -0.27128669] [ 0. 0. 0. 1. ]] SLAMing on 119.50824100800001 meters Centerline goodness : 0.826562 Centerline is valid? [False, False] Translation: X:10.40, Y:0.47, Z:-0.27 [[ 0.98775028 0.13422192 -0.07958553 10.39878517] [-0.13105842 0.99040897 0.04374668 0.47195222] [ 0.08469399 -0.03278044 0.99586765 -0.2720182 ] [ 0. 0. 0. 1. ]] SLAMing on 119.53824100800001 meters Centerline goodness : 0.825637 Centerline is valid? [False, False] Translation: X:10.40, Y:0.47, Z:-0.27 [[ 0.98765905 0.13440295 -0.08040797 10.40253116] [-0.13114956 0.99036409 0.0444832 0.47005353] [ 0.08561183 -0.03338876 0.99576895 -0.27488608] [ 0. 0. 0. 1. ]] SLAMing on 119.56824100800002 meters Centerline goodness : 0.826956 Centerline is valid? [False, False] Translation: X:10.40, Y:0.47, Z:-0.28 [[ 0.98760787 0.13448955 -0.08089039 10.40485598] [-0.1311836 0.99034049 0.04490631 0.46886231] [ 0.08614846 -0.03373833 0.99571089 -0.27651089] [ 0. 0. 0. 1. ]] SLAMing on 119.59824100800002 meters Centerline goodness : 0.824429 Centerline is valid? [False, False] Translation: X:10.41, Y:0.47, Z:-0.28 [[ 0.987483 0.13490908 -0.08171206 10.40736621] [-0.13158311 0.99029094 0.04483007 0.46662173] [ 0.0869667 -0.03351701 0.99564723 -0.27762841] [ 0. 0. 0. 1. ]] SLAMing on 119.62824100800002 meters Centerline goodness : 0.825963 Centerline is valid? [False, False] Translation: X:10.42, Y:0.47, Z:-0.28 [[ 0.98805738 0.13276915 -0.07819831 10.42121572] [-0.13065058 0.99092363 0.03163523 0.46512177] [ 0.08168873 -0.02104077 0.99643577 -0.28249734] [ 0. 0. 0. 1. ]] SLAMing on 119.65824100800002 meters Centerline goodness : 0.826060 Centerline is valid? [False, False] Translation: X:10.44, Y:0.46, Z:-0.29 [[ 0.98841789 0.132298 -0.07434586 10.43605506] [-0.13110866 0.99115233 0.02067801 0.46471541] [ 0.07642373 -0.01069113 0.99701811 -0.28707958] [ 0. 0. 0. 1. ]] SLAMing on 119.68824100800002 meters Centerline goodness : 0.826940 Centerline is valid? [False, False] Translation: X:10.44, Y:0.46, Z:-0.29 [[ 0.98796752 0.1357587 -0.07409288 10.43760899] [-0.13417068 0.99061635 0.02602839 0.46036051] [ 0.0769312 -0.01577412 0.99691162 -0.28539721] [ 0. 0. 0. 1. ]] SLAMing on 119.718241008 meters Centerline goodness : 0.825259 Centerline is valid? [False, False] Translation: X:10.44, Y:0.46, Z:-0.29 [[ 0.98797462 0.13571843 -0.07407198 10.43902291] [-0.13420646 0.99063686 0.02504461 0.46309392] [ 0.07677744 -0.0148025 0.99693837 -0.28795736] [ 0. 0. 0. 1. ]] SLAMing on 119.74824100800001 meters Centerline goodness : 0.824464 Centerline is valid? [False, False] Translation: X:10.44, Y:0.46, Z:-0.29 [[ 0.98795445 0.13570803 -0.07435947 10.44010998] [-0.1341995 0.99064033 0.02494439 0.46315524] [ 0.07704864 -0.01466492 0.99691948 -0.28845106] [ 0. 0. 0. 1. ]] SLAMing on 119.77824100800001 meters Centerline goodness : 0.824950 Centerline is valid? [False, False] Translation: X:10.44, Y:0.46, Z:-0.29 [[ 0.98790184 0.13601996 -0.07448844 10.44018096] [-0.13448384 0.99059308 0.02528711 0.46138962] [ 0.07722729 -0.01496369 0.99690122 -0.28836024] [ 0. 0. 0. 1. ]] SLAMing on 119.80824100800001 meters Centerline goodness : 0.824772 Centerline is valid? [False, False] Translation: X:10.45, Y:0.46, Z:-0.29 [[ 9.88105036e-01 1.36772681e-01 -7.02970191e-02 1.04533882e+01] [-1.36063402e-01 9.90589523e-01 1.48036500e-02 4.59360070e-01] [ 7.16602255e-02 -5.06270958e-03 9.97416253e-01 -2.93026153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.83824100800001 meters Centerline goodness : 0.825746 Centerline is valid? [False, False] Translation: X:10.45, Y:0.46, Z:-0.29 [[ 9.88115786e-01 1.36533178e-01 -7.06107940e-02 1.04547309e+01] [-1.35836297e-01 9.90623693e-01 1.46013405e-02 4.58822890e-01] [ 7.19422930e-02 -4.83630627e-03 9.97397071e-01 -2.93944814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.86824100800001 meters Centerline goodness : 0.823968 Centerline is valid? [False, False] Translation: X:10.46, Y:0.46, Z:-0.30 [[ 9.88132531e-01 1.36267144e-01 -7.08898177e-02 1.04561819e+01] [-1.35586137e-01 9.90661578e-01 1.43539806e-02 4.58544788e-01] [ 7.21837946e-02 -4.57195871e-03 9.97380869e-01 -2.95059903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.89824100800001 meters Centerline goodness : 0.822664 Centerline is valid? [False, False] Translation: X:10.46, Y:0.46, Z:-0.30 [[ 9.88153645e-01 1.35946000e-01 -7.12113725e-02 1.04576100e+01] [-1.35269352e-01 9.90706206e-01 1.42623770e-02 4.57655072e-01] [ 7.24884618e-02 -4.46070358e-03 9.97359276e-01 -2.95940136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.92824100800001 meters Centerline goodness : 0.822353 Centerline is valid? [False, False] Translation: X:10.46, Y:0.46, Z:-0.30 [[ 9.88185229e-01 1.35476507e-01 -7.16663765e-02 1.04591413e+01] [-1.34793960e-01 9.90770478e-01 1.42985320e-02 4.55821752e-01] [ 7.29420453e-02 -4.46940348e-03 9.97326167e-01 -2.96394410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.95824100800002 meters Centerline goodness : 0.820658 Centerline is valid? [False, False] Translation: X:10.46, Y:0.45, Z:-0.30 [[ 9.88376284e-01 1.33831145e-01 -7.21217460e-02 1.04609736e+01] [-1.33083498e-01 9.90989859e-01 1.50957854e-02 4.49291029e-01] [ 7.34922051e-02 -5.32210206e-03 9.97281591e-01 -2.95247488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.98824100800002 meters Centerline goodness : 0.821782 Centerline is valid? [False, False] Translation: X:10.46, Y:0.45, Z:-0.30 [[ 9.88484399e-01 1.32666287e-01 -7.27890763e-02 1.04633861e+01] [-1.31901279e-01 9.91145707e-01 1.52394250e-02 4.45631932e-01] [ 7.41663384e-02 -5.46296159e-03 9.97230921e-01 -2.95501675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.01824100800002 meters Centerline goodness : 0.821875 Centerline is valid? [False, False] Translation: X:10.47, Y:0.44, Z:-0.29 [[ 9.88560929e-01 1.31774534e-01 -7.33673031e-02 1.04654638e+01] [-1.30936782e-01 9.91259416e-01 1.61347089e-02 4.41539117e-01] [ 7.48521738e-02 -6.34366423e-03 9.97174463e-01 -2.94708115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.04824100800002 meters Centerline goodness : 0.819645 Centerline is valid? [False, False] Translation: X:10.47, Y:0.44, Z:-0.29 [[ 9.88640192e-01 1.30801538e-01 -7.40373460e-02 1.04680942e+01] [-1.29908470e-01 9.91384110e-01 1.67730456e-02 4.38325075e-01] [ 7.55933885e-02 -6.96442876e-03 9.97114405e-01 -2.94489061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.07824100800002 meters Centerline goodness : 0.822261 Centerline is valid? [False, False] Translation: X:10.47, Y:0.44, Z:-0.29 [[ 9.88726756e-01 1.29879171e-01 -7.45037062e-02 1.04704575e+01] [-1.28961074e-01 9.91503508e-01 1.70245230e-02 4.36265937e-01] [ 7.60818171e-02 -7.22452350e-03 9.97075405e-01 -2.94895450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.10824100800001 meters Centerline goodness : 0.820024 Centerline is valid? [False, False] Translation: X:10.47, Y:0.43, Z:-0.30 [[ 9.89153311e-01 1.26863055e-01 -7.40371001e-02 1.04722877e+01] [-1.26013753e-01 9.91898634e-01 1.60510022e-02 4.33647166e-01] [ 7.54735776e-02 -6.54720908e-03 9.97126308e-01 -2.95739744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13824100800001 meters Centerline goodness : 0.821189 Centerline is valid? [False, False] Translation: X:10.47, Y:0.43, Z:-0.30 [[ 9.89644662e-01 1.22899269e-01 -7.41566734e-02 1.04714123e+01] [-1.22343402e-01 9.92415164e-01 1.20097462e-02 4.34075331e-01] [ 7.50701963e-02 -2.81280153e-03 9.97174285e-01 -2.95976152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.16824100800001 meters Centerline goodness : 0.821555 Centerline is valid? [False, False] Translation: X:10.42, Y:0.43, Z:-0.29 [[ 0.99051714 0.117181 -0.07172454 10.42432714] [-0.11605258 0.99304734 0.01971729 0.43472663] [ 0.07353636 -0.0112065 0.99722957 -0.29304078] [ 0. 0. 0. 1. ]] SLAMing on 120.19824100800001 meters Centerline goodness : 0.822355 Centerline is valid? [False, False] Translation: X:10.42, Y:0.43, Z:-0.29 [[ 0.99058152 0.11670361 -0.07161374 10.42369386] [-0.11553837 0.99309724 0.0202177 0.4341186 ] [ 0.07347888 -0.01175315 0.99722752 -0.29258346] [ 0. 0. 0. 1. ]] SLAMing on 120.22824100800001 meters Centerline goodness : 0.823178 Centerline is valid? [False, False] Translation: X:10.42, Y:0.43, Z:-0.29 [[ 0.99057958 0.11673871 -0.07158324 10.4242419 ] [-0.11559033 0.99309571 0.01999471 0.43412443] [ 0.07342317 -0.01153202 0.9972342 -0.2934124 ] [ 0. 0. 0. 1. ]] SLAMing on 120.25824100800001 meters Centerline goodness : 0.827645 Centerline is valid? [False, False] Translation: X:10.42, Y:0.44, Z:-0.29 [[ 0.99032814 0.11946121 -0.07056342 10.42246861] [-0.11809363 0.99273001 0.02325973 0.4353677 ] [ 0.07282906 -0.01470167 0.99723607 -0.29229737] [ 0. 0. 0. 1. ]] SLAMing on 120.28824100800001 meters Centerline goodness : 0.827952 Centerline is valid? [False, False] Translation: X:10.42, Y:0.44, Z:-0.29 [[ 0.99008663 0.12111286 -0.07113462 10.42381817] [-0.11974253 0.99253298 0.02323799 0.43645373] [ 0.07341788 -0.01448978 0.997196 -0.29195895] [ 0. 0. 0. 1. ]] SLAMing on 120.31824100800002 meters Centerline goodness : 0.828646 Centerline is valid? [False, False] Translation: X:10.42, Y:0.44, Z:-0.29 [[ 0.98980367 0.12307733 -0.07169842 10.42416983] [-0.12172392 0.99229826 0.02296621 0.4377659 ] [ 0.07397284 -0.01400463 0.99716192 -0.29031087] [ 0. 0. 0. 1. ]] SLAMing on 120.34824100800002 meters Centerline goodness : 0.830895 Centerline is valid? [False, False] Translation: X:10.43, Y:0.44, Z:-0.29 [[ 0.98939073 0.1256208 -0.07297535 10.42577283] [-0.124393 0.99200757 0.02115099 0.43958816] [ 0.0750491 -0.01184897 0.99710944 -0.2885744 ] [ 0. 0. 0. 1. ]] SLAMing on 120.37824100800002 meters Centerline goodness : 0.831477 Centerline is valid? [False, False] Translation: X:10.43, Y:0.44, Z:-0.29 [[ 0.98921993 0.12684534 -0.07317233 10.42638813] [-0.12558334 0.99184756 0.02161598 0.43998111] [ 0.07531769 -0.01219373 0.99708503 -0.28843438] [ 0. 0. 0. 1. ]] SLAMing on 120.40824100800002 meters Centerline goodness : 0.832438 Centerline is valid? [False, False] Translation: X:10.43, Y:0.44, Z:-0.29 [[ 0.98911354 0.12774773 -0.07304058 10.42637901] [-0.12646021 0.99172753 0.02200747 0.44084016] [ 0.07524776 -0.01253116 0.99708613 -0.28823022] [ 0. 0. 0. 1. ]] SLAMing on 120.43824100800002 meters Centerline goodness : 0.834652 Centerline is valid? [False, False] Translation: X:10.43, Y:0.44, Z:-0.29 [[ 0.98903548 0.12838355 -0.07298281 10.4263474 ] [-0.12706978 0.9916411 0.02238735 0.44146607] [ 0.07524692 -0.01286798 0.9970819 -0.28781965] [ 0. 0. 0. 1. ]] SLAMing on 120.468241008 meters Centerline goodness : 0.838965 Centerline is valid? [False, False] Translation: X:10.43, Y:0.44, Z:-0.29 [[ 0.98881519 0.130102 -0.07292448 10.42630805] [-0.12881903 0.99142297 0.02204886 0.44354198] [ 0.0751676 -0.01240819 0.99709371 -0.28713376] [ 0. 0. 0. 1. ]] SLAMing on 120.49824100800001 meters Centerline goodness : 0.838965 Centerline is valid? [False, False] Translation: X:10.43, Y:0.44, Z:-0.29 [[ 0.98881519 0.130102 -0.07292448 10.42630805] [-0.12881903 0.99142297 0.02204886 0.44354198] [ 0.0751676 -0.01240819 0.99709371 -0.28713376] [ 0. 0. 0. 1. ]] SLAMing on 120.52824100800001 meters Centerline goodness : 0.842712 Centerline is valid? [False, False] Translation: X:10.43, Y:0.44, Z:-0.29 [[ 9.88360262e-01 1.32033787e-01 -7.55716268e-02 1.04307999e+01] [-1.30969068e-01 9.91206332e-01 1.88973498e-02 4.44204393e-01] [ 7.74021636e-02 -8.77984402e-03 9.96961293e-01 -2.86142998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.55824100800001 meters Centerline goodness : 0.842707 Centerline is valid? [False, False] Translation: X:10.43, Y:0.44, Z:-0.28 [[ 9.88149753e-01 1.33151591e-01 -7.63591458e-02 1.04309075e+01] [-1.32154821e-01 9.91065929e-01 1.79841116e-02 4.43687503e-01] [ 7.80715608e-02 -7.67976623e-03 9.96918177e-01 -2.84055534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.58824100800001 meters Centerline goodness : 0.843384 Centerline is valid? [False, False] Translation: X:10.43, Y:0.44, Z:-0.28 [[ 9.87954823e-01 1.33543259e-01 -7.81758630e-02 1.04346719e+01] [-1.32754017e-01 9.91031986e-01 1.52306609e-02 4.44010355e-01] [ 7.95087329e-02 -4.66904508e-03 9.96823235e-01 -2.84594218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.61824100800001 meters Centerline goodness : 0.847369 Centerline is valid? [False, False] Translation: X:10.43, Y:0.44, Z:-0.29 [[ 9.87944677e-01 1.33815150e-01 -7.78384334e-02 1.04346692e+01] [-1.32969595e-01 9.90991449e-01 1.59698130e-02 4.44864108e-01] [ 7.92742248e-02 -5.42714676e-03 9.96838073e-01 -2.85102517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.64824100800001 meters Centerline goodness : 0.846162 Centerline is valid? [False, False] Translation: X:10.44, Y:0.44, Z:-0.29 [[ 9.87907225e-01 1.33721433e-01 -7.84722476e-02 1.04372777e+01] [-1.32910367e-01 9.91006965e-01 1.54928695e-02 4.44492491e-01] [ 7.98382726e-02 -4.87574247e-03 9.96795906e-01 -2.86822617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.67824100800001 meters Centerline goodness : 0.846130 Centerline is valid? [False, False] Translation: X:10.44, Y:0.44, Z:-0.29 [[ 9.88001644e-01 1.38831423e-01 -6.76652622e-02 1.04400709e+01] [-1.37844371e-01 9.90270355e-01 1.90670656e-02 4.38827988e-01] [ 6.96540111e-02 -9.51101662e-03 9.97525869e-01 -2.86591550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.70824100800002 meters Centerline goodness : 0.846130 Centerline is valid? [False, False] Translation: X:10.44, Y:0.44, Z:-0.29 [[ 9.88001644e-01 1.38831423e-01 -6.76652622e-02 1.04400709e+01] [-1.37844371e-01 9.90270355e-01 1.90670656e-02 4.38827988e-01] [ 6.96540111e-02 -9.51101662e-03 9.97525869e-01 -2.86591550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.73824100800002 meters Centerline goodness : 0.849452 Centerline is valid? [False, False] Translation: X:10.44, Y:0.44, Z:-0.29 [[ 9.88030309e-01 1.37314747e-01 -7.02905972e-02 1.04441618e+01] [-1.36663430e-01 9.90518383e-01 1.40156786e-02 4.36384595e-01] [ 7.15486880e-02 -4.24176114e-03 9.97428089e-01 -2.86708092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.76824100800002 meters Centerline goodness : 0.850815 Centerline is valid? [False, False] Translation: X:10.44, Y:0.44, Z:-0.29 [[ 9.88081665e-01 1.36906280e-01 -7.03654370e-02 1.04441575e+01] [-1.36286102e-01 9.90576672e-01 1.35630265e-02 4.36241966e-01] [ 7.15592239e-02 -3.81154671e-03 9.97429070e-01 -2.86511905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.79824100800002 meters Centerline goodness : 0.850392 Centerline is valid? [False, False] Translation: X:10.44, Y:0.44, Z:-0.29 [[ 9.88168309e-01 1.36330529e-01 -7.02664870e-02 1.04449979e+01] [-1.35702059e-01 9.90655465e-01 1.36638340e-02 4.35657066e-01] [ 7.14726771e-02 -3.96686082e-03 9.97434670e-01 -2.88003668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.82824100800002 meters Centerline goodness : 0.854601 Centerline is valid? [False, False] Translation: X:10.45, Y:0.43, Z:-0.29 [[ 9.88481170e-01 1.34191132e-01 -6.99836914e-02 1.04450064e+01] [-1.33562683e-01 9.90946984e-01 1.36046027e-02 4.33649635e-01] [ 7.11757450e-02 -4.10068403e-03 9.97455361e-01 -2.89436931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.85824100800001 meters Centerline goodness : 0.853835 Centerline is valid? [False, False] Translation: X:10.45, Y:0.43, Z:-0.29 [[ 9.88563981e-01 1.33268521e-01 -7.05744799e-02 1.04458953e+01] [-1.32684181e-01 9.91074090e-01 1.29250175e-02 4.31588056e-01] [ 7.16670364e-02 -3.41308966e-03 9.97422772e-01 -2.89619483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.88824100800001 meters Centerline goodness : 0.855969 Centerline is valid? [False, False] Translation: X:10.44, Y:0.43, Z:-0.29 [[ 9.88860525e-01 1.32133177e-01 -6.85250755e-02 1.04429709e+01] [-1.31559832e-01 9.91225159e-01 1.28333323e-02 4.27170472e-01] [ 6.96194878e-02 -3.67522824e-03 9.97566850e-01 -2.90002113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.91824100800001 meters Centerline goodness : 0.858365 Centerline is valid? [False, False] Translation: X:10.44, Y:0.43, Z:-0.29 [[ 9.88952691e-01 1.31566520e-01 -6.82848851e-02 1.04420081e+01] [-1.30959891e-01 9.91298381e-01 1.33051684e-02 4.25464149e-01] [ 6.94412108e-02 -4.21560095e-03 9.97577138e-01 -2.89564236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.94824100800001 meters Centerline goodness : 0.858586 Centerline is valid? [False, False] Translation: X:10.44, Y:0.42, Z:-0.29 [[ 9.88949797e-01 1.31409328e-01 -6.86286158e-02 1.04432012e+01] [-1.30755073e-01 9.91316419e-01 1.39595104e-02 4.23212551e-01] [ 6.98670835e-02 -4.83171530e-03 9.97544608e-01 -2.89399531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.97824100800001 meters Centerline goodness : 0.858975 Centerline is valid? [False, False] Translation: X:10.44, Y:0.42, Z:-0.29 [[ 9.89121545e-01 1.30300440e-01 -6.82668642e-02 1.04425532e+01] [-1.29585306e-01 9.91457517e-01 1.48202537e-02 4.21967459e-01] [ 6.96147813e-02 -5.81264977e-03 9.97557014e-01 -2.89698015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.00824100800001 meters Centerline goodness : 0.858175 Centerline is valid? [False, False] Translation: X:10.44, Y:0.42, Z:-0.29 [[ 9.89522634e-01 1.27644113e-01 -6.74680411e-02 1.04421475e+01] [-1.26867677e-01 9.91795586e-01 1.56878616e-02 4.18794654e-01] [ 6.89169685e-02 -6.96398051e-03 9.97598093e-01 -2.92077247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.03824100800001 meters Centerline goodness : 0.861461 Centerline is valid? [False, False] Translation: X:10.44, Y:0.42, Z:-0.29 [[ 9.89693972e-01 1.26240587e-01 -6.75955354e-02 1.04416746e+01] [-1.25480110e-01 9.91976642e-01 1.53975522e-02 4.17278747e-01] [ 6.89969882e-02 -6.75696943e-03 9.97593985e-01 -2.91642978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.06824100800002 meters Centerline goodness : 0.860915 Centerline is valid? [False, False] Translation: X:10.45, Y:0.42, Z:-0.29 [[ 9.89867672e-01 1.23900826e-01 -6.93583199e-02 1.04452642e+01] [-1.23376684e-01 9.92289669e-01 1.18070751e-02 4.15411706e-01] [ 7.02864506e-02 -3.13024248e-03 9.97521938e-01 -2.92933955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.09824100800002 meters Centerline goodness : 0.863282 Centerline is valid? [False, False] Translation: X:10.42, Y:0.41, Z:-0.29 [[ 9.89973685e-01 1.21877047e-01 -7.14009023e-02 1.04235608e+01] [-1.20837034e-01 9.92495740e-01 1.87247790e-02 4.13966776e-01] [ 7.31472121e-02 -9.90916520e-03 9.97271926e-01 -2.88176201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.12824100800002 meters Centerline goodness : 0.862719 Centerline is valid? [False, False] Translation: X:10.42, Y:0.41, Z:-0.29 [[ 9.90549708e-01 1.17306306e-01 -7.10669141e-02 1.04220696e+01] [-1.16478652e-01 9.93069180e-01 1.56948230e-02 4.13083185e-01] [ 7.24154638e-02 -7.26872401e-03 9.97348067e-01 -2.88150595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.15824100800002 meters Centerline goodness : 0.863930 Centerline is valid? [False, False] Translation: X:10.42, Y:0.41, Z:-0.29 [[ 9.90782858e-01 1.15825519e-01 -7.02408474e-02 1.04201010e+01] [-1.14979355e-01 9.93239242e-01 1.59860974e-02 4.12705707e-01] [ 7.16175641e-02 -7.76250395e-03 9.97401959e-01 -2.87748918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.18824100800002 meters Centerline goodness : 0.866436 Centerline is valid? [False, False] Translation: X:10.42, Y:0.41, Z:-0.30 [[ 9.91167196e-01 1.20300264e-01 -5.58160913e-02 1.04182036e+01] [-1.19593488e-01 9.92696468e-01 1.58467655e-02 4.08324345e-01] [ 5.73148067e-02 -9.03155311e-03 9.98315303e-01 -2.95288770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.218241008 meters Centerline goodness : 0.868931 Centerline is valid? [False, False] Translation: X:10.42, Y:0.41, Z:-0.30 [[ 9.91515738e-01 1.17750509e-01 -5.50577798e-02 1.04165107e+01] [-1.17070575e-01 9.93003769e-01 1.54271019e-02 4.06463633e-01] [ 5.64891319e-02 -8.85056836e-03 9.98363984e-01 -2.95559471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.24824100800001 meters Centerline goodness : 0.868066 Centerline is valid? [False, False] Translation: X:10.42, Y:0.40, Z:-0.30 [[ 9.91529736e-01 1.17328012e-01 -5.57038587e-02 1.04178775e+01] [-1.16682035e-01 9.93060202e-01 1.47220077e-02 4.04787385e-01] [ 5.70445891e-02 -8.09766886e-03 9.98338792e-01 -2.96001653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.27824100800001 meters Centerline goodness : 0.869583 Centerline is valid? [False, False] Translation: X:10.42, Y:0.40, Z:-0.30 [[ 9.91505002e-01 1.17318583e-01 -5.61620951e-02 1.04188149e+01] [-1.16695199e-01 9.93065328e-01 1.42648346e-02 4.03656789e-01] [ 5.74461596e-02 -7.58980803e-03 9.98319755e-01 -2.96170681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.30824100800001 meters Centerline goodness : 0.870380 Centerline is valid? [False, False] Translation: X:10.42, Y:0.40, Z:-0.30 [[ 9.91344097e-01 1.18184513e-01 -5.71778135e-02 1.04210693e+01] [-1.17612363e-01 9.92970753e-01 1.32821360e-02 4.02432852e-01] [ 5.83456394e-02 -6.44234939e-03 9.98275655e-01 -2.96554577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.33824100800001 meters Centerline goodness : 0.872126 Centerline is valid? [False, False] Translation: X:10.42, Y:0.40, Z:-0.30 [[ 9.91277668e-01 1.18946544e-01 -5.67477207e-02 1.04201780e+01] [-1.18400694e-01 9.92882126e-01 1.28980315e-02 4.04865110e-01] [ 5.78779739e-02 -6.06656109e-03 9.98305232e-01 -2.97479968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.36824100800001 meters Centerline goodness : 0.871421 Centerline is valid? [False, False] Translation: X:10.40, Y:0.41, Z:-0.29 [[ 0.991046 0.12068753 -0.05711692 10.39532453] [-0.11967675 0.99259477 0.02081081 0.40610303] [ 0.05920557 -0.0137889 0.99815057 -0.29404004] [ 0. 0. 0. 1. ]] SLAMing on 121.39824100800001 meters Centerline goodness : 0.874829 Centerline is valid? [False, False] Translation: X:10.39, Y:0.41, Z:-0.29 [[ 0.99094772 0.1216719 -0.05673236 10.3935089 ] [-0.12064833 0.99247011 0.02114383 0.40632747] [ 0.05887778 -0.01410777 0.99816551 -0.29340746] [ 0. 0. 0. 1. ]] SLAMing on 121.42824100800001 meters Centerline goodness : 0.872268 Centerline is valid? [False, False] Translation: X:10.39, Y:0.41, Z:-0.29 [[ 0.9908486 0.12275545 -0.05612628 10.39132848] [-0.12172834 0.99233318 0.02137946 0.4073658 ] [ 0.05832041 -0.01435165 0.99819475 -0.29289539] [ 0. 0. 0. 1. ]] SLAMing on 121.45824100800002 meters Centerline goodness : 0.875810 Centerline is valid? [False, False] Translation: X:10.39, Y:0.41, Z:-0.29 [[ 0.99022264 0.12818277 -0.05503002 10.38958213] [-0.12693716 0.99158093 0.02557771 0.40867111] [ 0.05784534 -0.01834227 0.99815704 -0.29288097] [ 0. 0. 0. 1. ]] SLAMing on 121.48824100800002 meters Centerline goodness : 0.875954 Centerline is valid? [False, False] Translation: X:10.39, Y:0.41, Z:-0.29 [[ 0.98963442 0.13288891 -0.05444496 10.38910398] [-0.1313654 0.9908591 0.03068174 0.40766991] [ 0.05802455 -0.02321153 0.99804528 -0.2910431 ] [ 0. 0. 0. 1. ]] SLAMing on 121.51824100800002 meters Centerline goodness : 0.874439 Centerline is valid? [False, False] Translation: X:10.39, Y:0.41, Z:-0.29 [[ 0.98952147 0.13393782 -0.05392514 10.38732875] [-0.13242626 0.99071711 0.03070658 0.40940632] [ 0.05753733 -0.02324372 0.99807274 -0.29091169] [ 0. 0. 0. 1. ]] SLAMing on 121.54824100800002 meters Centerline goodness : 0.878883 Centerline is valid? [False, False] Translation: X:10.38, Y:0.41, Z:-0.29 [[ 0.98925114 0.1362712 -0.05303145 10.38311457] [-0.13475654 0.99038816 0.03117632 0.41008015] [ 0.05677016 -0.02369488 0.99810606 -0.29001335] [ 0. 0. 0. 1. ]] SLAMing on 121.57824100800002 meters Centerline goodness : 0.880148 Centerline is valid? [False, False] Translation: X:10.38, Y:0.41, Z:-0.29 [[ 0.98869228 0.14027313 -0.05301904 10.38400543] [-0.13843945 0.98968608 0.03682355 0.40628467] [ 0.05763756 -0.02906723 0.99791433 -0.28704785] [ 0. 0. 0. 1. ]] SLAMing on 121.60824100800001 meters Centerline goodness : 0.879942 Centerline is valid? [False, False] Translation: X:10.38, Y:0.41, Z:-0.29 [[ 0.98910135 0.13735963 -0.05301746 10.38232414] [-0.13580301 0.99022084 0.03194089 0.40934844] [ 0.05688638 -0.02439284 0.99808263 -0.28889583] [ 0. 0. 0. 1. ]] SLAMing on 121.63824100800001 meters Centerline goodness : 0.879114 Centerline is valid? [False, False] Translation: X:10.38, Y:0.41, Z:-0.29 [[ 0.98909536 0.13736023 -0.05312749 10.38304373] [-0.13580592 0.99022327 0.03185326 0.40932075] [ 0.05698344 -0.02429089 0.99807958 -0.28932501] [ 0. 0. 0. 1. ]] SLAMing on 121.66824100800001 meters Centerline goodness : 0.879907 Centerline is valid? [False, False] Translation: X:10.38, Y:0.41, Z:-0.29 [[ 0.98905378 0.13769515 -0.05303465 10.38325932] [-0.13613801 0.99017457 0.03194935 0.40832728] [ 0.05691284 -0.0243796 0.99808144 -0.29006738] [ 0. 0. 0. 1. ]] SLAMing on 121.69824100800001 meters Centerline goodness : 0.879642 Centerline is valid? [False, False] Translation: X:10.38, Y:0.41, Z:-0.29 [[ 0.98906528 0.13753742 -0.053229 10.38416297] [-0.13596667 0.9901932 0.03210116 0.40764585] [ 0.05712211 -0.02451277 0.99806622 -0.29011401] [ 0. 0. 0. 1. ]] SLAMing on 121.72824100800001 meters Centerline goodness : 0.879850 Centerline is valid? [False, False] Translation: X:10.38, Y:0.41, Z:-0.29 [[ 0.98953453 0.13408095 -0.05332648 10.38321051] [-0.13277187 0.99076801 0.02739293 0.40928548] [ 0.05650705 -0.02002599 0.99820134 -0.29184803] [ 0. 0. 0. 1. ]] SLAMing on 121.75824100800001 meters Centerline goodness : 0.880643 Centerline is valid? [False, False] Translation: X:10.40, Y:0.41, Z:-0.30 [[ 9.89792793e-01 1.33661060e-01 -4.94464204e-02 1.03989573e+01] [-1.32984146e-01 9.90976614e-01 1.67501609e-02 4.08528165e-01] [ 5.12390905e-02 -1.00035985e-02 9.98636312e-01 -2.97059460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.78824100800001 meters Centerline goodness : 0.882469 Centerline is valid? [False, False] Translation: X:10.40, Y:0.40, Z:-0.30 [[ 9.90272847e-01 1.29902790e-01 -4.98493036e-02 1.03984429e+01] [-1.29356434e-01 9.91498649e-01 1.40478679e-02 4.03928116e-01] [ 5.12503744e-02 -7.46289398e-03 9.98657952e-01 -2.96224292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.81824100800002 meters Centerline goodness : 0.879706 Centerline is valid? [False, False] Translation: X:10.40, Y:0.40, Z:-0.30 [[ 9.90319828e-01 1.29345094e-01 -5.03635235e-02 1.04006368e+01] [-1.28743903e-01 9.91564164e-01 1.50172087e-02 4.00983794e-01] [ 5.18810673e-02 -8.38784295e-03 9.98618045e-01 -2.95598372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.84824100800002 meters Centerline goodness : 0.883329 Centerline is valid? [False, False] Translation: X:10.40, Y:0.40, Z:-0.30 [[ 9.90357962e-01 1.28859921e-01 -5.08549623e-02 1.04025586e+01] [-1.28241030e-01 9.91625554e-01 1.52643154e-02 3.98693963e-01] [ 5.23960386e-02 -8.59544353e-03 9.98589392e-01 -2.96217264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.87824100800002 meters Centerline goodness : 0.879983 Centerline is valid? [False, False] Translation: X:10.42, Y:0.39, Z:-0.29 [[ 0.99085135 0.12505001 -0.0507552 10.41653262] [-0.12406668 0.99202785 0.0220954 0.39025337] [ 0.0531136 -0.01559623 0.99846668 -0.29124667] [ 0. 0. 0. 1. ]] SLAMing on 121.90824100800002 meters Centerline goodness : 0.880773 Centerline is valid? [False, False] Translation: X:10.42, Y:0.39, Z:-0.29 [[ 0.99089943 0.12433802 -0.0515595 10.41911083] [-0.12331455 0.99211048 0.02259 0.38660361] [ 0.05396151 -0.01602638 0.9984144 -0.29126732] [ 0. 0. 0. 1. ]] SLAMing on 121.93824100800002 meters Centerline goodness : 0.883288 Centerline is valid? [False, False] Translation: X:10.43, Y:0.38, Z:-0.29 [[ 0.99117768 0.12208434 -0.05159669 10.43055386] [-0.1206581 0.99224315 0.02991917 0.37862764] [ 0.05484913 -0.02342966 0.99821973 -0.28535158] [ 0. 0. 0. 1. ]] SLAMing on 121.968241008 meters Centerline goodness : 0.884780 Centerline is valid? [False, False] Translation: X:10.43, Y:0.38, Z:-0.29 [[ 0.99121748 0.12150162 -0.05220412 10.43301782] [-0.1200884 0.99232729 0.02941638 0.37765064] [ 0.05537771 -0.02288892 0.99820309 -0.28703544] [ 0. 0. 0. 1. ]] SLAMing on 121.99824100800001 meters Centerline goodness : 0.883030 Centerline is valid? [False, False] Translation: X:10.43, Y:0.38, Z:-0.29 [[ 0.99123853 0.12112307 -0.05268185 10.43492097] [-0.11970953 0.99237892 0.02921832 0.37648414] [ 0.05581937 -0.02265581 0.99818381 -0.28814872] [ 0. 0. 0. 1. ]] SLAMing on 122.02824100800001 meters Centerline goodness : 0.880661 Centerline is valid? [False, False] Translation: X:10.44, Y:0.38, Z:-0.29 [[ 0.99125833 0.12070469 -0.05326624 10.43698368] [-0.11928461 0.99243383 0.02909069 0.37501759] [ 0.0563746 -0.02248255 0.99815652 -0.28907269] [ 0. 0. 0. 1. ]] SLAMing on 122.05824100800001 meters Centerline goodness : 0.883347 Centerline is valid? [False, False] Translation: X:10.44, Y:0.37, Z:-0.29 [[ 0.99127692 0.12029468 -0.05384483 10.43903342] [-0.11885321 0.99248154 0.02922855 0.37310282] [ 0.05695604 -0.02257395 0.99812145 -0.28944039] [ 0. 0. 0. 1. ]] SLAMing on 122.08824100800001 meters Centerline goodness : 0.884231 Centerline is valid? [False, False] Translation: X:10.44, Y:0.37, Z:-0.29 [[ 0.9913206 0.11955439 -0.05468282 10.44210448] [-0.11803499 0.99254917 0.03023058 0.368435 ] [ 0.05788959 -0.02351371 0.99804604 -0.28890603] [ 0. 0. 0. 1. ]] SLAMing on 122.11824100800001 meters Centerline goodness : 0.883122 Centerline is valid? [False, False] Translation: X:10.44, Y:0.37, Z:-0.29 [[ 0.99180708 0.11529639 -0.05500416 10.44255378] [-0.11408603 0.99316452 0.02466992 0.37071212] [ 0.05747253 -0.01819259 0.99818131 -0.29194879] [ 0. 0. 0. 1. ]] SLAMing on 122.14824100800001 meters Centerline goodness : 0.881027 Centerline is valid? [False, False] Translation: X:10.44, Y:0.37, Z:-0.29 [[ 0.99182966 0.11479283 -0.05564644 10.44472194] [-0.11353147 0.99321139 0.02533248 0.36929915] [ 0.05817667 -0.01880789 0.99812912 -0.2909212 ] [ 0. 0. 0. 1. ]] SLAMing on 122.17824100800001 meters Centerline goodness : 0.882069 Centerline is valid? [False, False] Translation: X:10.45, Y:0.37, Z:-0.29 [[ 0.9918678 0.11422546 -0.05613213 10.4463787 ] [-0.11299659 0.99329056 0.02460968 0.37052225] [ 0.05856657 -0.01806681 0.99812001 -0.29171415] [ 0. 0. 0. 1. ]] SLAMing on 122.20824100800002 meters Centerline goodness : 0.881097 Centerline is valid? [False, False] Translation: X:10.45, Y:0.37, Z:-0.29 [[ 0.99191461 0.11340144 -0.05696949 10.44926768] [-0.11215101 0.99338422 0.02469696 0.37064061] [ 0.05939327 -0.01810809 0.99807041 -0.29130257] [ 0. 0. 0. 1. ]] SLAMing on 122.23824100800002 meters Centerline goodness : 0.880095 Centerline is valid? [False, False] Translation: X:10.47, Y:0.37, Z:-0.28 [[ 0.99254855 0.10843502 -0.05558085 10.46790493] [-0.10661607 0.99369399 0.03471708 0.36645499] [ 0.0589949 -0.02853258 0.99785044 -0.28116204] [ 0. 0. 0. 1. ]] SLAMing on 122.26824100800002 meters Centerline goodness : 0.877590 Centerline is valid? [False, False] Translation: X:10.47, Y:0.37, Z:-0.28 [[ 0.99258952 0.10762911 -0.05640935 10.47026653] [-0.10576665 0.99377372 0.03503163 0.36642915] [ 0.05982855 -0.0288058 0.99779295 -0.27997185] [ 0. 0. 0. 1. ]] SLAMing on 122.29824100800002 meters Centerline goodness : 0.880002 Centerline is valid? [False, False] Translation: X:10.47, Y:0.37, Z:-0.28 [[ 0.99264112 0.10679569 -0.05708143 10.47265513] [-0.10491332 0.99386446 0.03502317 0.36731078] [ 0.06047152 -0.02877684 0.99775502 -0.27937182] [ 0. 0. 0. 1. ]] SLAMing on 122.32824100800002 meters Centerline goodness : 0.874725 Centerline is valid? [False, False] Translation: X:10.47, Y:0.37, Z:-0.28 [[ 0.99269993 0.10599833 -0.0575431 10.4744933 ] [-0.10412476 0.99396067 0.03464414 0.3680655 ] [ 0.0608678 -0.02839958 0.99774174 -0.27951602] [ 0. 0. 0. 1. ]] SLAMing on 122.35824100800001 meters Centerline goodness : 0.879797 Centerline is valid? [False, False] Translation: X:10.48, Y:0.37, Z:-0.28 [[ 0.99274071 0.10542821 -0.05788584 10.4758117 ] [-0.10355089 0.99402445 0.03453403 0.36847095] [ 0.0611808 -0.02828921 0.99772573 -0.2793798 ] [ 0. 0. 0. 1. ]] SLAMing on 122.38824100800001 meters Centerline goodness : 0.878507 Centerline is valid? [False, False] Translation: X:10.48, Y:0.37, Z:-0.28 [[ 0.99277971 0.10493184 -0.05811856 10.47687028] [-0.10305939 0.99408236 0.03433704 0.36922576] [ 0.06137768 -0.02809945 0.997719 -0.27938543] [ 0. 0. 0. 1. ]] SLAMing on 122.41824100800001 meters Centerline goodness : 0.877252 Centerline is valid? [False, False] Translation: X:10.45, Y:0.37, Z:-0.28 [[ 0.99324662 0.10173968 -0.05576915 10.4514172 ] [-0.09981353 0.99434358 0.03630583 0.37454304] [ 0.05914744 -0.03049413 0.99778339 -0.28024182] [ 0. 0. 0. 1. ]] SLAMing on 122.44824100800001 meters Centerline goodness : 0.877724 Centerline is valid? [False, False] Translation: X:10.40, Y:0.38, Z:-0.28 [[ 0.99375469 0.09824961 -0.05290201 10.40396079] [-0.09595113 0.9943967 0.04436882 0.37987834] [ 0.0569648 -0.03901571 0.99761355 -0.27887668] [ 0. 0. 0. 1. ]] SLAMing on 122.47824100800001 meters Centerline goodness : 0.877460 Centerline is valid? [False, False] Translation: X:10.40, Y:0.38, Z:-0.28 [[ 0.99406322 0.09500637 -0.05302932 10.40277757] [-0.09300228 0.99489922 0.03906547 0.38430572] [ 0.0564703 -0.0339017 0.99782853 -0.28081002] [ 0. 0. 0. 1. ]] SLAMing on 122.50824100800001 meters Centerline goodness : 0.877042 Centerline is valid? [False, False] Translation: X:10.37, Y:0.39, Z:-0.29 [[ 0.99445405 0.09251869 -0.05001441 10.37416115] [-0.09077331 0.99521654 0.03611439 0.39257011] [ 0.05311643 -0.03137413 0.99809534 -0.28680943] [ 0. 0. 0. 1. ]] SLAMing on 122.53824100800001 meters Centerline goodness : 0.877676 Centerline is valid? [False, False] Translation: X:10.37, Y:0.40, Z:-0.29 [[ 0.99427453 0.09461618 -0.04965827 10.37185276] [-0.09302108 0.99510006 0.03351055 0.39985394] [ 0.05258558 -0.02869942 0.99820394 -0.29137328] [ 0. 0. 0. 1. ]] SLAMing on 122.56824100800002 meters Centerline goodness : 0.878701 Centerline is valid? [False, False] Translation: X:10.39, Y:0.41, Z:-0.30 [[ 0.99409584 0.09819608 -0.04616269 10.38682598] [-0.09721135 0.99499521 0.02311888 0.40523828] [ 0.04820184 -0.01849484 0.99866637 -0.29988357] [ 0. 0. 0. 1. ]] SLAMing on 122.59824100800002 meters Centerline goodness : 0.877324 Centerline is valid? [False, False] Translation: X:10.39, Y:0.41, Z:-0.30 [[ 0.99318695 0.1073228 -0.04540379 10.38614683] [-0.1059922 0.99389077 0.03076992 0.40904183] [ 0.04842872 -0.02574784 0.99849472 -0.29949764] [ 0. 0. 0. 1. ]] SLAMing on 122.62824100800002 meters Centerline goodness : 0.877324 Centerline is valid? [False, False] Translation: X:10.39, Y:0.41, Z:-0.30 [[ 0.9931839 0.10736027 -0.04538179 10.38607869] [-0.10603248 0.99388789 0.03072429 0.40914276] [ 0.04840298 -0.02570293 0.99849713 -0.29954252] [ 0. 0. 0. 1. ]] SLAMing on 122.65824100800002 meters Centerline goodness : 0.876718 Centerline is valid? [False, False] Translation: X:10.39, Y:0.41, Z:-0.30 [[ 0.99308979 0.10823485 -0.04536389 10.38538674] [-0.10696369 0.99382291 0.02957683 0.41348468] [ 0.04828492 -0.02452015 0.99853259 -0.30089854] [ 0. 0. 0. 1. ]] SLAMing on 122.68824100800002 meters Centerline goodness : 0.876718 Centerline is valid? [False, False] Translation: X:10.39, Y:0.41, Z:-0.30 [[ 0.99308923 0.10824268 -0.04535759 10.38537013] [-0.10697182 0.99382212 0.02957402 0.41349688] [ 0.04827855 -0.02451766 0.99853296 -0.30089872] [ 0. 0. 0. 1. ]] SLAMing on 122.718241008 meters Centerline goodness : 0.876227 Centerline is valid? [False, False] Translation: X:10.40, Y:0.42, Z:-0.31 [[ 0.99285505 0.11201669 -0.04112315 10.39757405] [-0.11126655 0.9935872 0.02010535 0.41726315] [ 0.04311157 -0.01538606 0.99895178 -0.30566526] [ 0. 0. 0. 1. ]] SLAMing on 122.74824100800001 meters Centerline goodness : 0.878107 Centerline is valid? [False, False] Translation: X:10.40, Y:0.42, Z:-0.31 [[ 0.9928469 0.11206145 -0.04119787 10.39755901] [-0.1113256 0.99358774 0.01974867 0.4183917 ] [ 0.04314676 -0.01502103 0.99895582 -0.30575331] [ 0. 0. 0. 1. ]] SLAMing on 122.77824100800001 meters Centerline goodness : 0.879498 Centerline is valid? [False, False] Translation: X:10.40, Y:0.42, Z:-0.31 [[ 0.99288771 0.11160096 -0.04146338 10.39904261] [-0.11089935 0.99365268 0.01885962 0.42008321] [ 0.04330495 -0.01412722 0.99896201 -0.30729007] [ 0. 0. 0. 1. ]] SLAMing on 122.80824100800001 meters Centerline goodness : 0.879304 Centerline is valid? [False, False] Translation: X:10.40, Y:0.42, Z:-0.31 [[ 0.99346864 0.10570113 -0.04298054 10.4021834 ] [-0.10513159 0.99434048 0.01530861 0.4192527 ] [ 0.04435543 -0.01069001 0.99895862 -0.30512018] [ 0. 0. 0. 1. ]] SLAMing on 122.83824100800001 meters Centerline goodness : 0.883320 Centerline is valid? [False, False] Translation: X:10.40, Y:0.42, Z:-0.30 [[ 0.99351894 0.10477764 -0.04406553 10.40496297] [-0.10416757 0.99443223 0.01592653 0.4172404 ] [ 0.04548892 -0.01123311 0.99890168 -0.30371043] [ 0. 0. 0. 1. ]] SLAMing on 122.86824100800001 meters Centerline goodness : 0.887717 Centerline is valid? [False, False] Translation: X:10.41, Y:0.42, Z:-0.30 [[ 0.99358053 0.10384912 -0.04486743 10.40779437] [-0.10325062 0.99453517 0.01546325 0.41721197] [ 0.04622808 -0.01073139 0.99887327 -0.30458154] [ 0. 0. 0. 1. ]] SLAMing on 122.89824100800001 meters Centerline goodness : 0.884221 Centerline is valid? [False, False] Translation: X:10.41, Y:0.42, Z:-0.31 [[ 9.93643864e-01 1.02973705e-01 -4.54784366e-02 1.04107693e+01] [-1.02412635e-01 9.94636235e-01 1.45055993e-02 4.18125022e-01] [ 4.67281963e-02 -9.75583326e-03 9.98860000e-01 -3.06845459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.92824100800001 meters Centerline goodness : 0.884387 Centerline is valid? [False, False] Translation: X:10.43, Y:0.42, Z:-0.30 [[ 0.99359159 0.10321313 -0.04607396 10.42632515] [-0.10219141 0.9944749 0.02401237 0.41533727] [ 0.04829778 -0.01915012 0.99864939 -0.30311202] [ 0. 0. 0. 1. ]] SLAMing on 122.95824100800002 meters Centerline goodness : 0.881788 Centerline is valid? [False, False] Translation: X:10.43, Y:0.42, Z:-0.30 [[ 0.99359485 0.1031634 -0.0461149 10.42665838] [-0.10214576 0.99448203 0.02391096 0.41517188] [ 0.04832718 -0.01904737 0.99864993 -0.3034154 ] [ 0. 0. 0. 1. ]] SLAMing on 122.98824100800002 meters Centerline goodness : 0.881773 Centerline is valid? [False, False] Translation: X:10.43, Y:0.41, Z:-0.30 [[ 0.99357463 0.103301 -0.04624245 10.4267599 ] [-0.10227642 0.99446631 0.02400618 0.41452432] [ 0.04846642 -0.01912242 0.99864175 -0.30326221] [ 0. 0. 0. 1. ]] SLAMing on 123.01824100800002 meters Centerline goodness : 0.882267 Centerline is valid? [False, False] Translation: X:10.43, Y:0.41, Z:-0.30 [[ 0.993556 0.10336212 -0.04650534 10.42711764] [-0.10232872 0.99445902 0.02408504 0.41419742] [ 0.04873713 -0.01917101 0.99862764 -0.30289422] [ 0. 0. 0. 1. ]] SLAMing on 123.04824100800002 meters Centerline goodness : 0.885576 Centerline is valid? [False, False] Translation: X:10.44, Y:0.42, Z:-0.31 [[ 0.99349542 0.10585874 -0.0419615 10.44170032] [-0.10530114 0.99432284 0.01528941 0.41532751] [ 0.0433418 -0.01077137 0.99900224 -0.30810851] [ 0. 0. 0. 1. ]] SLAMing on 123.07824100800002 meters Centerline goodness : 0.885576 Centerline is valid? [False, False] Translation: X:10.44, Y:0.42, Z:-0.31 [[ 0.99349528 0.10586084 -0.0419596 10.44169555] [-0.10530331 0.99432263 0.01528822 0.41533124] [ 0.0433398 -0.01077029 0.99900233 -0.30810926] [ 0. 0. 0. 1. ]] SLAMing on 123.10824100800001 meters Centerline goodness : 0.883271 Centerline is valid? [False, False] Translation: X:10.44, Y:0.42, Z:-0.31 [[ 9.93767607e-01 1.03352774e-01 -4.17629825e-02 1.04390368e+01] [-1.03012182e-01 9.94627461e-01 1.02324628e-02 4.17740968e-01] [ 4.25961627e-02 -5.86659412e-03 9.99075147e-01 -3.10192330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.13824100800001 meters Centerline goodness : 0.882857 Centerline is valid? [False, False] Translation: X:10.44, Y:0.42, Z:-0.31 [[ 9.93786184e-01 1.02972530e-01 -4.22572800e-02 1.04405120e+01] [-1.02631026e-01 9.94667415e-01 1.01787147e-02 4.16991707e-01] [ 4.30800675e-02 -5.77855807e-03 9.99054911e-01 -3.10334405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.16824100800001 meters Centerline goodness : 0.882356 Centerline is valid? [False, False] Translation: X:10.44, Y:0.42, Z:-0.31 [[ 9.93809665e-01 1.02629879e-01 -4.25377241e-02 1.04416441e+01] [-1.02302516e-01 9.94704978e-01 9.80828415e-03 4.17238671e-01] [ 4.33191089e-02 -5.39585138e-03 9.99046715e-01 -3.10986303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.19824100800001 meters Centerline goodness : 0.880415 Centerline is valid? [False, False] Translation: X:10.44, Y:0.42, Z:-0.31 [[ 9.93853005e-01 1.02054647e-01 -4.29074971e-02 1.04434299e+01] [-1.01757436e-01 9.94767979e-01 9.06045588e-03 4.18126673e-01] [ 4.36076658e-02 -4.63860441e-03 9.99037965e-01 -3.12474164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.22824100800001 meters Centerline goodness : 0.881796 Centerline is valid? [False, False] Translation: X:10.45, Y:0.42, Z:-0.32 [[ 9.93945806e-01 1.00677839e-01 -4.39966738e-02 1.04482307e+01] [-1.00439185e-01 9.94914116e-01 7.60731426e-03 4.19291960e-01] [ 4.45387998e-02 -3.14226804e-03 9.99002713e-01 -3.15741174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.25824100800001 meters Centerline goodness : 0.881709 Centerline is valid? [False, False] Translation: X:10.45, Y:0.42, Z:-0.32 [[ 9.94002925e-01 9.97469033e-02 -4.48189818e-02 1.04514806e+01] [-9.95186842e-02 9.95008913e-01 7.30035881e-03 4.19048408e-01] [ 4.53234746e-02 -2.79625191e-03 9.98968450e-01 -3.16661402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.28824100800001 meters Centerline goodness : 0.878930 Centerline is valid? [False, False] Translation: X:10.45, Y:0.42, Z:-0.32 [[ 9.94045560e-01 9.90353787e-02 -4.54468786e-02 1.04541004e+01] [-9.88230722e-02 9.95081095e-01 6.90029573e-03 4.18429940e-01] [ 4.59067032e-02 -2.36800816e-03 9.98942925e-01 -3.18023421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.31824100800002 meters Centerline goodness : 0.876268 Centerline is valid? [False, False] Translation: X:10.47, Y:0.42, Z:-0.32 [[ 9.94237508e-01 9.63774150e-02 -4.69379564e-02 1.04668449e+01] [-9.59387907e-02 9.95320630e-01 1.15148848e-02 4.15057747e-01] [ 4.78280912e-02 -6.94535955e-03 9.98831435e-01 -3.15158834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.34824100800002 meters Centerline goodness : 0.878150 Centerline is valid? [False, False] Translation: X:10.47, Y:0.41, Z:-0.31 [[ 0.99429507 0.09568986 -0.04712506 10.47403606] [-0.09495867 0.99532698 0.01752294 0.41121787] [ 0.04858162 -0.01294804 0.99873529 -0.30980978] [ 0. 0. 0. 1. ]] SLAMing on 123.37824100800002 meters Centerline goodness : 0.878703 Centerline is valid? [False, False] Translation: X:10.48, Y:0.41, Z:-0.31 [[ 0.99436144 0.09451442 -0.04808692 10.47707882] [-0.09371728 0.99542556 0.01857502 0.40871961] [ 0.04962256 -0.01396371 0.99867042 -0.30761588] [ 0. 0. 0. 1. ]] SLAMing on 123.40824100800002 meters Centerline goodness : 0.877744 Centerline is valid? [False, False] Translation: X:10.48, Y:0.41, Z:-0.31 [[ 0.99480744 0.08942092 -0.04860101 10.4783624 ] [-0.08879252 0.99593805 0.0149428 0.40771077] [ 0.04973979 -0.0105498 0.99870649 -0.30648185] [ 0. 0. 0. 1. ]] SLAMing on 123.43824100800002 meters Centerline goodness : 0.878737 Centerline is valid? [False, False] Translation: X:10.48, Y:0.41, Z:-0.31 [[ 0.99489241 0.08817876 -0.04912843 10.48063876] [-0.08753242 0.99604631 0.01516 0.40621591] [ 0.05027098 -0.01078224 0.99867741 -0.3059198 ] [ 0. 0. 0. 1. ]] SLAMing on 123.468241008 meters Centerline goodness : 0.878928 Centerline is valid? [False, False] Translation: X:10.48, Y:0.41, Z:-0.31 [[ 9.95199351e-01 8.43351120e-02 -4.96572405e-02 1.04827942e+01] [-8.37330661e-02 9.96388663e-01 1.40856898e-02 4.05502380e-01] [ 5.06658297e-02 -9.86011638e-03 9.98666987e-01 -3.07167152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49824100800001 meters Centerline goodness : 0.878386 Centerline is valid? [False, False] Translation: X:10.48, Y:0.41, Z:-0.31 [[ 9.95577011e-01 7.95437504e-02 -4.99920750e-02 1.04838682e+01] [-7.91853769e-02 9.96818263e-01 9.11188973e-03 4.07507434e-01] [ 5.05578073e-02 -5.11294663e-03 9.98708048e-01 -3.08803060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.52824100800001 meters Centerline goodness : 0.884351 Centerline is valid? [False, False] Translation: X:10.45, Y:0.41, Z:-0.30 [[ 0.99671666 0.06943697 -0.04164618 10.45431154] [-0.06862433 0.99742911 0.02063671 0.40666002] [ 0.04297206 -0.01771101 0.99891928 -0.30416084] [ 0. 0. 0. 1. ]] SLAMing on 123.55824100800001 meters Centerline goodness : 0.886164 Centerline is valid? [False, False] Translation: X:10.45, Y:0.41, Z:-0.31 [[ 0.99698368 0.06539655 -0.04179507 10.45396493] [-0.06480304 0.9977792 0.01540254 0.41036521] [ 0.04270953 -0.01264764 0.99900747 -0.30549138] [ 0. 0. 0. 1. ]] SLAMing on 123.58824100800001 meters Centerline goodness : 0.886103 Centerline is valid? [False, False] Translation: X:10.43, Y:0.41, Z:-0.30 [[ 0.99720648 0.06244839 -0.04098082 10.43256099] [-0.06161065 0.99787087 0.02139738 0.41254457] [ 0.0422298 -0.01881276 0.99893079 -0.30189383] [ 0. 0. 0. 1. ]] SLAMing on 123.61824100800001 meters Centerline goodness : 0.885609 Centerline is valid? [False, False] Translation: X:10.43, Y:0.42, Z:-0.30 [[ 0.99741993 0.05881671 -0.04115923 10.43224154] [-0.05819428 0.99817445 0.0161616 0.41754759] [ 0.04203467 -0.01372467 0.99902188 -0.30357647] [ 0. 0. 0. 1. ]] SLAMing on 123.64824100800001 meters Centerline goodness : 0.888145 Centerline is valid? [False, False] Translation: X:10.43, Y:0.42, Z:-0.30 [[ 0.99743553 0.05821598 -0.04163255 10.4337775 ] [-0.05761788 0.99821953 0.01542551 0.41942184] [ 0.04245644 -0.01298717 0.99901391 -0.30410197] [ 0. 0. 0. 1. ]] SLAMing on 123.67824100800001 meters Centerline goodness : 0.884594 Centerline is valid? [False, False] Translation: X:10.43, Y:0.42, Z:-0.31 [[ 0.99744605 0.05781557 -0.04193733 10.43497497] [-0.05725201 0.99825419 0.01451803 0.42168285] [ 0.04270349 -0.01207996 0.99901476 -0.30515148] [ 0. 0. 0. 1. ]] SLAMing on 123.70824100800002 meters Centerline goodness : 0.886025 Centerline is valid? [False, False] Translation: X:10.44, Y:0.43, Z:-0.31 [[ 9.97432687e-01 5.79183908e-02 -4.21128776e-02 1.04358173e+01] [-5.74288153e-02 9.98268253e-01 1.27446338e-02 4.27951318e-01] [ 4.27780975e-02 -1.02934216e-02 9.99031571e-01 -3.07698649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.73824100800002 meters Centerline goodness : 0.887156 Centerline is valid? [False, False] Translation: X:10.44, Y:0.43, Z:-0.31 [[ 9.97438207e-01 5.77961302e-02 -4.21500964e-02 1.04362996e+01] [-5.73499849e-02 9.98285350e-01 1.17191647e-02 4.31773132e-01] [ 4.27551461e-02 -9.27183523e-03 9.99042557e-01 -3.08797665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.76824100800002 meters Centerline goodness : 0.887501 Centerline is valid? [False, False] Translation: X:10.44, Y:0.43, Z:-0.31 [[ 9.97425498e-01 5.78803150e-02 -4.23349196e-02 1.04365352e+01] [-5.74494536e-02 9.98284178e-01 1.13252329e-02 4.34050768e-01] [ 4.29177884e-02 -8.86395806e-03 9.99039285e-01 -3.08693915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.79824100800002 meters Centerline goodness : 0.887120 Centerline is valid? [False, False] Translation: X:10.44, Y:0.44, Z:-0.31 [[ 9.97419964e-01 5.78846381e-02 -4.24592135e-02 1.04367394e+01] [-5.74777647e-02 9.98288987e-01 1.07427021e-02 4.36112479e-01] [ 4.30084027e-02 -8.27452490e-03 9.99040444e-01 -3.09024189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.82824100800002 meters Centerline goodness : 0.886479 Centerline is valid? [False, False] Translation: X:10.44, Y:0.44, Z:-0.31 [[ 0.99716195 0.0617819 -0.04302375 10.43784257] [-0.06118669 0.99801335 0.01501787 0.4372348 ] [ 0.04386611 -0.01234276 0.99896117 -0.30684648] [ 0. 0. 0. 1. ]] SLAMing on 123.85824100800001 meters Centerline goodness : 0.886060 Centerline is valid? [False, False] Translation: X:10.44, Y:0.44, Z:-0.30 [[ 0.99688963 0.06554592 -0.04375831 10.4398086 ] [-0.06471512 0.99770049 0.02014164 0.43657253] [ 0.04497789 -0.01724717 0.99883909 -0.30397974] [ 0. 0. 0. 1. ]] SLAMing on 123.88824100800001 meters Centerline goodness : 0.889386 Centerline is valid? [False, False] Translation: X:10.44, Y:0.44, Z:-0.30 [[ 0.99662053 0.06899611 -0.04457631 10.44244315] [-0.06793518 0.99737912 0.02489398 0.43598671] [ 0.04617707 -0.02178156 0.99869577 -0.30183569] [ 0. 0. 0. 1. ]] SLAMing on 123.91824100800001 meters Centerline goodness : 0.886660 Centerline is valid? [False, False] Translation: X:10.44, Y:0.44, Z:-0.30 [[ 0.99660935 0.06904362 -0.04475255 10.44260969] [-0.06802668 0.99739807 0.02386356 0.43941684] [ 0.04628374 -0.02073828 0.99871304 -0.30252454] [ 0. 0. 0. 1. ]] SLAMing on 123.94824100800001 meters Centerline goodness : 0.886104 Centerline is valid? [False, False] Translation: X:10.44, Y:0.44, Z:-0.30 [[ 0.99662052 0.0686149 -0.04516119 10.44395773] [-0.06761429 0.99743885 0.02332466 0.44075666] [ 0.04664594 -0.0201923 0.99870738 -0.30282774] [ 0. 0. 0. 1. ]] SLAMing on 123.97824100800001 meters Centerline goodness : 0.885400 Centerline is valid? [False, False] Translation: X:10.45, Y:0.44, Z:-0.30 [[ 0.99637994 0.071177 -0.04648493 10.44849392] [-0.06985491 0.99712164 0.02947406 0.4376429 ] [ 0.048449 -0.02612016 0.99848407 -0.29816764] [ 0. 0. 0. 1. ]] SLAMing on 124.00824100800001 meters Centerline goodness : 0.887241 Centerline is valid? [False, False] Translation: X:10.46, Y:0.44, Z:-0.30 [[ 0.99656058 0.07121031 -0.04238046 10.46471944] [-0.07046948 0.99733814 0.0187267 0.44041673] [ 0.04360119 -0.01567576 0.99892603 -0.30383505] [ 0. 0. 0. 1. ]] SLAMing on 124.03824100800001 meters Centerline goodness : 0.885110 Centerline is valid? [False, False] Translation: X:10.47, Y:0.44, Z:-0.30 [[ 0.99659603 0.07027064 -0.04310897 10.46693205] [-0.06952296 0.99740682 0.0186065 0.440798 ] [ 0.04430467 -0.0155461 0.9988971 -0.30315763] [ 0. 0. 0. 1. ]] SLAMing on 124.06824100800002 meters Centerline goodness : 0.885779 Centerline is valid? [False, False] Translation: X:10.47, Y:0.44, Z:-0.30 [[ 0.99639555 0.0722885 -0.04438795 10.47253815] [-0.07124533 0.99715414 0.02465205 0.43822962] [ 0.04604369 -0.02140076 0.99871016 -0.29885493] [ 0. 0. 0. 1. ]] SLAMing on 124.09824100800002 meters Centerline goodness : 0.886039 Centerline is valid? [False, False] Translation: X:10.47, Y:0.44, Z:-0.30 [[ 0.99639787 0.07194767 -0.04488667 10.47410509] [-0.07089773 0.99718114 0.02456205 0.43888806] [ 0.04652732 -0.02129121 0.99869009 -0.2986129 ] [ 0. 0. 0. 1. ]] SLAMing on 124.12824100800002 meters Centerline goodness : 0.890522 Centerline is valid? [False, False] Translation: X:10.48, Y:0.44, Z:-0.30 [[ 0.99617446 0.07378426 -0.04682226 10.48108471] [-0.07243442 0.99692486 0.02990126 0.43748917] [ 0.04888452 -0.02639533 0.9984556 -0.29520566] [ 0. 0. 0. 1. ]] SLAMing on 124.15824100800002 meters Centerline goodness : 0.887835 Centerline is valid? [False, False] Translation: X:10.48, Y:0.44, Z:-0.30 [[ 0.99619779 0.07311683 -0.04736966 10.48336211] [-0.07180484 0.99700188 0.02883266 0.43945006] [ 0.04933579 -0.02532166 0.99846121 -0.29672957] [ 0. 0. 0. 1. ]] SLAMing on 124.18824100800002 meters Centerline goodness : 0.890193 Centerline is valid? [False, False] Translation: X:10.49, Y:0.44, Z:-0.30 [[ 0.99620547 0.07260079 -0.04799786 10.48567081] [-0.0713217 0.99706457 0.02784721 0.44158669] [ 0.0498787 -0.02431825 0.99845918 -0.29816703] [ 0. 0. 0. 1. ]] SLAMing on 124.218241008 meters Centerline goodness : 0.889713 Centerline is valid? [False, False] Translation: X:10.49, Y:0.45, Z:-0.30 [[ 0.99619549 0.072557 -0.04827042 10.48702806] [-0.07137281 0.99711541 0.02582192 0.44570322] [ 0.05000474 -0.02227848 0.99850047 -0.30138136] [ 0. 0. 0. 1. ]] SLAMing on 124.24824100800001 meters Centerline goodness : 0.886624 Centerline is valid? [False, False] Translation: X:10.50, Y:0.45, Z:-0.31 [[ 0.99626537 0.074014 -0.04446613 10.50206112] [-0.07344452 0.99719664 0.01430932 0.449443 ] [ 0.04540057 -0.01099008 0.99890841 -0.30905401] [ 0. 0. 0. 1. ]] SLAMing on 124.27824100800001 meters Centerline goodness : 0.887304 Centerline is valid? [False, False] Translation: X:10.50, Y:0.45, Z:-0.31 [[ 0.99593767 0.07794425 -0.04508706 10.50374707] [-0.07712671 0.99682864 0.01959918 0.44724054] [ 0.04647172 -0.01604215 0.99879078 -0.30633828] [ 0. 0. 0. 1. ]] SLAMing on 124.30824100800001 meters Centerline goodness : 0.888994 Centerline is valid? [False, False] Translation: X:10.51, Y:0.45, Z:-0.30 [[ 0.99562413 0.08154264 -0.04564416 10.5058269 ] [-0.0804895 0.99645537 0.02445695 0.44546585] [ 0.04747665 -0.02067605 0.99865833 -0.30441333] [ 0. 0. 0. 1. ]] SLAMing on 124.33824100800001 meters Centerline goodness : 0.888348 Centerline is valid? [False, False] Translation: X:10.51, Y:0.45, Z:-0.31 [[ 0.9956004 0.08174611 -0.04579765 10.50662014] [-0.08076779 0.99647161 0.02282291 0.44931313] [ 0.04750174 -0.01902353 0.99868999 -0.30716244] [ 0. 0. 0. 1. ]] SLAMing on 124.36824100800001 meters Centerline goodness : 0.887450 Centerline is valid? [False, False] Translation: X:10.51, Y:0.45, Z:-0.31 [[ 0.99561654 0.08130743 -0.04622563 10.50860308] [-0.08037907 0.99653025 0.02160243 0.45155786] [ 0.04782168 -0.01779217 0.99869741 -0.30925792] [ 0. 0. 0. 1. ]] SLAMing on 124.39824100800001 meters Centerline goodness : 0.890700 Centerline is valid? [False, False] Translation: X:10.51, Y:0.45, Z:-0.31 [[ 0.99560853 0.08122057 -0.04654963 10.50957123] [-0.08031154 0.99654689 0.02107977 0.45256509] [ 0.048101 -0.01724872 0.99869353 -0.30996576] [ 0. 0. 0. 1. ]] SLAMing on 124.42824100800001 meters Centerline goodness : 0.887597 Centerline is valid? [False, False] Translation: X:10.52, Y:0.46, Z:-0.32 [[ 9.95725461e-01 8.19311162e-02 -4.26391661e-02 1.05245131e+01] [-8.15806605e-02 9.96617590e-01 9.89819627e-03 4.55645802e-01] [ 4.33059132e-02 -6.37735471e-03 9.99041504e-01 -3.15708325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.45824100800002 meters Centerline goodness : 0.887478 Centerline is valid? [False, False] Translation: X:10.52, Y:0.46, Z:-0.32 [[ 9.95688966e-01 8.23672927e-02 -4.26510610e-02 1.05240347e+01] [-8.20292416e-02 9.96583500e-01 9.61932024e-03 4.56749682e-01] [ 4.32976610e-02 -6.07921683e-03 9.99043721e-01 -3.15713273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.48824100800002 meters Centerline goodness : 0.888239 Centerline is valid? [False, False] Translation: X:10.53, Y:0.46, Z:-0.32 [[ 9.95707829e-01 8.20175419e-02 -4.28840621e-02 1.05254925e+01] [-8.17134203e-02 9.96617015e-01 8.80013429e-03 4.58429832e-01] [ 4.34607513e-02 -5.25815921e-03 9.99041298e-01 -3.17246770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.51824100800002 meters Centerline goodness : 0.888239 Centerline is valid? [False, False] Translation: X:10.53, Y:0.46, Z:-0.32 [[ 9.95707829e-01 8.20175419e-02 -4.28840621e-02 1.05254925e+01] [-8.17134203e-02 9.96617015e-01 8.80013429e-03 4.58429832e-01] [ 4.34607513e-02 -5.25815921e-03 9.99041298e-01 -3.17246770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.54824100800002 meters Centerline goodness : 0.888334 Centerline is valid? [False, False] Translation: X:10.53, Y:0.46, Z:-0.32 [[ 9.95728451e-01 8.16689825e-02 -4.30700536e-02 1.05268932e+01] [-8.13959484e-02 9.96649268e-01 8.05826664e-03 4.60023662e-01] [ 4.35838478e-02 -4.51811750e-03 9.99039556e-01 -3.18762332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.57824100800002 meters Centerline goodness : 0.884231 Centerline is valid? [False, False] Translation: X:10.53, Y:0.46, Z:-0.32 [[ 9.95733524e-01 8.15251204e-02 -4.32250487e-02 1.05278011e+01] [-8.12672625e-02 9.96662660e-01 7.69243193e-03 4.60684741e-01] [ 4.37079185e-02 -4.14683097e-03 9.99035746e-01 -3.19676863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.60824100800001 meters Centerline goodness : 0.887912 Centerline is valid? [False, False] Translation: X:10.53, Y:0.46, Z:-0.32 [[ 9.95749557e-01 8.10145531e-02 -4.38116608e-02 1.05300702e+01] [-8.07582170e-02 9.96704804e-01 7.59239578e-03 4.60090887e-01] [ 4.42823873e-02 -4.02197313e-03 9.99010958e-01 -3.20362386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63824100800001 meters Centerline goodness : 0.885549 Centerline is valid? [False, False] Translation: X:10.53, Y:0.46, Z:-0.32 [[ 9.95760485e-01 8.05687632e-02 -4.43816474e-02 1.05318183e+01] [-8.03082235e-02 9.96740911e-01 7.62537787e-03 4.58678640e-01] [ 4.48513709e-02 -4.02883871e-03 9.98985547e-01 -3.20598421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.66824100800001 meters Centerline goodness : 0.888229 Centerline is valid? [False, False] Translation: X:10.53, Y:0.46, Z:-0.32 [[ 9.95765420e-01 8.00922676e-02 -4.51271222e-02 1.05338245e+01] [-7.98151939e-02 9.96778282e-01 7.91149091e-03 4.56922502e-01] [ 4.56153845e-02 -4.27615906e-03 9.98949924e-01 -3.20254533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.69824100800001 meters Centerline goodness : 0.890368 Centerline is valid? [False, False] Translation: X:10.54, Y:0.45, Z:-0.32 [[ 9.95757588e-01 7.98038395e-02 -4.58058090e-02 1.05355457e+01] [-7.94902375e-02 9.96798284e-01 8.63041371e-03 4.54678900e-01] [ 4.63478920e-02 -4.95268531e-03 9.98913081e-01 -3.19149463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.72824100800001 meters Centerline goodness : 0.889844 Centerline is valid? [False, False] Translation: X:10.54, Y:0.45, Z:-0.32 [[ 9.95758211e-01 7.94157607e-02 -4.64620406e-02 1.05370944e+01] [-7.90271410e-02 9.96820841e-01 1.01450724e-02 4.50713349e-01] [ 4.71200090e-02 -6.43027694e-03 9.98868538e-01 -3.16748667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.75824100800001 meters Centerline goodness : 0.888263 Centerline is valid? [False, False] Translation: X:10.54, Y:0.45, Z:-0.32 [[ 9.95780041e-01 7.88338958e-02 -4.69822034e-02 1.05390823e+01] [-7.84470579e-02 9.96867881e-01 1.00243099e-02 4.49928564e-01] [ 4.76253050e-02 -6.29639213e-03 9.98845426e-01 -3.17359668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.78824100800001 meters Centerline goodness : 0.888411 Centerline is valid? [False, False] Translation: X:10.54, Y:0.45, Z:-0.32 [[ 9.95814784e-01 7.79161776e-02 -4.77701274e-02 1.05422317e+01] [-7.75398142e-02 9.96942218e-01 9.68457946e-03 4.49541378e-01] [ 4.83786422e-02 -5.93996060e-03 9.98811406e-01 -3.18373306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.81824100800002 meters Centerline goodness : 0.888024 Centerline is valid? [False, False] Translation: X:10.55, Y:0.45, Z:-0.32 [[ 9.95849776e-01 7.69535281e-02 -4.85940076e-02 1.05455308e+01] [-7.65848280e-02 9.97018692e-01 9.40696576e-03 4.48568656e-01] [ 4.91730332e-02 -5.64636103e-03 9.98774315e-01 -3.19435549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.84824100800002 meters Centerline goodness : 0.887951 Centerline is valid? [False, False] Translation: X:10.55, Y:0.45, Z:-0.32 [[ 9.95858653e-01 7.63663438e-02 -4.93327982e-02 1.05479988e+01] [-7.59722347e-02 9.97061598e-01 9.81783792e-03 4.47022558e-01] [ 4.99375909e-02 -6.02925593e-03 9.98734141e-01 -3.19100286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.87824100800002 meters Centerline goodness : 0.892227 Centerline is valid? [False, False] Translation: X:10.55, Y:0.44, Z:-0.32 [[ 9.95892189e-01 7.54088809e-02 -5.01223345e-02 1.05506406e+01] [-7.49945013e-02 9.97132798e-01 1.00998951e-02 4.44109734e-01] [ 5.07402454e-02 -6.29950721e-03 9.98692016e-01 -3.18905689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.90824100800002 meters Centerline goodness : 0.887837 Centerline is valid? [False, False] Translation: X:10.55, Y:0.44, Z:-0.32 [[ 9.95897212e-01 7.49096979e-02 -5.07669172e-02 1.05526844e+01] [-7.44951150e-02 9.97171111e-01 1.00126110e-02 4.43334396e-01] [ 5.13733449e-02 -6.18964406e-03 9.98660337e-01 -3.19162866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.93824100800002 meters Centerline goodness : 0.887032 Centerline is valid? [False, False] Translation: X:10.55, Y:0.44, Z:-0.32 [[ 9.95900660e-01 7.44304060e-02 -5.14002909e-02 1.05546216e+01] [-7.40206688e-02 9.97208237e-01 9.83225929e-03 4.42802561e-01] [ 5.19886125e-02 -5.98726961e-03 9.98629730e-01 -3.19508449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.968241008 meters Centerline goodness : 0.889462 Centerline is valid? [False, False] Translation: X:10.56, Y:0.44, Z:-0.32 [[ 9.95905044e-01 7.39539647e-02 -5.19995551e-02 1.05566090e+01] [-7.35423177e-02 9.97244061e-01 9.78829318e-03 4.42071771e-01] [ 5.25801306e-02 -5.92404275e-03 9.98599137e-01 -3.19726063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99824100800001 meters Centerline goodness : 0.890686 Centerline is valid? [False, False] Translation: X:10.56, Y:0.44, Z:-0.32 [[ 9.95900403e-01 7.34840286e-02 -5.27492582e-02 1.05587010e+01] [-7.30756296e-02 9.97279886e-01 9.63226324e-03 4.41173331e-01] [ 5.33135918e-02 -5.73808959e-03 9.98561333e-01 -3.20007469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.02824100800001 meters Centerline goodness : 0.890757 Centerline is valid? [False, False] Translation: X:10.56, Y:0.44, Z:-0.32 [[ 9.95632211e-01 7.64387045e-02 -5.36062105e-02 1.05624662e+01] [-7.57889567e-02 9.97024839e-01 1.40536056e-02 4.38831551e-01] [ 5.45209628e-02 -9.92946360e-03 9.98463254e-01 -3.19314515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.05824100800001 meters Centerline goodness : 0.889214 Centerline is valid? [False, False] Translation: X:10.57, Y:0.44, Z:-0.32 [[ 0.99535948 0.07910845 -0.05478459 10.56706094] [-0.07818103 0.99676052 0.01887301 0.4371976 ] [ 0.05610014 -0.01450231 0.99831982 -0.31740528] [ 0. 0. 0. 1. ]] SLAMing on 125.08824100800001 meters Centerline goodness : 0.888597 Centerline is valid? [False, False] Translation: X:10.57, Y:0.44, Z:-0.32 [[ 0.9953578 0.0787826 -0.05528242 10.56854481] [-0.07786473 0.996791 0.01856861 0.43735639] [ 0.0565679 -0.01417786 0.99829808 -0.31779274] [ 0. 0. 0. 1. ]] SLAMing on 125.11824100800001 meters Centerline goodness : 0.887069 Centerline is valid? [False, False] Translation: X:10.57, Y:0.44, Z:-0.32 [[ 0.99535203 0.0783951 -0.05593338 10.57042998] [-0.07748117 0.99682533 0.01832851 0.43740223] [ 0.05719268 -0.01390954 0.99826626 -0.31805511] [ 0. 0. 0. 1. ]] SLAMing on 125.14824100800001 meters Centerline goodness : 0.887089 Centerline is valid? [False, False] Translation: X:10.57, Y:0.44, Z:-0.32 [[ 0.99535518 0.07816066 -0.05620473 10.57130542] [-0.07726631 0.9968495 0.01791649 0.43802643] [ 0.05742802 -0.01349054 0.9982585 -0.31848539] [ 0. 0. 0. 1. ]] SLAMing on 125.17824100800001 meters Centerline goodness : 0.891089 Centerline is valid? [False, False] Translation: X:10.59, Y:0.44, Z:-0.32 [[ 9.95507104e-01 7.90596983e-02 -5.21072885e-02 1.05876966e+01] [-7.87517597e-02 9.96862638e-01 7.93983163e-03 4.41129302e-01] [ 5.25715298e-02 -3.80061813e-03 9.98609929e-01 -3.23926739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.20824100800002 meters Centerline goodness : 0.891602 Centerline is valid? [False, False] Translation: X:10.59, Y:0.44, Z:-0.32 [[ 9.95504579e-01 7.88462964e-02 -5.24775666e-02 1.05884397e+01] [-7.85474894e-02 9.96880361e-01 7.73547842e-03 4.41865255e-01] [ 5.29237694e-02 -3.57872308e-03 9.98592143e-01 -3.23653873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.23824100800002 meters Centerline goodness : 0.891812 Centerline is valid? [False, False] Translation: X:10.59, Y:0.44, Z:-0.32 [[ 9.95493294e-01 7.89463246e-02 -5.25412184e-02 1.05881536e+01] [-7.86416120e-02 9.96872084e-01 7.84507467e-03 4.42231790e-01] [ 5.29962137e-02 -3.67779312e-03 9.98587941e-01 -3.22911078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.26824100800002 meters Centerline goodness : 0.891448 Centerline is valid? [False, False] Translation: X:10.59, Y:0.44, Z:-0.32 [[ 9.95485357e-01 7.90973008e-02 -5.24644664e-02 1.05877255e+01] [-7.87926081e-02 9.96860090e-01 7.85397836e-03 4.42615291e-01] [ 5.29209612e-02 -3.68470831e-03 9.98591906e-01 -3.22582414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.29824100800002 meters Centerline goodness : 0.891336 Centerline is valid? [False, False] Translation: X:10.59, Y:0.44, Z:-0.32 [[ 9.95474038e-01 7.91816887e-02 -5.25518689e-02 1.05877711e+01] [-7.88814719e-02 9.96853754e-01 7.76577817e-03 4.44137146e-01] [ 5.30014352e-02 -3.58526179e-03 9.98588000e-01 -3.22129823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.32824100800002 meters Centerline goodness : 0.892288 Centerline is valid? [False, False] Translation: X:10.59, Y:0.45, Z:-0.32 [[ 9.95469633e-01 7.91427882e-02 -5.26937184e-02 1.05882205e+01] [-7.88569156e-02 9.96857840e-01 7.48559985e-03 4.45344358e-01] [ 5.31205775e-02 -3.29642323e-03 9.98582664e-01 -3.22312869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.35824100800001 meters Centerline goodness : 0.892418 Centerline is valid? [False, False] Translation: X:10.59, Y:0.45, Z:-0.32 [[ 9.95470007e-01 7.90392180e-02 -5.28419010e-02 1.05888260e+01] [-7.87774209e-02 9.96867497e-01 7.02222397e-03 4.46782320e-01] [ 5.32314047e-02 -2.82766468e-03 9.98578200e-01 -3.22796254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.38824100800001 meters Centerline goodness : 0.889615 Centerline is valid? [False, False] Translation: X:10.59, Y:0.45, Z:-0.32 [[ 9.95464180e-01 7.89086630e-02 -5.31459282e-02 1.05896082e+01] [-7.86640463e-02 9.96878787e-01 6.68220420e-03 4.48170539e-01] [ 5.35073323e-02 -2.47122116e-03 9.98564399e-01 -3.22915414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.41824100800001 meters Centerline goodness : 0.889946 Centerline is valid? [False, False] Translation: X:10.59, Y:0.45, Z:-0.32 [[ 9.95466432e-01 7.85490817e-02 -5.36341704e-02 1.05911912e+01] [-7.83317845e-02 9.96908407e-01 6.14492332e-03 4.49601970e-01] [ 5.39510334e-02 -1.91580462e-03 9.98541745e-01 -3.23474989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.44824100800001 meters Centerline goodness : 0.890553 Centerline is valid? [False, False] Translation: X:10.59, Y:0.45, Z:-0.32 [[ 9.95455443e-01 7.86063390e-02 -5.37541128e-02 1.05914380e+01] [-7.84037429e-02 9.96904403e-01 5.87067310e-03 4.50287001e-01] [ 5.40491839e-02 -1.62946985e-03 9.98536945e-01 -3.23758986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.47824100800001 meters Centerline goodness : 0.888476 Centerline is valid? [False, False] Translation: X:10.59, Y:0.45, Z:-0.32 [[ 9.95453007e-01 7.81064883e-02 -5.45223583e-02 1.05937977e+01] [-7.79333499e-02 9.96944495e-01 5.29775465e-03 4.51295937e-01] [ 5.47695540e-02 -1.02455577e-03 9.98498496e-01 -3.24550440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.50824100800001 meters Centerline goodness : 0.887284 Centerline is valid? [False, False] Translation: X:10.60, Y:0.45, Z:-0.33 [[ 9.95474449e-01 7.73357428e-02 -5.52250362e-02 1.05966549e+01] [-7.71984276e-02 9.97005051e-01 4.61862930e-03 4.52348457e-01] [ 5.54168252e-02 -3.34441495e-04 9.98463251e-01 -3.25851491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.53824100800001 meters Centerline goodness : 0.889214 Centerline is valid? [False, False] Translation: X:10.60, Y:0.45, Z:-0.33 [[ 9.95483237e-01 7.68417212e-02 -5.57536950e-02 1.05986372e+01] [-7.67237881e-02 9.97043303e-01 4.25583519e-03 4.53007729e-01] [ 5.59158740e-02 4.10220980e-05 9.98435483e-01 -3.26604264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.56824100800002 meters Centerline goodness : 0.889299 Centerline is valid? [False, False] Translation: X:10.60, Y:0.45, Z:-0.33 [[ 9.95551486e-01 7.52301594e-02 -5.67244396e-02 1.06032098e+01] [-7.51696764e-02 9.97165616e-01 3.20223835e-03 4.53010860e-01] [ 5.68045656e-02 1.07596461e-03 9.98384737e-01 -3.29051099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.59824100800002 meters Centerline goodness : 0.890152 Centerline is valid? [False, False] Translation: X:10.61, Y:0.45, Z:-0.33 [[ 9.95443675e-01 7.55232733e-02 -5.82076091e-02 1.06113099e+01] [-7.51845170e-02 9.97137618e-01 7.99113837e-03 4.50128246e-01] [ 5.86445137e-02 -3.57841716e-03 9.98272516e-01 -3.26751676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.62824100800002 meters Centerline goodness : 0.891868 Centerline is valid? [False, False] Translation: X:10.62, Y:0.45, Z:-0.32 [[ 9.95395036e-01 7.51334049e-02 -5.95289274e-02 1.06197500e+01] [-7.44848033e-02 9.97136838e-01 1.30437817e-02 4.47424634e-01] [ 6.03385102e-02 -8.54971514e-03 9.98141356e-01 -3.23110153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.65824100800002 meters Centerline goodness : 0.889671 Centerline is valid? [False, False] Translation: X:10.62, Y:0.45, Z:-0.32 [[ 9.95401487e-01 7.44794860e-02 -6.02385762e-02 1.06217011e+01] [-7.38161096e-02 9.97184945e-01 1.31669255e-02 4.45885126e-01] [ 6.10496672e-02 -8.65979987e-03 9.98097163e-01 -3.22747567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.68824100800002 meters Centerline goodness : 0.893163 Centerline is valid? [False, False] Translation: X:10.63, Y:0.44, Z:-0.32 [[ 9.95426185e-01 7.29889581e-02 -6.16386393e-02 1.06255556e+01] [-7.21886039e-02 9.97276444e-01 1.51162009e-02 4.41554665e-01] [ 6.25740788e-02 -1.05974549e-02 9.97984057e-01 -3.18846635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.718241008 meters Centerline goodness : 0.893962 Centerline is valid? [False, False] Translation: X:10.63, Y:0.44, Z:-0.32 [[ 9.95441223e-01 7.23711112e-02 -6.21224081e-02 1.06271880e+01] [-7.15745217e-02 9.97323108e-01 1.49567959e-02 4.41367424e-01] [ 6.30385530e-02 -1.04422295e-02 9.97956462e-01 -3.18918336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.74824100800001 meters Centerline goodness : 0.894883 Centerline is valid? [False, False] Translation: X:10.63, Y:0.44, Z:-0.31 [[ 0.99519887 0.07441383 -0.06357514 10.63293416] [-0.07321289 0.99709483 0.02101855 0.43828637] [ 0.06495452 -0.01626312 0.99775569 -0.31454072] [ 0. 0. 0. 1. ]] SLAMing on 125.77824100800001 meters Centerline goodness : 0.890089 Centerline is valid? [False, False] Translation: X:10.65, Y:0.44, Z:-0.32 [[ 9.95399099e-01 7.54305340e-02 -5.90835721e-02 1.06503477e+01] [-7.47784265e-02 9.97113142e-01 1.31745327e-02 4.40077408e-01] [ 5.99067682e-02 -8.69574140e-03 9.98166100e-01 -3.18161722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.80824100800001 meters Centerline goodness : 0.890047 Centerline is valid? [False, False] Translation: X:10.65, Y:0.44, Z:-0.32 [[ 9.95390482e-01 7.54983758e-02 -5.91420557e-02 1.06501845e+01] [-7.48574912e-02 9.97109746e-01 1.29811523e-02 4.40770136e-01] [ 5.99511761e-02 -8.49408955e-03 9.98165170e-01 -3.17991017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.83824100800001 meters Centerline goodness : 0.891453 Centerline is valid? [False, False] Translation: X:10.65, Y:0.44, Z:-0.32 [[ 9.95367435e-01 7.56446840e-02 -5.93426667e-02 1.06502287e+01] [-7.49988684e-02 9.97098369e-01 1.30388459e-02 4.41538373e-01] [ 6.01567956e-02 -8.52780975e-03 9.98152512e-01 -3.17331261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.86824100800001 meters Centerline goodness : 0.889956 Centerline is valid? [False, False] Translation: X:10.65, Y:0.44, Z:-0.31 [[ 0.99505224 0.07932037 -0.05982749 10.65187758] [-0.07835634 0.99675754 0.01829465 0.43911965] [ 0.06108464 -0.01351627 0.99804107 -0.31462512] [ 0. 0. 0. 1. ]] SLAMing on 125.89824100800001 meters Centerline goodness : 0.890427 Centerline is valid? [False, False] Translation: X:10.65, Y:0.44, Z:-0.32 [[ 0.99503578 0.07946266 -0.05991226 10.65195759] [-0.07853063 0.99675353 0.01775771 0.44096434] [ 0.06112883 -0.0129646 0.99804568 -0.31505849] [ 0. 0. 0. 1. ]] SLAMing on 125.92824100800001 meters Centerline goodness : 0.887663 Centerline is valid? [False, False] Translation: X:10.65, Y:0.44, Z:-0.32 [[ 0.99496385 0.08042542 -0.05982216 10.65089173] [-0.07954222 0.99668644 0.01700537 0.44451728] [ 0.0609916 -0.01216134 0.99806419 -0.31582163] [ 0. 0. 0. 1. ]] SLAMing on 125.95824100800002 meters Centerline goodness : 0.887446 Centerline is valid? [False, False] Translation: X:10.65, Y:0.45, Z:-0.32 [[ 0.99495441 0.08034015 -0.06009309 10.65191795] [-0.07950898 0.99670411 0.01610091 0.44656759] [ 0.06118857 -0.01124174 0.99806291 -0.3171731 ] [ 0. 0. 0. 1. ]] SLAMing on 125.98824100800002 meters Centerline goodness : 0.886861 Centerline is valid? [False, False] Translation: X:10.65, Y:0.45, Z:-0.32 [[ 9.94954313e-01 8.00135213e-02 -6.05289352e-02 1.06536449e+01] [-7.92468884e-02 9.96742674e-01 1.49656979e-02 4.48983415e-01] [ 6.15292309e-02 -1.00934559e-02 9.98054245e-01 -3.18901330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.01824100800002 meters Centerline goodness : 0.884230 Centerline is valid? [False, False] Translation: X:10.65, Y:0.45, Z:-0.32 [[ 9.94948098e-01 7.99626006e-02 -6.06981478e-02 1.06546413e+01] [-7.92589824e-02 9.96756915e-01 1.39164266e-02 4.51456229e-01] [ 6.16140922e-02 -9.03524871e-03 9.98059151e-01 -3.20639284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.04824100800002 meters Centerline goodness : 0.879823 Centerline is valid? [False, False] Translation: X:10.66, Y:0.46, Z:-0.32 [[ 9.94931785e-01 7.96230318e-02 -6.14077859e-02 1.06570735e+01] [-7.90199254e-02 9.96798479e-01 1.21919647e-02 4.55659067e-01] [ 6.21819488e-02 -7.27773455e-03 9.98038296e-01 -3.23206264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.07824100800002 meters Centerline goodness : 0.885867 Centerline is valid? [False, False] Translation: X:10.66, Y:0.46, Z:-0.32 [[ 9.94927025e-01 7.91860517e-02 -6.20466317e-02 1.06587467e+01] [-7.85937447e-02 9.96835304e-01 1.19331441e-02 4.55520576e-01] [ 6.27952116e-02 -6.99613047e-03 9.98001912e-01 -3.23324452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.10824100800001 meters Centerline goodness : 0.885741 Centerline is valid? [False, False] Translation: X:10.66, Y:0.45, Z:-0.32 [[ 9.94922535e-01 7.85468464e-02 -6.29248998e-02 1.06610264e+01] [-7.79497691e-02 9.96886360e-01 1.18919214e-02 4.54238471e-01] [ 6.36630472e-02 -6.92655914e-03 9.97947413e-01 -3.23198813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13824100800001 meters Centerline goodness : 0.882307 Centerline is valid? [False, False] Translation: X:10.66, Y:0.45, Z:-0.32 [[ 9.94937416e-01 7.78340292e-02 -6.35720258e-02 1.06631753e+01] [-7.72444338e-02 9.96943722e-01 1.16839029e-02 4.53514682e-01] [ 6.42871372e-02 -6.71416705e-03 9.97908856e-01 -3.23567338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.16824100800001 meters Centerline goodness : 0.884039 Centerline is valid? [False, False] Translation: X:10.67, Y:0.45, Z:-0.32 [[ 9.95020362e-01 7.55958680e-02 -6.49595560e-02 1.06689930e+01] [-7.50503358e-02 9.97121248e-01 1.08010899e-02 4.54609600e-01] [ 6.55890714e-02 -5.87206786e-03 9.97829441e-01 -3.24888078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19824100800001 meters Centerline goodness : 0.881087 Centerline is valid? [False, False] Translation: X:10.67, Y:0.45, Z:-0.32 [[ 9.95039296e-01 7.44942672e-02 -6.59348484e-02 1.06723242e+01] [-7.39472303e-02 9.97204730e-01 1.07020140e-02 4.54505094e-01] [ 6.65477814e-02 -5.77322504e-03 9.97766537e-01 -3.24920012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.22824100800001 meters Centerline goodness : 0.881354 Centerline is valid? [False, False] Translation: X:10.68, Y:0.45, Z:-0.32 [[ 9.95039385e-01 7.36579438e-02 -6.68664991e-02 1.06750622e+01] [-7.30814278e-02 9.97264973e-01 1.10307607e-02 4.53348583e-01] [ 6.74961206e-02 -6.08934215e-03 9.97700954e-01 -3.24152201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.25824100800001 meters Centerline goodness : 0.884189 Centerline is valid? [False, False] Translation: X:10.68, Y:0.45, Z:-0.32 [[ 9.95031967e-01 7.30012736e-02 -6.76919392e-02 1.06772335e+01] [-7.23821130e-02 9.97310003e-01 1.15580095e-02 4.51670162e-01] [ 6.83535975e-02 -6.60090332e-03 9.97639320e-01 -3.23051716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.28824100800001 meters Centerline goodness : 0.881509 Centerline is valid? [False, False] Translation: X:10.68, Y:0.45, Z:-0.32 [[ 9.95044717e-01 7.19404050e-02 -6.86337329e-02 1.06798453e+01] [-7.12763595e-02 9.97383470e-01 1.20786938e-02 4.50457624e-01] [ 6.93230968e-02 -7.12687780e-03 9.97568803e-01 -3.21486755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.31824100800002 meters Centerline goodness : 0.884144 Centerline is valid? [False, False] Translation: X:10.68, Y:0.45, Z:-0.32 [[ 0.9947793 0.0746261 -0.06960661 10.68359282] [-0.07356353 0.99713328 0.01770933 0.44735023] [ 0.07072865 -0.01249636 0.99741731 -0.31784509] [ 0. 0. 0. 1. ]] SLAMing on 126.34824100800002 meters Centerline goodness : 0.886352 Centerline is valid? [False, False] Translation: X:10.69, Y:0.44, Z:-0.31 [[ 0.9945059 0.07745715 -0.07041588 10.6866312 ] [-0.07600538 0.99684044 0.02307187 0.4442206 ] [ 0.07198048 -0.01759312 0.99725087 -0.31452203] [ 0. 0. 0. 1. ]] SLAMing on 126.37824100800002 meters Centerline goodness : 0.885362 Centerline is valid? [False, False] Translation: X:10.69, Y:0.44, Z:-0.31 [[ 0.99449078 0.07727784 -0.07082528 10.68750486] [-0.07583143 0.99685783 0.02289241 0.44467608] [ 0.07237182 -0.0173955 0.99722601 -0.31430282] [ 0. 0. 0. 1. ]] SLAMing on 126.40824100800002 meters Centerline goodness : 0.886939 Centerline is valid? [False, False] Translation: X:10.69, Y:0.45, Z:-0.32 [[ 0.99448675 0.07686075 -0.07133394 10.68927048] [-0.07550551 0.99691339 0.02150841 0.44830232] [ 0.07276692 -0.01600373 0.99722057 -0.3159769 ] [ 0. 0. 0. 1. ]] SLAMing on 126.43824100800002 meters Centerline goodness : 0.886939 Centerline is valid? [False, False] Translation: X:10.69, Y:0.45, Z:-0.32 [[ 0.99448633 0.07688071 -0.07131829 10.68923004] [-0.07552715 0.99691216 0.02148954 0.44835315] [ 0.0727502 -0.01598459 0.99722209 -0.3159918 ] [ 0. 0. 0. 1. ]] SLAMing on 126.468241008 meters Centerline goodness : 0.885258 Centerline is valid? [False, False] Translation: X:10.69, Y:0.45, Z:-0.32 [[ 0.99447358 0.07654668 -0.07185337 10.69086164] [-0.0752396 0.99695001 0.02072864 0.45027396] [ 0.07322093 -0.01520787 0.99719979 -0.31684006] [ 0. 0. 0. 1. ]] SLAMing on 126.49824100800001 meters Centerline goodness : 0.886683 Centerline is valid? [False, False] Translation: X:10.69, Y:0.45, Z:-0.32 [[ 0.99444569 0.07618003 -0.07262487 10.69282687] [-0.07489774 0.99698614 0.02022309 0.45150117] [ 0.07394659 -0.01467133 0.99715428 -0.31712322] [ 0. 0. 0. 1. ]] SLAMing on 126.52824100800001 meters Centerline goodness : 0.884257 Centerline is valid? [False, False] Translation: X:10.69, Y:0.45, Z:-0.32 [[ 0.99441803 0.07610127 -0.07308469 10.69360172] [-0.07487419 0.99700447 0.01938935 0.45478329] [ 0.07434132 -0.01380896 0.99713724 -0.31736174] [ 0. 0. 0. 1. ]] SLAMing on 126.55824100800001 meters Centerline goodness : 0.886064 Centerline is valid? [False, False] Translation: X:10.70, Y:0.45, Z:-0.32 [[ 0.9940974 0.07968618 -0.07362385 10.69573899] [-0.07813033 0.99665948 0.02378073 0.45426902] [ 0.07527291 -0.0178881 0.99700251 -0.31594789] [ 0. 0. 0. 1. ]] SLAMing on 126.58824100800001 meters Centerline goodness : 0.883304 Centerline is valid? [False, False] Translation: X:10.70, Y:0.46, Z:-0.32 [[ 0.99408206 0.0795546 -0.07397243 10.69665609] [-0.07806031 0.99668602 0.02288156 0.45733715] [ 0.07554762 -0.01697184 0.99699775 -0.31671328] [ 0. 0. 0. 1. ]] SLAMing on 126.61824100800001 meters Centerline goodness : 0.885534 Centerline is valid? [False, False] Translation: X:10.70, Y:0.46, Z:-0.32 [[ 0.99406607 0.0791774 -0.07458953 10.69850836] [-0.07774883 0.99673308 0.02186978 0.46012351] [ 0.07607744 -0.01594076 0.99697448 -0.31775074] [ 0. 0. 0. 1. ]] SLAMing on 126.64824100800001 meters Centerline goodness : 0.884942 Centerline is valid? [False, False] Translation: X:10.72, Y:0.46, Z:-0.32 [[ 9.94118751e-01 8.15111303e-02 -7.13010897e-02 1.07164457e+01] [-8.07120218e-02 9.96638820e-01 1.40225416e-02 4.63482518e-01] [ 7.22044271e-02 -8.18521641e-03 9.97356267e-01 -3.21628127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.67824100800001 meters Centerline goodness : 0.885001 Centerline is valid? [False, False] Translation: X:10.72, Y:0.46, Z:-0.32 [[ 9.94103126e-01 8.12692756e-02 -7.17933148e-02 1.07175456e+01] [-8.04850130e-02 9.96660908e-01 1.37548607e-02 4.64518106e-01] [ 7.26714379e-02 -7.89546418e-03 9.97324683e-01 -3.21374270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.70824100800002 meters Centerline goodness : 0.883859 Centerline is valid? [False, False] Translation: X:10.72, Y:0.47, Z:-0.32 [[ 9.94080013e-01 8.10919479e-02 -7.23119901e-02 1.07185006e+01] [-8.03210833e-02 9.96677482e-01 1.35100002e-02 4.65656322e-01] [ 7.31672844e-02 -7.62184378e-03 9.97290557e-01 -3.20942227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.73824100800002 meters Centerline goodness : 0.881866 Centerline is valid? [False, False] Translation: X:10.72, Y:0.47, Z:-0.32 [[ 9.94068766e-01 8.12063888e-02 -7.23381745e-02 1.07180053e+01] [-8.04642848e-02 9.96671150e-01 1.31193887e-02 4.68282417e-01] [ 7.31627497e-02 -7.22093510e-03 9.97293874e-01 -3.20360618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.76824100800002 meters Centerline goodness : 0.885561 Centerline is valid? [False, False] Translation: X:10.72, Y:0.47, Z:-0.32 [[ 9.94055094e-01 8.08602441e-02 -7.29115330e-02 1.07194298e+01] [-8.01461328e-02 9.96702571e-01 1.26720924e-02 4.69892809e-01] [ 7.36957809e-02 -6.75318060e-03 9.97257904e-01 -3.20344189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.79824100800002 meters Centerline goodness : 0.882205 Centerline is valid? [False, False] Translation: X:10.72, Y:0.47, Z:-0.32 [[ 9.94035950e-01 8.06576511e-02 -7.33953171e-02 1.07206529e+01] [-7.99619523e-02 9.96721121e-01 1.23731202e-02 4.70877938e-01] [ 7.41526495e-02 -6.43049347e-03 9.97226170e-01 -3.20354278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.82824100800002 meters Centerline goodness : 0.884787 Centerline is valid? [False, False] Translation: X:10.72, Y:0.47, Z:-0.32 [[ 9.94045286e-01 8.01798261e-02 -7.37913597e-02 1.07228022e+01] [-7.95730905e-02 9.96766890e-01 1.11305762e-02 4.74405543e-01] [ 7.44452318e-02 -5.19249022e-03 9.97211585e-01 -3.22351134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.85824100800001 meters Centerline goodness : 0.884756 Centerline is valid? [False, False] Translation: X:10.73, Y:0.47, Z:-0.32 [[ 9.93742959e-01 8.29591832e-02 -7.47843867e-02 1.07269905e+01] [-8.20438744e-02 9.96512270e-01 1.52347504e-02 4.73260922e-01] [ 7.57874214e-02 -9.00382509e-03 9.97083346e-01 -3.21714877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.88824100800001 meters Centerline goodness : 0.881555 Centerline is valid? [False, False] Translation: X:10.73, Y:0.48, Z:-0.32 [[ 9.93755135e-01 8.22966655e-02 -7.53524438e-02 1.07291726e+01] [-8.14400050e-02 9.96574547e-01 1.43769598e-02 4.75195016e-01] [ 7.62775034e-02 -8.15047418e-03 9.97053315e-01 -3.22731289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.91824100800001 meters Centerline goodness : 0.880867 Centerline is valid? [False, False] Translation: X:10.73, Y:0.48, Z:-0.32 [[ 9.93766991e-01 8.16386937e-02 -7.59097544e-02 1.07309435e+01] [-8.08206426e-02 9.96633234e-01 1.37920153e-02 4.76247889e-01] [ 7.67801462e-02 -7.57097444e-03 9.97019302e-01 -3.23117079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.94824100800001 meters Centerline goodness : 0.883035 Centerline is valid? [False, False] Translation: X:10.73, Y:0.48, Z:-0.32 [[ 9.93754827e-01 8.08864727e-02 -7.68682091e-02 1.07329960e+01] [-8.00147655e-02 9.96690260e-01 1.43583421e-02 4.75915739e-01] [ 7.77751910e-02 -8.11808006e-03 9.96937870e-01 -3.20910646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.97824100800001 meters Centerline goodness : 0.881768 Centerline is valid? [False, False] Translation: X:10.74, Y:0.47, Z:-0.32 [[ 0.99358166 0.08153483 -0.07840634 10.74043176] [-0.08018548 0.99657502 0.02021198 0.47347861] [ 0.07978578 -0.01379521 0.99671657 -0.31598369] [ 0. 0. 0. 1. ]] SLAMing on 127.00824100800001 meters Centerline goodness : 0.878954 Centerline is valid? [False, False] Translation: X:10.75, Y:0.47, Z:-0.31 [[ 0.99349252 0.08139326 -0.0796728 10.74780856] [-0.07967425 0.99651915 0.02452739 0.47145326] [ 0.08139183 -0.01801991 0.99651927 -0.3131557 ] [ 0. 0. 0. 1. ]] SLAMing on 127.03824100800001 meters Centerline goodness : 0.877487 Centerline is valid? [False, False] Translation: X:10.76, Y:0.47, Z:-0.31 [[ 0.99363554 0.07786101 -0.08140077 10.76048117] [-0.07574379 0.9967117 0.02878663 0.4706969 ] [ 0.08337446 -0.02243782 0.99626565 -0.30833367] [ 0. 0. 0. 1. ]] SLAMing on 127.06824100800002 meters Centerline goodness : 0.881496 Centerline is valid? [False, False] Translation: X:10.77, Y:0.47, Z:-0.30 [[ 0.99343361 0.07933069 -0.08243967 10.76623291] [-0.07674501 0.99646819 0.03407863 0.46877333] [ 0.08485199 -0.02752803 0.99601323 -0.30493149] [ 0. 0. 0. 1. ]] SLAMing on 127.09824100800002 meters Centerline goodness : 0.883309 Centerline is valid? [False, False] Translation: X:10.77, Y:0.47, Z:-0.30 [[ 0.99344144 0.07872989 -0.0829199 10.76813724] [-0.07614351 0.99652009 0.03390979 0.46999257] [ 0.08530106 -0.02737357 0.99597912 -0.30491495] [ 0. 0. 0. 1. ]] SLAMing on 127.12824100800002 meters Centerline goodness : 0.881686 Centerline is valid? [False, False] Translation: X:10.77, Y:0.47, Z:-0.31 [[ 0.99345446 0.0780245 -0.08342906 10.77001593] [-0.07544654 0.9965828 0.0336234 0.47079526] [ 0.08576742 -0.02710888 0.99594631 -0.30513377] [ 0. 0. 0. 1. ]] SLAMing on 127.15824100800002 meters Centerline goodness : 0.882451 Centerline is valid? [False, False] Translation: X:10.76, Y:0.47, Z:-0.30 [[ 0.99348767 0.0732249 -0.08729464 10.75609695] [-0.07001882 0.99677342 0.03924418 0.47316049] [ 0.08988663 -0.03287634 0.99540923 -0.30245346] [ 0. 0. 0. 1. ]] SLAMing on 127.18824100800002 meters Centerline goodness : 0.881049 Centerline is valid? [False, False] Translation: X:10.76, Y:0.48, Z:-0.30 [[ 0.99376023 0.06899197 -0.08763968 10.75688128] [-0.06619984 0.99721395 0.03437919 0.47694494] [ 0.0897674 -0.02836293 0.99555882 -0.30393861] [ 0. 0. 0. 1. ]] SLAMing on 127.21824100800002 meters Centerline goodness : 0.880836 Centerline is valid? [False, False] Translation: X:10.76, Y:0.48, Z:-0.31 [[ 0.9940288 0.06463192 -0.08791734 10.7575722 ] [-0.06230857 0.9976378 0.02892177 0.4812577 ] [ 0.08957893 -0.02327107 0.99570783 -0.30607995] [ 0. 0. 0. 1. ]] SLAMing on 127.24824100800001 meters Centerline goodness : 0.880297 Centerline is valid? [False, False] Translation: X:10.76, Y:0.48, Z:-0.31 [[ 0.99401702 0.06404358 -0.0884793 10.7590889 ] [-0.06174007 0.99768433 0.02853322 0.4818689 ] [ 0.09010178 -0.02289979 0.99566926 -0.30610506] [ 0. 0. 0. 1. ]] SLAMing on 127.27824100800001 meters Centerline goodness : 0.882128 Centerline is valid? [False, False] Translation: X:10.76, Y:0.48, Z:-0.31 [[ 0.99463131 0.06825928 -0.07777678 10.76151626] [-0.06586404 0.99728412 0.03295917 0.4793978 ] [ 0.07981531 -0.02765953 0.99642585 -0.30612224] [ 0. 0. 0. 1. ]] SLAMing on 127.30824100800001 meters Centerline goodness : 0.880029 Centerline is valid? [False, False] Translation: X:10.77, Y:0.48, Z:-0.31 [[ 0.99514864 0.07202766 -0.06701643 10.76535998] [-0.06968684 0.9968959 0.03663749 0.47731358] [ 0.06944732 -0.03178958 0.99707898 -0.30790564] [ 0. 0. 0. 1. ]] SLAMing on 127.33824100800001 meters Centerline goodness : 0.878000 Centerline is valid? [False, False] Translation: X:10.77, Y:0.47, Z:-0.31 [[ 0.99549987 0.07621058 -0.05632008 10.76993346] [-0.07399911 0.99644115 0.04036298 0.47479774] [ 0.05919573 -0.03601371 0.99759655 -0.31047047] [ 0. 0. 0. 1. ]] SLAMing on 127.36824100800001 meters Centerline goodness : 0.877790 Centerline is valid? [False, False] Translation: X:10.77, Y:0.47, Z:-0.31 [[ 0.99567657 0.08061842 -0.04613931 10.77468295] [-0.07860894 0.99594167 0.04382717 0.47216054] [ 0.04948533 -0.04001072 0.99797312 -0.31201834] [ 0. 0. 0. 1. ]] SLAMing on 127.39824100800001 meters Centerline goodness : 0.877418 Centerline is valid? [False, False] Translation: X:10.77, Y:0.47, Z:-0.31 [[ 0.99569595 0.08060953 -0.04573492 10.77480224] [-0.07864414 0.99596368 0.04326028 0.47358827] [ 0.04903751 -0.0394773 0.99801647 -0.31289542] [ 0. 0. 0. 1. ]] SLAMing on 127.42824100800001 meters Centerline goodness : 0.879677 Centerline is valid? [False, False] Translation: X:10.77, Y:0.48, Z:-0.31 [[ 0.99563841 0.08179548 -0.04487377 10.77299161] [-0.07983051 0.99583853 0.04396271 0.47725315] [ 0.04828298 -0.04018866 0.99802486 -0.31182445] [ 0. 0. 0. 1. ]] SLAMing on 127.45824100800002 meters Centerline goodness : 0.880510 Centerline is valid? [False, False] Translation: X:10.77, Y:0.48, Z:-0.31 [[ 0.99558374 0.08265605 -0.04450828 10.77211287] [-0.08069726 0.99576066 0.04414361 0.47966227] [ 0.04796833 -0.04035697 0.99803324 -0.31093679] [ 0. 0. 0. 1. ]] SLAMing on 127.48824100800002 meters Centerline goodness : 0.881282 Centerline is valid? [False, False] Translation: X:10.77, Y:0.48, Z:-0.31 [[ 0.99545956 0.08385397 -0.04504195 10.77411373] [-0.08193208 0.99571221 0.04294557 0.48151757] [ 0.04844997 -0.0390602 0.99806157 -0.31173417] [ 0. 0. 0. 1. ]] SLAMing on 127.51824100800002 meters Centerline goodness : 0.885785 Centerline is valid? [False, False] Translation: X:10.78, Y:0.49, Z:-0.31 [[ 0.99510255 0.08778204 -0.04544484 10.77566365] [-0.08584564 0.99538259 0.04294205 0.48590936] [ 0.04900455 -0.0388305 0.99804346 -0.31141012] [ 0. 0. 0. 1. ]] SLAMing on 127.54824100800002 meters Centerline goodness : 0.882956 Centerline is valid? [False, False] Translation: X:10.78, Y:0.49, Z:-0.31 [[ 0.99479914 0.09048368 -0.04676938 10.77932475] [-0.08855284 0.99519272 0.04183102 0.48845022] [ 0.05032957 -0.0374719 0.99802945 -0.31195062] [ 0. 0. 0. 1. ]] SLAMing on 127.57824100800002 meters Centerline goodness : 0.883317 Centerline is valid? [False, False] Translation: X:10.78, Y:0.49, Z:-0.31 [[ 0.99444533 0.09381603 -0.04771841 10.78211174] [-0.09189632 0.99492613 0.04095192 0.49069959] [ 0.05131824 -0.0363393 0.99802099 -0.31224985] [ 0. 0. 0. 1. ]] SLAMing on 127.60824100800001 meters Centerline goodness : 0.882453 Centerline is valid? [False, False] Translation: X:10.78, Y:0.49, Z:-0.31 [[ 0.99403362 0.09759329 -0.04871051 10.78448809] [-0.0956525 0.99458219 0.04070473 0.49283769] [ 0.05241911 -0.03580259 0.99798317 -0.31156849] [ 0. 0. 0. 1. ]] SLAMing on 127.63824100800001 meters Centerline goodness : 0.887183 Centerline is valid? [False, False] Translation: X:10.79, Y:0.49, Z:-0.31 [[ 0.99363693 0.10074537 -0.05035898 10.78894542] [-0.09882918 0.99433205 0.03919907 0.4948371 ] [ 0.05402268 -0.03397271 0.99796163 -0.31241152] [ 0. 0. 0. 1. ]] SLAMing on 127.66824100800001 meters Centerline goodness : 0.889658 Centerline is valid? [False, False] Translation: X:10.79, Y:0.50, Z:-0.31 [[ 0.99294865 0.10631817 -0.05243497 10.79372752] [-0.10435692 0.99378165 0.0388286 0.49710378] [ 0.0562371 -0.03308285 0.99786919 -0.31204233] [ 0. 0. 0. 1. ]] SLAMing on 127.69824100800001 meters Centerline goodness : 0.886877 Centerline is valid? [False, False] Translation: X:10.80, Y:0.50, Z:-0.31 [[ 0.99262769 0.10884138 -0.05332749 10.79657041] [-0.10687279 0.9935278 0.03848006 0.4974227 ] [ 0.05717057 -0.03249711 0.99783539 -0.31267154] [ 0. 0. 0. 1. ]] SLAMing on 127.72824100800001 meters Centerline goodness : 0.889256 Centerline is valid? [False, False] Translation: X:10.80, Y:0.50, Z:-0.31 [[ 0.99234458 0.11078557 -0.05457833 10.80059111] [-0.10878675 0.9933257 0.03833412 0.49755065] [ 0.05846093 -0.03210326 0.99777337 -0.31407805] [ 0. 0. 0. 1. ]] SLAMing on 127.75824100800001 meters Centerline goodness : 0.887254 Centerline is valid? [False, False] Translation: X:10.80, Y:0.50, Z:-0.32 [[ 0.99193153 0.11399211 -0.05547644 10.80470989] [-0.11182893 0.99289535 0.04065853 0.49731537] [ 0.05971705 -0.0341266 0.99763182 -0.31639846] [ 0. 0. 0. 1. ]] SLAMing on 127.78824100800001 meters Centerline goodness : 0.887606 Centerline is valid? [False, False] Translation: X:10.81, Y:0.50, Z:-0.32 [[ 0.99177183 0.11501346 -0.05621877 10.80635183] [-0.1128512 0.99279666 0.04024172 0.49663296] [ 0.06044215 -0.03356625 0.99760716 -0.31631849] [ 0. 0. 0. 1. ]] SLAMing on 127.81824100800002 meters Centerline goodness : 0.890455 Centerline is valid? [False, False] Translation: X:10.81, Y:0.50, Z:-0.32 [[ 0.99158686 0.11545291 -0.05853309 10.81166316] [-0.11338271 0.99284172 0.03754558 0.49534654] [ 0.06244884 -0.03059307 0.99757917 -0.31734105] [ 0. 0. 0. 1. ]] SLAMing on 127.84824100800002 meters Centerline goodness : 0.887940 Centerline is valid? [False, False] Translation: X:10.81, Y:0.49, Z:-0.32 [[ 0.9914613 0.11598505 -0.05959825 10.814392 ] [-0.11396413 0.99282262 0.0362687 0.49418285] [ 0.06337712 -0.02916695 0.99756335 -0.31795151] [ 0. 0. 0. 1. ]] SLAMing on 127.87824100800002 meters Centerline goodness : 0.886687 Centerline is valid? [False, False] Translation: X:10.82, Y:0.49, Z:-0.32 [[ 0.9912483 0.11703398 -0.06107256 10.81806126] [-0.11500855 0.99272281 0.03569959 0.49221627] [ 0.06480619 -0.02836329 0.9974947 -0.31899618] [ 0. 0. 0. 1. ]] SLAMing on 127.90824100800002 meters Centerline goodness : 0.883898 Centerline is valid? [False, False] Translation: X:10.82, Y:0.49, Z:-0.32 [[ 0.99114102 0.11750602 -0.06190164 10.82019468] [-0.11548977 0.99268432 0.03521292 0.49074086] [ 0.06558652 -0.02775196 0.99746089 -0.31954912] [ 0. 0. 0. 1. ]] SLAMing on 127.93824100800002 meters Centerline goodness : 0.884587 Centerline is valid? [False, False] Translation: X:10.82, Y:0.49, Z:-0.32 [[ 0.99109727 0.11740624 -0.0627852 10.82283574] [-0.11541808 0.99272049 0.03441951 0.4888901 ] [ 0.06636922 -0.02686654 0.99743336 -0.32084101] [ 0. 0. 0. 1. ]] SLAMing on 127.96824100800002 meters Centerline goodness : 0.886002 Centerline is valid? [False, False] Translation: X:10.83, Y:0.49, Z:-0.32 [[ 0.99120263 0.1154509 -0.06471805 10.82768461] [-0.11362225 0.9930318 0.0312702 0.48591972] [ 0.06787725 -0.02364169 0.99741353 -0.32312454] [ 0. 0. 0. 1. ]] SLAMing on 127.99824100800001 meters Centerline goodness : 0.883107 Centerline is valid? [False, False] Translation: X:10.83, Y:0.48, Z:-0.32 [[ 0.99135523 0.11367594 -0.06551779 10.82876925] [-0.11198317 0.99328783 0.0289666 0.48341628] [ 0.06837082 -0.0213793 0.99743088 -0.32313721] [ 0. 0. 0. 1. ]] SLAMing on 128.028241008 meters Centerline goodness : 0.882722 Centerline is valid? [False, False] Translation: X:10.83, Y:0.48, Z:-0.32 [[ 0.99155715 0.1106125 -0.06767042 10.83366928] [-0.10917772 0.99371886 0.024557 0.48061447] [ 0.06996169 -0.01696157 0.99740547 -0.3248957 ] [ 0. 0. 0. 1. ]] SLAMing on 128.058241008 meters Centerline goodness : 0.879876 Centerline is valid? [False, False] Translation: X:10.84, Y:0.48, Z:-0.33 [[ 0.99176058 0.10816702 -0.06863555 10.83600221] [-0.10692311 0.99403359 0.02155618 0.47824399] [ 0.07055771 -0.01403984 0.99740889 -0.32620978] [ 0. 0. 0. 1. ]] SLAMing on 128.088241008 meters Centerline goodness : 0.881044 Centerline is valid? [False, False] Translation: X:10.84, Y:0.47, Z:-0.33 [[ 0.99230749 0.10981179 -0.05715963 10.83827642] [-0.10846952 0.99375741 0.02608769 0.46901336] [ 0.05966754 -0.01968694 0.99802415 -0.32846802] [ 0. 0. 0. 1. ]] SLAMing on 128.118241008 meters Centerline goodness : 0.879081 Centerline is valid? [False, False] Translation: X:10.84, Y:0.47, Z:-0.33 [[ 0.99250005 0.10774318 -0.05774997 10.84107355] [-0.10651694 0.99402322 0.02391609 0.46665843] [ 0.05998161 -0.01758537 0.99804457 -0.33129971] [ 0. 0. 0. 1. ]] SLAMing on 128.148241008 meters Centerline goodness : 0.881506 Centerline is valid? [False, False] Translation: X:10.84, Y:0.46, Z:-0.33 [[ 0.99258494 0.10662703 -0.05835943 10.8427919 ] [-0.10544344 0.99415913 0.02300686 0.46352593] [ 0.06047171 -0.01668265 0.99803049 -0.33249213] [ 0. 0. 0. 1. ]] SLAMing on 128.178241008 meters Centerline goodness : 0.880352 Centerline is valid? [False, False] Translation: X:10.84, Y:0.46, Z:-0.33 [[ 0.99257183 0.10664546 -0.05854829 10.84351645] [-0.10540019 0.99414097 0.02396928 0.46067857] [ 0.06076147 -0.01762023 0.99799678 -0.33172147] [ 0. 0. 0. 1. ]] SLAMing on 128.208241008 meters Centerline goodness : 0.878963 Centerline is valid? [False, False] Translation: X:10.84, Y:0.45, Z:-0.33 [[ 0.99258212 0.10658861 -0.05847739 10.84363668] [-0.1052623 0.99412211 0.02531949 0.45455151] [ 0.06083244 -0.01897621 0.99796759 -0.3312646 ] [ 0. 0. 0. 1. ]] SLAMing on 128.238241008 meters Centerline goodness : 0.877184 Centerline is valid? [False, False] Translation: X:10.84, Y:0.45, Z:-0.33 [[ 0.99256452 0.10667922 -0.05861069 10.8442704 ] [-0.10531995 0.99410314 0.02581952 0.45245339] [ 0.06101948 -0.01945467 0.99794696 -0.33136836] [ 0. 0. 0. 1. ]] SLAMing on 128.268241008 meters Centerline goodness : 0.879143 Centerline is valid? [False, False] Translation: X:10.85, Y:0.45, Z:-0.33 [[ 0.99224624 0.10919245 -0.05936677 10.84875533] [-0.10738571 0.99367538 0.03282614 0.44595598] [ 0.06257567 -0.02619647 0.99769636 -0.32679856] [ 0. 0. 0. 1. ]] SLAMing on 128.298241008 meters Centerline goodness : 0.879143 Centerline is valid? [False, False] Translation: X:10.85, Y:0.45, Z:-0.33 [[ 0.99224774 0.10927412 -0.05919112 10.84849649] [-0.10748505 0.99367145 0.03261923 0.44650578] [ 0.06238097 -0.0260042 0.99771358 -0.32696767] [ 0. 0. 0. 1. ]] SLAMing on 128.328241008 meters Centerline goodness : 0.880651 Centerline is valid? [False, False] Translation: X:10.85, Y:0.44, Z:-0.33 [[ 0.99185941 0.11273415 -0.05921084 10.85035725] [-0.11061006 0.99313665 0.03801319 0.44207868] [ 0.06308984 -0.03115443 0.99752147 -0.32512324] [ 0. 0. 0. 1. ]] SLAMing on 128.358241008 meters Centerline goodness : 0.875265 Centerline is valid? [False, False] Translation: X:10.85, Y:0.44, Z:-0.33 [[ 0.9918378 0.11285088 -0.05935029 10.85101118] [-0.11071939 0.99312254 0.03806346 0.44095728] [ 0.06323761 -0.03118155 0.99751126 -0.32575819] [ 0. 0. 0. 1. ]] SLAMing on 128.388241008 meters Centerline goodness : 0.878168 Centerline is valid? [False, False] Translation: X:10.85, Y:0.44, Z:-0.32 [[ 0.99140337 0.11650714 -0.05954355 10.85294809] [-0.11402825 0.99252601 0.04347035 0.435979 ] [ 0.06416313 -0.036307 0.99727874 -0.32404838] [ 0. 0. 0. 1. ]] SLAMing on 128.418241008 meters Centerline goodness : 0.880264 Centerline is valid? [False, False] Translation: X:10.85, Y:0.43, Z:-0.32 [[ 0.99087734 0.12075886 -0.05982808 10.85493825] [-0.1178402 0.99176627 0.05013343 0.42945109] [ 0.06538953 -0.04262593 0.99694897 -0.32093597] [ 0. 0. 0. 1. ]] SLAMing on 128.448241008 meters Centerline goodness : 0.878517 Centerline is valid? [False, False] Translation: X:10.85, Y:0.43, Z:-0.32 [[ 0.99117524 0.11815656 -0.06008878 10.85364548] [-0.11549651 0.9922432 0.0459781 0.43067439] [ 0.0650553 -0.03863231 0.99713357 -0.32218023] [ 0. 0. 0. 1. ]] SLAMing on 128.478241008 meters Centerline goodness : 0.878498 Centerline is valid? [False, False] Translation: X:10.87, Y:0.43, Z:-0.33 [[ 0.99125899 0.11935869 -0.05620606 10.8684154 ] [-0.11746639 0.99242927 0.03585806 0.43042551] [ 0.06006051 -0.0289423 0.99777506 -0.32761347] [ 0. 0. 0. 1. ]] SLAMing on 128.508241008 meters Centerline goodness : 0.879399 Centerline is valid? [False, False] Translation: X:10.88, Y:0.43, Z:-0.33 [[ 0.99133103 0.12063924 -0.05204762 10.8820554 ] [-0.11943905 0.99251154 0.02559582 0.4302784 ] [ 0.05474573 -0.01915741 0.99831653 -0.33259507] [ 0. 0. 0. 1. ]] SLAMing on 128.538241008 meters Centerline goodness : 0.881557 Centerline is valid? [False, False] Translation: X:10.89, Y:0.43, Z:-0.34 [[ 9.91245252e-01 1.23201310e-01 -4.74793348e-02 1.08940076e+01] [-1.22582426e-01 9.92333444e-01 1.57443711e-02 4.29449646e-01] [ 4.90550589e-02 -9.78640109e-03 9.98748130e-01 -3.38034388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.568241008 meters Centerline goodness : 0.881134 Centerline is valid? [False, False] Translation: X:10.89, Y:0.43, Z:-0.34 [[ 9.91202804e-01 1.23577725e-01 -4.73872105e-02 1.08937826e+01] [-1.22946741e-01 9.92283994e-01 1.60179226e-02 4.28616258e-01] [ 4.90010289e-02 -1.00509067e-02 9.98748156e-01 -3.38260151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.598241008 meters Centerline goodness : 0.877191 Centerline is valid? [False, False] Translation: X:10.89, Y:0.43, Z:-0.34 [[ 9.91175595e-01 1.23779999e-01 -4.74283939e-02 1.08939134e+01] [-1.23141202e-01 9.92257364e-01 1.61730424e-02 4.27535607e-01] [ 4.90630723e-02 -1.01899355e-02 9.98743701e-01 -3.38568409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.628241008 meters Centerline goodness : 0.877298 Centerline is valid? [False, False] Translation: X:10.89, Y:0.42, Z:-0.34 [[ 0.99110021 0.12434278 -0.04753163 10.89375202] [-0.12364207 0.99217397 0.01741977 0.42263175] [ 0.04932567 -0.01138783 0.99871783 -0.33800225] [ 0. 0. 0. 1. ]] SLAMing on 128.658241008 meters Centerline goodness : 0.876636 Centerline is valid? [False, False] Translation: X:10.89, Y:0.42, Z:-0.34 [[ 9.91517125e-01 1.20897153e-01 -4.77249363e-02 1.08932071e+01] [-1.20398468e-01 9.92637889e-01 1.31996410e-02 4.23445793e-01] [ 4.89693791e-02 -7.34166084e-03 9.98773298e-01 -3.39255349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.688241008 meters Centerline goodness : 0.879145 Centerline is valid? [False, False] Translation: X:10.89, Y:0.42, Z:-0.34 [[ 9.91928478e-01 1.17452179e-01 -4.77795030e-02 1.08923729e+01] [-1.17146270e-01 9.93072401e-01 9.16284702e-03 4.23657502e-01] [ 4.85247021e-02 -3.49169835e-03 9.98815880e-01 -3.40396478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.718241008 meters Centerline goodness : 0.879162 Centerline is valid? [False, False] Translation: X:10.89, Y:0.42, Z:-0.34 [[ 9.92334975e-01 1.13922869e-01 -4.78840062e-02 1.08915649e+01] [-1.13806879e-01 9.93489540e-01 5.15062712e-03 4.23407020e-01] [ 4.81590335e-02 3.38381863e-04 9.98839623e-01 -3.41346771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.748241008 meters Centerline goodness : 0.878886 Centerline is valid? [False, False] Translation: X:10.89, Y:0.42, Z:-0.34 [[ 9.92398569e-01 1.13062945e-01 -4.85988811e-02 1.08935477e+01] [-1.12831420e-01 9.93585914e-01 7.49009170e-03 4.15377696e-01] [ 4.91340155e-02 -1.94967554e-03 9.98790292e-01 -3.38540995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.778241008 meters Centerline goodness : 0.879372 Centerline is valid? [False, False] Translation: X:10.89, Y:0.41, Z:-0.34 [[ 9.92407616e-01 1.12844663e-01 -4.89203932e-02 1.08942781e+01] [-1.12560773e-01 9.93608241e-01 8.52854108e-03 4.11421415e-01] [ 4.95701062e-02 -2.95727188e-03 9.98766269e-01 -3.37452028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.808241008 meters Centerline goodness : 0.880243 Centerline is valid? [False, False] Translation: X:10.89, Y:0.41, Z:-0.34 [[ 9.92807717e-01 1.09227533e-01 -4.90120776e-02 1.08933752e+01] [-1.09128916e-01 9.94016534e-01 4.69156053e-03 4.11116675e-01] [ 4.92312631e-02 6.90817411e-04 9.98787167e-01 -3.37898179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.838241008 meters Centerline goodness : 0.876763 Centerline is valid? [False, False] Translation: X:10.90, Y:0.41, Z:-0.34 [[ 9.92819102e-01 1.08831228e-01 -4.96587912e-02 1.08952745e+01] [-1.08677141e-01 9.94060176e-01 5.80053692e-03 4.07294526e-01] [ 4.99951062e-02 -3.62108396e-04 9.98749397e-01 -3.36968243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.868241008 meters Centerline goodness : 0.876379 Centerline is valid? [False, False] Translation: X:10.90, Y:0.40, Z:-0.34 [[ 9.92901219e-01 1.07882993e-01 -5.00842144e-02 1.08975309e+01] [-1.07678413e-01 9.94162706e-01 6.77300884e-03 4.01281010e-01] [ 5.05225506e-02 -1.33194000e-03 9.98722032e-01 -3.36948089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.898241008 meters Centerline goodness : 0.878130 Centerline is valid? [False, False] Translation: X:10.90, Y:0.40, Z:-0.34 [[ 9.92915804e-01 1.07482260e-01 -5.06534384e-02 1.08996295e+01] [-1.07254318e-01 9.94205513e-01 7.20480966e-03 3.99321771e-01] [ 5.11343169e-02 -1.72096939e-03 9.98690302e-01 -3.37179812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.928241008 meters Centerline goodness : 0.875214 Centerline is valid? [False, False] Translation: X:10.90, Y:0.40, Z:-0.34 [[ 9.92933125e-01 1.07213182e-01 -5.08836130e-02 1.09011141e+01] [-1.06959334e-01 9.94233628e-01 7.69374566e-03 3.95308824e-01] [ 5.14150701e-02 -2.19689758e-03 9.98674954e-01 -3.38162673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.958241008 meters Centerline goodness : 0.879149 Centerline is valid? [False, False] Translation: X:10.90, Y:0.39, Z:-0.34 [[ 9.92911027e-01 1.07283776e-01 -5.11652626e-02 1.09016901e+01] [-1.07002178e-01 9.94224811e-01 8.21944435e-03 3.92748024e-01] [ 5.17515866e-02 -2.68638241e-03 9.98656376e-01 -3.37917170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.988241008 meters Centerline goodness : 0.884003 Centerline is valid? [False, False] Translation: X:10.90, Y:0.39, Z:-0.34 [[ 9.93210775e-01 1.04380628e-01 -5.13521243e-02 1.09002701e+01] [-1.04307049e-01 9.94536616e-01 4.11806916e-03 3.94205921e-01] [ 5.15014146e-02 1.26627787e-03 9.98672119e-01 -3.38554742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.018241008 meters Centerline goodness : 0.884180 Centerline is valid? [False, False] Translation: X:10.90, Y:0.39, Z:-0.34 [[ 9.93185500e-01 1.04391091e-01 -5.18175882e-02 1.09010142e+01] [-1.04304605e-01 9.94535763e-01 4.37789906e-03 3.93734772e-01] [ 5.19914582e-02 1.05674718e-03 9.98646970e-01 -3.37803599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.048241008 meters Centerline goodness : 0.880596 Centerline is valid? [False, False] Translation: X:10.90, Y:0.39, Z:-0.34 [[ 9.93168334e-01 1.04478336e-01 -5.19705521e-02 1.09011486e+01] [-1.04388434e-01 9.94526653e-01 4.44872573e-03 3.93294691e-01] [ 5.21508947e-02 1.00679102e-03 9.98638709e-01 -3.37670360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.078241008 meters Centerline goodness : 0.878566 Centerline is valid? [False, False] Translation: X:10.91, Y:0.39, Z:-0.34 [[ 9.93060474e-01 1.04920493e-01 -5.31280135e-02 1.09082066e+01] [-1.04584344e-01 9.94474606e-01 9.07597385e-03 3.90211136e-01] [ 5.37867159e-02 -3.45663247e-03 9.98546464e-01 -3.35307579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.108241008 meters Centerline goodness : 0.882577 Centerline is valid? [False, False] Translation: X:10.91, Y:0.39, Z:-0.34 [[ 9.93084840e-01 1.04582542e-01 -5.33384775e-02 1.09093689e+01] [-1.04264143e-01 9.94511367e-01 8.72516753e-03 3.91162267e-01] [ 5.39582224e-02 -3.10354094e-03 9.98538371e-01 -3.36010185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.138241008 meters Centerline goodness : 0.883119 Centerline is valid? [False, False] Translation: X:10.91, Y:0.39, Z:-0.34 [[ 9.93111196e-01 1.04208823e-01 -5.35786723e-02 1.09106746e+01] [-1.03912853e-01 9.94551873e-01 8.28804257e-03 3.92184922e-01] [ 5.41504560e-02 -2.66343516e-03 9.98529236e-01 -3.36926225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.168241008 meters Centerline goodness : 0.881955 Centerline is valid? [False, False] Translation: X:10.91, Y:0.39, Z:-0.34 [[ 9.93157449e-01 1.03359756e-01 -5.43602932e-02 1.09135938e+01] [-1.03096111e-01 9.94642061e-01 7.63958328e-03 3.93374586e-01] [ 5.48586596e-02 -1.98297421e-03 9.98492161e-01 -3.37988695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.198241008 meters Centerline goodness : 0.882670 Centerline is valid? [False, False] Translation: X:10.91, Y:0.39, Z:-0.34 [[ 9.93174123e-01 1.02995728e-01 -5.47452384e-02 1.09147956e+01] [-1.02757904e-01 9.94680705e-01 7.14898056e-03 3.94143858e-01] [ 5.51903468e-02 -1.47467655e-03 9.98474762e-01 -3.38557548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.228241008 meters Centerline goodness : 0.884159 Centerline is valid? [False, False] Translation: X:10.92, Y:0.39, Z:-0.34 [[ 9.93256332e-01 1.01611204e-01 -5.58303036e-02 1.09181779e+01] [-1.01343997e-01 9.94822383e-01 7.60400685e-03 3.92780628e-01] [ 5.63138880e-02 -1.89466185e-03 9.98411316e-01 -3.37229295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.258241008 meters Centerline goodness : 0.881485 Centerline is valid? [False, False] Translation: X:10.92, Y:0.39, Z:-0.34 [[ 9.93303349e-01 1.00784127e-01 -5.64890817e-02 1.09202268e+01] [-1.00495944e-01 9.94905892e-01 7.92656637e-03 3.91371589e-01] [ 5.70001924e-02 -2.19656133e-03 9.98371751e-01 -3.36511588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.288241008 meters Centerline goodness : 0.880567 Centerline is valid? [False, False] Translation: X:10.92, Y:0.39, Z:-0.34 [[ 9.93361761e-01 9.96213619e-02 -5.75151845e-02 1.09235234e+01] [-9.93000457e-02 9.95021869e-01 8.42500123e-03 3.89730081e-01] [ 5.80681765e-02 -2.65781361e-03 9.98309082e-01 -3.35599848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.318241008 meters Centerline goodness : 0.884136 Centerline is valid? [False, False] Translation: X:10.92, Y:0.39, Z:-0.34 [[ 9.93773753e-01 9.52149825e-02 -5.78604834e-02 1.09240848e+01] [-9.51627554e-02 9.95454985e-01 3.66364807e-03 3.91955855e-01] [ 5.79463408e-02 1.86532573e-03 9.98317956e-01 -3.36892941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.348241008 meters Centerline goodness : 0.881354 Centerline is valid? [False, False] Translation: X:10.93, Y:0.39, Z:-0.33 [[ 9.93818224e-01 9.39935082e-02 -5.90809487e-02 1.09273644e+01] [-9.39042744e-02 9.95571983e-01 4.29113185e-03 3.91200288e-01] [ 5.92226758e-02 1.28334858e-03 9.98243972e-01 -3.34847063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.378241008 meters Centerline goodness : 0.882706 Centerline is valid? [False, False] Translation: X:10.93, Y:0.39, Z:-0.33 [[ 9.93833317e-01 9.34439224e-02 -5.96956491e-02 1.09291114e+01] [-9.33441957e-02 9.95623896e-01 4.46314461e-03 3.91135790e-01] [ 5.98514684e-02 1.13662053e-03 9.98206647e-01 -3.34149396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.408241008 meters Centerline goodness : 0.879928 Centerline is valid? [False, False] Translation: X:10.94, Y:0.39, Z:-0.33 [[ 9.93565645e-01 9.53179341e-02 -6.11702554e-02 1.09352210e+01] [-9.48469461e-02 9.95435811e-01 1.05642487e-02 3.87594543e-01] [ 6.18980251e-02 -4.69446270e-03 9.98071439e-01 -3.29815070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.438241008 meters Centerline goodness : 0.879514 Centerline is valid? [False, False] Translation: X:10.94, Y:0.39, Z:-0.33 [[ 9.93308728e-01 9.74328118e-02 -6.20049853e-02 1.09400223e+01] [-9.66964863e-02 9.95204254e-01 1.47743752e-02 3.87014471e-01] [ 6.31471341e-02 -8.67985163e-03 9.97966482e-01 -3.28695319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.468241008 meters Centerline goodness : 0.881990 Centerline is valid? [False, False] Translation: X:10.94, Y:0.39, Z:-0.33 [[ 9.93319143e-01 9.70210187e-02 -6.24820115e-02 1.09418637e+01] [-9.63024099e-02 9.95247680e-01 1.44188129e-02 3.88363562e-01] [ 6.35840049e-02 -8.30531456e-03 9.97941930e-01 -3.29233820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.498241008 meters Centerline goodness : 0.881087 Centerline is valid? [False, False] Translation: X:10.94, Y:0.39, Z:-0.33 [[ 9.93346915e-01 9.62127745e-02 -6.32851321e-02 1.09445828e+01] [-9.55255325e-02 9.95331262e-01 1.38040206e-02 3.89857871e-01] [ 6.43177936e-02 -7.66683534e-03 9.97900016e-01 -3.29855374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.528241008 meters Centerline goodness : 0.880567 Centerline is valid? [False, False] Translation: X:10.95, Y:0.39, Z:-0.33 [[ 0.99301137 0.09888654 -0.06441957 10.94940958] [-0.09784721 0.99501812 0.01910145 0.38839214] [ 0.06598752 -0.01266468 0.99774007 -0.32683363] [ 0. 0. 0. 1. ]] SLAMing on 129.558241008 meters Centerline goodness : 0.883742 Centerline is valid? [False, False] Translation: X:10.95, Y:0.39, Z:-0.33 [[ 0.99298664 0.0986037 -0.06522917 10.95164276] [-0.09761833 0.99505873 0.01813259 0.39102233] [ 0.06669479 -0.01163785 0.99770555 -0.32808958] [ 0. 0. 0. 1. ]] SLAMing on 129.588241008 meters Centerline goodness : 0.888264 Centerline is valid? [False, False] Translation: X:10.96, Y:0.39, Z:-0.33 [[ 0.99266462 0.10106903 -0.06634765 10.95634319] [-0.09974542 0.99474767 0.02297646 0.38858132] [ 0.06832138 -0.01619005 0.99753199 -0.32588594] [ 0. 0. 0. 1. ]] SLAMing on 129.618241008 meters Centerline goodness : 0.890592 Centerline is valid? [False, False] Translation: X:10.96, Y:0.39, Z:-0.33 [[ 0.99296132 0.09765946 -0.06701086 10.95674323] [-0.09665366 0.99515351 0.01809866 0.39227658] [ 0.06845359 -0.01149443 0.99758808 -0.32767206] [ 0. 0. 0. 1. ]] SLAMing on 129.648241008 meters Centerline goodness : 0.885621 Centerline is valid? [False, False] Translation: X:10.96, Y:0.39, Z:-0.32 [[ 0.9926157 0.10046248 -0.06798054 10.96053615] [-0.09907197 0.99480193 0.02353435 0.38909401] [ 0.06999149 -0.0166256 0.99740903 -0.32440518] [ 0. 0. 0. 1. ]] SLAMing on 129.678241008 meters Centerline goodness : 0.884544 Centerline is valid? [False, False] Translation: X:10.97, Y:0.38, Z:-0.32 [[ 0.9923759 0.10225627 -0.06880206 10.9659497 ] [-0.10029756 0.99446333 0.03135406 0.38460333] [ 0.07162727 -0.02421434 0.9971375 -0.316622 ] [ 0. 0. 0. 1. ]] SLAMing on 129.708241008 meters Centerline goodness : 0.881905 Centerline is valid? [False, False] Translation: X:10.97, Y:0.39, Z:-0.32 [[ 0.99278107 0.09823425 -0.06881704 10.96549337] [-0.09664962 0.99497888 0.02599776 0.38805622] [ 0.07102537 -0.01915894 0.9972905 -0.31890408] [ 0. 0. 0. 1. ]] SLAMing on 129.738241008 meters Centerline goodness : 0.881454 Centerline is valid? [False, False] Translation: X:10.97, Y:0.39, Z:-0.32 [[ 0.99280707 0.09754242 -0.06942336 10.96748172] [-0.09595072 0.99504875 0.02591216 0.38839507] [ 0.07160716 -0.01906456 0.9972507 -0.31861816] [ 0. 0. 0. 1. ]] SLAMing on 129.768241008 meters Centerline goodness : 0.881117 Centerline is valid? [False, False] Translation: X:10.97, Y:0.39, Z:-0.32 [[ 0.99284057 0.09673301 -0.07007376 10.96969298] [-0.09511614 0.99512496 0.02606206 0.38817546] [ 0.0722532 -0.01921032 0.9972013 -0.31793863] [ 0. 0. 0. 1. ]] SLAMing on 129.798241008 meters Centerline goodness : 0.883820 Centerline is valid? [False, False] Translation: X:10.97, Y:0.39, Z:-0.32 [[ 0.9928437 0.09627452 -0.07065831 10.9711287 ] [-0.09463032 0.99516588 0.02626721 0.38817776] [ 0.0728456 -0.01939281 0.99715467 -0.31692331] [ 0. 0. 0. 1. ]] SLAMing on 129.828241008 meters Centerline goodness : 0.884981 Centerline is valid? [False, False] Translation: X:10.97, Y:0.39, Z:-0.32 [[ 0.99285632 0.09575418 -0.07118619 10.97246573] [-0.09410099 0.99521698 0.02623287 0.38799219] [ 0.07335762 -0.01934677 0.99711803 -0.31639617] [ 0. 0. 0. 1. ]] SLAMing on 129.858241008 meters Centerline goodness : 0.888521 Centerline is valid? [False, False] Translation: X:10.97, Y:0.39, Z:-0.32 [[ 0.99286237 0.09521895 -0.07181691 10.97397952] [-0.09353027 0.99526294 0.02652872 0.38769474] [ 0.07400274 -0.01962232 0.99706497 -0.31513261] [ 0. 0. 0. 1. ]] SLAMing on 129.888241008 meters Centerline goodness : 0.888067 Centerline is valid? [False, False] Translation: X:10.97, Y:0.39, Z:-0.32 [[ 0.99323259 0.09112194 -0.07201259 10.97421215] [-0.08984003 0.99573792 0.0208508 0.3918799 ] [ 0.07360564 -0.01424008 0.99718576 -0.31800677] [ 0. 0. 0. 1. ]] SLAMing on 129.918241008 meters Centerline goodness : 0.890966 Centerline is valid? [False, False] Translation: X:10.98, Y:0.39, Z:-0.32 [[ 0.99323632 0.09060516 -0.07261078 10.97619688] [-0.08934408 0.9957911 0.02043809 0.39269843] [ 0.07415697 -0.01381251 0.99715092 -0.31845904] [ 0. 0. 0. 1. ]] SLAMing on 129.948241008 meters Centerline goodness : 0.885356 Centerline is valid? [False, False] Translation: X:10.98, Y:0.39, Z:-0.32 [[ 0.99325045 0.090239 -0.07287293 10.97735985] [-0.0890335 0.99583515 0.01963148 0.39439648] [ 0.07434095 -0.01301085 0.997148 -0.31953553] [ 0. 0. 0. 1. ]] SLAMing on 129.978241008 meters Centerline goodness : 0.885671 Centerline is valid? [False, False] Translation: X:10.98, Y:0.40, Z:-0.32 [[ 0.99323755 0.09003054 -0.07330536 10.97916422] [-0.08889117 0.99586642 0.01866634 0.39731142] [ 0.07468288 -0.01202391 0.99713484 -0.32115978] [ 0. 0. 0. 1. ]] SLAMing on 130.008241008 meters Centerline goodness : 0.885556 Centerline is valid? [False, False] Translation: X:10.98, Y:0.40, Z:-0.32 [[ 0.99323846 0.08945835 -0.07399029 10.98154998] [-0.0883778 0.99592872 0.01775785 0.39902393] [ 0.07527764 -0.01109868 0.99710085 -0.32244967] [ 0. 0. 0. 1. ]] SLAMing on 130.038241008 meters Centerline goodness : 0.887146 Centerline is valid? [False, False] Translation: X:10.98, Y:0.40, Z:-0.32 [[ 9.93245881e-01 8.91024806e-02 -7.43193681e-02 1.09830352e+01] [-8.80908115e-02 9.95970975e-01 1.67876680e-02 4.00465871e-01] [ 7.55157564e-02 -1.01274287e-02 9.97093178e-01 -3.24010115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.068241008 meters Centerline goodness : 0.889078 Centerline is valid? [False, False] Translation: X:10.99, Y:0.40, Z:-0.32 [[ 0.99288594 0.09234256 -0.07516885 10.98651448] [-0.09095659 0.99561918 0.02166464 0.39848148] [ 0.07684011 -0.01467342 0.99693545 -0.32208713] [ 0. 0. 0. 1. ]] SLAMing on 130.098241008 meters Centerline goodness : 0.890986 Centerline is valid? [False, False] Translation: X:10.99, Y:0.40, Z:-0.33 [[ 0.99288462 0.09209362 -0.07549098 10.98832478] [-0.09084899 0.9956685 0.01976599 0.40207475] [ 0.07698431 -0.01276707 0.99695056 -0.32545138] [ 0. 0. 0. 1. ]] SLAMing on 130.128241008 meters Centerline goodness : 0.885278 Centerline is valid? [False, False] Translation: X:10.99, Y:0.40, Z:-0.33 [[ 0.99288765 0.091725 -0.0758989 10.98998393] [-0.09054297 0.99571361 0.01887822 0.40337971] [ 0.07730517 -0.01187184 0.99693679 -0.32692848] [ 0. 0. 0. 1. ]] SLAMing on 130.158241008 meters Centerline goodness : 0.886412 Centerline is valid? [False, False] Translation: X:10.99, Y:0.40, Z:-0.32 [[ 0.9925398 0.09458056 -0.0769367 10.99427507] [-0.09300918 0.99538159 0.02376535 0.40097578] [ 0.07882911 -0.01643223 0.9967527 -0.32480376] [ 0. 0. 0. 1. ]] SLAMing on 130.188241008 meters Centerline goodness : 0.889192 Centerline is valid? [False, False] Translation: X:10.99, Y:0.40, Z:-0.33 [[ 0.99269342 0.09224411 -0.07778685 10.99441768] [-0.09099615 0.99566137 0.0194457 0.40418206] [ 0.07924311 -0.01222531 0.99678035 -0.32661645] [ 0. 0. 0. 1. ]] SLAMing on 130.218241008 meters Centerline goodness : 0.889116 Centerline is valid? [False, False] Translation: X:11.00, Y:0.40, Z:-0.33 [[ 0.99268897 0.091734 -0.0784442 10.99643927] [-0.09050468 0.99571299 0.01909297 0.40429613] [ 0.07985938 -0.01185381 0.99673566 -0.32699705] [ 0. 0. 0. 1. ]] SLAMing on 130.248241008 meters Centerline goodness : 0.889116 Centerline is valid? [False, False] Translation: X:11.00, Y:0.40, Z:-0.33 [[ 0.99268897 0.091734 -0.0784442 10.99643927] [-0.09050468 0.99571299 0.01909297 0.40429613] [ 0.07985938 -0.01185381 0.99673566 -0.32699705] [ 0. 0. 0. 1. ]] SLAMing on 130.278241008 meters Centerline goodness : 0.891952 Centerline is valid? [False, False] Translation: X:11.00, Y:0.40, Z:-0.33 [[ 0.99270154 0.09102383 -0.07910948 10.99889018] [-0.08983006 0.99578476 0.01852754 0.40459065] [ 0.08046246 -0.01128591 0.99669374 -0.32790318] [ 0. 0. 0. 1. ]] SLAMing on 130.308241008 meters Centerline goodness : 0.892188 Centerline is valid? [False, False] Translation: X:11.00, Y:0.40, Z:-0.33 [[ 9.92719682e-01 9.03729171e-02 -7.96264282e-02 1.10009848e+01] [-8.91974151e-02 9.95847573e-01 1.82052693e-02 4.04615135e-01] [ 8.09410486e-02 -1.09702575e-02 9.96658517e-01 -3.28512935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.338241008 meters Centerline goodness : 0.894233 Centerline is valid? [False, False] Translation: X:11.01, Y:0.40, Z:-0.32 [[ 0.99245893 0.09222494 -0.08074551 11.00671591] [-0.09053163 0.99559476 0.02439445 0.40031863] [ 0.08263958 -0.01690047 0.99643619 -0.32403555] [ 0. 0. 0. 1. ]] SLAMing on 130.368241008 meters Centerline goodness : 0.895258 Centerline is valid? [False, False] Translation: X:11.01, Y:0.40, Z:-0.32 [[ 0.99245279 0.09177052 -0.08133648 11.00851812] [-0.09006629 0.99563714 0.02438746 0.40012701] [ 0.08321967 -0.01687773 0.99638829 -0.32388374] [ 0. 0. 0. 1. ]] SLAMing on 130.398241008 meters Centerline goodness : 0.893422 Centerline is valid? [False, False] Translation: X:11.01, Y:0.40, Z:-0.33 [[ 0.99246806 0.09125245 -0.08173217 11.01035324] [-0.08958606 0.99569381 0.02383644 0.40022287] [ 0.08355535 -0.01633485 0.99636925 -0.32510512] [ 0. 0. 0. 1. ]] SLAMing on 130.428241008 meters Centerline goodness : 0.895580 Centerline is valid? [False, False] Translation: X:11.01, Y:0.40, Z:-0.32 [[ 0.99216477 0.09406385 -0.08222568 11.01375844] [-0.09200568 0.99535112 0.02847976 0.39721789] [ 0.08452234 -0.02069138 0.99620673 -0.32378545] [ 0. 0. 0. 1. ]] SLAMing on 130.458241008 meters Centerline goodness : 0.895532 Centerline is valid? [False, False] Translation: X:11.01, Y:0.40, Z:-0.33 [[ 0.99246108 0.09111718 -0.08196748 11.01127386] [-0.08949024 0.99571475 0.02331584 0.40000855] [ 0.0837407 -0.01580477 0.99636224 -0.3259156 ] [ 0. 0. 0. 1. ]] SLAMing on 130.488241008 meters Centerline goodness : 0.899096 Centerline is valid? [False, False] Translation: X:11.03, Y:0.40, Z:-0.33 [[ 9.92784211e-01 9.09000767e-02 -7.82092418e-02 1.10274429e+01] [-9.02016044e-02 9.95846017e-01 1.24250098e-02 4.01713586e-01] [ 7.90137963e-02 -5.28075444e-03 9.96859536e-01 -3.30906257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.518241008 meters Centerline goodness : 0.898729 Centerline is valid? [False, False] Translation: X:11.03, Y:0.40, Z:-0.33 [[ 9.92437958e-01 9.40452582e-02 -7.88821221e-02 1.10303828e+01] [-9.29197230e-02 9.95513982e-01 1.78279859e-02 3.98291785e-01] [ 8.02048930e-02 -1.03634650e-02 9.96724522e-01 -3.27965321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.548241008 meters Centerline goodness : 0.900984 Centerline is valid? [False, False] Translation: X:11.03, Y:0.40, Z:-0.33 [[ 9.92448585e-01 9.35682413e-02 -7.93144987e-02 1.10320510e+01] [-9.24920851e-02 9.95565831e-01 1.71432084e-02 3.99280364e-01] [ 8.05668647e-02 -9.67778952e-03 9.96702223e-01 -3.29025787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.578241008 meters Centerline goodness : 0.898180 Centerline is valid? [False, False] Translation: X:11.03, Y:0.40, Z:-0.33 [[ 9.92480336e-01 9.27917768e-02 -7.98277450e-02 1.10347365e+01] [-9.17883579e-02 9.95647456e-01 1.61567406e-02 4.01377865e-01] [ 8.09795039e-02 -8.70798969e-03 9.96677727e-01 -3.30921510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.608241008 meters Centerline goodness : 0.898182 Centerline is valid? [False, False] Translation: X:11.04, Y:0.40, Z:-0.33 [[ 9.92498600e-01 9.19935554e-02 -8.05215160e-02 1.10373528e+01] [-9.10417777e-02 9.95727673e-01 1.54206235e-02 4.02345910e-01] [ 8.15960997e-02 -7.97412529e-03 9.96633579e-01 -3.32011652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.638241008 meters Centerline goodness : 0.898766 Centerline is valid? [False, False] Translation: X:11.04, Y:0.40, Z:-0.33 [[ 0.99217802 0.09470399 -0.08132608 11.04133885] [-0.09338662 0.99543181 0.01986087 0.40023562] [ 0.08283547 -0.01211075 0.99648965 -0.33068448] [ 0. 0. 0. 1. ]] SLAMing on 130.668241008 meters Centerline goodness : 0.899488 Centerline is valid? [False, False] Translation: X:11.04, Y:0.40, Z:-0.33 [[ 0.99217857 0.09427692 -0.08181416 11.04295651] [-0.09299552 0.99547863 0.01934247 0.40079219] [ 0.08326779 -0.01158284 0.99645989 -0.33138388] [ 0. 0. 0. 1. ]] SLAMing on 130.698241008 meters Centerline goodness : 0.897537 Centerline is valid? [False, False] Translation: X:11.05, Y:0.40, Z:-0.33 [[ 0.99218021 0.09357027 -0.08260168 11.04533773] [-0.09232116 0.99555136 0.01882272 0.40076347] [ 0.08399546 -0.01104964 0.99640487 -0.33188891] [ 0. 0. 0. 1. ]] SLAMing on 130.728241008 meters Centerline goodness : 0.899826 Centerline is valid? [False, False] Translation: X:11.05, Y:0.40, Z:-0.33 [[ 0.99216359 0.09321189 -0.08320427 11.04710877] [-0.0919518 0.99558486 0.01885867 0.4006404 ] [ 0.08459476 -0.0110601 0.99635405 -0.33168074] [ 0. 0. 0. 1. ]] SLAMing on 130.758241008 meters Centerline goodness : 0.898676 Centerline is valid? [False, False] Translation: X:11.05, Y:0.40, Z:-0.33 [[ 9.92175800e-01 9.23072150e-02 -8.40628325e-02 1.10501227e+01] [-9.10788310e-02 9.95674783e-01 1.83404979e-02 4.00881654e-01] [ 8.53922027e-02 -1.05406537e-02 9.96291657e-01 -3.32444413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.788241008 meters Centerline goodness : 0.901980 Centerline is valid? [False, False] Translation: X:11.05, Y:0.40, Z:-0.33 [[ 9.92190742e-01 9.15605684e-02 -8.47006168e-02 1.10527544e+01] [-9.03885773e-02 9.95751436e-01 1.75778884e-02 4.01497220e-01] [ 8.59502023e-02 -9.78464989e-03 9.96251386e-01 -3.33920990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.818241008 meters Centerline goodness : 0.897107 Centerline is valid? [False, False] Translation: X:11.06, Y:0.40, Z:-0.33 [[ 0.99208447 0.09078941 -0.08675077 11.06418554] [-0.08920756 0.9957712 0.02194837 0.4001349 ] [ 0.0883766 -0.01403582 0.99598824 -0.33158636] [ 0. 0. 0. 1. ]] SLAMing on 130.848241008 meters Centerline goodness : 0.898082 Centerline is valid? [False, False] Translation: X:11.07, Y:0.40, Z:-0.33 [[ 0.99207349 0.09024427 -0.08744237 11.06613873] [-0.08866559 0.99582328 0.0217808 0.4002634 ] [ 0.08904274 -0.01385503 0.99593144 -0.33144814] [ 0. 0. 0. 1. ]] SLAMing on 130.878241008 meters Centerline goodness : 0.897549 Centerline is valid? [False, False] Translation: X:11.07, Y:0.40, Z:-0.33 [[ 0.99206133 0.08962417 -0.08821465 11.0681293 ] [-0.08804456 0.99588134 0.02164533 0.4003355 ] [ 0.08979127 -0.01370668 0.99586628 -0.33100342] [ 0. 0. 0. 1. ]] SLAMing on 130.908241008 meters Centerline goodness : 0.896967 Centerline is valid? [False, False] Translation: X:11.07, Y:0.40, Z:-0.33 [[ 0.99204048 0.08917594 -0.08890071 11.06979573] [-0.08756522 0.99591881 0.0218643 0.40048256] [ 0.09048766 -0.01390566 0.99580049 -0.32992395] [ 0. 0. 0. 1. ]] SLAMing on 130.938241008 meters Centerline goodness : 0.896974 Centerline is valid? [False, False] Translation: X:11.08, Y:0.40, Z:-0.32 [[ 0.99213936 0.08775714 -0.08920859 11.07919793] [-0.08549202 0.99591933 0.02891013 0.39669452] [ 0.09138163 -0.02105626 0.99559331 -0.32233516] [ 0. 0. 0. 1. ]] SLAMing on 130.968241008 meters Centerline goodness : 0.898335 Centerline is valid? [False, False] Translation: X:11.08, Y:0.40, Z:-0.32 [[ 0.99213394 0.08723953 -0.08977479 11.08070311] [-0.08492415 0.99595645 0.02930269 0.39610435] [ 0.09196814 -0.02144814 0.99553093 -0.32115964] [ 0. 0. 0. 1. ]] SLAMing on 130.998241008 meters Centerline goodness : 0.898391 Centerline is valid? [False, False] Translation: X:11.08, Y:0.40, Z:-0.32 [[ 0.99212973 0.08652516 -0.0905096 11.0826994 ] [-0.08419657 0.99601994 0.02924396 0.39621061] [ 0.0926797 -0.02139321 0.99546612 -0.32054888] [ 0. 0. 0. 1. ]] SLAMing on 131.028241008 meters Centerline goodness : 0.903559 Centerline is valid? [False, False] Translation: X:11.09, Y:0.39, Z:-0.31 [[ 0.99201648 0.08642499 -0.0918369 11.09217006] [-0.08346465 0.99587435 0.0356079 0.39469886] [ 0.09453543 -0.02765849 0.99513721 -0.31443704] [ 0. 0. 0. 1. ]] SLAMing on 131.058241008 meters Centerline goodness : 0.903641 Centerline is valid? [False, False] Translation: X:11.10, Y:0.39, Z:-0.31 [[ 0.99175623 0.0884343 -0.09273054 11.09690566] [-0.08502837 0.99557264 0.04006615 0.39280857] [ 0.09586321 -0.03185113 0.99488479 -0.31252759] [ 0. 0. 0. 1. ]] SLAMing on 131.088241008 meters Centerline goodness : 0.903037 Centerline is valid? [False, False] Translation: X:11.10, Y:0.39, Z:-0.31 [[ 0.9914793 0.09019201 -0.0939904 11.10281116] [-0.08625865 0.99525094 0.0451111 0.39042699] [ 0.09761269 -0.03661923 0.99455055 -0.3094448 ] [ 0. 0. 0. 1. ]] SLAMing on 131.118241008 meters Centerline goodness : 0.904621 Centerline is valid? [False, False] Translation: X:11.11, Y:0.39, Z:-0.30 [[ 0.99112331 0.09276099 -0.09523647 11.10788215] [-0.08817318 0.9947828 0.05130963 0.38811694] [ 0.09949913 -0.04245687 0.99413145 -0.30436641] [ 0. 0. 0. 1. ]] SLAMing on 131.148241008 meters Centerline goodness : 0.900858 Centerline is valid? [False, False] Translation: X:11.11, Y:0.39, Z:-0.31 [[ 0.9911416 0.09196926 -0.09581226 11.11078446] [-0.08753195 0.99492922 0.04953798 0.39113546] [ 0.09988239 -0.04071252 0.99416598 -0.30734453] [ 0. 0. 0. 1. ]] SLAMing on 131.178241008 meters Centerline goodness : 0.900066 Centerline is valid? [False, False] Translation: X:11.11, Y:0.39, Z:-0.31 [[ 0.99112421 0.09147495 -0.09646308 11.11296275] [-0.08709426 0.99500928 0.04869418 0.39246398] [ 0.10043595 -0.0398606 0.99414473 -0.30849244] [ 0. 0. 0. 1. ]] SLAMing on 131.208241008 meters Centerline goodness : 0.902361 Centerline is valid? [False, False] Translation: X:11.11, Y:0.39, Z:-0.31 [[ 0.99109393 0.09129572 -0.09694282 11.11432902] [-0.0869621 0.99505297 0.04803322 0.39369353] [ 0.10084847 -0.03917508 0.99413022 -0.30923199] [ 0. 0. 0. 1. ]] SLAMing on 131.238241008 meters Centerline goodness : 0.901979 Centerline is valid? [False, False] Translation: X:11.13, Y:0.40, Z:-0.32 [[ 0.99136806 0.09124789 -0.09414457 11.130465 ] [-0.08829185 0.99547571 0.03510921 0.39693299] [ 0.09692228 -0.02649395 0.99493927 -0.31688764] [ 0. 0. 0. 1. ]] SLAMing on 131.268241008 meters Centerline goodness : 0.900043 Centerline is valid? [False, False] Translation: X:11.15, Y:0.40, Z:-0.32 [[ 0.99143021 0.09459144 -0.09010325 11.14656687] [-0.09249894 0.99534306 0.02713203 0.39946062] [ 0.0922501 -0.01856506 0.99556278 -0.32218533] [ 0. 0. 0. 1. ]] SLAMing on 131.298241008 meters Centerline goodness : 0.899365 Centerline is valid? [False, False] Translation: X:11.16, Y:0.40, Z:-0.33 [[ 9.91621154e-01 9.67301660e-02 -8.56198672e-02 1.11618673e+01] [-9.54827834e-02 9.95258120e-01 1.85556848e-02 4.01157261e-01] [ 8.70087625e-02 -1.02249863e-02 9.96155071e-01 -3.27007856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.328241008 meters Centerline goodness : 0.903914 Centerline is valid? [False, False] Translation: X:11.16, Y:0.40, Z:-0.33 [[ 9.91586336e-01 9.69453828e-02 -8.57795541e-02 1.11620035e+01] [-9.57152140e-02 9.95239621e-01 1.83492189e-02 4.02077150e-01] [ 8.71500830e-02 -9.98442633e-03 9.96145157e-01 -3.27096810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.358241008 meters Centerline goodness : 0.902112 Centerline is valid? [False, False] Translation: X:11.18, Y:0.40, Z:-0.33 [[ 9.91607731e-01 1.00059919e-01 -8.18664837e-02 1.11769350e+01] [-9.95385075e-02 9.94978982e-01 1.04360479e-02 4.02743256e-01] [ 8.24996607e-02 -2.19959815e-03 9.96588665e-01 -3.30941038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.388241008 meters Centerline goodness : 0.900791 Centerline is valid? [False, False] Translation: X:11.18, Y:0.40, Z:-0.33 [[ 9.91576850e-01 1.00578757e-01 -8.16043208e-02 1.11760126e+01] [-1.00056500e-01 9.94926620e-01 1.04746043e-02 4.02646774e-01] [ 8.22438337e-02 -2.22133234e-03 9.96609762e-01 -3.31118105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.418241008 meters Centerline goodness : 0.902810 Centerline is valid? [False, False] Translation: X:11.18, Y:0.40, Z:-0.33 [[ 9.91547147e-01 1.00931830e-01 -8.15292613e-02 1.11756000e+01] [-1.00405183e-01 9.94890756e-01 1.05443458e-02 4.02530713e-01] [ 8.21769685e-02 -2.26925560e-03 9.96615170e-01 -3.31150398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.448241008 meters Centerline goodness : 0.900397 Centerline is valid? [False, False] Translation: X:11.18, Y:0.40, Z:-0.33 [[ 9.91520317e-01 1.00862576e-01 -8.19402353e-02 1.11766216e+01] [-1.00294553e-01 9.94896655e-01 1.10294032e-02 4.00481210e-01] [ 8.26345200e-02 -2.71771803e-03 9.96576214e-01 -3.30811912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.478241008 meters Centerline goodness : 0.903632 Centerline is valid? [False, False] Translation: X:11.18, Y:0.40, Z:-0.33 [[ 9.91523352e-01 1.00604594e-01 -8.22201852e-02 1.11774880e+01] [-1.00017683e-01 9.94922209e-01 1.12366143e-02 3.99316709e-01] [ 8.29331433e-02 -2.91789300e-03 9.96550841e-01 -3.30640342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.508241008 meters Centerline goodness : 0.903536 Centerline is valid? [False, False] Translation: X:11.18, Y:0.40, Z:-0.33 [[ 9.91523351e-01 1.00338044e-01 -8.25452645e-02 1.11783418e+01] [-9.97420812e-02 9.94948902e-01 1.13225610e-02 3.98653455e-01] [ 8.32644039e-02 -2.99334713e-03 9.96522995e-01 -3.30399972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.538241008 meters Centerline goodness : 0.900736 Centerline is valid? [False, False] Translation: X:11.18, Y:0.40, Z:-0.33 [[ 9.91505518e-01 1.00242155e-01 -8.28753126e-02 1.11788437e+01] [-9.96165504e-02 9.94957580e-01 1.16600768e-02 3.98265434e-01] [ 8.36262517e-02 -3.30527777e-03 9.96491709e-01 -3.29509834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.568241008 meters Centerline goodness : 0.903796 Centerline is valid? [False, False] Translation: X:11.18, Y:0.40, Z:-0.33 [[ 9.91484654e-01 1.00683626e-01 -8.25892705e-02 1.11777004e+01] [-1.00047344e-01 9.94912497e-01 1.18174142e-02 3.98895651e-01] [ 8.33589175e-02 -3.45394767e-03 9.96513603e-01 -3.29082098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.598241008 meters Centerline goodness : 0.898520 Centerline is valid? [False, False] Translation: X:11.18, Y:0.40, Z:-0.33 [[ 9.91487750e-01 1.00531504e-01 -8.27372849e-02 1.11781970e+01] [-9.99141796e-02 9.94928686e-01 1.15787199e-02 3.99691863e-01] [ 8.34817242e-02 -3.21353098e-03 9.96504127e-01 -3.29245380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.628241008 meters Centerline goodness : 0.902256 Centerline is valid? [False, False] Translation: X:11.18, Y:0.40, Z:-0.33 [[ 9.91495165e-01 1.00378284e-01 -8.28344023e-02 1.11787303e+01] [-9.97820238e-02 9.94944955e-01 1.13174394e-02 4.00239644e-01] [ 8.35516958e-02 -2.95580210e-03 9.96499060e-01 -3.29692430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.658241008 meters Centerline goodness : 0.898595 Centerline is valid? [False, False] Translation: X:11.18, Y:0.40, Z:-0.33 [[ 9.91501992e-01 1.00126926e-01 -8.30566005e-02 1.11796111e+01] [-9.95572362e-02 9.94971221e-01 1.09830162e-02 4.00524092e-01] [ 8.37386228e-02 -2.62079687e-03 9.96484307e-01 -3.30281350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.688241008 meters Centerline goodness : 0.900311 Centerline is valid? [False, False] Translation: X:11.18, Y:0.40, Z:-0.33 [[ 9.91515108e-01 9.95695274e-02 -8.35685302e-02 1.11816329e+01] [-9.90461350e-02 9.95028535e-01 1.03960399e-02 4.00301086e-01] [ 8.41882009e-02 -2.03069074e-03 9.96447803e-01 -3.31531331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.718241008 meters Centerline goodness : 0.901054 Centerline is valid? [False, False] Translation: X:11.18, Y:0.40, Z:-0.33 [[ 9.91509202e-01 9.93612836e-02 -8.38858668e-02 1.11826128e+01] [-9.88482541e-02 9.95049650e-01 1.02574722e-02 4.00064591e-01] [ 8.44897980e-02 -1.87840657e-03 9.96422574e-01 -3.31821193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.748241008 meters Centerline goodness : 0.900742 Centerline is valid? [False, False] Translation: X:11.18, Y:0.40, Z:-0.33 [[ 9.91510013e-01 9.91648503e-02 -8.41084175e-02 1.11835274e+01] [-9.86794350e-02 9.95069834e-01 9.91937829e-03 4.00311000e-01] [ 8.46774028e-02 -1.53539178e-03 9.96407236e-01 -3.32542931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.778241008 meters Centerline goodness : 0.902619 Centerline is valid? [False, False] Translation: X:11.19, Y:0.40, Z:-0.33 [[ 9.91522010e-01 9.82085431e-02 -8.50833993e-02 1.11874660e+01] [-9.78107698e-02 9.95165757e-01 8.84130201e-03 4.01373330e-01] [ 8.55403769e-02 -4.44272756e-04 9.96334606e-01 -3.34850187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.808241008 meters Centerline goodness : 0.899614 Centerline is valid? [False, False] Translation: X:11.19, Y:0.40, Z:-0.34 [[ 9.91523268e-01 9.79617146e-02 -8.53528618e-02 1.11886931e+01] [-9.75943504e-02 9.95190181e-01 8.47619256e-03 4.01738762e-01] [ 8.57726724e-02 -7.43850456e-05 9.96314731e-01 -3.35735666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.838241008 meters Centerline goodness : 0.898059 Centerline is valid? [False, False] Translation: X:11.19, Y:0.40, Z:-0.34 [[ 9.91529507e-01 9.76880118e-02 -8.55937403e-02 1.11897968e+01] [-9.73430105e-02 9.95217069e-01 8.20515071e-03 4.01933827e-01] [ 8.59858962e-02 1.96303329e-04 9.96296335e-01 -3.36349977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.868241008 meters Centerline goodness : 0.897202 Centerline is valid? [False, False] Translation: X:11.19, Y:0.40, Z:-0.34 [[ 9.91523198e-01 9.71770498e-02 -8.62459834e-02 1.11918852e+01] [-9.68430628e-02 9.95267044e-01 8.05801990e-03 4.02073356e-01] [ 8.66208396e-02 3.62611526e-04 9.96241285e-01 -3.36608541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.898241008 meters Centerline goodness : 0.896889 Centerline is valid? [False, False] Translation: X:11.19, Y:0.40, Z:-0.34 [[ 9.91526543e-01 9.68184182e-02 -8.66100969e-02 1.11931908e+01] [-9.64850509e-02 9.95301986e-01 8.03688093e-03 4.01644191e-01] [ 8.69813195e-02 3.87798841e-04 9.96209867e-01 -3.36837138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.928241008 meters Centerline goodness : 0.896254 Centerline is valid? [False, False] Translation: X:11.20, Y:0.40, Z:-0.34 [[ 9.91544567e-01 9.59489492e-02 -8.73680169e-02 1.11953961e+01] [-9.55424107e-02 9.95386172e-01 8.83273902e-03 3.99379803e-01] [ 8.78124079e-02 -4.10703434e-04 9.96136945e-01 -3.35284717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.958241008 meters Centerline goodness : 0.894868 Centerline is valid? [False, False] Translation: X:11.19, Y:0.40, Z:-0.34 [[ 9.91917564e-01 9.18038801e-02 -8.75876348e-02 1.11948695e+01] [-9.17698962e-02 9.95770416e-01 4.42318169e-03 4.01264002e-01] [ 8.76232408e-02 3.65047655e-03 9.96146998e-01 -3.35672552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.988241008 meters Centerline goodness : 0.894586 Centerline is valid? [False, False] Translation: X:11.20, Y:0.40, Z:-0.33 [[ 9.91920955e-01 9.11834446e-02 -8.81952304e-02 1.11966276e+01] [-9.10917546e-02 9.95829586e-01 5.07228881e-03 3.99876872e-01] [ 8.82899285e-02 3.00254873e-03 9.96090294e-01 -3.34343448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.018241008 meters Centerline goodness : 0.896038 Centerline is valid? [False, False] Translation: X:11.20, Y:0.40, Z:-0.33 [[ 9.91999087e-01 8.97668790e-02 -8.87677829e-02 1.11987716e+01] [-8.96375249e-02 9.95959540e-01 5.45058847e-03 3.98276960e-01] [ 8.88984026e-02 2.54994558e-03 9.96037435e-01 -3.32951928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.048241008 meters Centerline goodness : 0.897916 Centerline is valid? [False, False] Translation: X:11.20, Y:0.40, Z:-0.33 [[ 9.92013982e-01 8.88402084e-02 -8.95303098e-02 1.12011602e+01] [-8.86710318e-02 9.96043651e-01 5.87311915e-03 3.97216478e-01] [ 8.96978658e-02 2.11252862e-03 9.95966782e-01 -3.31887413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.078241008 meters Centerline goodness : 0.896073 Centerline is valid? [False, False] Translation: X:11.20, Y:0.40, Z:-0.33 [[ 9.92026275e-01 8.81005623e-02 -9.01230302e-02 1.12029138e+01] [-8.78866440e-02 9.96110261e-01 6.34703579e-03 3.96204312e-01] [ 9.03316526e-02 1.62418440e-03 9.95910415e-01 -3.30785703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.108241008 meters Centerline goodness : 0.896073 Centerline is valid? [False, False] Translation: X:11.20, Y:0.40, Z:-0.33 [[ 9.92026086e-01 8.81164384e-02 -9.01095914e-02 1.12028772e+01] [-8.79041185e-02 9.96108829e-01 6.32988819e-03 3.96241266e-01] [ 9.03167268e-02 1.64159000e-03 9.95911740e-01 -3.30806929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.138241008 meters Centerline goodness : 0.900764 Centerline is valid? [False, False] Translation: X:11.21, Y:0.39, Z:-0.32 [[ 9.91886702e-01 8.85420176e-02 -9.12199642e-02 1.12109808e+01] [-8.77183509e-02 9.96060390e-01 1.30073586e-02 3.93137577e-01] [ 9.20122908e-02 -4.90016122e-03 9.95745814e-01 -3.24675955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.168241008 meters Centerline goodness : 0.898929 Centerline is valid? [False, False] Translation: X:11.21, Y:0.39, Z:-0.32 [[ 9.91896825e-01 8.80675771e-02 -9.15684963e-02 1.12123000e+01] [-8.72457578e-02 9.96102679e-01 1.29472400e-02 3.94020532e-01] [ 9.23518565e-02 -4.85336336e-03 9.95714607e-01 -3.24193828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.198241008 meters Centerline goodness : 0.900000 Centerline is valid? [False, False] Translation: X:11.21, Y:0.40, Z:-0.32 [[ 9.91922315e-01 8.71144102e-02 -9.22019516e-02 1.12145630e+01] [-8.63605601e-02 9.96189952e-01 1.21421881e-02 3.95950813e-01] [ 9.29084173e-02 -4.08149520e-03 9.95666293e-01 -3.24679908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.228241008 meters Centerline goodness : 0.899414 Centerline is valid? [False, False] Translation: X:11.22, Y:0.40, Z:-0.32 [[ 9.91906768e-01 8.71156081e-02 -9.23679311e-02 1.12150238e+01] [-8.64162648e-02 9.96192144e-01 1.15516984e-02 3.98459363e-01] [ 9.30225405e-02 -3.47611620e-03 9.95657935e-01 -3.24860498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.258241008 meters Centerline goodness : 0.897373 Centerline is valid? [False, False] Translation: X:11.22, Y:0.40, Z:-0.32 [[ 9.91893219e-01 8.71945639e-02 -9.24389005e-02 1.12150420e+01] [-8.65333857e-02 9.96186616e-01 1.11444324e-02 4.00736842e-01] [ 9.30581295e-02 -3.05503594e-03 9.95655990e-01 -3.24887721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.288241008 meters Centerline goodness : 0.900114 Centerline is valid? [False, False] Translation: X:11.22, Y:0.40, Z:-0.32 [[ 9.91526701e-01 9.12331659e-02 -9.24732936e-02 1.12160753e+01] [-9.02440504e-02 9.95809249e-01 1.48307128e-02 4.03067949e-01] [ 9.34388140e-02 -6.35988318e-03 9.95604711e-01 -3.24353185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.318241008 meters Centerline goodness : 0.897475 Centerline is valid? [False, False] Translation: X:11.22, Y:0.41, Z:-0.33 [[ 9.91528502e-01 9.11904745e-02 -9.24960888e-02 1.12164647e+01] [-9.02809782e-02 9.95818227e-01 1.39786840e-02 4.06293425e-01] [ 9.33840139e-02 -5.50962619e-03 9.95614921e-01 -3.25237516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.348241008 meters Centerline goodness : 0.897638 Centerline is valid? [False, False] Translation: X:11.22, Y:0.41, Z:-0.32 [[ 9.91164184e-01 9.52375918e-02 -9.23220479e-02 1.12168056e+01] [-9.39031778e-02 9.95405667e-01 1.87016211e-02 4.05588034e-01] [ 9.36789870e-02 -9.86704334e-03 9.95553559e-01 -3.23282638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.378241008 meters Centerline goodness : 0.898788 Centerline is valid? [False, False] Translation: X:11.22, Y:0.41, Z:-0.32 [[ 9.91136708e-01 9.57772600e-02 -9.20583606e-02 1.12155154e+01] [-9.44438721e-02 9.95353731e-01 1.87431587e-02 4.07109066e-01] [ 9.34258010e-02 -9.88268454e-03 9.95577196e-01 -3.22690591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.408241008 meters Centerline goodness : 0.900400 Centerline is valid? [False, False] Translation: X:11.21, Y:0.41, Z:-0.32 [[ 9.91089453e-01 9.62411976e-02 -9.20832654e-02 1.12144048e+01] [-9.49021903e-02 9.95308660e-01 1.88214162e-02 4.09183346e-01] [ 9.34626671e-02 -9.91480355e-03 9.95573416e-01 -3.21275706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.438241008 meters Centerline goodness : 0.902636 Centerline is valid? [False, False] Translation: X:11.22, Y:0.41, Z:-0.32 [[ 0.99066937 0.10002894 -0.09256576 11.21611142] [-0.09807518 0.994854 0.02543184 0.4057196 ] [ 0.09463334 -0.01611614 0.99538174 -0.31596965] [ 0. 0. 0. 1. ]] SLAMing on 132.468241008 meters Centerline goodness : 0.901343 Centerline is valid? [False, False] Translation: X:11.22, Y:0.41, Z:-0.31 [[ 0.99063694 0.10022505 -0.09270051 11.21598159] [-0.09822413 0.9948269 0.02591267 0.40573709] [ 0.09481806 -0.01656462 0.99535679 -0.31475718] [ 0. 0. 0. 1. ]] SLAMing on 132.498241008 meters Centerline goodness : 0.904844 Centerline is valid? [False, False] Translation: X:11.22, Y:0.41, Z:-0.31 [[ 0.99060894 0.10006148 -0.09317527 11.21699005] [-0.09800748 0.99483606 0.02637692 0.40552088] [ 0.09533343 -0.01699733 0.99530027 -0.31355216] [ 0. 0. 0. 1. ]] SLAMing on 132.528241008 meters Centerline goodness : 0.904234 Centerline is valid? [False, False] Translation: X:11.22, Y:0.41, Z:-0.31 [[ 0.99064086 0.0995297 -0.09340519 11.21835592] [-0.09752407 0.99489848 0.02580819 0.40614227] [ 0.09549736 -0.01645739 0.99529363 -0.31453231] [ 0. 0. 0. 1. ]] SLAMing on 132.558241008 meters Centerline goodness : 0.903137 Centerline is valid? [False, False] Translation: X:11.22, Y:0.40, Z:-0.31 [[ 0.99028461 0.10195259 -0.09456251 11.22331782] [-0.09936541 0.99454631 0.03168838 0.40347533] [ 0.09727751 -0.02198427 0.99501446 -0.31030723] [ 0. 0. 0. 1. ]] SLAMing on 132.588241008 meters Centerline goodness : 0.903290 Centerline is valid? [False, False] Translation: X:11.22, Y:0.40, Z:-0.31 [[ 0.99028107 0.10174239 -0.0948256 11.22401133] [-0.09912774 0.99456327 0.03189988 0.40344416] [ 0.09755563 -0.02219 0.99498266 -0.30947099] [ 0. 0. 0. 1. ]] SLAMing on 132.618241008 meters Centerline goodness : 0.908474 Centerline is valid? [False, False] Translation: X:11.23, Y:0.40, Z:-0.30 [[ 0.99025133 0.1024055 -0.0944215 11.22828745] [-0.0990157 0.99428461 0.03992507 0.39832472] [ 0.09797039 -0.03018664 0.99473141 -0.2998887 ] [ 0. 0. 0. 1. ]] SLAMing on 132.648241008 meters Centerline goodness : 0.903831 Centerline is valid? [False, False] Translation: X:11.23, Y:0.40, Z:-0.30 [[ 0.99064971 0.09817306 -0.09473758 11.22840129] [-0.09530916 0.99485639 0.03430643 0.40212345] [ 0.09761826 -0.02495629 0.99491098 -0.30233121] [ 0. 0. 0. 1. ]] SLAMing on 132.678241008 meters Centerline goodness : 0.902842 Centerline is valid? [False, False] Translation: X:11.23, Y:0.40, Z:-0.30 [[ 0.99024175 0.10167615 -0.09530604 11.23097564] [-0.09826779 0.9943634 0.03981041 0.40011077] [ 0.0988166 -0.03005641 0.99465164 -0.29895617] [ 0. 0. 0. 1. ]] SLAMing on 132.708241008 meters Centerline goodness : 0.904989 Centerline is valid? [False, False] Translation: X:11.23, Y:0.40, Z:-0.30 [[ 0.98983222 0.10530493 -0.0956193 11.23302179] [-0.1014163 0.99384074 0.04466887 0.39901854] [ 0.09973421 -0.03451733 0.99441523 -0.29679765] [ 0. 0. 0. 1. ]] SLAMing on 132.738241008 meters Centerline goodness : 0.903209 Centerline is valid? [False, False] Translation: X:11.25, Y:0.40, Z:-0.30 [[ 0.98989444 0.10790749 -0.09200524 11.2483513 ] [-0.10514121 0.99386161 0.03441556 0.40337875] [ 0.09515418 -0.02439423 0.99516361 -0.30373494] [ 0. 0. 0. 1. ]] SLAMing on 132.768241008 meters Centerline goodness : 0.902567 Centerline is valid? [False, False] Translation: X:11.25, Y:0.41, Z:-0.30 [[ 0.98985953 0.10826008 -0.09196668 11.24813713] [-0.105579 0.99384484 0.0335485 0.40577162] [ 0.09503258 -0.02349855 0.99519678 -0.30486532] [ 0. 0. 0. 1. ]] SLAMing on 132.798241008 meters Centerline goodness : 0.905150 Centerline is valid? [False, False] Translation: X:11.25, Y:0.41, Z:-0.31 [[ 0.98984243 0.10856428 -0.09179192 11.24789242] [-0.10597642 0.99383325 0.03262629 0.40815868] [ 0.09476791 -0.0225671 0.99524357 -0.30632062] [ 0. 0. 0. 1. ]] SLAMing on 132.828241008 meters Centerline goodness : 0.905674 Centerline is valid? [False, False] Translation: X:11.26, Y:0.41, Z:-0.31 [[ 0.98995151 0.11095081 -0.08766938 11.26274203] [-0.10929061 0.9937313 0.02353028 0.41019483] [ 0.08973051 -0.01371239 0.99587168 -0.31160327] [ 0. 0. 0. 1. ]] SLAMing on 132.858241008 meters Centerline goodness : 0.900438 Centerline is valid? [False, False] Translation: X:11.28, Y:0.41, Z:-0.32 [[ 9.89920116e-01 1.14414791e-01 -8.34710728e-02 1.12780775e+01] [-1.13441363e-01 9.93410506e-01 1.63286286e-02 4.11589053e-01] [ 8.47892773e-02 -6.69496568e-03 9.96376413e-01 -3.15217326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.888241008 meters Centerline goodness : 0.904648 Centerline is valid? [False, False] Translation: X:11.28, Y:0.41, Z:-0.32 [[ 9.89901653e-01 1.14755303e-01 -8.32222213e-02 1.12775772e+01] [-1.13813173e-01 9.93373428e-01 1.59935732e-02 4.12503331e-01] [ 8.45060906e-02 -6.36027953e-03 9.96402663e-01 -3.15985727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.918241008 meters Centerline goodness : 0.906342 Centerline is valid? [False, False] Translation: X:11.28, Y:0.41, Z:-0.32 [[ 9.89885599e-01 1.14867249e-01 -8.32587352e-02 1.12779971e+01] [-1.13952196e-01 9.93362548e-01 1.56762517e-02 4.13077965e-01] [ 8.45067972e-02 -6.03018009e-03 9.96404656e-01 -3.16851576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.948241008 meters Centerline goodness : 0.900461 Centerline is valid? [False, False] Translation: X:11.28, Y:0.41, Z:-0.32 [[ 9.89879004e-01 1.14846848e-01 -8.33652111e-02 1.12792001e+01] [-1.13991007e-01 9.93368987e-01 1.49701793e-02 4.13745161e-01] [ 8.45316932e-02 -5.31578176e-03 9.96406611e-01 -3.18933743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.978241008 meters Centerline goodness : 0.900003 Centerline is valid? [False, False] Translation: X:11.28, Y:0.41, Z:-0.32 [[ 9.89873163e-01 1.14736398e-01 -8.35863606e-02 1.12800802e+01] [-1.13886595e-01 9.93382307e-01 1.48806930e-02 4.13501673e-01] [ 8.47405688e-02 -5.21063258e-03 9.96389425e-01 -3.19375565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.008241008 meters Centerline goodness : 0.898207 Centerline is valid? [False, False] Translation: X:11.28, Y:0.41, Z:-0.32 [[ 9.89871720e-01 1.14415517e-01 -8.40420513e-02 1.12815393e+01] [-1.13583862e-01 9.93420733e-01 1.46271287e-02 4.13047301e-01] [ 8.51626867e-02 -4.93316029e-03 9.96354847e-01 -3.19911695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.038241008 meters Centerline goodness : 0.897750 Centerline is valid? [False, False] Translation: X:11.28, Y:0.41, Z:-0.32 [[ 9.90202496e-01 1.11432281e-01 -8.41538145e-02 1.12800069e+01] [-1.10933956e-01 9.93771364e-01 1.05892982e-02 4.14981385e-01] [ 8.48096407e-02 -1.15003395e-03 9.96396509e-01 -3.20489448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.068241008 meters Centerline goodness : 0.899463 Centerline is valid? [False, False] Translation: X:11.28, Y:0.41, Z:-0.32 [[ 9.90177924e-01 1.11550737e-01 -8.42858892e-02 1.12800825e+01] [-1.11015966e-01 9.93757524e-01 1.10199352e-02 4.13977133e-01] [ 8.49890184e-02 -1.55461720e-03 9.96380675e-01 -3.19807049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.098241008 meters Centerline goodness : 0.900085 Centerline is valid? [False, False] Translation: X:11.28, Y:0.41, Z:-0.32 [[ 9.90181422e-01 1.11002294e-01 -8.49661189e-02 1.12820366e+01] [-1.10327758e-01 9.93815283e-01 1.26083122e-02 4.09230294e-01] [ 8.58401791e-02 -3.11039512e-03 9.96304065e-01 -3.17776004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.128241008 meters Centerline goodness : 0.901071 Centerline is valid? [False, False] Translation: X:11.28, Y:0.41, Z:-0.32 [[ 9.90225463e-01 1.10155229e-01 -8.55532406e-02 1.12845032e+01] [-1.09474551e-01 9.93909459e-01 1.26218078e-02 4.07498981e-01] [ 8.64225332e-02 -3.13253292e-03 9.96253649e-01 -3.18278985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.158241008 meters Centerline goodness : 0.898044 Centerline is valid? [False, False] Translation: X:11.29, Y:0.41, Z:-0.32 [[ 9.90293684e-01 1.08525568e-01 -8.68367433e-02 1.12894938e+01] [-1.07869528e-01 9.94089882e-01 1.22258920e-02 4.06929586e-01] [ 8.76503497e-02 -2.74018510e-03 9.96147533e-01 -3.19218803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.188241008 meters Centerline goodness : 0.902363 Centerline is valid? [False, False] Translation: X:11.30, Y:0.40, Z:-0.32 [[ 9.90517892e-01 1.05163578e-01 -8.84020756e-02 1.13045189e+01] [-1.04082076e-01 9.94427341e-01 1.67685949e-02 4.03837643e-01] [ 8.96728864e-02 -7.40852169e-03 9.95943717e-01 -3.16767977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.218241008 meters Centerline goodness : 0.901780 Centerline is valid? [False, False] Translation: X:11.31, Y:0.40, Z:-0.32 [[ 9.90527953e-01 1.04614892e-01 -8.89387298e-02 1.13063792e+01] [-1.03496420e-01 9.94482676e-01 1.71084126e-02 4.02537260e-01] [ 9.02378208e-02 -7.74152078e-03 9.95890157e-01 -3.16346645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.248241008 meters Centerline goodness : 0.901563 Centerline is valid? [False, False] Translation: X:11.31, Y:0.40, Z:-0.31 [[ 0.99021575 0.10670598 -0.08992552 11.31155464] [-0.10499334 0.99419336 0.02357866 0.39787261] [ 0.09191934 -0.01390638 0.99566935 -0.31134295] [ 0. 0. 0. 1. ]] SLAMing on 133.278241008 meters Centerline goodness : 0.902044 Centerline is valid? [False, False] Translation: X:11.31, Y:0.40, Z:-0.31 [[ 0.99020645 0.10641869 -0.09036726 11.31250562] [-0.10467763 0.99422124 0.02380577 0.39774054] [ 0.09237843 -0.0141132 0.99562395 -0.31037938] [ 0. 0. 0. 1. ]] SLAMing on 133.308241008 meters Centerline goodness : 0.905322 Centerline is valid? [False, False] Translation: X:11.33, Y:0.40, Z:-0.31 [[ 9.90630328e-01 1.06239303e-01 -8.58182002e-02 1.13272350e+01] [-1.05499684e-01 9.94332767e-01 1.31211531e-02 3.99649461e-01] [ 8.67258307e-02 -3.94441917e-03 9.96224408e-01 -3.14429327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.338241008 meters Centerline goodness : 0.905515 Centerline is valid? [False, False] Translation: X:11.33, Y:0.40, Z:-0.31 [[ 9.90236139e-01 1.09298978e-01 -8.65223778e-02 1.13304233e+01] [-1.07988343e-01 9.93956948e-01 1.97003220e-02 3.95845288e-01] [ 8.81527436e-02 -1.01645626e-02 9.96055107e-01 -3.09174662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.368241008 meters Centerline goodness : 0.902491 Centerline is valid? [False, False] Translation: X:11.33, Y:0.40, Z:-0.31 [[ 9.90253136e-01 1.08841333e-01 -8.69039165e-02 1.13317937e+01] [-1.07546836e-01 9.94009642e-01 1.94553137e-02 3.96417549e-01] [ 8.85008732e-02 -9.91944416e-03 9.96026707e-01 -3.09340451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.398241008 meters Centerline goodness : 0.893009 Centerline is valid? [False, False] Translation: X:11.33, Y:0.40, Z:-0.31 [[ 9.90287727e-01 1.08257212e-01 -8.72387177e-02 1.13335128e+01] [-1.06983263e-01 9.94076147e-01 1.91623585e-02 3.97683482e-01] [ 8.87963918e-02 -9.64316575e-03 9.96003118e-01 -3.09756403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.428241008 meters Centerline goodness : 0.899493 Centerline is valid? [False, False] Translation: X:11.33, Y:0.40, Z:-0.31 [[ 9.90317402e-01 1.07731874e-01 -8.75516228e-02 1.13349675e+01] [-1.06505551e-01 9.94138623e-01 1.85732366e-02 3.98740590e-01] [ 8.90393794e-02 -9.06866562e-03 9.95986821e-01 -3.10636872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.458241008 meters Centerline goodness : 0.899148 Centerline is valid? [False, False] Translation: X:11.34, Y:0.40, Z:-0.31 [[ 0.98995361 0.11033685 -0.08841737 11.33934532] [-0.1086642 0.99380005 0.02352763 0.39639687] [ 0.09046515 -0.01368346 0.99580561 -0.30838713] [ 0. 0. 0. 1. ]] SLAMing on 133.488241008 meters Centerline goodness : 0.899127 Centerline is valid? [False, False] Translation: X:11.34, Y:0.40, Z:-0.31 [[ 0.98997529 0.10967401 -0.08899736 11.34140855] [-0.10805275 0.99388254 0.02284933 0.39754258] [ 0.0909589 -0.01300387 0.99576974 -0.30919276] [ 0. 0. 0. 1. ]] SLAMing on 133.518241008 meters Centerline goodness : 0.898666 Centerline is valid? [False, False] Translation: X:11.34, Y:0.40, Z:-0.31 [[ 0.99000635 0.10887556 -0.08963003 11.34403377] [-0.10733041 0.99398226 0.02189654 0.39855149] [ 0.09147466 -0.01205768 0.9957344 -0.31085963] [ 0. 0. 0. 1. ]] SLAMing on 133.548241008 meters Centerline goodness : 0.896138 Centerline is valid? [False, False] Translation: X:11.35, Y:0.40, Z:-0.31 [[ 0.99002828 0.10807141 -0.09035809 11.34654468] [-0.10657651 0.99407799 0.02122272 0.39918347] [ 0.09211656 -0.01138104 0.99568319 -0.31179229] [ 0. 0. 0. 1. ]] SLAMing on 133.578241008 meters Centerline goodness : 0.895444 Centerline is valid? [False, False] Translation: X:11.35, Y:0.40, Z:-0.31 [[ 9.90049353e-01 1.07132357e-01 -9.12410888e-02 1.13494506e+01] [-1.05654835e-01 9.94183486e-01 2.08866348e-02 3.99293615e-01] [ 9.29480182e-02 -1.10387371e-02 9.95609769e-01 -3.12002653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.608241008 meters Centerline goodness : 0.899088 Centerline is valid? [False, False] Translation: X:11.35, Y:0.40, Z:-0.31 [[ 9.90041131e-01 1.06517335e-01 -9.20468139e-02 1.13517867e+01] [-1.05011730e-01 9.94247918e-01 2.10621702e-02 3.98782512e-01] [ 9.37608393e-02 -1.11864196e-02 9.95531903e-01 -3.11506849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.638241008 meters Centerline goodness : 0.897275 Centerline is valid? [False, False] Translation: X:11.36, Y:0.40, Z:-0.30 [[ 0.98999692 0.10601103 -0.09310079 11.36153768] [-0.10383431 0.99420223 0.02793483 0.39548261] [ 0.09552241 -0.01798834 0.99526473 -0.30441594] [ 0. 0. 0. 1. ]] SLAMing on 133.668241008 meters Centerline goodness : 0.893275 Centerline is valid? [False, False] Translation: X:11.36, Y:0.40, Z:-0.30 [[ 0.99000985 0.10554476 -0.09349227 11.36279009] [-0.10340304 0.99425994 0.02747711 0.39615034] [ 0.09585569 -0.01753523 0.99524078 -0.30471472] [ 0. 0. 0. 1. ]] SLAMing on 133.698241008 meters Centerline goodness : 0.897344 Centerline is valid? [False, False] Translation: X:11.36, Y:0.39, Z:-0.30 [[ 0.98957675 0.10922748 -0.0938468 11.36464514] [-0.10653994 0.99375397 0.03320088 0.39329061] [ 0.09688708 -0.02285638 0.9950329 -0.30115286] [ 0. 0. 0. 1. ]] SLAMing on 133.728241008 meters Centerline goodness : 0.897777 Centerline is valid? [False, False] Translation: X:11.36, Y:0.40, Z:-0.30 [[ 0.98992871 0.10581872 -0.09404012 11.36353643] [-0.10362696 0.99422468 0.02790597 0.39781518] [ 0.09644999 -0.01787983 0.99517723 -0.30313156] [ 0. 0. 0. 1. ]] SLAMing on 133.758241008 meters Centerline goodness : 0.895663 Centerline is valid? [False, False] Translation: X:11.36, Y:0.40, Z:-0.30 [[ 0.98992322 0.10573517 -0.09419183 11.36388842] [-0.1036005 0.99424465 0.02728565 0.40020266] [ 0.09653478 -0.01725237 0.99518008 -0.30342406] [ 0. 0. 0. 1. ]] SLAMing on 133.788241008 meters Centerline goodness : 0.895836 Centerline is valid? [False, False] Translation: X:11.36, Y:0.40, Z:-0.30 [[ 0.98991648 0.10608364 -0.09387021 11.36290443] [-0.10405293 0.9942244 0.02628351 0.40403976] [ 0.0961163 -0.01625101 0.99523744 -0.30441141] [ 0. 0. 0. 1. ]] SLAMing on 133.818241008 meters Centerline goodness : 0.893501 Centerline is valid? [False, False] Translation: X:11.36, Y:0.41, Z:-0.31 [[ 0.9899243 0.10576536 -0.0941465 11.36396052] [-0.10379387 0.99426904 0.02561057 0.40543451] [ 0.09631567 -0.0155807 0.99522889 -0.30523626] [ 0. 0. 0. 1. ]] SLAMing on 133.848241008 meters Centerline goodness : 0.891410 Centerline is valid? [False, False] Translation: X:11.37, Y:0.41, Z:-0.31 [[ 0.98990538 0.10541785 -0.09473339 11.36555117] [-0.10351529 0.99431884 0.02479189 0.40739914] [ 0.0968087 -0.01473527 0.99519392 -0.30597201] [ 0. 0. 0. 1. ]] SLAMing on 133.878241008 meters Centerline goodness : 0.894058 Centerline is valid? [False, False] Translation: X:11.37, Y:0.41, Z:-0.31 [[ 0.98989577 0.10516158 -0.0951179 11.36680201] [-0.10331951 0.99435616 0.02410185 0.40885327] [ 0.09711566 -0.01403078 0.9951742 -0.30683353] [ 0. 0. 0. 1. ]] SLAMing on 133.908241008 meters Centerline goodness : 0.893211 Centerline is valid? [False, False] Translation: X:11.37, Y:0.41, Z:-0.31 [[ 0.98989125 0.10501156 -0.09533043 11.36763825] [-0.10324303 0.99438294 0.02331187 0.41057047] [ 0.09724297 -0.01323401 0.99517268 -0.30790101] [ 0. 0. 0. 1. ]] SLAMing on 133.938241008 meters Centerline goodness : 0.890053 Centerline is valid? [False, False] Translation: X:11.37, Y:0.41, Z:-0.31 [[ 0.98988529 0.10472537 -0.09570642 11.36878372] [-0.10303164 0.99442392 0.02248449 0.4123965 ] [ 0.09752745 -0.01239628 0.99515563 -0.30879512] [ 0. 0. 0. 1. ]] SLAMing on 133.968241008 meters Centerline goodness : 0.885695 Centerline is valid? [False, False] Translation: X:11.37, Y:0.41, Z:-0.31 [[ 9.89876541e-01 1.04581070e-01 -9.59543277e-02 1.13696149e+01] [-1.02984783e-01 9.94451542e-01 2.14538036e-02 4.14587592e-01] [ 9.76655909e-02 -1.13547813e-02 9.95154511e-01 -3.10160461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.998241008 meters Centerline goodness : 0.884925 Centerline is valid? [False, False] Translation: X:11.37, Y:0.42, Z:-0.31 [[ 9.89887996e-01 1.04309110e-01 -9.61320141e-02 1.13704885e+01] [-1.02764561e-01 9.94486245e-01 2.08938620e-02 4.15341581e-01] [ 9.77813859e-02 -1.08036189e-02 9.95149276e-01 -3.11043563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.028241008 meters Centerline goodness : 0.883596 Centerline is valid? [False, False] Translation: X:11.37, Y:0.42, Z:-0.31 [[ 9.89905806e-01 1.03663110e-01 -9.66460285e-02 1.13723210e+01] [-1.02180670e-01 9.94561201e-01 2.01774364e-02 4.16356830e-01] [ 9.82120459e-02 -1.00984055e-02 9.95114273e-01 -3.11913740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.058241008 meters Centerline goodness : 0.883596 Centerline is valid? [False, False] Translation: X:11.37, Y:0.42, Z:-0.31 [[ 9.89905806e-01 1.03663110e-01 -9.66460285e-02 1.13723210e+01] [-1.02180670e-01 9.94561201e-01 2.01774364e-02 4.16356830e-01] [ 9.82120459e-02 -1.00984055e-02 9.95114273e-01 -3.11913740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.088241008 meters Centerline goodness : 0.880583 Centerline is valid? [False, False] Translation: X:11.37, Y:0.42, Z:-0.31 [[ 9.89921753e-01 1.03050637e-01 -9.71364480e-02 1.13741221e+01] [-1.01610720e-01 9.94629778e-01 1.96689338e-02 4.16472298e-01] [ 9.86416999e-02 -9.60060098e-03 9.95076702e-01 -3.12689808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.118241008 meters Centerline goodness : 0.880381 Centerline is valid? [False, False] Translation: X:11.38, Y:0.42, Z:-0.31 [[ 9.89909807e-01 1.02413857e-01 -9.79284226e-02 1.13764130e+01] [-1.00977971e-01 9.94697125e-01 1.95212500e-02 4.15956990e-01] [ 9.94083669e-02 -9.43566342e-03 9.95001982e-01 -3.12786946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.148241008 meters Centerline goodness : 0.877946 Centerline is valid? [False, False] Translation: X:11.38, Y:0.41, Z:-0.31 [[ 9.89943084e-01 1.01397854e-01 -9.86466696e-02 1.13791333e+01] [-9.99555995e-02 9.94801440e-01 1.94672201e-02 4.13506535e-01] [ 1.00107783e-01 -9.41115289e-03 9.94932089e-01 -3.13164011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.178241008 meters Centerline goodness : 0.878667 Centerline is valid? [False, False] Translation: X:11.38, Y:0.42, Z:-0.32 [[ 9.90335470e-01 9.70966417e-02 -9.90348418e-02 1.13795541e+01] [-9.61446256e-02 9.95263900e-01 1.43520128e-02 4.16101979e-01] [ 9.99593351e-02 -4.69163957e-03 9.94980462e-01 -3.15088291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.208241008 meters Centerline goodness : 0.877194 Centerline is valid? [False, False] Translation: X:11.38, Y:0.42, Z:-0.32 [[ 9.90325966e-01 9.66501825e-02 -9.95651743e-02 1.13812699e+01] [-9.56914987e-02 9.95307294e-01 1.43710469e-02 4.15041676e-01] [ 1.00486909e-01 -4.70448017e-03 9.94927258e-01 -3.15309115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.238241008 meters Centerline goodness : 0.872784 Centerline is valid? [False, False] Translation: X:11.38, Y:0.41, Z:-0.32 [[ 9.90364607e-01 9.55563398e-02 -1.00234378e-01 1.13842272e+01] [-9.45990827e-02 9.95413155e-01 1.42710950e-02 4.12607100e-01] [ 1.01138312e-01 -4.65150712e-03 9.94861501e-01 -3.16124471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.268241008 meters Centerline goodness : 0.872929 Centerline is valid? [False, False] Translation: X:11.39, Y:0.41, Z:-0.32 [[ 9.90331907e-01 9.54086175e-02 -1.00697115e-01 1.13855527e+01] [-9.44046761e-02 9.95425377e-01 1.46994891e-02 4.11156666e-01] [ 1.01638922e-01 -5.05109453e-03 9.94808532e-01 -3.15792331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.298241008 meters Centerline goodness : 0.874380 Centerline is valid? [False, False] Translation: X:11.39, Y:0.41, Z:-0.32 [[ 9.90315038e-01 9.49308979e-02 -1.01312634e-01 1.13875539e+01] [-9.39184199e-02 9.95470953e-01 1.47279537e-02 4.09915706e-01] [ 1.02251922e-01 -5.07019151e-03 9.94745614e-01 -3.16066514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.328241008 meters Centerline goodness : 0.876030 Centerline is valid? [False, False] Translation: X:11.39, Y:0.41, Z:-0.32 [[ 9.90278725e-01 9.47865968e-02 -1.01801510e-01 1.13887884e+01] [-9.37385906e-02 9.95483231e-01 1.50404015e-02 4.08560793e-01] [ 1.02767325e-01 -5.35145948e-03 9.94691027e-01 -3.15789358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.358241008 meters Centerline goodness : 0.874285 Centerline is valid? [False, False] Translation: X:11.39, Y:0.41, Z:-0.32 [[ 9.90249823e-01 9.47740652e-02 -1.02093904e-01 1.13895093e+01] [-9.37236788e-02 9.95484527e-01 1.50475117e-02 4.08531850e-01] [ 1.03059015e-01 -5.33217958e-03 9.94660951e-01 -3.15750745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.388241008 meters Centerline goodness : 0.876334 Centerline is valid? [False, False] Translation: X:11.39, Y:0.41, Z:-0.31 [[ 9.89815004e-01 9.88436650e-02 -1.02450904e-01 1.13908874e+01] [-9.72789918e-02 9.95052743e-01 2.01701910e-02 4.06424282e-01] [ 1.03937749e-01 -9.99843700e-03 9.94533547e-01 -3.13331360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.418241008 meters Centerline goodness : 0.875094 Centerline is valid? [False, False] Translation: X:11.39, Y:0.41, Z:-0.31 [[ 9.89816794e-01 9.89610909e-02 -1.02320168e-01 1.13905283e+01] [-9.74280262e-02 9.95043883e-01 1.98859300e-02 4.07579183e-01] [ 1.03780991e-01 -9.71457543e-03 9.94552730e-01 -3.13578683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.448241008 meters Centerline goodness : 0.871611 Centerline is valid? [False, False] Translation: X:11.39, Y:0.41, Z:-0.31 [[ 9.89810050e-01 9.89404546e-02 -1.02405328e-01 1.13906654e+01] [-9.74338659e-02 9.95048525e-01 1.96233311e-02 4.08421630e-01] [ 1.03839812e-01 -9.44562328e-03 9.94549181e-01 -3.13717461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.478241008 meters Centerline goodness : 0.875324 Centerline is valid? [False, False] Translation: X:11.39, Y:0.41, Z:-0.31 [[ 0.98944109 0.10201515 -0.10295264 11.39379161] [-0.10005047 0.99469084 0.02408383 0.40661258] [ 0.10486297 -0.01352907 0.99439465 -0.3124511 ] [ 0. 0. 0. 1. ]] SLAMing on 134.508241008 meters Centerline goodness : 0.874393 Centerline is valid? [False, False] Translation: X:11.39, Y:0.41, Z:-0.31 [[ 0.98945378 0.10167038 -0.10317151 11.39469202] [-0.09974636 0.99473172 0.02365319 0.40734766] [ 0.1050328 -0.01311275 0.9943823 -0.31298217] [ 0. 0. 0. 1. ]] SLAMing on 134.538241008 meters Centerline goodness : 0.876022 Centerline is valid? [False, False] Translation: X:11.40, Y:0.41, Z:-0.31 [[ 0.98945243 0.10123384 -0.10361271 11.39609555] [-0.09933382 0.99478017 0.02334968 0.40741833] [ 0.10543565 -0.01281115 0.9943436 -0.31332946] [ 0. 0. 0. 1. ]] SLAMing on 134.568241008 meters Centerline goodness : 0.874727 Centerline is valid? [False, False] Translation: X:11.40, Y:0.41, Z:-0.31 [[ 0.98945038 0.10089841 -0.10395892 11.39717808] [-0.09903103 0.99481888 0.0229836 0.40785274] [ 0.1057393 -0.01244597 0.99431599 -0.31368325] [ 0. 0. 0. 1. ]] SLAMing on 134.598241008 meters Centerline goodness : 0.877323 Centerline is valid? [False, False] Translation: X:11.40, Y:0.41, Z:-0.32 [[ 9.89447799e-01 1.00522118e-01 -1.04347287e-01 1.13986806e+01] [-9.87711290e-02 9.94870758e-01 2.18274930e-02 4.10329128e-01] [ 1.06006210e-01 -1.12906656e-02 9.94301365e-01 -3.15270972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.628241008 meters Centerline goodness : 0.873921 Centerline is valid? [False, False] Translation: X:11.40, Y:0.41, Z:-0.32 [[ 9.89460504e-01 1.00043047e-01 -1.04686671e-01 1.14001908e+01] [-9.83727522e-02 9.94927790e-01 2.10117896e-02 4.11498310e-01] [ 1.06257761e-01 -1.04920200e-02 9.94283262e-01 -3.16510882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.658241008 meters Centerline goodness : 0.874857 Centerline is valid? [False, False] Translation: X:11.40, Y:0.41, Z:-0.32 [[ 9.89461814e-01 9.95824461e-02 -1.05112579e-01 1.14017586e+01] [-9.79524239e-02 9.94978483e-01 2.05704028e-02 4.11888620e-01] [ 1.06633205e-01 -1.00575962e-02 9.94247557e-01 -3.17188531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.688241008 meters Centerline goodness : 0.871270 Centerline is valid? [False, False] Translation: X:11.40, Y:0.41, Z:-0.32 [[ 9.89456509e-01 9.94760472e-02 -1.05263163e-01 1.14021983e+01] [-9.78407012e-02 9.94988859e-01 2.06001802e-02 4.11443460e-01] [ 1.06784899e-01 -1.00839607e-02 9.94231009e-01 -3.17197832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.718241008 meters Centerline goodness : 0.872859 Centerline is valid? [False, False] Translation: X:11.40, Y:0.41, Z:-0.32 [[ 9.89450844e-01 9.86817511e-02 -1.06061014e-01 1.14044237e+01] [-9.70188389e-02 9.95066463e-01 2.07383362e-02 4.10218723e-01] [ 1.07584253e-01 -1.02296478e-02 9.94143341e-01 -3.16598124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.748241008 meters Centerline goodness : 0.871573 Centerline is valid? [False, False] Translation: X:11.41, Y:0.41, Z:-0.32 [[ 9.89437964e-01 9.82227705e-02 -1.06605831e-01 1.14060297e+01] [-9.65612573e-02 9.95112817e-01 2.06495652e-02 4.09703330e-01] [ 1.08113087e-01 -1.01374706e-02 9.94086914e-01 -3.16583518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.778241008 meters Centerline goodness : 0.871249 Centerline is valid? [False, False] Translation: X:11.40, Y:0.41, Z:-0.32 [[ 9.89804542e-01 9.46600643e-02 -1.06425749e-01 1.14043811e+01] [-9.34773876e-02 9.95491898e-01 1.60579956e-02 4.12330326e-01] [ 1.07466022e-01 -5.94587605e-03 9.94190978e-01 -3.17733758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.808241008 meters Centerline goodness : 0.871969 Centerline is valid? [False, False] Translation: X:11.41, Y:0.41, Z:-0.32 [[ 9.89790443e-01 9.43748612e-02 -1.06809476e-01 1.14053316e+01] [-9.31707304e-02 9.95518030e-01 1.62193232e-02 4.12041065e-01] [ 1.07861456e-01 -6.10221424e-03 9.94147207e-01 -3.17180172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.838241008 meters Centerline goodness : 0.872607 Centerline is valid? [False, False] Translation: X:11.41, Y:0.41, Z:-0.32 [[ 9.89784843e-01 9.41098141e-02 -1.07094855e-01 1.14063492e+01] [-9.29274723e-02 9.95544498e-01 1.59886679e-02 4.12409235e-01] [ 1.08122384e-01 -5.87328702e-03 9.94120241e-01 -3.17505639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.868241008 meters Centerline goodness : 0.870210 Centerline is valid? [False, False] Translation: X:11.41, Y:0.41, Z:-0.32 [[ 9.89779302e-01 9.40552332e-02 -1.07193971e-01 1.14066393e+01] [-9.28906341e-02 9.95550673e-01 1.58173425e-02 4.12730608e-01] [ 1.08204733e-01 -5.69836230e-03 9.94112300e-01 -3.17720157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.898241008 meters Centerline goodness : 0.873374 Centerline is valid? [False, False] Translation: X:11.41, Y:0.41, Z:-0.32 [[ 9.89762050e-01 9.38328725e-02 -1.07547558e-01 1.14077572e+01] [-9.26892439e-02 9.95572955e-01 1.55947203e-02 4.13586632e-01] [ 1.08534738e-01 -5.46656045e-03 9.94077626e-01 -3.17861751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.928241008 meters Centerline goodness : 0.870890 Centerline is valid? [False, False] Translation: X:11.41, Y:0.41, Z:-0.32 [[ 9.89761605e-01 9.37959749e-02 -1.07583831e-01 1.14079478e+01] [-9.26737355e-02 9.95577506e-01 1.53950418e-02 4.13915414e-01] [ 1.08552036e-01 -5.26722579e-03 9.94076814e-01 -3.18147438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.958241008 meters Centerline goodness : 0.872636 Centerline is valid? [False, False] Translation: X:11.41, Y:0.41, Z:-0.32 [[ 9.89752104e-01 9.36228988e-02 -1.07821727e-01 1.14086544e+01] [-9.25221160e-02 9.95594940e-01 1.51780665e-02 4.14225034e-01] [ 1.08767780e-01 -5.04662892e-03 9.94054376e-01 -3.18352474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.988241008 meters Centerline goodness : 0.870554 Centerline is valid? [False, False] Translation: X:11.41, Y:0.41, Z:-0.32 [[ 9.89739380e-01 9.35560308e-02 -1.07996430e-01 1.14092041e+01] [-9.24722708e-02 9.95602104e-01 1.50109882e-02 4.14606104e-01] [ 1.08925842e-01 -4.87029102e-03 9.94037948e-01 -3.18577001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.018241008 meters Centerline goodness : 0.870664 Centerline is valid? [False, False] Translation: X:11.41, Y:0.42, Z:-0.32 [[ 9.89749407e-01 9.35145526e-02 -1.07940444e-01 1.14093142e+01] [-9.24575955e-02 9.95607123e-01 1.47665158e-02 4.15165047e-01] [ 1.08847159e-01 -4.63523637e-03 9.94047690e-01 -3.19008608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.048241008 meters Centerline goodness : 0.869604 Centerline is valid? [False, False] Translation: X:11.41, Y:0.41, Z:-0.32 [[ 9.89735089e-01 9.37983884e-02 -1.07825397e-01 1.14085194e+01] [-9.27185562e-02 9.95579426e-01 1.49958844e-02 4.14882832e-01] [ 1.08755337e-01 -4.84453785e-03 9.94056742e-01 -3.18458258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.078241008 meters Centerline goodness : 0.866481 Centerline is valid? [False, False] Translation: X:11.41, Y:0.41, Z:-0.32 [[ 9.89706165e-01 9.39050063e-02 -1.07997948e-01 1.14084120e+01] [-9.28028570e-02 9.95568513e-01 1.51975819e-02 4.14179892e-01] [ 1.08946485e-01 -5.01862240e-03 9.94034947e-01 -3.17859446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.108241008 meters Centerline goodness : 0.868303 Centerline is valid? [False, False] Translation: X:11.41, Y:0.41, Z:-0.32 [[ 9.89686945e-01 9.41487761e-02 -1.07961841e-01 1.14077360e+01] [-9.30112315e-02 9.95543852e-01 1.55354306e-02 4.13520694e-01] [ 1.08943389e-01 -5.33354900e-03 9.94033647e-01 -3.17081342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.138241008 meters Centerline goodness : 0.868454 Centerline is valid? [False, False] Translation: X:11.41, Y:0.41, Z:-0.32 [[ 9.89686182e-01 9.41848860e-02 -1.07937339e-01 1.14075256e+01] [-9.30440038e-02 9.95540264e-01 1.55690470e-02 4.13659521e-01] [ 1.08922336e-01 -5.36554847e-03 9.94035782e-01 -3.16833430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.168241008 meters Centerline goodness : 0.867825 Centerline is valid? [False, False] Translation: X:11.41, Y:0.41, Z:-0.32 [[ 9.89687127e-01 9.43009158e-02 -1.07827307e-01 1.14071391e+01] [-9.31673446e-02 9.95529589e-01 1.55139773e-02 4.14323024e-01] [ 1.08808257e-01 -5.30799976e-03 9.94048585e-01 -3.16799521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.198241008 meters Centerline goodness : 0.867019 Centerline is valid? [False, False] Translation: X:11.41, Y:0.42, Z:-0.32 [[ 9.89683306e-01 9.41922228e-02 -1.07957298e-01 1.14078482e+01] [-9.31129293e-02 9.95542461e-01 1.50063554e-02 4.16048327e-01] [ 1.08889556e-01 -4.79931915e-03 9.94042268e-01 -3.17563544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.228241008 meters Centerline goodness : 0.866177 Centerline is valid? [False, False] Translation: X:11.41, Y:0.42, Z:-0.32 [[ 9.89685410e-01 9.40305704e-02 -1.08078869e-01 1.14085903e+01] [-9.30099247e-02 9.95560214e-01 1.44573074e-02 4.17019256e-01] [ 1.08958450e-01 -4.25577878e-03 9.94037195e-01 -3.18497902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.258241008 meters Centerline goodness : 0.869099 Centerline is valid? [False, False] Translation: X:11.41, Y:0.42, Z:-0.32 [[ 9.89673260e-01 9.38955732e-02 -1.08307246e-01 1.14093728e+01] [-9.29257592e-02 9.95574916e-01 1.39781813e-02 4.18070980e-01] [ 1.09140467e-01 -3.76929924e-03 9.94019190e-01 -3.19169064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.288241008 meters Centerline goodness : 0.868716 Centerline is valid? [False, False] Translation: X:11.41, Y:0.42, Z:-0.32 [[ 9.89668855e-01 9.39466862e-02 -1.08303170e-01 1.14096223e+01] [-9.30253581e-02 9.95571679e-01 1.35394045e-02 4.18819576e-01] [ 1.09095551e-01 -3.32458583e-03 9.94025708e-01 -3.20085953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.318241008 meters Centerline goodness : 0.871042 Centerline is valid? [False, False] Translation: X:11.41, Y:0.42, Z:-0.32 [[ 9.89635838e-01 9.35493048e-02 -1.08946937e-01 1.14118864e+01] [-9.26826872e-02 9.95610794e-01 1.30025564e-02 4.19147550e-01] [ 1.09685126e-01 -2.77030099e-03 9.93962524e-01 -3.21257000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.348241008 meters Centerline goodness : 0.867789 Centerline is valid? [False, False] Translation: X:11.42, Y:0.42, Z:-0.32 [[ 9.89421124e-01 9.54213070e-02 -1.09273119e-01 1.14154088e+01] [-9.41978444e-02 9.95419785e-01 1.63161803e-02 4.16707972e-01] [ 1.10329536e-01 -5.85028117e-03 9.93877843e-01 -3.21216634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.378241008 meters Centerline goodness : 0.868316 Centerline is valid? [False, False] Translation: X:11.42, Y:0.42, Z:-0.32 [[ 9.89421326e-01 9.50855998e-02 -1.09563532e-01 1.14166795e+01] [-9.38923650e-02 9.95453605e-01 1.60107534e-02 4.16822751e-01] [ 1.10587805e-01 -5.55420172e-03 9.93850838e-01 -3.21935237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.408241008 meters Centerline goodness : 0.870470 Centerline is valid? [False, False] Translation: X:11.42, Y:0.42, Z:-0.32 [[ 9.89431058e-01 9.43610960e-02 -1.10100702e-01 1.14190543e+01] [-9.32478539e-02 9.95526462e-01 1.52282889e-02 4.17917564e-01] [ 1.11045121e-01 -4.80068784e-03 9.93803771e-01 -3.23349978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.438241008 meters Centerline goodness : 0.867470 Centerline is valid? [False, False] Translation: X:11.42, Y:0.42, Z:-0.32 [[ 9.89429643e-01 9.42044928e-02 -1.10247427e-01 1.14195610e+01] [-9.30839879e-02 9.95541033e-01 1.52781902e-02 4.17679289e-01] [ 1.11195111e-01 -4.85442408e-03 9.93786739e-01 -3.23238172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.468241008 meters Centerline goodness : 0.869223 Centerline is valid? [False, False] Translation: X:11.42, Y:0.42, Z:-0.32 [[ 9.89411444e-01 9.44280586e-02 -1.10219489e-01 1.14189533e+01] [-9.32456365e-02 9.95517043e-01 1.58451271e-02 4.16583262e-01] [ 1.11221604e-01 -5.39986373e-03 9.93780960e-01 -3.22230230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.498241008 meters Centerline goodness : 0.872138 Centerline is valid? [False, False] Translation: X:11.42, Y:0.42, Z:-0.32 [[ 9.89396403e-01 9.45213668e-02 -1.10274518e-01 1.14186273e+01] [-9.32919405e-02 9.95505896e-01 1.62672896e-02 4.15640923e-01] [ 1.11316539e-01 -5.80707407e-03 9.93768034e-01 -3.21299765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.528241008 meters Centerline goodness : 0.874093 Centerline is valid? [False, False] Translation: X:11.42, Y:0.41, Z:-0.31 [[ 0.98905004 0.09812119 -0.11023727 11.41992641] [-0.09596242 0.99507762 0.0247336 0.41020229] [ 0.11212153 -0.01388413 0.9935975 -0.31270243] [ 0. 0. 0. 1. ]] SLAMing on 135.558241008 meters Centerline goodness : 0.878961 Centerline is valid? [False, False] Translation: X:11.42, Y:0.41, Z:-0.31 [[ 0.98904514 0.0982614 -0.11015626 11.41929882] [-0.09609701 0.99506295 0.02480112 0.41061843] [ 0.1120494 -0.01394374 0.9936048 -0.31216993] [ 0. 0. 0. 1. ]] SLAMing on 135.588241008 meters Centerline goodness : 0.878188 Centerline is valid? [False, False] Translation: X:11.42, Y:0.41, Z:-0.31 [[ 0.98904914 0.09811426 -0.11025153 11.4197816 ] [-0.09599833 0.99508357 0.02435175 0.41171128] [ 0.11209874 -0.01350111 0.99360535 -0.31272753] [ 0. 0. 0. 1. ]] SLAMing on 135.618241008 meters Centerline goodness : 0.874202 Centerline is valid? [False, False] Translation: X:11.42, Y:0.41, Z:-0.31 [[ 0.98906395 0.09783972 -0.11036251 11.4205064 ] [-0.09579745 0.99511935 0.02367103 0.41292498] [ 0.11213984 -0.01283972 0.99360948 -0.31371487] [ 0. 0. 0. 1. ]] SLAMing on 135.648241008 meters Centerline goodness : 0.877011 Centerline is valid? [False, False] Translation: X:11.42, Y:0.42, Z:-0.32 [[ 9.89436343e-01 9.41419537e-02 -1.10240714e-01 1.14193925e+01] [-9.26375351e-02 9.95524256e-01 1.87013887e-02 4.15772689e-01] [ 1.11507890e-01 -8.29140568e-03 9.93728959e-01 -3.15781124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.678241008 meters Centerline goodness : 0.878814 Centerline is valid? [False, False] Translation: X:11.42, Y:0.41, Z:-0.32 [[ 9.89413186e-01 9.37945211e-02 -1.10743553e-01 1.14206825e+01] [-9.22793013e-02 9.95556787e-01 1.87407251e-02 4.14696875e-01] [ 1.12009274e-01 -8.32298283e-03 9.93672305e-01 -3.15644614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.708241008 meters Centerline goodness : 0.880473 Centerline is valid? [False, False] Translation: X:11.42, Y:0.41, Z:-0.32 [[ 9.89387865e-01 9.34430462e-02 -1.11265674e-01 1.14220120e+01] [-9.19092992e-02 9.95589024e-01 1.88461172e-02 4.13526336e-01] [ 1.12535922e-01 -8.41976952e-03 9.93611983e-01 -3.15424525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.738241008 meters Centerline goodness : 0.877822 Centerline is valid? [False, False] Translation: X:11.42, Y:0.41, Z:-0.32 [[ 9.89377421e-01 9.32028880e-02 -1.11559579e-01 1.14228621e+01] [-9.16649197e-02 9.95611520e-01 1.88479291e-02 4.12823326e-01] [ 1.12826683e-01 -8.42161566e-03 9.93578993e-01 -3.15469370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.768241008 meters Centerline goodness : 0.876465 Centerline is valid? [False, False] Translation: X:11.43, Y:0.41, Z:-0.32 [[ 9.89399956e-01 9.24609060e-02 -1.11976374e-01 1.14253908e+01] [-9.10196858e-02 9.95687735e-01 1.79262546e-02 4.13107476e-01] [ 1.13150980e-01 -7.54418113e-03 9.93549164e-01 -3.17745514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.798241008 meters Centerline goodness : 0.879729 Centerline is valid? [False, False] Translation: X:11.43, Y:0.41, Z:-0.32 [[ 9.89409406e-01 9.19823597e-02 -1.12286568e-01 1.14271224e+01] [-9.06109742e-02 9.95736662e-01 1.72670487e-02 4.13609859e-01] [ 1.13396116e-01 -6.90978507e-03 9.93525830e-01 -3.19223239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.828241008 meters Centerline goodness : 0.874523 Centerline is valid? [False, False] Translation: X:11.43, Y:0.41, Z:-0.32 [[ 9.89412500e-01 9.15044613e-02 -1.12649183e-01 1.14288359e+01] [-9.02019602e-02 9.95784869e-01 1.66162861e-02 4.14416925e-01] [ 1.13694816e-01 -6.27918411e-03 9.93495879e-01 -3.20435847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.858241008 meters Centerline goodness : 0.873811 Centerline is valid? [False, False] Translation: X:11.43, Y:0.41, Z:-0.32 [[ 9.89417754e-01 9.13502547e-02 -1.12728165e-01 1.14293932e+01] [-9.00801946e-02 9.95800793e-01 1.63198990e-02 4.14676494e-01] [ 1.13745623e-01 -5.99262271e-03 9.93491833e-01 -3.21067471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.888241008 meters Centerline goodness : 0.873910 Centerline is valid? [False, False] Translation: X:11.43, Y:0.41, Z:-0.32 [[ 9.89409163e-01 9.12352926e-02 -1.12896542e-01 1.14297554e+01] [-8.99599175e-02 9.95811158e-01 1.63508611e-02 4.14289784e-01] [ 1.13915412e-01 -6.02152820e-03 9.93472204e-01 -3.20921248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.918241008 meters Centerline goodness : 0.873910 Centerline is valid? [False, False] Translation: X:11.43, Y:0.41, Z:-0.32 [[ 9.89409163e-01 9.12352926e-02 -1.12896542e-01 1.14297554e+01] [-8.99599175e-02 9.95811158e-01 1.63508611e-02 4.14289784e-01] [ 1.13915412e-01 -6.02152820e-03 9.93472204e-01 -3.20921248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.948241008 meters Centerline goodness : 0.875123 Centerline is valid? [False, False] Translation: X:11.43, Y:0.41, Z:-0.32 [[ 9.89388834e-01 9.13057411e-02 -1.13017681e-01 1.14296714e+01] [-8.99915649e-02 9.95802733e-01 1.66863892e-02 4.13671952e-01] [ 1.14066878e-01 -6.33868924e-03 9.93452852e-01 -3.20162438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.978241008 meters Centerline goodness : 0.875401 Centerline is valid? [False, False] Translation: X:11.43, Y:0.41, Z:-0.32 [[ 9.89392499e-01 9.12638099e-02 -1.13019466e-01 1.14297361e+01] [-8.99719179e-02 9.95807782e-01 1.64898270e-02 4.14036013e-01] [ 1.14050588e-01 -6.14633300e-03 9.93455931e-01 -3.20398127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.008241008 meters Centerline goodness : 0.874289 Centerline is valid? [False, False] Translation: X:11.43, Y:0.41, Z:-0.32 [[ 9.89385798e-01 9.09456063e-02 -1.13334194e-01 1.14307468e+01] [-8.96742014e-02 9.95838141e-01 1.62768366e-02 4.14408745e-01] [ 1.14342820e-01 -5.94091758e-03 9.93423588e-01 -3.20554632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.038241008 meters Centerline goodness : 0.878895 Centerline is valid? [False, False] Translation: X:11.43, Y:0.41, Z:-0.32 [[ 9.89380058e-01 9.10701437e-02 -1.13284288e-01 1.14302465e+01] [-8.97376959e-02 9.95823446e-01 1.68169626e-02 4.13576666e-01] [ 1.14342674e-01 -6.47249644e-03 9.93420284e-01 -3.19558764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.068241008 meters Centerline goodness : 0.877877 Centerline is valid? [False, False] Translation: X:11.43, Y:0.41, Z:-0.32 [[ 9.89368997e-01 9.08477970e-02 -1.13559083e-01 1.14309212e+01] [-8.95000282e-02 9.95843063e-01 1.69215460e-02 4.13347161e-01] [ 1.14624310e-01 -6.57811183e-03 9.93387133e-01 -3.19114235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.098241008 meters Centerline goodness : 0.878271 Centerline is valid? [False, False] Translation: X:11.43, Y:0.41, Z:-0.32 [[ 9.89371640e-01 9.08336025e-02 -1.13547414e-01 1.14307560e+01] [-8.94921812e-02 9.95844704e-01 1.68663982e-02 4.13428351e-01] [ 1.14607627e-01 -6.52553028e-03 9.93389405e-01 -3.19032903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.128241008 meters Centerline goodness : 0.877118 Centerline is valid? [False, False] Translation: X:11.43, Y:0.41, Z:-0.32 [[ 9.89371010e-01 9.05477827e-02 -1.13780946e-01 1.14314049e+01] [-8.92149770e-02 9.95871334e-01 1.67622905e-02 4.13602640e-01] [ 1.14828971e-01 -6.43315980e-03 9.93364446e-01 -3.18907294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.158241008 meters Centerline goodness : 0.878309 Centerline is valid? [False, False] Translation: X:11.43, Y:0.41, Z:-0.32 [[ 9.89372575e-01 8.98314105e-02 -1.14333832e-01 1.14336135e+01] [-8.85071597e-02 9.95936928e-01 1.66168012e-02 4.13283315e-01] [ 1.15361996e-01 -6.32084471e-03 9.93303406e-01 -3.19221448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.188241008 meters Centerline goodness : 0.876671 Centerline is valid? [False, False] Translation: X:11.43, Y:0.42, Z:-0.32 [[ 9.89702109e-01 8.60121284e-02 -1.14418749e-01 1.14328054e+01] [-8.52021098e-02 9.96291901e-01 1.19602709e-02 4.16213711e-01] [ 1.15023202e-01 -2.08838645e-03 9.93360610e-01 -3.20404516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.218241008 meters Centerline goodness : 0.880431 Centerline is valid? [False, False] Translation: X:11.44, Y:0.41, Z:-0.32 [[ 9.89379813e-01 8.85728107e-02 -1.15249481e-01 1.14370960e+01] [-8.70026323e-02 9.96034543e-01 1.85938444e-02 4.11841439e-01] [ 1.16439373e-01 -8.36936608e-03 9.93162538e-01 -3.15093930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.248241008 meters Centerline goodness : 0.881625 Centerline is valid? [False, False] Translation: X:11.44, Y:0.41, Z:-0.31 [[ 0.98903727 0.09165084 -0.1157817 11.44012554] [-0.08932917 0.99568596 0.02509535 0.40788153] [ 0.11758222 -0.01447755 0.99295761 -0.31020165] [ 0. 0. 0. 1. ]] SLAMing on 136.278241008 meters Centerline goodness : 0.879112 Centerline is valid? [False, False] Translation: X:11.44, Y:0.41, Z:-0.31 [[ 0.98906369 0.09118446 -0.11592414 11.44112882] [-0.08891357 0.99573495 0.02462269 0.4083229 ] [ 0.11767492 -0.01404618 0.99295283 -0.31100615] [ 0. 0. 0. 1. ]] SLAMing on 136.308241008 meters Centerline goodness : 0.882608 Centerline is valid? [False, False] Translation: X:11.44, Y:0.41, Z:-0.31 [[ 0.98904843 0.0910359 -0.11617083 11.44181863] [-0.08875294 0.99574771 0.02468628 0.40857444] [ 0.11792418 -0.01410542 0.99292242 -0.31065373] [ 0. 0. 0. 1. ]] SLAMing on 136.338241008 meters Centerline goodness : 0.880906 Centerline is valid? [False, False] Translation: X:11.44, Y:0.41, Z:-0.31 [[ 0.98903314 0.09092508 -0.11638759 11.44245907] [-0.0886677 0.99576141 0.02443894 0.40946551] [ 0.11811638 -0.0138511 0.99290315 -0.31077237] [ 0. 0. 0. 1. ]] SLAMing on 136.368241008 meters Centerline goodness : 0.882557 Centerline is valid? [False, False] Translation: X:11.44, Y:0.41, Z:-0.31 [[ 0.9890443 0.09092929 -0.11628943 11.44254411] [-0.08880118 0.99577534 0.02336278 0.41213307] [ 0.11792251 -0.01278019 0.99294056 -0.31233543] [ 0. 0. 0. 1. ]] SLAMing on 136.398241008 meters Centerline goodness : 0.882786 Centerline is valid? [False, False] Translation: X:11.44, Y:0.41, Z:-0.31 [[ 0.98903245 0.09067958 -0.11658482 11.44337517] [-0.0886176 0.99580564 0.02276073 0.41338989] [ 0.11815975 -0.01217963 0.9929199 -0.31287357] [ 0. 0. 0. 1. ]] SLAMing on 136.428241008 meters Centerline goodness : 0.880161 Centerline is valid? [False, False] Translation: X:11.45, Y:0.41, Z:-0.31 [[ 0.98861687 0.094673 -0.11693466 11.44502874] [-0.09199313 0.99536256 0.02811827 0.41078518] [ 0.11905443 -0.01704101 0.99274148 -0.31019706] [ 0. 0. 0. 1. ]] SLAMing on 136.458241008 meters Centerline goodness : 0.880223 Centerline is valid? [False, False] Translation: X:11.45, Y:0.41, Z:-0.31 [[ 0.98822147 0.09821992 -0.1173506 11.44750807] [-0.09500866 0.99494035 0.03266591 0.40841106] [ 0.11996529 -0.02113183 0.99255316 -0.30901185] [ 0. 0. 0. 1. ]] SLAMing on 136.488241008 meters Centerline goodness : 0.878723 Centerline is valid? [False, False] Translation: X:11.45, Y:0.41, Z:-0.31 [[ 0.98822706 0.09765687 -0.11777274 11.44946732] [-0.09456012 0.99501702 0.031615 0.41008456] [ 0.1202733 -0.0201062 0.99253719 -0.31070114] [ 0. 0. 0. 1. ]] SLAMing on 136.518241008 meters Centerline goodness : 0.881131 Centerline is valid? [False, False] Translation: X:11.45, Y:0.41, Z:-0.31 [[ 0.98822903 0.09731088 -0.11804226 11.45046147] [-0.09425979 0.99505943 0.03117393 0.41057354] [ 0.12049263 -0.01968034 0.99251912 -0.3112761 ] [ 0. 0. 0. 1. ]] SLAMing on 136.548241008 meters Centerline goodness : 0.883784 Centerline is valid? [False, False] Translation: X:11.45, Y:0.41, Z:-0.31 [[ 0.9882211 0.09701089 -0.11835519 11.45150659] [-0.09397079 0.99509173 0.03101524 0.41053733] [ 0.12078308 -0.01952798 0.99248683 -0.31143654] [ 0. 0. 0. 1. ]] SLAMing on 136.578241008 meters Centerline goodness : 0.882214 Centerline is valid? [False, False] Translation: X:11.45, Y:0.41, Z:-0.31 [[ 0.98821032 0.09673007 -0.11867458 11.45245365] [-0.09367862 0.99511849 0.03104037 0.41024083] [ 0.1210978 -0.01955714 0.9924479 -0.31125 ] [ 0. 0. 0. 1. ]] SLAMing on 136.608241008 meters Centerline goodness : 0.882142 Centerline is valid? [False, False] Translation: X:11.45, Y:0.41, Z:-0.31 [[ 0.98820398 0.09654812 -0.11887535 11.45299408] [-0.09346314 0.99513151 0.03127167 0.40900735] [ 0.12131583 -0.01979233 0.99241661 -0.31090356] [ 0. 0. 0. 1. ]] SLAMing on 136.638241008 meters Centerline goodness : 0.884948 Centerline is valid? [False, False] Translation: X:11.46, Y:0.40, Z:-0.31 [[ 0.98778111 0.10019728 -0.11936914 11.45516057] [-0.09636772 0.9946411 0.03744785 0.40461845] [ 0.12248162 -0.02548695 0.99214347 -0.30672491] [ 0. 0. 0. 1. ]] SLAMing on 136.668241008 meters Centerline goodness : 0.883978 Centerline is valid? [False, False] Translation: X:11.45, Y:0.41, Z:-0.31 [[ 0.98819319 0.09599432 -0.11941234 11.45483823] [-0.09284811 0.9951771 0.03165065 0.40846565] [ 0.12187471 -0.02018974 0.99234013 -0.30985322] [ 0. 0. 0. 1. ]] SLAMing on 136.698241008 meters Centerline goodness : 0.884485 Centerline is valid? [False, False] Translation: X:11.46, Y:0.41, Z:-0.31 [[ 0.98817927 0.09572224 -0.11974549 11.45597016] [-0.0926059 0.9952096 0.03133696 0.40907343] [ 0.12217151 -0.01987739 0.99230994 -0.31018765] [ 0. 0. 0. 1. ]] SLAMing on 136.728241008 meters Centerline goodness : 0.885953 Centerline is valid? [False, False] Translation: X:11.46, Y:0.41, Z:-0.31 [[ 0.98817199 0.09519526 -0.12022469 11.45799717] [-0.09216015 0.9952748 0.03057074 0.40924174] [ 0.12256679 -0.01912922 0.9922759 -0.31169896] [ 0. 0. 0. 1. ]] SLAMing on 136.758241008 meters Centerline goodness : 0.885020 Centerline is valid? [False, False] Translation: X:11.46, Y:0.41, Z:-0.31 [[ 0.98773919 0.09913606 -0.12059571 11.45988664] [-0.09546277 0.99478618 0.03587905 0.40642673] [ 0.12352386 -0.02392674 0.99205311 -0.30922279] [ 0. 0. 0. 1. ]] SLAMing on 136.788241008 meters Centerline goodness : 0.884910 Centerline is valid? [False, False] Translation: X:11.46, Y:0.41, Z:-0.31 [[ 0.98805996 0.09565744 -0.12077732 11.45933464] [-0.09257725 0.99522671 0.03087469 0.41105964] [ 0.12315421 -0.01932481 0.99219937 -0.31134648] [ 0. 0. 0. 1. ]] SLAMing on 136.818241008 meters Centerline goodness : 0.882830 Centerline is valid? [False, False] Translation: X:11.46, Y:0.41, Z:-0.31 [[ 0.98805971 0.09542743 -0.12096119 11.46000597] [-0.09238934 0.99525593 0.03049349 0.41177754] [ 0.12329726 -0.01895386 0.99218876 -0.31173805] [ 0. 0. 0. 1. ]] SLAMing on 136.848241008 meters Centerline goodness : 0.882866 Centerline is valid? [False, False] Translation: X:11.47, Y:0.41, Z:-0.30 [[ 0.98772637 0.09737317 -0.12212732 11.46615037] [-0.0934314 0.99491505 0.03761134 0.4082699 ] [ 0.12516865 -0.02573918 0.99180154 -0.30494508] [ 0. 0. 0. 1. ]] SLAMing on 136.878241008 meters Centerline goodness : 0.885340 Centerline is valid? [False, False] Translation: X:11.47, Y:0.41, Z:-0.31 [[ 0.98774322 0.09682235 -0.12242864 11.4677382 ] [-0.09297626 0.99498948 0.03676062 0.40976379] [ 0.12537446 -0.0249271 0.99179629 -0.30622409] [ 0. 0. 0. 1. ]] SLAMing on 136.908241008 meters Centerline goodness : 0.887436 Centerline is valid? [False, False] Translation: X:11.47, Y:0.41, Z:-0.31 [[ 0.9877511 0.09691077 -0.12229497 11.46768993] [-0.09311512 0.99499001 0.03639298 0.41204787] [ 0.12520915 -0.02455969 0.99182634 -0.30649141] [ 0. 0. 0. 1. ]] SLAMing on 136.938241008 meters Centerline goodness : 0.886019 Centerline is valid? [False, False] Translation: X:11.47, Y:0.41, Z:-0.31 [[ 0.98775279 0.09647918 -0.12262213 11.46896407] [-0.09275194 0.99504678 0.0357628 0.41384639] [ 0.12546513 -0.02395137 0.99180887 -0.30708065] [ 0. 0. 0. 1. ]] SLAMing on 136.968241008 meters Centerline goodness : 0.885996 Centerline is valid? [False, False] Translation: X:11.47, Y:0.41, Z:-0.31 [[ 0.98773387 0.09597028 -0.12317267 11.47039695] [-0.09226344 0.99510278 0.03546697 0.41470871] [ 0.12597324 -0.02366759 0.99175127 -0.30672679] [ 0. 0. 0. 1. ]] SLAMing on 136.998241008 meters Centerline goodness : 0.887691 Centerline is valid? [False, False] Translation: X:11.47, Y:0.41, Z:-0.30 [[ 0.98732363 0.09896869 -0.12408568 11.47430588] [-0.0944053 0.9946413 0.04214637 0.41148066] [ 0.12759191 -0.02989776 0.99137603 -0.30073111] [ 0. 0. 0. 1. ]] SLAMing on 137.028241008 meters Centerline goodness : 0.892259 Centerline is valid? [False, False] Translation: X:11.47, Y:0.42, Z:-0.30 [[ 0.9877495 0.09483758 -0.12392243 11.47303884] [-0.09091513 0.99517307 0.03694595 0.41506867] [ 0.12682812 -0.02522692 0.99160387 -0.30239279] [ 0. 0. 0. 1. ]] SLAMing on 137.058241008 meters Centerline goodness : 0.893644 Centerline is valid? [False, False] Translation: X:11.48, Y:0.41, Z:-0.29 [[ 0.9874 0.09769486 -0.1244868 11.47665066] [-0.09277178 0.99468071 0.04476248 0.41097699] [ 0.12819768 -0.03264961 0.99121106 -0.29443361] [ 0. 0. 0. 1. ]] SLAMing on 137.088241008 meters Centerline goodness : 0.895484 Centerline is valid? [False, False] Translation: X:11.48, Y:0.41, Z:-0.29 [[ 0.98699497 0.10084776 -0.12518247 11.48024935] [-0.09506531 0.99414564 0.0513521 0.40783433] [ 0.12962835 -0.03878375 0.99080387 -0.28893115] [ 0. 0. 0. 1. ]] SLAMing on 137.118241008 meters Centerline goodness : 0.896579 Centerline is valid? [False, False] Translation: X:11.48, Y:0.41, Z:-0.29 [[ 0.98703788 0.10021047 -0.12535583 11.48196706] [-0.09457657 0.99425463 0.05012982 0.40981679] [ 0.12965914 -0.03762431 0.99084455 -0.29108193] [ 0. 0. 0. 1. ]] SLAMing on 137.148241008 meters Centerline goodness : 0.894542 Centerline is valid? [False, False] Translation: X:11.48, Y:0.41, Z:-0.29 [[ 0.98706652 0.0996287 -0.12559385 11.4838874 ] [-0.09416346 0.99436292 0.04874029 0.41249121] [ 0.1297418 -0.03628356 0.99088373 -0.29327762] [ 0. 0. 0. 1. ]] SLAMing on 137.178241008 meters Centerline goodness : 0.893441 Centerline is valid? [False, False] Translation: X:11.48, Y:0.41, Z:-0.29 [[ 0.9870303 0.09979029 -0.12575013 11.48453424] [-0.09439025 0.99436737 0.04820805 0.41328476] [ 0.12985252 -0.03571322 0.99088995 -0.29411432] [ 0. 0. 0. 1. ]] SLAMing on 137.208241008 meters Centerline goodness : 0.895606 Centerline is valid? [False, False] Translation: X:11.48, Y:0.42, Z:-0.30 [[ 0.98737563 0.09617274 -0.12585773 11.4832719 ] [-0.09142689 0.99488428 0.0429697 0.41658455] [ 0.1293464 -0.03092046 0.99111727 -0.29601442] [ 0. 0. 0. 1. ]] SLAMing on 137.238241008 meters Centerline goodness : 0.897291 Centerline is valid? [False, False] Translation: X:11.48, Y:0.41, Z:-0.29 [[ 0.98692686 0.10022629 -0.12621433 11.48474514] [-0.09469464 0.99429453 0.04910511 0.41286987] [ 0.13041584 -0.03651134 0.99078687 -0.29167719] [ 0. 0. 0. 1. ]] SLAMing on 137.268241008 meters Centerline goodness : 0.896209 Centerline is valid? [False, False] Translation: X:11.48, Y:0.41, Z:-0.29 [[ 0.98692643 0.10033695 -0.12612978 11.48471528] [-0.09482696 0.99428856 0.04897058 0.41386677] [ 0.13032295 -0.03636986 0.9908043 -0.29159067] [ 0. 0. 0. 1. ]] SLAMing on 137.298241008 meters Centerline goodness : 0.892100 Centerline is valid? [False, False] Translation: X:11.49, Y:0.42, Z:-0.29 [[ 0.98693135 0.10007626 -0.12629829 11.48608732] [-0.09468877 0.99435012 0.04797792 0.41535193] [ 0.13038617 -0.03539188 0.9908314 -0.2933714 ] [ 0. 0. 0. 1. ]] SLAMing on 137.328241008 meters Centerline goodness : 0.895317 Centerline is valid? [False, False] Translation: X:11.49, Y:0.42, Z:-0.29 [[ 0.98691969 0.09976972 -0.12663148 11.48766211] [-0.09444098 0.99440025 0.04742401 0.41627926] [ 0.13065385 -0.03484449 0.99081554 -0.29429826] [ 0. 0. 0. 1. ]] SLAMing on 137.358241008 meters Centerline goodness : 0.895109 Centerline is valid? [False, False] Translation: X:11.49, Y:0.42, Z:-0.30 [[ 0.98691358 0.09935621 -0.12700364 11.48930088] [-0.09408635 0.99446084 0.0468551 0.41652928] [ 0.13095549 -0.03429263 0.99079497 -0.29540311] [ 0. 0. 0. 1. ]] SLAMing on 137.388241008 meters Centerline goodness : 0.895584 Centerline is valid? [False, False] Translation: X:11.49, Y:0.42, Z:-0.29 [[ 0.98688517 0.09925777 -0.12730104 11.49032783] [-0.09393104 0.99445919 0.0472004 0.4163063 ] [ 0.13128069 -0.03462386 0.99074041 -0.29466035] [ 0. 0. 0. 1. ]] SLAMing on 137.418241008 meters Centerline goodness : 0.897037 Centerline is valid? [False, False] Translation: X:11.49, Y:0.41, Z:-0.29 [[ 0.98683247 0.09897986 -0.12792445 11.49143739] [-0.09344189 0.9944376 0.04860522 0.41393634] [ 0.13202382 -0.03601171 0.99059218 -0.29157363] [ 0. 0. 0. 1. ]] SLAMing on 137.448241008 meters Centerline goodness : 0.898203 Centerline is valid? [False, False] Translation: X:11.49, Y:0.41, Z:-0.29 [[ 0.98681253 0.09863309 -0.12834544 11.49252605] [-0.09306114 0.9944675 0.04872397 0.41329869] [ 0.13244116 -0.03613745 0.99053189 -0.29106498] [ 0. 0. 0. 1. ]] SLAMing on 137.478241008 meters Centerline goodness : 0.899286 Centerline is valid? [False, False] Translation: X:11.49, Y:0.41, Z:-0.29 [[ 0.98680845 0.09845751 -0.12851145 11.49310062] [-0.09287504 0.99448377 0.04874685 0.41321802] [ 0.13260204 -0.0361683 0.99050924 -0.2906896 ] [ 0. 0. 0. 1. ]] SLAMing on 137.508241008 meters Centerline goodness : 0.900224 Centerline is valid? [False, False] Translation: X:11.49, Y:0.41, Z:-0.29 [[ 0.98682532 0.0979845 -0.12874327 11.49419666] [-0.09245732 0.99454725 0.04824322 0.41401312] [ 0.13276836 -0.03570438 0.99050379 -0.29116798] [ 0. 0. 0. 1. ]] SLAMing on 137.538241008 meters Centerline goodness : 0.900591 Centerline is valid? [False, False] Translation: X:11.50, Y:0.41, Z:-0.29 [[ 0.98682217 0.09750237 -0.12913283 11.49576025] [-0.09202288 0.99461111 0.04775488 0.4145911 ] [ 0.13309316 -0.0352424 0.99047675 -0.29180923] [ 0. 0. 0. 1. ]] SLAMing on 137.568241008 meters Centerline goodness : 0.898636 Centerline is valid? [False, False] Translation: X:11.50, Y:0.42, Z:-0.29 [[ 0.98684187 0.09657424 -0.12967859 11.49848009] [-0.09120062 0.99473364 0.04676995 0.41602374] [ 0.13351243 -0.03432778 0.99045244 -0.29328145] [ 0. 0. 0. 1. ]] SLAMing on 137.598241008 meters Centerline goodness : 0.894003 Centerline is valid? [False, False] Translation: X:11.50, Y:0.42, Z:-0.29 [[ 0.98684067 0.09613058 -0.13001692 11.50004338] [-0.09080058 0.99479068 0.04633319 0.41738884] [ 0.13379366 -0.03391787 0.99042861 -0.29373874] [ 0. 0. 0. 1. ]] SLAMing on 137.628241008 meters Centerline goodness : 0.894609 Centerline is valid? [False, False] Translation: X:11.50, Y:0.42, Z:-0.29 [[ 0.98685867 0.0959413 -0.13002012 11.50060266] [-0.09064402 0.99481677 0.04607882 0.41810299] [ 0.13376706 -0.03368773 0.99044006 -0.29414325] [ 0. 0. 0. 1. ]] SLAMing on 137.658241008 meters Centerline goodness : 0.895059 Centerline is valid? [False, False] Translation: X:11.50, Y:0.42, Z:-0.29 [[ 0.98690846 0.09530009 -0.13011374 11.50101809] [-0.08994438 0.99486305 0.04644906 0.41746094] [ 0.13387195 -0.03413797 0.99041047 -0.29261439] [ 0. 0. 0. 1. ]] SLAMing on 137.688241008 meters Centerline goodness : 0.896512 Centerline is valid? [False, False] Translation: X:11.50, Y:0.42, Z:-0.29 [[ 0.98733734 0.09092403 -0.12999149 11.49991101] [-0.08621661 0.99541564 0.04140526 0.42076412] [ 0.1331603 -0.02967353 0.9906502 -0.29375725] [ 0. 0. 0. 1. ]] SLAMing on 137.718241008 meters Centerline goodness : 0.894911 Centerline is valid? [False, False] Translation: X:11.50, Y:0.42, Z:-0.30 [[ 0.98776578 0.0866791 -0.12963598 11.49835154] [-0.08262387 0.99591767 0.03634959 0.42419392] [ 0.13225751 -0.02519385 0.99089516 -0.29511755] [ 0. 0. 0. 1. ]] SLAMing on 137.748241008 meters Centerline goodness : 0.893802 Centerline is valid? [False, False] Translation: X:11.50, Y:0.42, Z:-0.29 [[ 0.98901389 0.08960215 -0.11757113 11.49742386] [-0.08531535 0.9955096 0.04101121 0.42055225] [ 0.12071788 -0.03053003 0.99221727 -0.2936988 ] [ 0. 0. 0. 1. ]] SLAMing on 137.778241008 meters Centerline goodness : 0.893772 Centerline is valid? [False, False] Translation: X:11.50, Y:0.43, Z:-0.30 [[ 0.98944135 0.08497264 -0.11741151 11.49704161] [-0.08137269 0.99606442 0.03513046 0.42516457] [ 0.11993456 -0.02520544 0.99246178 -0.29653294] [ 0. 0. 0. 1. ]] SLAMing on 137.808241008 meters Centerline goodness : 0.892996 Centerline is valid? [False, False] Translation: X:11.50, Y:0.43, Z:-0.30 [[ 0.98946767 0.0844802 -0.11754499 11.49806121] [-0.08094601 0.99612014 0.03453117 0.42634533] [ 0.12000613 -0.02465268 0.99246701 -0.29735704] [ 0. 0. 0. 1. ]] SLAMing on 137.838241008 meters Centerline goodness : 0.890673 Centerline is valid? [False, False] Translation: X:11.50, Y:0.43, Z:-0.30 [[ 0.98950445 0.08382001 -0.11770786 11.49930669] [-0.08038223 0.99619547 0.03366416 0.42830298] [ 0.12008177 -0.02384922 0.9924775 -0.29843828] [ 0. 0. 0. 1. ]] SLAMing on 137.868241008 meters Centerline goodness : 0.890673 Centerline is valid? [False, False] Translation: X:11.50, Y:0.43, Z:-0.30 [[ 0.98950572 0.08382747 -0.1176919 11.49927308] [-0.08039425 0.99619565 0.03363014 0.42838419] [ 0.12006329 -0.02381546 0.99248054 -0.29847389] [ 0. 0. 0. 1. ]] SLAMing on 137.898241008 meters Centerline goodness : 0.891366 Centerline is valid? [False, False] Translation: X:11.50, Y:0.43, Z:-0.30 [[ 0.98952717 0.08324449 -0.11792513 11.50066683] [-0.07988185 0.99625899 0.03296845 0.42955541] [ 0.12022841 -0.0232031 0.99247506 -0.29949639] [ 0. 0. 0. 1. ]] SLAMing on 137.92824100800001 meters Centerline goodness : 0.892464 Centerline is valid? [False, False] Translation: X:11.48, Y:0.43, Z:-0.30 [[ 0.98953963 0.08141111 -0.11909469 11.47688021] [-0.07750041 0.99630122 0.03711549 0.43224482] [ 0.1216758 -0.02749736 0.99218894 -0.29877302] [ 0. 0. 0. 1. ]] SLAMing on 137.958241008 meters Centerline goodness : 0.893348 Centerline is valid? [False, False] Translation: X:11.48, Y:0.43, Z:-0.30 [[ 0.98954664 0.08147829 -0.11899045 11.47648549] [-0.07758966 0.99629995 0.0369629 0.4331473 ] [ 0.12156186 -0.02734409 0.99220714 -0.29865966] [ 0. 0. 0. 1. ]] SLAMing on 137.988241008 meters Centerline goodness : 0.891650 Centerline is valid? [False, False] Translation: X:11.48, Y:0.43, Z:-0.30 [[ 0.98956159 0.08166483 -0.118738 11.47569731] [-0.07782137 0.99629303 0.03666105 0.43456966] [ 0.12129176 -0.02703801 0.99224859 -0.29875196] [ 0. 0. 0. 1. ]] SLAMing on 138.018241008 meters Centerline goodness : 0.892041 Centerline is valid? [False, False] Translation: X:11.47, Y:0.44, Z:-0.30 [[ 0.98957052 0.08206638 -0.11838622 11.47442677] [-0.07823894 0.99626143 0.03663113 0.43598864] [ 0.12094981 -0.02698667 0.99229172 -0.29834318] [ 0. 0. 0. 1. ]] SLAMing on 138.048241008 meters Centerline goodness : 0.890639 Centerline is valid? [False, False] Translation: X:11.47, Y:0.44, Z:-0.30 [[ 0.98959827 0.0823571 -0.11795154 11.47313364] [-0.07865569 0.99626215 0.03570727 0.43998094] [ 0.1204514 -0.02605829 0.99237716 -0.29908063] [ 0. 0. 0. 1. ]] SLAMing on 138.078241008 meters Centerline goodness : 0.892231 Centerline is valid? [False, False] Translation: X:11.47, Y:0.44, Z:-0.30 [[ 0.98961821 0.08226732 -0.11784688 11.47322481] [-0.07867668 0.9962922 0.03481136 0.44247338] [ 0.12027376 -0.02517815 0.99242142 -0.30016675] [ 0. 0. 0. 1. ]] SLAMing on 138.108241008 meters Centerline goodness : 0.891316 Centerline is valid? [False, False] Translation: X:11.47, Y:0.44, Z:-0.30 [[ 0.9892257 0.0868529 -0.11785199 11.47345446] [-0.08276976 0.99580064 0.03911852 0.44345376] [ 0.12075465 -0.02894246 0.99226037 -0.29874201] [ 0. 0. 0. 1. ]] SLAMing on 138.138241008 meters Centerline goodness : 0.891362 Centerline is valid? [False, False] Translation: X:11.47, Y:0.45, Z:-0.30 [[ 0.98923546 0.0869958 -0.1176645 11.47302593] [-0.08300276 0.99580805 0.03842993 0.44555018] [ 0.1205145 -0.02824977 0.99230953 -0.29950955] [ 0. 0. 0. 1. ]] SLAMing on 138.168241008 meters Centerline goodness : 0.892647 Centerline is valid? [False, False] Translation: X:11.47, Y:0.45, Z:-0.30 [[ 0.98920392 0.08689471 -0.1180039 11.47391325] [-0.08299202 0.99584054 0.0376025 0.44794292] [ 0.12078052 -0.02740316 0.99230093 -0.30022431] [ 0. 0. 0. 1. ]] SLAMing on 138.198241008 meters Centerline goodness : 0.889465 Centerline is valid? [False, False] Translation: X:11.48, Y:0.45, Z:-0.30 [[ 0.98878456 0.09096803 -0.11844791 11.47561623] [-0.08653832 0.99536156 0.04202961 0.44708979] [ 0.12172185 -0.03130795 0.99207036 -0.29887739] [ 0. 0. 0. 1. ]] SLAMing on 138.228241008 meters Centerline goodness : 0.889514 Centerline is valid? [False, False] Translation: X:11.49, Y:0.45, Z:-0.31 [[ 0.98881849 0.09511492 -0.11485274 11.49120471] [-0.09195957 0.99523295 0.03247794 0.45259138] [ 0.11739436 -0.02155298 0.99285147 -0.30691306] [ 0. 0. 0. 1. ]] SLAMing on 138.258241008 meters Centerline goodness : 0.887190 Centerline is valid? [False, False] Translation: X:11.49, Y:0.45, Z:-0.31 [[ 0.98836511 0.09935834 -0.11516217 11.49274818] [-0.09571336 0.99472944 0.03677356 0.45250609] [ 0.11820896 -0.02532314 0.99266579 -0.30588765] [ 0. 0. 0. 1. ]] SLAMing on 138.288241008 meters Centerline goodness : 0.888256 Centerline is valid? [False, False] Translation: X:11.49, Y:0.46, Z:-0.31 [[ 0.98833575 0.09978591 -0.11504442 11.49236337] [-0.09623661 0.99470661 0.03601757 0.4550868 ] [ 0.11802949 -0.02452597 0.99270717 -0.30694852] [ 0. 0. 0. 1. ]] SLAMing on 138.318241008 meters Centerline goodness : 0.888988 Centerline is valid? [False, False] Translation: X:11.49, Y:0.46, Z:-0.31 [[ 0.98832133 0.10020348 -0.11480515 11.49179328] [-0.09676539 0.99468625 0.03515278 0.45789477] [ 0.11771753 -0.02363307 0.99276586 -0.30815896] [ 0. 0. 0. 1. ]] SLAMing on 138.348241008 meters Centerline goodness : 0.889331 Centerline is valid? [False, False] Translation: X:11.50, Y:0.46, Z:-0.32 [[ 0.98832003 0.10468811 -0.11074258 11.50392049] [-0.10252615 0.9944147 0.02505589 0.46253965] [ 0.11274711 -0.01340923 0.99353323 -0.31536154] [ 0. 0. 0. 1. ]] SLAMing on 138.378241008 meters Centerline goodness : 0.889575 Centerline is valid? [False, False] Translation: X:11.50, Y:0.46, Z:-0.32 [[ 0.98828184 0.10522531 -0.11057417 11.50276923] [-0.10307967 0.99435986 0.02496115 0.4634087 ] [ 0.11257706 -0.0132707 0.99355437 -0.31508125] [ 0. 0. 0. 1. ]] SLAMing on 138.408241008 meters Centerline goodness : 0.891645 Centerline is valid? [False, False] Translation: X:11.52, Y:0.47, Z:-0.32 [[ 9.88671527e-01 1.05591007e-01 -1.06673104e-01 1.15170392e+01] [-1.04745040e-01 9.94407229e-01 1.35181472e-02 4.65553699e-01] [ 1.07503900e-01 -2.19152877e-03 9.94202247e-01 -3.20383090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.438241008 meters Centerline goodness : 0.888599 Centerline is valid? [False, False] Translation: X:11.52, Y:0.46, Z:-0.32 [[ 9.88633128e-01 1.06273813e-01 -1.06350436e-01 1.15153966e+01] [-1.05367374e-01 9.94333084e-01 1.41221016e-02 4.64637077e-01] [ 1.07248567e-01 -2.75571132e-03 9.94228420e-01 -3.19412786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.468241008 meters Centerline goodness : 0.895915 Centerline is valid? [False, False] Translation: X:11.52, Y:0.46, Z:-0.32 [[ 9.88205886e-01 1.09819359e-01 -1.06718487e-01 1.15175669e+01] [-1.08376354e-01 9.93923618e-01 1.92459983e-02 4.60613281e-01] [ 1.08183608e-01 -7.45324831e-03 9.94102991e-01 -3.17551382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.498241008 meters Centerline goodness : 0.894386 Centerline is valid? [False, False] Translation: X:11.52, Y:0.46, Z:-0.32 [[ 9.88212145e-01 1.09696948e-01 -1.06786401e-01 1.15181578e+01] [-1.08251650e-01 9.93937017e-01 1.92558391e-02 4.59925445e-01] [ 1.08251264e-01 -7.46904990e-03 9.94095507e-01 -3.18009913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.528241008 meters Centerline goodness : 0.894151 Centerline is valid? [False, False] Translation: X:11.52, Y:0.46, Z:-0.32 [[ 9.88241989e-01 1.09035865e-01 -1.07186524e-01 1.15202114e+01] [-1.07549124e-01 9.94007102e-01 1.95720825e-02 4.56572171e-01] [ 1.08678225e-01 -7.81413696e-03 9.94046268e-01 -3.18619602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.558241008 meters Centerline goodness : 0.891988 Centerline is valid? [False, False] Translation: X:11.52, Y:0.46, Z:-0.32 [[ 9.88686825e-01 1.04648661e-01 -1.07457063e-01 1.15207305e+01] [-1.03652935e-01 9.94503027e-01 1.48256268e-02 4.57725962e-01] [ 1.08417856e-01 -3.51966188e-03 9.94099180e-01 -3.20601713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.588241008 meters Centerline goodness : 0.891397 Centerline is valid? [False, False] Translation: X:11.52, Y:0.46, Z:-0.32 [[ 9.88693203e-01 1.03961842e-01 -1.08063339e-01 1.15231070e+01] [-1.02944888e-01 9.94574520e-01 1.49624128e-02 4.55416500e-01] [ 1.09032563e-01 -3.66866752e-03 9.94031408e-01 -3.21149040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.618241008 meters Centerline goodness : 0.888595 Centerline is valid? [False, False] Translation: X:11.53, Y:0.45, Z:-0.32 [[ 9.89013548e-01 1.00476258e-01 -1.08428425e-01 1.15274427e+01] [-9.96306641e-02 9.94936903e-01 1.32018930e-02 4.52115421e-01] [ 1.09205918e-01 -2.25405509e-03 9.94016593e-01 -3.23592756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.648241008 meters Centerline goodness : 0.887531 Centerline is valid? [False, False] Translation: X:11.53, Y:0.45, Z:-0.32 [[ 9.89013400e-01 9.99769574e-02 -1.08890325e-01 1.15288876e+01] [-9.90666305e-02 9.94985776e-01 1.37516850e-02 4.48996235e-01] [ 1.09719176e-01 -2.81320315e-03 9.93958645e-01 -3.23106684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.67824100800001 meters Centerline goodness : 0.886329 Centerline is valid? [False, False] Translation: X:11.53, Y:0.45, Z:-0.32 [[ 9.88986437e-01 9.95219801e-02 -1.09550000e-01 1.15304762e+01] [-9.84924480e-02 9.95027992e-01 1.47828461e-02 4.45204771e-01] [ 1.10476535e-01 -3.83018662e-03 9.93871352e-01 -3.21688304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.708241008 meters Centerline goodness : 0.888096 Centerline is valid? [False, False] Translation: X:11.53, Y:0.44, Z:-0.32 [[ 9.88952464e-01 9.90973107e-02 -1.10239498e-01 1.15320316e+01] [-9.79276565e-02 9.95065107e-01 1.59877255e-02 4.41361465e-01] [ 1.11279819e-01 -5.01560485e-03 9.93776457e-01 -3.19843916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.738241008 meters Centerline goodness : 0.890165 Centerline is valid? [False, False] Translation: X:11.54, Y:0.44, Z:-0.32 [[ 9.89043630e-01 9.66682572e-02 -1.11570363e-01 1.15372966e+01] [-9.52867407e-02 9.95293175e-01 1.76616144e-02 4.35777690e-01] [ 1.12752539e-01 -6.83693090e-03 9.93599578e-01 -3.16820671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.768241008 meters Centerline goodness : 0.888937 Centerline is valid? [False, False] Translation: X:11.54, Y:0.43, Z:-0.32 [[ 9.89026176e-01 9.59622711e-02 -1.12331942e-01 1.15398400e+01] [-9.45295025e-02 9.95358872e-01 1.80246641e-02 4.33779649e-01] [ 1.13540283e-01 -7.20818199e-03 9.93507245e-01 -3.16577795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.798241008 meters Centerline goodness : 0.888303 Centerline is valid? [False, False] Translation: X:11.54, Y:0.43, Z:-0.32 [[ 9.89009870e-01 9.50555277e-02 -1.13242767e-01 1.15430224e+01] [-9.36042637e-02 9.95445367e-01 1.80765980e-02 4.32373549e-01] [ 1.14445269e-01 -7.27792795e-03 9.93402895e-01 -3.16756681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.828241008 meters Centerline goodness : 0.887765 Centerline is valid? [False, False] Translation: X:11.55, Y:0.43, Z:-0.32 [[ 9.88994746e-01 9.43658933e-02 -1.13949421e-01 1.15457746e+01] [-9.28935631e-02 9.95510160e-01 1.81743768e-02 4.31548373e-01] [ 1.15152848e-01 -7.38919546e-03 9.93320302e-01 -3.16908308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.858241008 meters Centerline goodness : 0.886144 Centerline is valid? [False, False] Translation: X:11.55, Y:0.43, Z:-0.32 [[ 9.88975941e-01 9.32887497e-02 -1.14994772e-01 1.15495350e+01] [-9.17933819e-02 9.95610951e-01 1.82430435e-02 4.30310286e-01] [ 1.16191925e-01 -7.48617212e-03 9.93198567e-01 -3.16978834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.888241008 meters Centerline goodness : 0.885451 Centerline is valid? [False, False] Translation: X:11.55, Y:0.43, Z:-0.32 [[ 9.88927661e-01 9.33110274e-02 -1.15391221e-01 1.15501115e+01] [-9.17187995e-02 9.95602834e-01 1.90436104e-02 4.28963643e-01] [ 1.16660805e-01 -8.24920886e-03 9.93137557e-01 -3.15431362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.918241008 meters Centerline goodness : 0.888699 Centerline is valid? [False, False] Translation: X:11.55, Y:0.43, Z:-0.31 [[ 9.88897600e-01 9.35367539e-02 -1.15466065e-01 1.15498596e+01] [-9.18579085e-02 9.95575493e-01 1.97879313e-02 4.27927727e-01] [ 1.16806084e-01 -8.96176652e-03 9.93114306e-01 -3.14042975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.948241008 meters Centerline goodness : 0.884785 Centerline is valid? [False, False] Translation: X:11.55, Y:0.43, Z:-0.31 [[ 9.88896006e-01 9.27664172e-02 -1.16099444e-01 1.15521946e+01] [-9.11405147e-02 9.95652025e-01 1.92471222e-02 4.29565757e-01] [ 1.17380133e-01 -8.45203925e-03 9.93051090e-01 -3.14370494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.978241008 meters Centerline goodness : 0.885912 Centerline is valid? [False, False] Translation: X:11.55, Y:0.43, Z:-0.31 [[ 9.88881747e-01 9.25987591e-02 -1.16354457e-01 1.15530277e+01] [-9.09864950e-02 9.95668871e-01 1.91038470e-02 4.30698099e-01] [ 1.17619503e-01 -8.30476137e-03 9.93024009e-01 -3.14290944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.008241008 meters Centerline goodness : 0.883581 Centerline is valid? [False, False] Translation: X:11.56, Y:0.43, Z:-0.31 [[ 0.98846041 0.09603773 -0.11714426 11.55596223] [-0.09376429 0.99528602 0.02477903 0.42807014] [ 0.11897176 -0.01350914 0.99280573 -0.31058331] [ 0. 0. 0. 1. ]] SLAMing on 139.038241008 meters Centerline goodness : 0.883873 Centerline is valid? [False, False] Translation: X:11.56, Y:0.43, Z:-0.31 [[ 0.98813345 0.09891534 -0.1175076 11.55892924] [-0.09617443 0.99494819 0.0287851 0.42680017] [ 0.11976126 -0.0171423 0.99265471 -0.30966456] [ 0. 0. 0. 1. ]] SLAMing on 139.068241008 meters Centerline goodness : 0.881335 Centerline is valid? [False, False] Translation: X:11.56, Y:0.43, Z:-0.31 [[ 0.98813937 0.098712 -0.11762876 11.5595137 ] [-0.09600816 0.99497391 0.02844897 0.42828611] [ 0.11984581 -0.01681823 0.99265005 -0.30984459] [ 0. 0. 0. 1. ]] SLAMing on 139.098241008 meters Centerline goodness : 0.881166 Centerline is valid? [False, False] Translation: X:11.56, Y:0.43, Z:-0.31 [[ 0.98815233 0.09848333 -0.11771157 11.56002151] [-0.0958178 0.99500198 0.02810708 0.4293608 ] [ 0.11989132 -0.01649522 0.99264998 -0.31018187] [ 0. 0. 0. 1. ]] SLAMing on 139.128241008 meters Centerline goodness : 0.879000 Centerline is valid? [False, False] Translation: X:11.56, Y:0.43, Z:-0.31 [[ 0.9877538 0.10175811 -0.11826971 11.56278296] [-0.09833935 0.99455797 0.03440671 0.42636204] [ 0.12112725 -0.02235479 0.99238523 -0.30509934] [ 0. 0. 0. 1. ]] SLAMing on 139.158241008 meters Centerline goodness : 0.878604 Centerline is valid? [False, False] Translation: X:11.56, Y:0.43, Z:-0.31 [[ 0.98817666 0.09756148 -0.11827358 11.56154099] [-0.09466066 0.99506005 0.02991431 0.42897805] [ 0.1206078 -0.01836477 0.99253035 -0.30515824] [ 0. 0. 0. 1. ]] SLAMing on 139.188241008 meters Centerline goodness : 0.878049 Centerline is valid? [False, False] Translation: X:11.56, Y:0.43, Z:-0.30 [[ 0.98817591 0.09751894 -0.11831492 11.56158051] [-0.09458824 0.99505978 0.03015132 0.42948154] [ 0.12067075 -0.01860361 0.99251825 -0.3042499 ] [ 0. 0. 0. 1. ]] SLAMing on 139.218241008 meters Centerline goodness : 0.879396 Centerline is valid? [False, False] Translation: X:11.55, Y:0.43, Z:-0.29 [[ 0.98795314 0.09804762 -0.11972997 11.54619102] [-0.09327071 0.99462861 0.04488331 0.42739112] [ 0.12348755 -0.03317531 0.99179142 -0.29486661] [ 0. 0. 0. 1. ]] SLAMing on 139.248241008 meters Centerline goodness : 0.877620 Centerline is valid? [False, False] Translation: X:11.55, Y:0.43, Z:-0.29 [[ 0.98795119 0.09778635 -0.11995951 11.54680882] [-0.09304001 0.99466466 0.04456205 0.42816411] [ 0.12367704 -0.03286409 0.99177817 -0.2949415 ] [ 0. 0. 0. 1. ]] SLAMing on 139.278241008 meters Centerline goodness : 0.877218 Centerline is valid? [False, False] Translation: X:11.55, Y:0.43, Z:-0.29 [[ 0.98791319 0.09818046 -0.11995053 11.54581977] [-0.09351054 0.99464675 0.04397295 0.43079314] [ 0.12362569 -0.03222481 0.99180555 -0.2948307 ] [ 0. 0. 0. 1. ]] SLAMing on 139.308241008 meters Centerline goodness : 0.877215 Centerline is valid? [False, False] Translation: X:11.55, Y:0.43, Z:-0.29 [[ 0.98745581 0.10230441 -0.1202698 11.54714186] [-0.0970801 0.99409228 0.04853854 0.43007583] [ 0.12452499 -0.03625386 0.99155392 -0.2930395 ] [ 0. 0. 0. 1. ]] SLAMing on 139.338241008 meters Centerline goodness : 0.879804 Centerline is valid? [False, False] Translation: X:11.55, Y:0.43, Z:-0.29 [[ 0.98744453 0.10233597 -0.12033558 11.54740618] [-0.09727324 0.99413623 0.04723427 0.43385235] [ 0.12446372 -0.03493579 0.99160893 -0.29443216] [ 0. 0. 0. 1. ]] SLAMing on 139.368241008 meters Centerline goodness : 0.879439 Centerline is valid? [False, False] Translation: X:11.55, Y:0.43, Z:-0.29 [[ 0.98695075 0.10674855 -0.12055275 11.54802627] [-0.10111211 0.99351727 0.05195942 0.43331938] [ 0.12531783 -0.03909205 0.99134618 -0.29224361] [ 0. 0. 0. 1. ]] SLAMing on 139.398241008 meters Centerline goodness : 0.881664 Centerline is valid? [False, False] Translation: X:11.55, Y:0.44, Z:-0.29 [[ 0.98684567 0.10792157 -0.12036845 11.54604882] [-0.10238513 0.99342184 0.0512868 0.43845837] [ 0.1251116 -0.03828822 0.9914036 -0.29221561] [ 0. 0. 0. 1. ]] SLAMing on 139.42824100800001 meters Centerline goodness : 0.881123 Centerline is valid? [False, False] Translation: X:11.56, Y:0.44, Z:-0.30 [[ 0.98725073 0.10792822 -0.11699354 11.56190549] [-0.10403063 0.99381142 0.03894218 0.44270636] [ 0.12047247 -0.02627478 0.99236889 -0.2994125 ] [ 0. 0. 0. 1. ]] SLAMing on 139.458241008 meters Centerline goodness : 0.881177 Centerline is valid? [False, False] Translation: X:11.56, Y:0.44, Z:-0.30 [[ 0.9872324 0.10766514 -0.11738995 11.56310813] [-0.10385505 0.99386157 0.03812231 0.44480886] [ 0.1207738 -0.02544404 0.99235391 -0.3001712 ] [ 0. 0. 0. 1. ]] SLAMing on 139.488241008 meters Centerline goodness : 0.881906 Centerline is valid? [False, False] Translation: X:11.56, Y:0.45, Z:-0.30 [[ 0.98724162 0.10717162 -0.11776343 11.5644759 ] [-0.10345427 0.99393622 0.03725593 0.44663686] [ 0.12104212 -0.02459747 0.99234257 -0.30108863] [ 0. 0. 0. 1. ]] SLAMing on 139.518241008 meters Centerline goodness : 0.882071 Centerline is valid? [False, False] Translation: X:11.57, Y:0.45, Z:-0.30 [[ 0.9872605 0.10621176 -0.11847268 11.5667416 ] [-0.10262738 0.99406918 0.03597346 0.44961614] [ 0.12159084 -0.02335663 0.99230546 -0.30202762] [ 0. 0. 0. 1. ]] SLAMing on 139.548241008 meters Centerline goodness : 0.883458 Centerline is valid? [False, False] Translation: X:11.57, Y:0.45, Z:-0.30 [[ 0.98766963 0.10168387 -0.11903398 11.56760276] [-0.09874796 0.99465035 0.03032356 0.4539604 ] [ 0.12148061 -0.01819529 0.99242702 -0.30435002] [ 0. 0. 0. 1. ]] SLAMing on 139.578241008 meters Centerline goodness : 0.884948 Centerline is valid? [False, False] Translation: X:11.57, Y:0.45, Z:-0.30 [[ 0.9872803 0.10411501 -0.12015688 11.57249814] [-0.10046683 0.9942872 0.03604698 0.45128424] [ 0.12322348 -0.0235167 0.99210027 -0.30002388] [ 0. 0. 0. 1. ]] SLAMing on 139.608241008 meters Centerline goodness : 0.886821 Centerline is valid? [False, False] Translation: X:11.57, Y:0.46, Z:-0.30 [[ 0.98770631 0.09986345 -0.12026442 11.57208955] [-0.09684448 0.99482576 0.03070598 0.45564613] [ 0.12270854 -0.01868154 0.99226691 -0.30187347] [ 0. 0. 0. 1. ]] SLAMing on 139.638241008 meters Centerline goodness : 0.883469 Centerline is valid? [False, False] Translation: X:11.57, Y:0.46, Z:-0.30 [[ 0.98771415 0.09876765 -0.12110203 11.57452004] [-0.09578973 0.99494383 0.03018434 0.4577614 ] [ 0.12347096 -0.01821317 0.99218103 -0.30133558] [ 0. 0. 0. 1. ]] SLAMing on 139.668241008 meters Centerline goodness : 0.885267 Centerline is valid? [False, False] Translation: X:11.58, Y:0.46, Z:-0.30 [[ 0.98734678 0.10146752 -0.12186333 11.57833301] [-0.09772058 0.99454964 0.03635532 0.45501001] [ 0.12488802 -0.02398675 0.99188085 -0.29637328] [ 0. 0. 0. 1. ]] SLAMing on 139.698241008 meters Centerline goodness : 0.882896 Centerline is valid? [False, False] Translation: X:11.58, Y:0.46, Z:-0.30 [[ 0.98736219 0.10079937 -0.12229224 11.57981676] [-0.09708523 0.99462572 0.03597418 0.45543157] [ 0.12526119 -0.02364678 0.99184196 -0.29659154] [ 0. 0. 0. 1. ]] SLAMing on 139.728241008 meters Centerline goodness : 0.882896 Centerline is valid? [False, False] Translation: X:11.58, Y:0.46, Z:-0.30 [[ 0.98736219 0.10082713 -0.12226937 11.57975662] [-0.09711807 0.99462375 0.03593988 0.4555269 ] [ 0.12523573 -0.02361112 0.99184602 -0.29661963] [ 0. 0. 0. 1. ]] SLAMing on 139.758241008 meters Centerline goodness : 0.882633 Centerline is valid? [False, False] Translation: X:11.58, Y:0.45, Z:-0.29 [[ 0.98697999 0.10345042 -0.1231605 11.58402028] [-0.09887904 0.99418356 0.04268466 0.45281771] [ 0.12685989 -0.02995091 0.99146836 -0.29035442] [ 0. 0. 0. 1. ]] SLAMing on 139.788241008 meters Centerline goodness : 0.883612 Centerline is valid? [False, False] Translation: X:11.58, Y:0.46, Z:-0.29 [[ 0.98737534 0.09903882 -0.12361733 11.58440915] [-0.09507426 0.99476047 0.03758314 0.4569574 ] [ 0.12669182 -0.02535584 0.991618 -0.29171696] [ 0. 0. 0. 1. ]] SLAMing on 139.818241008 meters Centerline goodness : 0.882233 Centerline is valid? [False, False] Translation: X:11.59, Y:0.46, Z:-0.29 [[ 0.98734004 0.09784144 -0.12484667 11.58818944] [-0.09400746 0.99491117 0.03625421 0.46029718] [ 0.12775851 -0.02405872 0.99151346 -0.29256996] [ 0. 0. 0. 1. ]] SLAMing on 139.848241008 meters Centerline goodness : 0.884969 Centerline is valid? [False, False] Translation: X:11.59, Y:0.46, Z:-0.29 [[ 0.98733703 0.09754766 -0.12510016 11.58926033] [-0.09382876 0.99496246 0.03529691 0.46300195] [ 0.12791309 -0.02311195 0.99151605 -0.2935948 ] [ 0. 0. 0. 1. ]] SLAMing on 139.878241008 meters Centerline goodness : 0.883854 Centerline is valid? [False, False] Translation: X:11.59, Y:0.47, Z:-0.30 [[ 0.98729022 0.09765387 -0.12538639 11.5899326 ] [-0.09415931 0.99499285 0.03351505 0.46924889] [ 0.12803144 -0.02128278 0.99154173 -0.29535604] [ 0. 0. 0. 1. ]] SLAMing on 139.908241008 meters Centerline goodness : 0.884368 Centerline is valid? [False, False] Translation: X:11.59, Y:0.47, Z:-0.29 [[ 0.98680509 0.10190076 -0.12582506 11.59129057] [-0.09781124 0.99446854 0.03827906 0.46858629] [ 0.12902973 -0.02546687 0.99131366 -0.29313494] [ 0. 0. 0. 1. ]] SLAMing on 139.938241008 meters Centerline goodness : 0.882633 Centerline is valid? [False, False] Translation: X:11.59, Y:0.47, Z:-0.29 [[ 0.98679967 0.10170063 -0.12602931 11.59191664] [-0.09775213 0.99451738 0.03714435 0.47189441] [ 0.12911594 -0.0243344 0.99133088 -0.29412097] [ 0. 0. 0. 1. ]] SLAMing on 139.968241008 meters Centerline goodness : 0.882112 Centerline is valid? [False, False] Translation: X:11.59, Y:0.48, Z:-0.29 [[ 0.98676766 0.1017365 -0.1262508 11.59242522] [-0.09788696 0.99453362 0.0363458 0.47520557] [ 0.12925836 -0.02350655 0.99133229 -0.29458364] [ 0. 0. 0. 1. ]] SLAMing on 139.998241008 meters Centerline goodness : 0.879764 Centerline is valid? [False, False] Translation: X:11.59, Y:0.48, Z:-0.30 [[ 0.98673826 0.10197482 -0.12628834 11.59212683] [-0.09830463 0.99454149 0.03497749 0.48102153] [ 0.12916581 -0.0220989 0.99137674 -0.2954929 ] [ 0. 0. 0. 1. ]] SLAMing on 140.028241008 meters Centerline goodness : 0.879774 Centerline is valid? [False, False] Translation: X:11.60, Y:0.48, Z:-0.29 [[ 0.98624729 0.10691413 -0.12603826 11.598993 ] [-0.10170845 0.99370068 0.04705685 0.47810932] [ 0.13027535 -0.03359053 0.99090868 -0.28606253] [ 0. 0. 0. 1. ]] SLAMing on 140.058241008 meters Centerline goodness : 0.878650 Centerline is valid? [False, False] Translation: X:11.60, Y:0.48, Z:-0.29 [[ 0.98625092 0.10684448 -0.12606892 11.5989113 ] [-0.10174513 0.99373546 0.04623603 0.48120286] [ 0.13021922 -0.03277343 0.99094342 -0.28644253] [ 0. 0. 0. 1. ]] SLAMing on 140.088241008 meters Centerline goodness : 0.878000 Centerline is valid? [False, False] Translation: X:11.61, Y:0.49, Z:-0.29 [[ 0.98669458 0.10646885 -0.12287472 11.61494181] [-0.1030386 0.99409747 0.03395972 0.48550428] [ 0.1257651 -0.02084703 0.99184099 -0.29248633] [ 0. 0. 0. 1. ]] SLAMing on 140.118241008 meters Centerline goodness : 0.880165 Centerline is valid? [False, False] Translation: X:11.62, Y:0.48, Z:-0.29 [[ 0.98620356 0.11042789 -0.12332164 11.6165575 ] [-0.10642749 0.99357139 0.03858876 0.48405575] [ 0.12679013 -0.02493156 0.9916162 -0.29052936] [ 0. 0. 0. 1. ]] SLAMing on 140.148241008 meters Centerline goodness : 0.880430 Centerline is valid? [False, False] Translation: X:11.62, Y:0.48, Z:-0.29 [[ 0.98570896 0.11434886 -0.12370198 11.61836389] [-0.1098227 0.9930279 0.04283188 0.48375575] [ 0.12773729 -0.02863448 0.9913946 -0.28919072] [ 0. 0. 0. 1. ]] SLAMing on 140.17824100800001 meters Centerline goodness : 0.876110 Centerline is valid? [False, False] Translation: X:11.62, Y:0.49, Z:-0.29 [[ 0.98564171 0.11498645 -0.1236468 11.61801711] [-0.11064177 0.99299473 0.04147129 0.49117197] [ 0.12754925 -0.02719534 0.99145933 -0.29048592] [ 0. 0. 0. 1. ]] SLAMing on 140.208241008 meters Centerline goodness : 0.874084 Centerline is valid? [False, False] Translation: X:11.62, Y:0.49, Z:-0.29 [[ 0.985655 0.11487553 -0.12364395 11.61789579] [-0.11063235 0.99302867 0.04067617 0.49411486] [ 0.12745468 -0.02641365 0.99149262 -0.29079622] [ 0. 0. 0. 1. ]] SLAMing on 140.238241008 meters Centerline goodness : 0.872922 Centerline is valid? [False, False] Translation: X:11.63, Y:0.50, Z:-0.30 [[ 0.98612794 0.11447685 -0.12019461 11.63305384] [-0.1118107 0.99331445 0.02871886 0.49768514] [ 0.12267869 -0.01488142 0.99233486 -0.29590008] [ 0. 0. 0. 1. ]] SLAMing on 140.268241008 meters Centerline goodness : 0.877512 Centerline is valid? [False, False] Translation: X:11.65, Y:0.50, Z:-0.30 [[ 9.86457707e-01 1.15831817e-01 -1.16121416e-01 1.16485638e+01] [-1.14205698e-01 9.93243872e-01 2.05832060e-02 4.98900246e-01] [ 1.17721075e-01 -7.04273478e-03 9.93021726e-01 -2.98203249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.298241008 meters Centerline goodness : 0.876162 Centerline is valid? [False, False] Translation: X:11.65, Y:0.50, Z:-0.30 [[ 9.86458829e-01 1.15772256e-01 -1.16171267e-01 1.16485022e+01] [-1.14212730e-01 9.93254675e-01 2.00150930e-02 5.01754137e-01] [ 1.17704846e-01 -6.47582774e-03 9.93027509e-01 -2.98206815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.328241008 meters Centerline goodness : 0.874708 Centerline is valid? [False, False] Translation: X:11.65, Y:0.50, Z:-0.30 [[ 9.86007822e-01 1.18820624e-01 -1.16919776e-01 1.16520527e+01] [-1.16780062e-01 9.92863514e-01 2.41756119e-02 5.00058801e-01] [ 1.18957941e-01 -1.01834437e-02 9.92847071e-01 -2.97367971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.358241008 meters Centerline goodness : 0.875077 Centerline is valid? [False, False] Translation: X:11.65, Y:0.50, Z:-0.30 [[ 9.85991393e-01 1.18668216e-01 -1.17212748e-01 1.16526658e+01] [-1.16657524e-01 9.92884763e-01 2.38928713e-02 5.00719714e-01] [ 1.19214076e-01 -9.88441645e-03 9.92819370e-01 -2.97404623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.388241008 meters Centerline goodness : 0.876009 Centerline is valid? [False, False] Translation: X:11.65, Y:0.50, Z:-0.30 [[ 9.85968754e-01 1.18515556e-01 -1.17557131e-01 1.16530872e+01] [-1.16545626e-01 9.92906883e-01 2.35167903e-02 5.01926696e-01] [ 1.19510390e-01 -9.48605109e-03 9.92787632e-01 -2.97133519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.418241008 meters Centerline goodness : 0.877646 Centerline is valid? [False, False] Translation: X:11.65, Y:0.50, Z:-0.30 [[ 9.85985985e-01 1.18330646e-01 -1.17598877e-01 1.16535042e+01] [-1.16429396e-01 9.92934194e-01 2.29321244e-02 5.03661883e-01] [ 1.19481519e-01 -8.91878707e-03 9.92796365e-01 -2.97715495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.448241008 meters Centerline goodness : 0.874528 Centerline is valid? [False, False] Translation: X:11.66, Y:0.50, Z:-0.30 [[ 0.9855175 0.12176014 -0.11802424 11.65628511] [-0.11937072 0.99247891 0.02713372 0.50220029] [ 0.12044038 -0.01265211 0.99263993 -0.29721851] [ 0. 0. 0. 1. ]] SLAMing on 140.478241008 meters Centerline goodness : 0.873545 Centerline is valid? [False, False] Translation: X:11.66, Y:0.50, Z:-0.30 [[ 0.98505476 0.12490148 -0.11860333 11.65981423] [-0.12197326 0.99202818 0.03166391 0.50041806] [ 0.12161271 -0.01672426 0.99243672 -0.29597465] [ 0. 0. 0. 1. ]] SLAMing on 140.508241008 meters Centerline goodness : 0.875360 Centerline is valid? [False, False] Translation: X:11.66, Y:0.50, Z:-0.30 [[ 0.98503174 0.12464245 -0.11906609 11.66103483] [-0.12174609 0.99206681 0.03132612 0.50061682] [ 0.12202608 -0.01636139 0.99239203 -0.29626575] [ 0. 0. 0. 1. ]] SLAMing on 140.538241008 meters Centerline goodness : 0.874390 Centerline is valid? [False, False] Translation: X:11.66, Y:0.50, Z:-0.30 [[ 0.98500559 0.12444477 -0.11948846 11.66210264] [-0.12159286 0.99209905 0.03089751 0.50169134] [ 0.12238942 -0.01590527 0.9923547 -0.29649471] [ 0. 0. 0. 1. ]] SLAMing on 140.568241008 meters Centerline goodness : 0.873950 Centerline is valid? [False, False] Translation: X:11.66, Y:0.50, Z:-0.30 [[ 0.9850151 0.12404563 -0.1198246 11.66347387] [-0.12129689 0.99216295 0.0299956 0.50362663] [ 0.12260635 -0.01501177 0.99234184 -0.29758044] [ 0. 0. 0. 1. ]] SLAMing on 140.598241008 meters Centerline goodness : 0.875085 Centerline is valid? [False, False] Translation: X:11.66, Y:0.50, Z:-0.30 [[ 0.9844577 0.1283226 -0.11990141 11.66436591] [-0.12506724 0.99155438 0.03432347 0.50338014] [ 0.12329325 -0.01879427 0.99219229 -0.29632487] [ 0. 0. 0. 1. ]] SLAMing on 140.628241008 meters Centerline goodness : 0.872291 Centerline is valid? [False, False] Translation: X:11.66, Y:0.50, Z:-0.30 [[ 0.98446107 0.12832679 -0.11986923 11.66439087] [-0.12511756 0.99156064 0.03395722 0.50466723] [ 0.12321523 -0.01843182 0.99220879 -0.29663951] [ 0. 0. 0. 1. ]] SLAMing on 140.658241008 meters Centerline goodness : 0.872944 Centerline is valid? [False, False] Translation: X:11.66, Y:0.51, Z:-0.30 [[ 0.9844535 0.12821168 -0.12005446 11.66491039] [-0.12505992 0.9915848 0.03346046 0.50581365] [ 0.1233342 -0.01792627 0.99220327 -0.29708542] [ 0. 0. 0. 1. ]] SLAMing on 140.688241008 meters Centerline goodness : 0.873143 Centerline is valid? [False, False] Translation: X:11.67, Y:0.51, Z:-0.30 [[ 0.98443419 0.12821444 -0.12020972 11.66521218] [-0.1250935 0.99158964 0.03319027 0.50634606] [ 0.12345419 -0.01763618 0.99219354 -0.29731322] [ 0. 0. 0. 1. ]] SLAMing on 140.718241008 meters Centerline goodness : 0.873045 Centerline is valid? [False, False] Translation: X:11.66, Y:0.51, Z:-0.30 [[ 0.98440905 0.12864912 -0.11995095 11.66425593] [-0.1255418 0.99153456 0.03314325 0.50704032] [ 0.12319936 -0.01756766 0.99222643 -0.29727004] [ 0. 0. 0. 1. ]] SLAMing on 140.748241008 meters Centerline goodness : 0.873564 Centerline is valid? [False, False] Translation: X:11.67, Y:0.51, Z:-0.30 [[ 0.98440272 0.12837449 -0.12029665 11.66548481] [-0.12531183 0.99157774 0.03271893 0.50752166] [ 0.12348376 -0.01713401 0.99219866 -0.29797806] [ 0. 0. 0. 1. ]] SLAMing on 140.778241008 meters Centerline goodness : 0.872270 Centerline is valid? [False, False] Translation: X:11.67, Y:0.51, Z:-0.30 [[ 0.98481373 0.12476797 -0.12072645 11.66538196] [-0.12225146 0.9921024 0.02806088 0.51096932] [ 0.1232741 -0.01287575 0.99228913 -0.29942635] [ 0. 0. 0. 1. ]] SLAMing on 140.808241008 meters Centerline goodness : 0.870729 Centerline is valid? [False, False] Translation: X:11.67, Y:0.51, Z:-0.30 [[ 0.98479235 0.12458917 -0.12108492 11.66664669] [-0.12211067 0.99212967 0.02770746 0.51130271] [ 0.12358399 -0.01250034 0.99225538 -0.30013561] [ 0. 0. 0. 1. ]] SLAMing on 140.838241008 meters Centerline goodness : 0.871272 Centerline is valid? [False, False] Translation: X:11.67, Y:0.51, Z:-0.30 [[ 0.98478156 0.12441557 -0.12135093 11.66752807] [-0.12194067 0.99215242 0.02764127 0.51056695] [ 0.12383762 -0.012423 0.99222473 -0.30047003] [ 0. 0. 0. 1. ]] SLAMing on 140.868241008 meters Centerline goodness : 0.869744 Centerline is valid? [False, False] Translation: X:11.67, Y:0.51, Z:-0.30 [[ 0.98474601 0.12418754 -0.12187187 11.66871796] [-0.12168413 0.99217941 0.02780258 0.50919526] [ 0.12437149 -0.0125486 0.99215637 -0.30023278] [ 0. 0. 0. 1. ]] SLAMing on 140.898241008 meters Centerline goodness : 0.868190 Centerline is valid? [False, False] Translation: X:11.67, Y:0.51, Z:-0.30 [[ 9.85232111e-01 1.19754506e-01 -1.22378701e-01 1.16691823e+01] [-1.17772759e-01 9.92766546e-01 2.33272955e-02 5.09135698e-01] [ 1.24287029e-01 -8.56992341e-03 9.92209298e-01 -3.01478151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.92824100800001 meters Centerline goodness : 0.867114 Centerline is valid? [False, False] Translation: X:11.67, Y:0.51, Z:-0.30 [[ 9.85253523e-01 1.19188523e-01 -1.22758263e-01 1.16707382e+01] [-1.17209972e-01 9.92835173e-01 2.32409610e-02 5.08127356e-01] [ 1.24648778e-01 -8.50974609e-03 9.92164435e-01 -3.01922096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.958241008 meters Centerline goodness : 0.870669 Centerline is valid? [False, False] Translation: X:11.67, Y:0.51, Z:-0.30 [[ 9.85248406e-01 1.18889776e-01 -1.23088588e-01 1.16716393e+01] [-1.16852379e-01 9.92867258e-01 2.36670684e-02 5.06319684e-01] [ 1.25024402e-01 -8.93474703e-03 9.92113436e-01 -3.01482022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.988241008 meters Centerline goodness : 0.867088 Centerline is valid? [False, False] Translation: X:11.67, Y:0.50, Z:-0.30 [[ 9.85235151e-01 1.18229167e-01 -1.23828757e-01 1.16737052e+01] [-1.16119301e-01 9.92941751e-01 2.41451082e-02 5.03636112e-01] [ 1.25809399e-01 -9.40970070e-03 9.92009805e-01 -3.00914065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.018241008 meters Centerline goodness : 0.866139 Centerline is valid? [False, False] Translation: X:11.68, Y:0.50, Z:-0.30 [[ 9.85198585e-01 1.17827189e-01 -1.24501008e-01 1.16752113e+01] [-1.15604090e-01 9.92981775e-01 2.49577466e-02 5.00351670e-01] [ 1.26567933e-01 -1.01955108e-02 9.91905545e-01 -2.99850382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.048241008 meters Centerline goodness : 0.867431 Centerline is valid? [False, False] Translation: X:11.68, Y:0.50, Z:-0.30 [[ 9.85171659e-01 1.17534603e-01 -1.24989677e-01 1.16761907e+01] [-1.15195981e-01 9.93007633e-01 2.58016724e-02 4.97334647e-01] [ 1.27148292e-01 -1.10207679e-02 9.91822491e-01 -2.98597887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.078241008 meters Centerline goodness : 0.867810 Centerline is valid? [False, False] Translation: X:11.68, Y:0.49, Z:-0.30 [[ 0.98523825 0.11687787 -0.12508062 11.6765224 ] [-0.11442614 0.99307465 0.02663436 0.49230162] [ 0.12732736 -0.0119287 0.99178902 -0.2975075 ] [ 0. 0. 0. 1. ]] SLAMing on 141.108241008 meters Centerline goodness : 0.867429 Centerline is valid? [False, False] Translation: X:11.68, Y:0.49, Z:-0.30 [[ 9.85694283e-01 1.13084758e-01 -1.24974467e-01 1.16753207e+01] [-1.11165502e-01 9.93552837e-01 2.22484049e-02 4.93696882e-01] [ 1.26684692e-01 -8.03727612e-03 9.91910475e-01 -2.98650282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.138241008 meters Centerline goodness : 0.864913 Centerline is valid? [False, False] Translation: X:11.68, Y:0.49, Z:-0.30 [[ 9.85660082e-01 1.12936901e-01 -1.25377270e-01 1.16764915e+01] [-1.11010147e-01 9.93569677e-01 2.22720586e-02 4.92838623e-01] [ 1.27086391e-01 -8.03452994e-03 9.91859111e-01 -2.98848863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.168241008 meters Centerline goodness : 0.865500 Centerline is valid? [False, False] Translation: X:11.68, Y:0.49, Z:-0.30 [[ 9.85632530e-01 1.13217314e-01 -1.25340955e-01 1.16762980e+01] [-1.11277876e-01 9.93537055e-01 2.23909470e-02 4.92407883e-01] [ 1.27065926e-01 -8.12157052e-03 9.91861024e-01 -2.98958327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.198241008 meters Centerline goodness : 0.866377 Centerline is valid? [False, False] Translation: X:11.68, Y:0.49, Z:-0.30 [[ 9.85619794e-01 1.13638363e-01 -1.25059762e-01 1.16756691e+01] [-1.11702203e-01 9.93489013e-01 2.24097900e-02 4.92052228e-01] [ 1.26792112e-01 -8.11808167e-03 9.91896092e-01 -2.99474166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.228241008 meters Centerline goodness : 0.864855 Centerline is valid? [False, False] Translation: X:11.68, Y:0.49, Z:-0.30 [[ 9.85551315e-01 1.14144354e-01 -1.25138608e-01 1.16763271e+01] [-1.12234908e-01 9.93433070e-01 2.22274662e-02 4.91423761e-01] [ 1.26853971e-01 -7.86138834e-03 9.91890250e-01 -3.01036799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.258241008 meters Centerline goodness : 0.862164 Centerline is valid? [False, False] Translation: X:11.68, Y:0.49, Z:-0.30 [[ 9.85522963e-01 1.14517409e-01 -1.25021005e-01 1.16761849e+01] [-1.12611817e-01 9.93390404e-01 2.22279797e-02 4.90994415e-01] [ 1.26740157e-01 -7.82734195e-03 9.91905069e-01 -3.01681404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.288241008 meters Centerline goodness : 0.862497 Centerline is valid? [False, False] Translation: X:11.68, Y:0.49, Z:-0.30 [[ 0.98499385 0.1187711 -0.125222 11.67790586] [-0.11629014 0.99284916 0.02696585 0.4867185 ] [ 0.12752932 -0.01199911 0.99176222 -0.30132014] [ 0. 0. 0. 1. ]] SLAMing on 141.318241008 meters Centerline goodness : 0.862208 Centerline is valid? [False, False] Translation: X:11.68, Y:0.49, Z:-0.30 [[ 9.85385229e-01 1.15450668e-01 -1.25248130e-01 1.16765650e+01] [-1.13499639e-01 9.93280345e-01 2.26271787e-02 4.88921343e-01] [ 1.27018828e-01 -8.08087023e-03 9.91867389e-01 -3.02520101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.348241008 meters Centerline goodness : 0.863511 Centerline is valid? [False, False] Translation: X:11.68, Y:0.49, Z:-0.30 [[ 9.85355613e-01 1.15622679e-01 -1.25322433e-01 1.16767613e+01] [-1.13638593e-01 9.93258409e-01 2.28911347e-02 4.87267342e-01] [ 1.27124295e-01 -8.31444314e-03 9.91851946e-01 -3.02683636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.378241008 meters Centerline goodness : 0.863776 Centerline is valid? [False, False] Translation: X:11.67, Y:0.49, Z:-0.30 [[ 9.85784425e-01 1.12250974e-01 -1.25015145e-01 1.16742402e+01] [-1.10744486e-01 9.93668082e-01 1.89578716e-02 4.88014340e-01] [ 1.26351599e-01 -4.84363657e-03 9.91973695e-01 -3.02910030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.408241008 meters Centerline goodness : 0.861831 Centerline is valid? [False, False] Translation: X:11.67, Y:0.48, Z:-0.30 [[ 9.85703182e-01 1.12895375e-01 -1.25075460e-01 1.16730627e+01] [-1.11031353e-01 9.93577823e-01 2.17979007e-02 4.80953533e-01] [ 1.26733085e-01 -7.59896252e-03 9.91907748e-01 -2.99076812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.438241008 meters Centerline goodness : 0.864120 Centerline is valid? [False, False] Translation: X:11.67, Y:0.48, Z:-0.30 [[ 9.85674557e-01 1.12995667e-01 -1.25210413e-01 1.16730314e+01] [-1.11015546e-01 9.93559312e-01 2.27033652e-02 4.77947937e-01] [ 1.26969354e-01 -8.47782710e-03 9.91870410e-01 -2.98052187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.468241008 meters Centerline goodness : 0.861762 Centerline is valid? [False, False] Translation: X:11.67, Y:0.48, Z:-0.30 [[ 9.86148322e-01 1.08819091e-01 -1.25179439e-01 1.16725244e+01] [-1.07362301e-01 9.94050684e-01 1.83459792e-02 4.78672031e-01] [ 1.26431100e-01 -4.65230399e-03 9.91964482e-01 -2.99477572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.498241008 meters Centerline goodness : 0.860113 Centerline is valid? [False, False] Translation: X:11.67, Y:0.48, Z:-0.30 [[ 9.86158626e-01 1.08368185e-01 -1.25489050e-01 1.16740368e+01] [-1.06866017e-01 9.94098291e-01 1.86612543e-02 4.76341948e-01] [ 1.26770736e-01 -4.99244200e-03 9.91919481e-01 -2.99848101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.528241008 meters Centerline goodness : 0.859517 Centerline is valid? [False, False] Translation: X:11.68, Y:0.47, Z:-0.30 [[ 9.86614817e-01 1.03618439e-01 -1.25914345e-01 1.16751264e+01] [-1.02541006e-01 9.94615281e-01 1.50261432e-02 4.72824622e-01] [ 1.26793317e-01 -1.91363192e-03 9.91927312e-01 -3.00913692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.558241008 meters Centerline goodness : 0.859897 Centerline is valid? [False, False] Translation: X:11.68, Y:0.47, Z:-0.30 [[ 9.86578819e-01 1.03337317e-01 -1.26426395e-01 1.16761858e+01] [-1.02016680e-01 9.94639225e-01 1.68940460e-02 4.66944460e-01] [ 1.27494437e-01 -3.76970686e-03 9.91832122e-01 -2.98538983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.588241008 meters Centerline goodness : 0.860175 Centerline is valid? [False, False] Translation: X:11.68, Y:0.46, Z:-0.30 [[ 9.86548495e-01 1.02726844e-01 -1.27158411e-01 1.16779852e+01] [-1.01122016e-01 9.94692015e-01 1.90297994e-02 4.60768707e-01] [ 1.28438328e-01 -5.91530507e-03 9.91699856e-01 -2.95442999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.618241008 meters Centerline goodness : 0.861152 Centerline is valid? [False, False] Translation: X:11.68, Y:0.46, Z:-0.29 [[ 9.86562788e-01 1.01982749e-01 -1.27645539e-01 1.16797548e+01] [-1.00155518e-01 9.94757080e-01 2.06693859e-02 4.55395654e-01] [ 1.29084225e-01 -7.60724188e-03 9.91604454e-01 -2.93495092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.648241008 meters Centerline goodness : 0.860696 Centerline is valid? [False, False] Translation: X:11.68, Y:0.45, Z:-0.29 [[ 9.86573223e-01 1.01107314e-01 -1.28259841e-01 1.16822673e+01] [-9.91155580e-02 9.94836351e-01 2.18343896e-02 4.51340754e-01] [ 1.29805168e-01 -8.82867850e-03 9.91500213e-01 -2.92153784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.67824100800001 meters Centerline goodness : 0.860696 Centerline is valid? [False, False] Translation: X:11.68, Y:0.45, Z:-0.29 [[ 9.86572900e-01 1.01162428e-01 -1.28218861e-01 1.16821691e+01] [-9.91836664e-02 9.94831599e-01 2.17414422e-02 4.51590572e-01] [ 1.29755591e-01 -8.73230100e-03 9.91507556e-01 -2.92223427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.708241008 meters Centerline goodness : 0.860510 Centerline is valid? [False, False] Translation: X:11.68, Y:0.44, Z:-0.28 [[ 0.98712636 0.09797829 -0.12641919 11.67781198] [-0.09335754 0.99474695 0.04198659 0.44164466] [ 0.12986888 -0.02964389 0.99108794 -0.27957334] [ 0. 0. 0. 1. ]] SLAMing on 141.738241008 meters Centerline goodness : 0.859412 Centerline is valid? [False, False] Translation: X:11.68, Y:0.44, Z:-0.28 [[ 0.98753827 0.09364031 -0.12648979 11.67778962] [-0.08960193 0.99528045 0.03726023 0.44254054] [ 0.12938187 -0.02546217 0.99126788 -0.28148908] [ 0. 0. 0. 1. ]] SLAMing on 141.768241008 meters Centerline goodness : 0.859300 Centerline is valid? [False, False] Translation: X:11.68, Y:0.44, Z:-0.28 [[ 0.98753511 0.09360233 -0.12654251 11.67831023] [-0.08952547 0.99527673 0.03754221 0.44098628] [ 0.12945885 -0.02574547 0.99125051 -0.2816432 ] [ 0. 0. 0. 1. ]] SLAMing on 141.798241008 meters Centerline goodness : 0.859265 Centerline is valid? [False, False] Translation: X:11.68, Y:0.44, Z:-0.28 [[ 0.98792283 0.08977211 -0.12629112 11.67734149] [-0.08630045 0.99573209 0.03270843 0.44326258] [ 0.12868842 -0.02141442 0.99145384 -0.28385122] [ 0. 0. 0. 1. ]] SLAMing on 141.828241008 meters Centerline goodness : 0.861696 Centerline is valid? [False, False] Translation: X:11.68, Y:0.44, Z:-0.28 [[ 0.98794643 0.09022488 -0.12578286 11.67669103] [-0.08674133 0.99568702 0.03291347 0.44211475] [ 0.12820998 -0.02160617 0.99151166 -0.28450731] [ 0. 0. 0. 1. ]] SLAMing on 141.858241008 meters Centerline goodness : 0.857015 Centerline is valid? [False, False] Translation: X:11.68, Y:0.44, Z:-0.28 [[ 0.98794403 0.09066356 -0.1254859 11.67572246] [-0.08715235 0.99564145 0.03320494 0.44142795] [ 0.12794944 -0.02186823 0.99153957 -0.28428231] [ 0. 0. 0. 1. ]] SLAMing on 141.888241008 meters Centerline goodness : 0.859791 Centerline is valid? [False, False] Translation: X:11.67, Y:0.44, Z:-0.28 [[ 0.98793326 0.09130747 -0.12510323 11.6743829 ] [-0.08773766 0.9955712 0.03376518 0.4410726 ] [ 0.12763218 -0.02238148 0.99156901 -0.28347761] [ 0. 0. 0. 1. ]] SLAMing on 141.918241008 meters Centerline goodness : 0.861084 Centerline is valid? [False, False] Translation: X:11.67, Y:0.44, Z:-0.28 [[ 0.98793753 0.09152981 -0.12490687 11.67393005] [-0.08797336 0.9955523 0.03370927 0.44094942] [ 0.12743672 -0.02231418 0.99159566 -0.28378989] [ 0. 0. 0. 1. ]] SLAMing on 141.948241008 meters Centerline goodness : 0.860510 Centerline is valid? [False, False] Translation: X:11.67, Y:0.44, Z:-0.28 [[ 0.98791716 0.09203329 -0.12469784 11.67274957] [-0.08845958 0.99550236 0.0339109 0.44088393] [ 0.12725793 -0.02247044 0.9916151 -0.28330264] [ 0. 0. 0. 1. ]] SLAMing on 141.978241008 meters Centerline goodness : 0.861435 Centerline is valid? [False, False] Translation: X:11.67, Y:0.44, Z:-0.28 [[ 0.98790757 0.09212326 -0.12470738 11.67268301] [-0.08857416 0.99549856 0.0337229 0.44152123] [ 0.12725268 -0.02226925 0.99162031 -0.28335293] [ 0. 0. 0. 1. ]] SLAMing on 142.008241008 meters Centerline goodness : 0.859167 Centerline is valid? [False, False] Translation: X:11.67, Y:0.44, Z:-0.28 [[ 0.98747785 0.09618567 -0.12504321 11.67408222] [-0.09197797 0.99499654 0.03901212 0.43868769] [ 0.12816996 -0.02702239 0.99138401 -0.28075023] [ 0. 0. 0. 1. ]] SLAMing on 142.038241008 meters Centerline goodness : 0.860147 Centerline is valid? [False, False] Translation: X:11.67, Y:0.44, Z:-0.28 [[ 0.98749805 0.09633855 -0.12476571 11.6735245 ] [-0.09221969 0.99499831 0.0383914 0.44053719] [ 0.12784024 -0.02640558 0.9914432 -0.28168455] [ 0. 0. 0. 1. ]] SLAMing on 142.068241008 meters Centerline goodness : 0.858757 Centerline is valid? [False, False] Translation: X:11.67, Y:0.44, Z:-0.28 [[ 0.9875242 0.09601133 -0.12481099 11.67432834] [-0.09198958 0.99504946 0.0376096 0.44190798] [ 0.12780405 -0.02565908 0.99146747 -0.28293521] [ 0. 0. 0. 1. ]] SLAMing on 142.098241008 meters Centerline goodness : 0.859281 Centerline is valid? [False, False] Translation: X:11.67, Y:0.45, Z:-0.29 [[ 0.98789534 0.09221344 -0.12473762 11.67320292] [-0.08883585 0.99551963 0.03238612 0.44593402] [ 0.12716518 -0.02091292 0.99166106 -0.28502611] [ 0. 0. 0. 1. ]] SLAMing on 142.128241008 meters Centerline goodness : 0.862798 Centerline is valid? [False, False] Translation: X:11.67, Y:0.44, Z:-0.28 [[ 0.98786969 0.09250161 -0.12472745 11.67234148] [-0.08905114 0.99548112 0.03297337 0.4446015 ] [ 0.12721391 -0.02146627 0.99164299 -0.28373 ] [ 0. 0. 0. 1. ]] SLAMing on 142.158241008 meters Centerline goodness : 0.863287 Centerline is valid? [False, False] Translation: X:11.67, Y:0.44, Z:-0.28 [[ 0.98785571 0.09227054 -0.125009 11.6730082 ] [-0.0888147 0.9955029 0.03295343 0.44439475] [ 0.12748745 -0.0214506 0.9916082 -0.28347942] [ 0. 0. 0. 1. ]] SLAMing on 142.188241008 meters Centerline goodness : 0.863930 Centerline is valid? [False, False] Translation: X:11.67, Y:0.45, Z:-0.29 [[ 0.98825292 0.08819175 -0.12481342 11.67223718] [-0.08538104 0.99596317 0.02770272 0.4482478 ] [ 0.12675272 -0.0167206 0.99179341 -0.28585951] [ 0. 0. 0. 1. ]] SLAMing on 142.218241008 meters Centerline goodness : 0.862037 Centerline is valid? [False, False] Translation: X:11.67, Y:0.45, Z:-0.29 [[ 0.98826508 0.08762202 -0.12511797 11.67386784] [-0.08489428 0.99602463 0.02697966 0.44902267] [ 0.12698459 -0.01604125 0.99177497 -0.28717341] [ 0. 0. 0. 1. ]] SLAMing on 142.248241008 meters Centerline goodness : 0.865676 Centerline is valid? [False, False] Translation: X:11.68, Y:0.45, Z:-0.29 [[ 0.98793115 0.0900915 -0.1259983 11.6789439 ] [-0.08683196 0.99573622 0.03113828 0.44742191] [ 0.12826636 -0.0198218 0.99154165 -0.28670271] [ 0. 0. 0. 1. ]] SLAMing on 142.278241008 meters Centerline goodness : 0.862519 Centerline is valid? [False, False] Translation: X:11.68, Y:0.45, Z:-0.29 [[ 0.98794131 0.0896091 -0.12626237 11.68026884] [-0.08643404 0.99579317 0.03041581 0.44855226] [ 0.12845674 -0.01913567 0.99153048 -0.28776714] [ 0. 0. 0. 1. ]] SLAMing on 142.308241008 meters Centerline goodness : 0.864367 Centerline is valid? [False, False] Translation: X:11.68, Y:0.45, Z:-0.29 [[ 0.9879453 0.08954101 -0.1262794 11.68054089] [-0.0864253 0.99580802 0.02995095 0.449502 ] [ 0.12843188 -0.01867617 0.99154246 -0.28841614] [ 0. 0. 0. 1. ]] SLAMing on 142.338241008 meters Centerline goodness : 0.866790 Centerline is valid? [False, False] Translation: X:11.68, Y:0.45, Z:-0.29 [[ 0.98792924 0.08938473 -0.12651553 11.68115128] [-0.08631527 0.99582953 0.02955029 0.45050008] [ 0.12862924 -0.01827338 0.99152438 -0.28869388] [ 0. 0. 0. 1. ]] SLAMing on 142.368241008 meters Centerline goodness : 0.867375 Centerline is valid? [False, False] Translation: X:11.70, Y:0.45, Z:-0.29 [[ 9.88327633e-01 9.12676473e-02 -1.21978304e-01 1.16967022e+01] [-8.93827714e-02 9.95779141e-01 2.08476136e-02 4.53727049e-01] [ 1.23366163e-01 -9.70151382e-03 9.92313796e-01 -2.93085020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.398241008 meters Centerline goodness : 0.867381 Centerline is valid? [False, False] Translation: X:11.70, Y:0.46, Z:-0.29 [[ 9.88340267e-01 9.13651723e-02 -1.21802801e-01 1.16964417e+01] [-8.95737132e-02 9.95777056e-01 2.01147653e-02 4.56376970e-01] [ 1.23126224e-01 -8.96990328e-03 9.92350479e-01 -2.93970813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.42824100800001 meters Centerline goodness : 0.865869 Centerline is valid? [False, False] Translation: X:11.70, Y:0.46, Z:-0.29 [[ 9.88343037e-01 9.13620106e-02 -1.21782689e-01 1.16967265e+01] [-8.96485333e-02 9.95782801e-01 1.94872942e-02 4.58798358e-01] [ 1.23049505e-01 -8.34249210e-03 9.92365468e-01 -2.94739951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.458241008 meters Centerline goodness : 0.866292 Centerline is valid? [False, False] Translation: X:11.69, Y:0.46, Z:-0.29 [[ 9.88323873e-01 9.23400145e-02 -1.21199193e-01 1.16943266e+01] [-9.06579571e-02 9.95694437e-01 1.93319397e-02 4.60791254e-01] [ 1.22462473e-01 -8.11854629e-03 9.92439939e-01 -2.94675026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.488241008 meters Centerline goodness : 0.867468 Centerline is valid? [False, False] Translation: X:11.69, Y:0.46, Z:-0.29 [[ 9.88311199e-01 9.24781287e-02 -1.21197236e-01 1.16941286e+01] [-9.08472840e-02 9.95684992e-01 1.89253224e-02 4.62511438e-01] [ 1.22424447e-01 -7.69366841e-03 9.92448015e-01 -2.94901967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.518241008 meters Centerline goodness : 0.869501 Centerline is valid? [False, False] Translation: X:11.69, Y:0.47, Z:-0.30 [[ 9.88336189e-01 9.27405172e-02 -1.20792274e-01 1.16933137e+01] [-9.11995175e-02 9.95665655e-01 1.82359703e-02 4.65129273e-01] [ 1.21959932e-01 -7.00707232e-03 9.92510290e-01 -2.95858130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.548241008 meters Centerline goodness : 0.868489 Centerline is valid? [False, False] Translation: X:11.69, Y:0.47, Z:-0.30 [[ 9.88353059e-01 9.32268752e-02 -1.20278763e-01 1.16922498e+01] [-9.17686895e-02 9.95624481e-01 1.76181909e-02 4.68260239e-01] [ 1.21394970e-01 -6.37516834e-03 9.92583809e-01 -2.96892585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.578241008 meters Centerline goodness : 0.868658 Centerline is valid? [False, False] Translation: X:11.69, Y:0.47, Z:-0.30 [[ 9.87927703e-01 9.76675068e-02 -1.20249373e-01 1.16929877e+01] [-9.57956687e-02 9.95173875e-01 2.12637805e-02 4.69763859e-01] [ 1.21745815e-01 -9.48770870e-03 9.92515965e-01 -2.97024369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.608241008 meters Centerline goodness : 0.866180 Centerline is valid? [False, False] Translation: X:11.69, Y:0.47, Z:-0.30 [[ 9.87917647e-01 9.79003268e-02 -1.20142617e-01 1.16926209e+01] [-9.60929507e-02 9.95155851e-01 2.07600040e-02 4.71051232e-01] [ 1.21593039e-01 -8.96431568e-03 9.92539558e-01 -2.97655292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.638241008 meters Centerline goodness : 0.868893 Centerline is valid? [False, False] Translation: X:11.69, Y:0.47, Z:-0.30 [[ 9.87902007e-01 9.81462538e-02 -1.20070549e-01 1.16921537e+01] [-9.63709292e-02 9.95133984e-01 2.05182548e-02 4.72084354e-01] [ 1.21500074e-01 -8.69871476e-03 9.92553306e-01 -2.97786559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.668241008 meters Centerline goodness : 0.867178 Centerline is valid? [False, False] Translation: X:11.69, Y:0.47, Z:-0.30 [[ 9.87912238e-01 9.82777991e-02 -1.19878624e-01 1.16917936e+01] [-9.65475592e-02 9.95123961e-01 2.01710476e-02 4.73216655e-01] [ 1.21276457e-01 -8.35323617e-03 9.92583621e-01 -2.98298692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.698241008 meters Centerline goodness : 0.866111 Centerline is valid? [False, False] Translation: X:11.69, Y:0.47, Z:-0.30 [[ 9.87930449e-01 9.82222582e-02 -1.19774018e-01 1.16917939e+01] [-9.65335335e-02 9.95132079e-01 1.98348770e-02 4.74153564e-01] [ 1.21139194e-01 -8.03326974e-03 9.92603024e-01 -2.98770601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.728241008 meters Centerline goodness : 0.869121 Centerline is valid? [False, False] Translation: X:11.69, Y:0.48, Z:-0.30 [[ 9.88347260e-01 9.46670461e-02 -1.19196660e-01 1.16889553e+01] [-9.34542879e-02 9.95499208e-01 1.57360117e-02 4.76200436e-01] [ 1.20149863e-01 -4.41320508e-03 9.92745956e-01 -2.99009113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.758241008 meters Centerline goodness : 0.865847 Centerline is valid? [False, False] Translation: X:11.69, Y:0.48, Z:-0.30 [[ 9.88753933e-01 9.05263582e-02 -1.19040490e-01 1.16877304e+01] [-8.98091759e-02 9.95893898e-01 1.13866451e-02 4.77620375e-01] [ 1.19582490e-01 -5.67661756e-04 9.92824106e-01 -2.99595353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.788241008 meters Centerline goodness : 0.867816 Centerline is valid? [False, False] Translation: X:11.69, Y:0.48, Z:-0.30 [[ 9.88736980e-01 8.98075451e-02 -1.19723806e-01 1.16897580e+01] [-8.90266302e-02 9.95958559e-01 1.18662424e-02 4.75864061e-01] [ 1.20305627e-01 -1.07398564e-03 9.92736321e-01 -2.98746621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.818241008 meters Centerline goodness : 0.865591 Centerline is valid? [False, False] Translation: X:11.69, Y:0.47, Z:-0.30 [[ 9.88734231e-01 8.93708500e-02 -1.20072776e-01 1.16910004e+01] [-8.85398146e-02 9.95997320e-01 1.22490847e-02 4.74182192e-01] [ 1.20686874e-01 -1.47986800e-03 9.92689523e-01 -2.98324808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.848241008 meters Centerline goodness : 0.868049 Centerline is valid? [False, False] Translation: X:11.69, Y:0.47, Z:-0.30 [[ 9.88772586e-01 8.77189364e-02 -1.20971740e-01 1.16948263e+01] [-8.68674016e-02 9.96143884e-01 1.23051605e-02 4.71672565e-01] [ 1.21584654e-01 -1.65850471e-03 9.92579680e-01 -2.98369059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.878241008 meters Centerline goodness : 0.869037 Centerline is valid? [False, False] Translation: X:11.70, Y:0.47, Z:-0.29 [[ 9.88531085e-01 8.88228193e-02 -1.22134352e-01 1.17020272e+01] [-8.71911594e-02 9.96016998e-01 1.86504978e-02 4.67925939e-01] [ 1.23304480e-01 -7.78756115e-03 9.92338329e-01 -2.93148715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.908241008 meters Centerline goodness : 0.867809 Centerline is valid? [False, False] Translation: X:11.70, Y:0.47, Z:-0.29 [[ 9.88522388e-01 8.81254870e-02 -1.22708545e-01 1.17043398e+01] [-8.65336366e-02 9.96081710e-01 1.82525895e-02 4.67704945e-01] [ 1.23836256e-01 -7.42467672e-03 9.92274889e-01 -2.94006571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.938241008 meters Centerline goodness : 0.870750 Centerline is valid? [False, False] Translation: X:11.71, Y:0.47, Z:-0.29 [[ 9.88516277e-01 8.77298244e-02 -1.23040840e-01 1.17057372e+01] [-8.61518255e-02 9.96117634e-01 1.80975956e-02 4.67447631e-01] [ 1.24150850e-01 -7.28957484e-03 9.92236579e-01 -2.94442776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.968241008 meters Centerline goodness : 0.868528 Centerline is valid? [False, False] Translation: X:11.71, Y:0.47, Z:-0.29 [[ 9.88478849e-01 8.67484233e-02 -1.24033365e-01 1.17088353e+01] [-8.51302855e-02 9.96201812e-01 1.82970921e-02 4.66635885e-01] [ 1.25149507e-01 -7.52729280e-03 9.92109339e-01 -2.93723751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.998241008 meters Centerline goodness : 0.868361 Centerline is valid? [False, False] Translation: X:11.71, Y:0.47, Z:-0.29 [[ 9.88477818e-01 8.63891225e-02 -1.24292090e-01 1.17099655e+01] [-8.47618786e-02 9.96232599e-01 1.83312011e-02 4.66518303e-01] [ 1.25407448e-01 -7.58475459e-03 9.92076329e-01 -2.93734969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.028241008 meters Centerline goodness : 0.866326 Centerline is valid? [False, False] Translation: X:11.71, Y:0.47, Z:-0.29 [[ 9.88459920e-01 8.61917050e-02 -1.24571169e-01 1.17108876e+01] [-8.45448714e-02 9.96248723e-01 1.84565915e-02 4.66875008e-01] [ 1.25694673e-01 -7.71174748e-03 9.92039000e-01 -2.93316656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.058241008 meters Centerline goodness : 0.869879 Centerline is valid? [False, False] Translation: X:11.71, Y:0.46, Z:-0.29 [[ 0.98806982 0.08925022 -0.12550867 11.71478458] [-0.08694241 0.99593001 0.02375774 0.46404983] [ 0.12711823 -0.01256228 0.99180802 -0.29049355] [ 0. 0. 0. 1. ]] SLAMing on 143.088241008 meters Centerline goodness : 0.873817 Centerline is valid? [False, False] Translation: X:11.72, Y:0.47, Z:-0.29 [[ 0.98804643 0.08840315 -0.12628991 11.71770163] [-0.08617063 0.99601386 0.02304361 0.46519093] [ 0.12782363 -0.01188567 0.99172569 -0.29144072] [ 0. 0. 0. 1. ]] SLAMing on 143.118241008 meters Centerline goodness : 0.872628 Centerline is valid? [False, False] Translation: X:11.72, Y:0.46, Z:-0.29 [[ 0.98768712 0.09149791 -0.12689474 11.72128571] [-0.08864862 0.99567117 0.02793447 0.46222355] [ 0.12890138 -0.01634147 0.99152276 -0.28971972] [ 0. 0. 0. 1. ]] SLAMing on 143.148241008 meters Centerline goodness : 0.872333 Centerline is valid? [False, False] Translation: X:11.73, Y:0.46, Z:-0.29 [[ 0.98730051 0.09406888 -0.12801853 11.72630089] [-0.09051438 0.99533764 0.03331868 0.45930772] [ 0.13055591 -0.02130803 0.99121195 -0.28646327] [ 0. 0. 0. 1. ]] SLAMing on 143.17824100800001 meters Centerline goodness : 0.870872 Centerline is valid? [False, False] Translation: X:11.73, Y:0.46, Z:-0.29 [[ 0.9872717 0.09395679 -0.12832267 11.72731942] [-0.09037855 0.99534586 0.03344156 0.45973209] [ 0.1308675 -0.02141829 0.99116848 -0.28607234] [ 0. 0. 0. 1. ]] SLAMing on 143.208241008 meters Centerline goodness : 0.869590 Centerline is valid? [False, False] Translation: X:11.73, Y:0.46, Z:-0.28 [[ 0.98685159 0.09666332 -0.12953816 11.73259413] [-0.09244832 0.99498521 0.03818029 0.45771519] [ 0.13257919 -0.0257027 0.9908391 -0.28422575] [ 0. 0. 0. 1. ]] SLAMing on 143.238241008 meters Centerline goodness : 0.872083 Centerline is valid? [False, False] Translation: X:11.73, Y:0.46, Z:-0.28 [[ 0.98683568 0.09643923 -0.12982608 11.73386823] [-0.09225638 0.99501487 0.03787048 0.45866056] [ 0.13283108 -0.02539466 0.99081331 -0.28460407] [ 0. 0. 0. 1. ]] SLAMing on 143.268241008 meters Centerline goodness : 0.873322 Centerline is valid? [False, False] Translation: X:11.74, Y:0.46, Z:-0.28 [[ 0.98680582 0.0961385 -0.1302753 11.73521404] [-0.09196241 0.99504797 0.03771535 0.45911857] [ 0.13325607 -0.0252373 0.99076026 -0.28446755] [ 0. 0. 0. 1. ]] SLAMing on 143.298241008 meters Centerline goodness : 0.873611 Centerline is valid? [False, False] Translation: X:11.74, Y:0.46, Z:-0.28 [[ 0.98675851 0.09596139 -0.13076333 11.73596195] [-0.09174593 0.99506082 0.03790312 0.45871086] [ 0.1337547 -0.02540422 0.9906888 -0.28347591] [ 0. 0. 0. 1. ]] SLAMing on 143.328241008 meters Centerline goodness : 0.873504 Centerline is valid? [False, False] Translation: X:11.74, Y:0.46, Z:-0.28 [[ 0.98670424 0.09621381 -0.13098716 11.7356769 ] [-0.0918671 0.99501327 0.03884624 0.45771374] [ 0.13407151 -0.02629634 0.9906227 -0.28126913] [ 0. 0. 0. 1. ]] SLAMing on 143.358241008 meters Centerline goodness : 0.877189 Centerline is valid? [False, False] Translation: X:11.73, Y:0.46, Z:-0.28 [[ 0.98666221 0.09657152 -0.13104052 11.73461451] [-0.0921079 0.99495646 0.03972112 0.45753005] [ 0.13421554 -0.02712146 0.99058095 -0.27884624] [ 0. 0. 0. 1. ]] SLAMing on 143.388241008 meters Centerline goodness : 0.877161 Centerline is valid? [False, False] Translation: X:11.74, Y:0.45, Z:-0.28 [[ 0.98623259 0.10054024 -0.13128953 11.73618355] [-0.09530758 0.99440449 0.04556513 0.45477176] [ 0.13513603 -0.03242493 0.99029636 -0.27515865] [ 0. 0. 0. 1. ]] SLAMing on 143.418241008 meters Centerline goodness : 0.874564 Centerline is valid? [False, False] Translation: X:11.74, Y:0.46, Z:-0.28 [[ 0.98665129 0.09638451 -0.1312603 11.73565579] [-0.09192565 0.99497697 0.03962969 0.45988785] [ 0.13442066 -0.0270345 0.99055551 -0.27835737] [ 0. 0. 0. 1. ]] SLAMing on 143.448241008 meters Centerline goodness : 0.875241 Centerline is valid? [False, False] Translation: X:11.74, Y:0.46, Z:-0.27 [[ 0.98624575 0.09885472 -0.13246536 11.74095524] [-0.09361901 0.99458144 0.04520212 0.45690261] [ 0.13621603 -0.03217913 0.9901564 -0.27454848] [ 0. 0. 0. 1. ]] SLAMing on 143.478241008 meters Centerline goodness : 0.874582 Centerline is valid? [False, False] Translation: X:11.74, Y:0.46, Z:-0.28 [[ 0.98662907 0.09447208 -0.13280852 11.74139294] [-0.08992664 0.99515162 0.03983033 0.460313 ] [ 0.13592747 -0.02735473 0.99034107 -0.27683655] [ 0. 0. 0. 1. ]] SLAMing on 143.508241008 meters Centerline goodness : 0.873914 Centerline is valid? [False, False] Translation: X:11.74, Y:0.46, Z:-0.28 [[ 0.98659975 0.09408121 -0.13330286 11.74293636] [-0.08952287 0.99518926 0.03979939 0.46036172] [ 0.13640595 -0.02733241 0.9902759 -0.27654065] [ 0. 0. 0. 1. ]] SLAMing on 143.538241008 meters Centerline goodness : 0.873914 Centerline is valid? [False, False] Translation: X:11.74, Y:0.46, Z:-0.28 [[ 0.98660284 0.09415273 -0.13322947 11.74279765] [-0.08961056 0.99518529 0.03970126 0.46067641] [ 0.13632599 -0.02723061 0.99028971 -0.27659869] [ 0. 0. 0. 1. ]] SLAMing on 143.568241008 meters Centerline goodness : 0.875240 Centerline is valid? [False, False] Translation: X:11.75, Y:0.46, Z:-0.27 [[ 0.98616847 0.09741693 -0.13409582 11.74637113] [-0.09208411 0.99471448 0.04542711 0.45745036] [ 0.13781242 -0.03245069 0.98992661 -0.27281611] [ 0. 0. 0. 1. ]] SLAMing on 143.598241008 meters Centerline goodness : 0.878293 Centerline is valid? [False, False] Translation: X:11.75, Y:0.46, Z:-0.28 [[ 0.98652463 0.09357592 -0.13421141 11.74587061] [-0.08910254 0.99525972 0.03897203 0.46204316] [ 0.13722205 -0.02648829 0.99018608 -0.27727274] [ 0. 0. 0. 1. ]] SLAMing on 143.628241008 meters Centerline goodness : 0.877186 Centerline is valid? [False, False] Translation: X:11.75, Y:0.46, Z:-0.28 [[ 0.98607395 0.09709077 -0.13502426 11.74960016] [-0.09192087 0.99479263 0.04402473 0.46002355] [ 0.13859553 -0.03100009 0.98986376 -0.27509779] [ 0. 0. 0. 1. ]] SLAMing on 143.658241008 meters Centerline goodness : 0.878907 Centerline is valid? [False, False] Translation: X:11.75, Y:0.46, Z:-0.28 [[ 0.98610502 0.09612973 -0.13548421 11.75243454] [-0.09116496 0.9949328 0.04239905 0.46258268] [ 0.13887349 -0.0294585 0.98987189 -0.2777904 ] [ 0. 0. 0. 1. ]] SLAMing on 143.688241008 meters Centerline goodness : 0.875604 Centerline is valid? [False, False] Translation: X:11.75, Y:0.47, Z:-0.28 [[ 0.98612633 0.09535955 -0.13587279 11.75492776] [-0.09060002 0.99505097 0.04080689 0.46532007] [ 0.13909168 -0.02793067 0.98988554 -0.28049228] [ 0. 0. 0. 1. ]] SLAMing on 143.718241008 meters Centerline goodness : 0.877502 Centerline is valid? [False, False] Translation: X:11.76, Y:0.47, Z:-0.28 [[ 0.98567721 0.09941187 -0.13622674 11.75705528] [-0.0941024 0.99454988 0.04489185 0.46502686] [ 0.13994707 -0.03142961 0.98966004 -0.28014361] [ 0. 0. 0. 1. ]] SLAMing on 143.748241008 meters Centerline goodness : 0.877771 Centerline is valid? [False, False] Translation: X:11.77, Y:0.47, Z:-0.28 [[ 0.98611878 0.10087914 -0.13188312 11.77278518] [-0.09683855 0.99462262 0.03671707 0.46626386] [ 0.13487792 -0.02343602 0.99058503 -0.28304757] [ 0. 0. 0. 1. ]] SLAMing on 143.778241008 meters Centerline goodness : 0.877741 Centerline is valid? [False, False] Translation: X:11.79, Y:0.47, Z:-0.29 [[ 0.98655301 0.10199461 -0.12771165 11.78694947] [-0.09948153 0.99470173 0.02592102 0.46943438] [ 0.1296788 -0.01286751 0.99147256 -0.28800923] [ 0. 0. 0. 1. ]] SLAMing on 143.808241008 meters Centerline goodness : 0.876811 Centerline is valid? [False, False] Translation: X:11.79, Y:0.47, Z:-0.29 [[ 0.98654242 0.10211751 -0.12769523 11.78677477] [-0.09965219 0.99469385 0.02556513 0.47034327] [ 0.1296283 -0.01249597 0.99148391 -0.28832967] [ 0. 0. 0. 1. ]] SLAMing on 143.838241008 meters Centerline goodness : 0.877577 Centerline is valid? [False, False] Translation: X:11.79, Y:0.47, Z:-0.29 [[ 0.98651853 0.10224322 -0.12777913 11.78671459] [-0.09980887 0.99468421 0.02532818 0.47115593] [ 0.12968952 -0.01223323 0.99147919 -0.28833113] [ 0. 0. 0. 1. ]] SLAMing on 143.868241008 meters Centerline goodness : 0.877252 Centerline is valid? [False, False] Translation: X:11.80, Y:0.47, Z:-0.29 [[ 9.86931183e-01 1.03605103e-01 -1.23421318e-01 1.18027125e+01] [-1.02327279e-01 9.94611184e-01 1.66649607e-02 4.72674308e-01] [ 1.24482798e-01 -3.81780173e-03 9.92214421e-01 -2.92209335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.898241008 meters Centerline goodness : 0.879109 Centerline is valid? [False, False] Translation: X:11.80, Y:0.47, Z:-0.29 [[ 9.86858258e-01 1.04687722e-01 -1.23090450e-01 1.18012319e+01] [-1.03443294e-01 9.94498893e-01 1.64753187e-02 4.74242289e-01] [ 1.24138080e-01 -3.52592272e-03 9.92258689e-01 -2.92826272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.92824100800001 meters Centerline goodness : 0.878000 Centerline is valid? [False, False] Translation: X:11.80, Y:0.48, Z:-0.29 [[ 9.86847544e-01 1.04735851e-01 -1.23135401e-01 1.18016429e+01] [-1.03554890e-01 9.94495526e-01 1.59697934e-02 4.75566966e-01] [ 1.24130215e-01 -3.00847853e-03 9.92261376e-01 -2.93678083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.958241008 meters Centerline goodness : 0.878178 Centerline is valid? [False, False] Translation: X:11.80, Y:0.48, Z:-0.29 [[ 9.86846833e-01 1.04655960e-01 -1.23209005e-01 1.18023686e+01] [-1.03521350e-01 9.94505002e-01 1.55926790e-02 4.76252542e-01] [ 1.24163839e-01 -2.63282327e-03 9.92258237e-01 -2.94523959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.988241008 meters Centerline goodness : 0.875408 Centerline is valid? [False, False] Translation: X:11.80, Y:0.48, Z:-0.29 [[ 9.86825996e-01 1.03996843e-01 -1.23931874e-01 1.18047342e+01] [-1.02851169e-01 9.94574038e-01 1.56243330e-02 4.75475052e-01] [ 1.24884306e-01 -2.67195980e-03 9.92167713e-01 -2.94517840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.018241008 meters Centerline goodness : 0.877721 Centerline is valid? [False, False] Translation: X:11.81, Y:0.47, Z:-0.29 [[ 9.86855947e-01 1.02809173e-01 -1.24682051e-01 1.18077472e+01] [-1.01646626e-01 9.94697191e-01 1.56671905e-02 4.73622494e-01] [ 1.25631617e-01 -2.78775020e-03 9.92073044e-01 -2.94555918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.048241008 meters Centerline goodness : 0.879036 Centerline is valid? [False, False] Translation: X:11.81, Y:0.47, Z:-0.29 [[ 9.86807868e-01 1.02488432e-01 -1.25324987e-01 1.18091683e+01] [-1.01249330e-01 9.94728620e-01 1.62341204e-02 4.72222832e-01] [ 1.26328161e-01 -3.33088681e-03 9.91982914e-01 -2.93364033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.078241008 meters Centerline goodness : 0.876675 Centerline is valid? [False, False] Translation: X:11.81, Y:0.47, Z:-0.29 [[ 9.87191652e-01 9.85714295e-02 -1.25444475e-01 1.18083322e+01] [-9.78524795e-02 9.95129836e-01 1.18954596e-02 4.73914168e-01] [ 1.26006092e-01 5.31954467e-04 9.92029325e-01 -2.94128663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.108241008 meters Centerline goodness : 0.876618 Centerline is valid? [False, False] Translation: X:11.81, Y:0.47, Z:-0.29 [[ 9.87162367e-01 9.82954743e-02 -1.25890673e-01 1.18096306e+01] [-9.75369881e-02 9.95157244e-01 1.21900158e-02 4.73025609e-01] [ 1.26479239e-01 2.45472256e-04 9.91969224e-01 -2.93694205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.138241008 meters Centerline goodness : 0.876896 Centerline is valid? [False, False] Translation: X:11.81, Y:0.47, Z:-0.29 [[ 9.87145212e-01 9.79339238e-02 -1.26306284e-01 1.18112158e+01] [-9.71620229e-02 9.95192907e-01 1.22727116e-02 4.72360613e-01] [ 1.26901033e-01 1.57225589e-04 9.91915371e-01 -2.93789634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.168241008 meters Centerline goodness : 0.878751 Centerline is valid? [False, False] Translation: X:11.81, Y:0.47, Z:-0.29 [[ 9.87115476e-01 9.80658314e-02 -1.26436264e-01 1.18111620e+01] [-9.72051859e-02 9.95179796e-01 1.29740519e-02 4.70532907e-01] [ 1.27099127e-01 -5.16626882e-04 9.91889886e-01 -2.92769252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.198241008 meters Centerline goodness : 0.877977 Centerline is valid? [False, False] Translation: X:11.81, Y:0.47, Z:-0.29 [[ 9.87089265e-01 9.79634321e-02 -1.26719961e-01 1.18116581e+01] [-9.70296681e-02 9.95189445e-01 1.35355930e-02 4.68844985e-01] [ 1.27436360e-01 -1.06524280e-03 9.91846177e-01 -2.91812357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.228241008 meters Centerline goodness : 0.881717 Centerline is valid? [False, False] Translation: X:11.81, Y:0.47, Z:-0.29 [[ 9.87076898e-01 9.78762781e-02 -1.26883532e-01 1.18121216e+01] [-9.68985793e-02 9.95197611e-01 1.38701138e-02 4.67859175e-01] [ 1.27631743e-01 -1.39603492e-03 9.91820644e-01 -2.91409009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.258241008 meters Centerline goodness : 0.879056 Centerline is valid? [False, False] Translation: X:11.81, Y:0.47, Z:-0.29 [[ 9.87085081e-01 9.73172922e-02 -1.27249313e-01 1.18139823e+01] [-9.63745803e-02 9.95252777e-01 1.35591687e-02 4.67974011e-01] [ 1.27964773e-01 -1.12045397e-03 9.91778081e-01 -2.92241169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.288241008 meters Centerline goodness : 0.875889 Centerline is valid? [False, False] Translation: X:11.81, Y:0.47, Z:-0.29 [[ 9.87067857e-01 9.72320859e-02 -1.27447897e-01 1.18147040e+01] [-9.62957805e-02 9.95261176e-01 1.35023841e-02 4.67851115e-01] [ 1.28156809e-01 -1.05507464e-03 9.91753356e-01 -2.92433583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.318241008 meters Centerline goodness : 0.877677 Centerline is valid? [False, False] Translation: X:11.82, Y:0.47, Z:-0.29 [[ 9.87046425e-01 9.69692300e-02 -1.27813630e-01 1.18157184e+01] [-9.60092220e-02 9.95286636e-01 1.36653611e-02 4.67339319e-01] [ 1.28536318e-01 -1.21705859e-03 9.91704056e-01 -2.91960421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.348241008 meters Centerline goodness : 0.879408 Centerline is valid? [False, False] Translation: X:11.82, Y:0.47, Z:-0.29 [[ 9.87005579e-01 9.66617374e-02 -1.28360800e-01 1.18169527e+01] [-9.56561266e-02 9.95316114e-01 1.39906744e-02 4.66475815e-01] [ 1.29111936e-01 -1.53037669e-03 9.91628845e-01 -2.91084039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.378241008 meters Centerline goodness : 0.881683 Centerline is valid? [False, False] Translation: X:11.82, Y:0.47, Z:-0.29 [[ 9.86984309e-01 9.64369791e-02 -1.28692980e-01 1.18182074e+01] [-9.54732089e-02 9.95338384e-01 1.36516216e-02 4.66747047e-01] [ 1.29409584e-01 -1.18720455e-03 9.91590515e-01 -2.91781908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.408241008 meters Centerline goodness : 0.880697 Centerline is valid? [False, False] Translation: X:11.82, Y:0.46, Z:-0.29 [[ 9.86582544e-01 9.92520980e-02 -1.29629879e-01 1.18226479e+01] [-9.76523293e-02 9.95045728e-01 1.86553642e-02 4.63768632e-01] [ 1.30839241e-01 -5.74639710e-03 9.91386944e-01 -2.89525260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.438241008 meters Centerline goodness : 0.878735 Centerline is valid? [False, False] Translation: X:11.82, Y:0.46, Z:-0.29 [[ 9.86560448e-01 9.90505256e-02 -1.29951818e-01 1.18236012e+01] [-9.74519782e-02 9.95066054e-01 1.86188109e-02 4.63427018e-01] [ 1.31154845e-01 -5.70452074e-03 9.91345482e-01 -2.89550208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.468241008 meters Centerline goodness : 0.877996 Centerline is valid? [False, False] Translation: X:11.82, Y:0.46, Z:-0.29 [[ 9.86533854e-01 9.89227043e-02 -1.30250729e-01 1.18242907e+01] [-9.73034338e-02 9.95078058e-01 1.87536828e-02 4.62731437e-01] [ 1.31464808e-01 -5.82729972e-03 9.91303711e-01 -2.89228274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.498241008 meters Centerline goodness : 0.878290 Centerline is valid? [False, False] Translation: X:11.83, Y:0.46, Z:-0.29 [[ 9.86524068e-01 9.84404976e-02 -1.30689447e-01 1.18259814e+01] [-9.68230757e-02 9.95126135e-01 1.86887116e-02 4.61990737e-01] [ 1.31892211e-01 -5.78310952e-03 9.91247194e-01 -2.89541220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.528241008 meters Centerline goodness : 0.878996 Centerline is valid? [False, False] Translation: X:11.83, Y:0.46, Z:-0.29 [[ 9.86519565e-01 9.77339691e-02 -1.31252500e-01 1.18282057e+01] [-9.61572030e-02 9.95197678e-01 1.83132285e-02 4.62461759e-01] [ 1.32412008e-01 -5.44548494e-03 9.91179806e-01 -2.89991144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.558241008 meters Centerline goodness : 0.876710 Centerline is valid? [False, False] Translation: X:11.83, Y:0.46, Z:-0.29 [[ 9.86512447e-01 9.76002891e-02 -1.31405388e-01 1.18287110e+01] [-9.60084643e-02 9.95210240e-01 1.84106766e-02 4.62103637e-01] [ 1.32572875e-01 -5.54633218e-03 9.91157743e-01 -2.89895547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.588241008 meters Centerline goodness : 0.879878 Centerline is valid? [False, False] Translation: X:11.83, Y:0.46, Z:-0.29 [[ 9.86497492e-01 9.73416731e-02 -1.31709138e-01 1.18295968e+01] [-9.57439125e-02 9.95235459e-01 1.84251081e-02 4.61860011e-01] [ 1.32875136e-01 -5.56597472e-03 9.91117157e-01 -2.89711892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.618241008 meters Centerline goodness : 0.881189 Centerline is valid? [False, False] Translation: X:11.83, Y:0.46, Z:-0.29 [[ 9.86467421e-01 9.70765970e-02 -1.32129338e-01 1.18305984e+01] [-9.54313628e-02 9.95259544e-01 1.87428420e-02 4.61221700e-01] [ 1.33322476e-01 -5.87992021e-03 9.91055268e-01 -2.88841918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.648241008 meters Centerline goodness : 0.882267 Centerline is valid? [False, False] Translation: X:11.83, Y:0.46, Z:-0.29 [[ 9.86427105e-01 9.70075690e-02 -1.32480554e-01 1.18310889e+01] [-9.52667353e-02 9.95262113e-01 1.94312907e-02 4.60285719e-01] [ 1.33737858e-01 -6.54656194e-03 9.90995120e-01 -2.87312213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.67824100800001 meters Centerline goodness : 0.881454 Centerline is valid? [False, False] Translation: X:11.84, Y:0.46, Z:-0.28 [[ 0.98609466 0.09937865 -0.13319613 11.83579315] [-0.09660229 0.99495234 0.02716313 0.45550776] [ 0.13522323 -0.01391836 0.99071739 -0.27953938] [ 0. 0. 0. 1. ]] SLAMing on 144.708241008 meters Centerline goodness : 0.886206 Centerline is valid? [False, False] Translation: X:11.84, Y:0.45, Z:-0.28 [[ 0.98606354 0.09905624 -0.13366587 11.8367527 ] [-0.09623982 0.99498137 0.02738572 0.45473879] [ 0.13570777 -0.01414008 0.990648 -0.27871375] [ 0. 0. 0. 1. ]] SLAMing on 144.738241008 meters Centerline goodness : 0.885615 Centerline is valid? [False, False] Translation: X:11.84, Y:0.45, Z:-0.28 [[ 0.98605852 0.09807941 -0.13442109 11.83958899] [-0.09523981 0.99507691 0.02741033 0.45472156] [ 0.13644771 -0.01422595 0.99054513 -0.27827899] [ 0. 0. 0. 1. ]] SLAMing on 144.768241008 meters Centerline goodness : 0.885603 Centerline is valid? [False, False] Translation: X:11.84, Y:0.46, Z:-0.28 [[ 0.98603972 0.09752544 -0.13496095 11.84170232] [-0.09472253 0.9951361 0.02705157 0.45608013] [ 0.13694273 -0.01389008 0.99048158 -0.27855752] [ 0. 0. 0. 1. ]] SLAMing on 144.798241008 meters Centerline goodness : 0.880896 Centerline is valid? [False, False] Translation: X:11.84, Y:0.46, Z:-0.28 [[ 0.98605594 0.09680805 -0.13535833 11.84376514] [-0.09412081 0.99521785 0.02612852 0.45738986] [ 0.13724048 -0.01302414 0.99045213 -0.28003499] [ 0. 0. 0. 1. ]] SLAMing on 144.828241008 meters Centerline goodness : 0.879377 Centerline is valid? [False, False] Translation: X:11.85, Y:0.46, Z:-0.28 [[ 0.98601474 0.095853 -0.13633462 11.84725327] [-0.09329289 0.99532328 0.02506012 0.45932998] [ 0.13809911 -0.01199059 0.99034583 -0.28132927] [ 0. 0. 0. 1. ]] SLAMing on 144.858241008 meters Centerline goodness : 0.882016 Centerline is valid? [False, False] Translation: X:11.85, Y:0.46, Z:-0.28 [[ 0.98559177 0.09899602 -0.13714461 11.8509628 ] [-0.09577165 0.99495328 0.02992942 0.45689447] [ 0.13941537 -0.01636363 0.99009878 -0.27911179] [ 0. 0. 0. 1. ]] SLAMing on 144.888241008 meters Centerline goodness : 0.880883 Centerline is valid? [False, False] Translation: X:11.85, Y:0.46, Z:-0.28 [[ 0.98589027 0.09504858 -0.13779019 11.85141118] [-0.09246129 0.99540057 0.02507233 0.46064061] [ 0.13953952 -0.01197831 0.99014405 -0.28052237] [ 0. 0. 0. 1. ]] SLAMing on 144.918241008 meters Centerline goodness : 0.883854 Centerline is valid? [False, False] Translation: X:11.85, Y:0.46, Z:-0.28 [[ 9.85850248e-01 9.45570385e-02 -1.38413348e-01 1.18531340e+01] [-9.20211104e-02 9.95452596e-01 2.46220114e-02 4.61218075e-01] [ 1.40112111e-01 -1.15366660e-02 9.90068433e-01 -2.80757467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.948241008 meters Centerline goodness : 0.884923 Centerline is valid? [False, False] Translation: X:11.86, Y:0.46, Z:-0.28 [[ 0.98540127 0.09704059 -0.13988375 11.85880809] [-0.09379426 0.99515054 0.02963186 0.45988546] [ 0.14208088 -0.01607898 0.98972445 -0.27750732] [ 0. 0. 0. 1. ]] SLAMing on 144.978241008 meters Centerline goodness : 0.883605 Centerline is valid? [False, False] Translation: X:11.86, Y:0.46, Z:-0.27 [[ 0.98500667 0.10047574 -0.14023724 11.86128995] [-0.09649309 0.99472044 0.03493318 0.45730672] [ 0.14300679 -0.02087749 0.98950148 -0.27462963] [ 0. 0. 0. 1. ]] SLAMing on 145.008241008 meters Centerline goodness : 0.885623 Centerline is valid? [False, False] Translation: X:11.86, Y:0.46, Z:-0.27 [[ 0.98500776 0.10011498 -0.14048737 11.86205768] [-0.09617573 0.9947638 0.03457191 0.45827142] [ 0.14321292 -0.02054212 0.98947869 -0.27467171] [ 0. 0. 0. 1. ]] SLAMing on 145.038241008 meters Centerline goodness : 0.883181 Centerline is valid? [False, False] Translation: X:11.86, Y:0.46, Z:-0.27 [[ 0.98499017 0.09931452 -0.14117715 11.86393584] [-0.09539852 0.9948495 0.03425765 0.45886336] [ 0.1438523 -0.02027535 0.98939144 -0.2742903 ] [ 0. 0. 0. 1. ]] SLAMing on 145.068241008 meters Centerline goodness : 0.884468 Centerline is valid? [False, False] Translation: X:11.87, Y:0.46, Z:-0.27 [[ 0.98459509 0.10196037 -0.14204433 11.86808537] [-0.09719567 0.9944569 0.04010587 0.45600751] [ 0.14534618 -0.02568195 0.98904748 -0.26971204] [ 0. 0. 0. 1. ]] SLAMing on 145.098241008 meters Centerline goodness : 0.885197 Centerline is valid? [False, False] Translation: X:11.87, Y:0.46, Z:-0.27 [[ 0.98500189 0.09757431 -0.14230434 11.86796239] [-0.09351294 0.99500374 0.03496992 0.46016726] [ 0.14500552 -0.02113814 0.98920502 -0.27117566] [ 0. 0. 0. 1. ]] SLAMing on 145.128241008 meters Centerline goodness : 0.886292 Centerline is valid? [False, False] Translation: X:11.87, Y:0.46, Z:-0.27 [[ 0.98499112 0.0970297 -0.14275062 11.86927585] [-0.09299267 0.99506191 0.03470112 0.46026382] [ 0.14541274 -0.02090553 0.98915019 -0.27112967] [ 0. 0. 0. 1. ]] SLAMing on 145.158241008 meters Centerline goodness : 0.885920 Centerline is valid? [False, False] Translation: X:11.87, Y:0.46, Z:-0.27 [[ 0.98495364 0.09619077 -0.14357456 11.87123471] [-0.09208264 0.99513591 0.03500453 0.45934902] [ 0.14624331 -0.02125712 0.98902024 -0.26959785] [ 0. 0. 0. 1. ]] SLAMing on 145.188241008 meters Centerline goodness : 0.889476 Centerline is valid? [False, False] Translation: X:11.88, Y:0.46, Z:-0.26 [[ 0.98461462 0.09782004 -0.14479395 11.87801428] [-0.09260686 0.99480244 0.04233288 0.45591983] [ 0.14818238 -0.02827266 0.98855584 -0.2619784 ] [ 0. 0. 0. 1. ]] SLAMing on 145.218241008 meters Centerline goodness : 0.890141 Centerline is valid? [False, False] Translation: X:11.88, Y:0.46, Z:-0.26 [[ 0.98458166 0.09741143 -0.14529268 11.87942081] [-0.09215611 0.99483764 0.04248899 0.45657643] [ 0.14868154 -0.02844428 0.98847596 -0.26103054] [ 0. 0. 0. 1. ]] SLAMing on 145.248241008 meters Centerline goodness : 0.888114 Centerline is valid? [False, False] Translation: X:11.88, Y:0.46, Z:-0.26 [[ 0.9845835 0.09669653 -0.14575701 11.88099097] [-0.09144936 0.99491109 0.04229588 0.4569759 ] [ 0.14910513 -0.02831444 0.98841588 -0.26068657] [ 0. 0. 0. 1. ]] SLAMing on 145.278241008 meters Centerline goodness : 0.887115 Centerline is valid? [False, False] Translation: X:11.88, Y:0.46, Z:-0.26 [[ 0.98457645 0.0964132 -0.14599216 11.88165844] [-0.09112161 0.99493139 0.04252511 0.45720569] [ 0.14935216 -0.02856619 0.98837134 -0.25974555] [ 0. 0. 0. 1. ]] SLAMing on 145.308241008 meters Centerline goodness : 0.887423 Centerline is valid? [False, False] Translation: X:11.88, Y:0.46, Z:-0.26 [[ 0.98461467 0.09515144 -0.14656111 11.8839661 ] [-0.08995734 0.99507291 0.04168432 0.4592843 ] [ 0.14980531 -0.02785875 0.98832295 -0.25999249] [ 0. 0. 0. 1. ]] SLAMing on 145.338241008 meters Centerline goodness : 0.886674 Centerline is valid? [False, False] Translation: X:11.89, Y:0.46, Z:-0.26 [[ 0.98461226 0.09431752 -0.14711525 11.88607144] [-0.08922686 0.99517361 0.04084175 0.46103394] [ 0.1502573 -0.02708666 0.9882758 -0.26078243] [ 0. 0. 0. 1. ]] SLAMing on 145.368241008 meters Centerline goodness : 0.890303 Centerline is valid? [False, False] Translation: X:11.87, Y:0.46, Z:-0.26 [[ 0.98425717 0.09386735 -0.14975559 11.86626514] [-0.08753159 0.99498687 0.04836673 0.46318326] [ 0.15354491 -0.03449695 0.98753933 -0.25829987] [ 0. 0. 0. 1. ]] SLAMing on 145.398241008 meters Centerline goodness : 0.887808 Centerline is valid? [False, False] Translation: X:11.84, Y:0.47, Z:-0.26 [[ 0.98449659 0.09179342 -0.14946719 11.84341709] [-0.08499528 0.99506162 0.05126577 0.46781492] [ 0.15343492 -0.03776697 0.98743677 -0.26105035] [ 0. 0. 0. 1. ]] SLAMing on 145.42824100800001 meters Centerline goodness : 0.890543 Centerline is valid? [False, False] Translation: X:11.82, Y:0.48, Z:-0.27 [[ 0.98498601 0.08897211 -0.14794098 11.81670634] [-0.08249048 0.99536687 0.04939752 0.47516575] [ 0.15165055 -0.03645215 0.98776179 -0.26796482] [ 0. 0. 0. 1. ]] SLAMing on 145.458241008 meters Centerline goodness : 0.890543 Centerline is valid? [False, False] Translation: X:11.82, Y:0.48, Z:-0.27 [[ 0.98498601 0.08897211 -0.14794098 11.81670634] [-0.08249048 0.99536687 0.04939752 0.47516575] [ 0.15165055 -0.03645215 0.98776179 -0.26796482] [ 0. 0. 0. 1. ]] SLAMing on 145.488241008 meters Centerline goodness : 0.891373 Centerline is valid? [False, False] Translation: X:11.82, Y:0.48, Z:-0.27 [[ 0.98496855 0.08928793 -0.14786692 11.81607597] [-0.08302502 0.99539025 0.04801144 0.48104819] [ 0.15147213 -0.03501311 0.98784122 -0.26907817] [ 0. 0. 0. 1. ]] SLAMing on 145.518241008 meters Centerline goodness : 0.892784 Centerline is valid? [False, False] Translation: X:11.82, Y:0.48, Z:-0.27 [[ 0.98496024 0.08965081 -0.14770263 11.81531241] [-0.08347408 0.99537665 0.04751222 0.48438375] [ 0.15127925 -0.0344683 0.98788994 -0.26913297] [ 0. 0. 0. 1. ]] SLAMing on 145.548241008 meters Centerline goodness : 0.893762 Centerline is valid? [False, False] Translation: X:11.79, Y:0.49, Z:-0.28 [[ 0.9854292 0.09000732 -0.14431898 11.78778089] [-0.08384678 0.9953109 0.0482279 0.49247398] [ 0.14798312 -0.0354245 0.98835525 -0.27530073] [ 0. 0. 0. 1. ]] SLAMing on 145.578241008 meters Centerline goodness : 0.893831 Centerline is valid? [False, False] Translation: X:11.79, Y:0.50, Z:-0.28 [[ 0.98542485 0.0901878 -0.14423604 11.78765249] [-0.08418379 0.99533108 0.04721375 0.49575469] [ 0.14782072 -0.03438327 0.98841632 -0.2764848 ] [ 0. 0. 0. 1. ]] SLAMing on 145.608241008 meters Centerline goodness : 0.896475 Centerline is valid? [False, False] Translation: X:11.79, Y:0.50, Z:-0.28 [[ 0.98541166 0.09049867 -0.14413135 11.78737454] [-0.08463822 0.99533553 0.04629844 0.49956622] [ 0.147649 -0.033424 0.98847489 -0.27737676] [ 0. 0. 0. 1. ]] SLAMing on 145.638241008 meters Centerline goodness : 0.895664 Centerline is valid? [False, False] Translation: X:11.79, Y:0.50, Z:-0.28 [[ 0.98541026 0.09065752 -0.14404111 11.78729021] [-0.08495107 0.99535492 0.04529784 0.50267699] [ 0.14747862 -0.03240051 0.9885344 -0.27861007] [ 0. 0. 0. 1. ]] SLAMing on 145.668241008 meters Centerline goodness : 0.896333 Centerline is valid? [False, False] Translation: X:11.79, Y:0.50, Z:-0.28 [[ 0.98493966 0.09554534 -0.14410047 11.78739881] [-0.08926665 0.99477995 0.04943997 0.50394052] [ 0.14807202 -0.03583202 0.98832724 -0.27740495] [ 0. 0. 0. 1. ]] SLAMing on 145.698241008 meters Centerline goodness : 0.895902 Centerline is valid? [False, False] Translation: X:11.80, Y:0.51, Z:-0.28 [[ 0.98541066 0.0969051 -0.13991149 11.80203443] [-0.09230918 0.9949668 0.03898832 0.50727443] [ 0.14298546 -0.02550439 0.98939612 -0.28311943] [ 0. 0. 0. 1. ]] SLAMing on 145.728241008 meters Centerline goodness : 0.896569 Centerline is valid? [False, False] Translation: X:11.82, Y:0.51, Z:-0.29 [[ 0.98578697 0.09890375 -0.13580166 11.81701421] [-0.09567289 0.99495669 0.03013121 0.50961911] [ 0.13809686 -0.01671041 0.99027775 -0.28705257] [ 0. 0. 0. 1. ]] SLAMing on 145.758241008 meters Centerline goodness : 0.898329 Centerline is valid? [False, False] Translation: X:11.82, Y:0.51, Z:-0.29 [[ 0.98575248 0.09942746 -0.13566958 11.81605701] [-0.09623135 0.99490882 0.02993279 0.5109871 ] [ 0.13795501 -0.01645066 0.99030187 -0.28699821] [ 0. 0. 0. 1. ]] SLAMing on 145.788241008 meters Centerline goodness : 0.900411 Centerline is valid? [False, False] Translation: X:11.83, Y:0.51, Z:-0.29 [[ 9.86050332e-01 1.02418551e-01 -1.31206642e-01 1.18295681e+01] [-1.00524428e-01 9.94713011e-01 2.09968065e-02 5.13817058e-01] [ 1.32663417e-01 -7.51443545e-03 9.91132661e-01 -2.91537811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.818241008 meters Centerline goodness : 0.897873 Centerline is valid? [False, False] Translation: X:11.83, Y:0.51, Z:-0.29 [[ 9.86043409e-01 1.02409199e-01 -1.31265957e-01 1.18298284e+01] [-1.00555920e-01 9.94716303e-01 2.06877535e-02 5.14679124e-01] [ 1.32691004e-01 -7.19945397e-03 9.91131306e-01 -2.91911342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.848241008 meters Centerline goodness : 0.898288 Centerline is valid? [False, False] Translation: X:11.83, Y:0.51, Z:-0.29 [[ 9.86036070e-01 1.02620296e-01 -1.31156183e-01 1.18296033e+01] [-1.00746792e-01 9.94693417e-01 2.08588156e-02 5.14211400e-01] [ 1.32600730e-01 -7.35397987e-03 9.91142253e-01 -2.91985674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.878241008 meters Centerline goodness : 0.898913 Centerline is valid? [False, False] Translation: X:11.83, Y:0.51, Z:-0.29 [[ 9.86420288e-01 9.91093624e-02 -1.30966981e-01 1.18280812e+01] [-9.77431840e-02 9.95069271e-01 1.68349406e-02 5.13946924e-01] [ 1.31989719e-01 -3.80519722e-03 9.91243782e-01 -2.93229247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.908241008 meters Centerline goodness : 0.899970 Centerline is valid? [False, False] Translation: X:11.83, Y:0.51, Z:-0.29 [[ 9.86384427e-01 9.86687059e-02 -1.31568415e-01 1.18301173e+01] [-9.72788278e-02 9.95112554e-01 1.69656758e-02 5.12208935e-01] [ 1.32599363e-01 -3.93585716e-03 9.91161903e-01 -2.93549499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.938241008 meters Centerline goodness : 0.899506 Centerline is valid? [False, False] Translation: X:11.83, Y:0.51, Z:-0.29 [[ 9.86360124e-01 9.82745092e-02 -1.32044793e-01 1.18318537e+01] [-9.68562510e-02 9.95150842e-01 1.71367366e-02 5.10657210e-01] [ 1.33088592e-01 -4.11362997e-03 9.91095608e-01 -2.93760644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.968241008 meters Centerline goodness : 0.896462 Centerline is valid? [False, False] Translation: X:11.83, Y:0.51, Z:-0.29 [[ 9.86323411e-01 9.82257224e-02 -1.32354961e-01 1.18325600e+01] [-9.67137503e-02 9.95152702e-01 1.78199364e-02 5.08087427e-01] [ 1.33463773e-01 -4.77567583e-03 9.91042186e-01 -2.93146780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.998241008 meters Centerline goodness : 0.898254 Centerline is valid? [False, False] Translation: X:11.83, Y:0.50, Z:-0.29 [[ 9.86264105e-01 9.81063287e-02 -1.32884399e-01 1.18336380e+01] [-9.64701923e-02 9.95159987e-01 1.87110369e-02 5.04692028e-01] [ 1.34076908e-01 -5.63464048e-03 9.90954910e-01 -2.92098833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.028241008 meters Centerline goodness : 0.898617 Centerline is valid? [False, False] Translation: X:11.83, Y:0.50, Z:-0.29 [[ 9.86601016e-01 9.38672260e-02 -1.33444296e-01 1.18346003e+01] [-9.27099555e-02 9.95582062e-01 1.48735481e-02 5.01513343e-01] [ 1.34250886e-01 -2.30264292e-03 9.90944700e-01 -2.93486618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.058241008 meters Centerline goodness : 0.899713 Centerline is valid? [False, False] Translation: X:11.84, Y:0.50, Z:-0.29 [[ 9.86561523e-01 9.36173299e-02 -1.33911006e-01 1.18364459e+01] [-9.24193878e-02 9.95604941e-01 1.51478532e-02 4.99425706e-01] [ 1.34740561e-01 -2.56831588e-03 9.90877583e-01 -2.94021410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.088241008 meters Centerline goodness : 0.901188 Centerline is valid? [False, False] Translation: X:11.84, Y:0.50, Z:-0.30 [[ 9.86549836e-01 9.31534865e-02 -1.34319949e-01 1.18385861e+01] [-9.19838458e-02 9.95648998e-01 1.49011922e-02 4.98414970e-01] [ 1.35123620e-01 -2.34550325e-03 9.90825972e-01 -2.95321001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.118241008 meters Centerline goodness : 0.897280 Centerline is valid? [False, False] Translation: X:11.84, Y:0.49, Z:-0.30 [[ 9.86545643e-01 9.27877042e-02 -1.34603626e-01 1.18405300e+01] [-9.15415972e-02 9.95681688e-01 1.54308923e-02 4.94409848e-01] [ 1.35454162e-01 -2.90144867e-03 9.90779366e-01 -2.96226253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.148241008 meters Centerline goodness : 0.898902 Centerline is valid? [False, False] Translation: X:11.84, Y:0.49, Z:-0.30 [[ 9.86531828e-01 9.26155196e-02 -1.34823282e-01 1.18413856e+01] [-9.12752824e-02 9.95695514e-01 1.61017165e-02 4.91221552e-01] [ 1.35734206e-01 -3.57882270e-03 9.90738824e-01 -2.95879691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.17824100800001 meters Centerline goodness : 0.899809 Centerline is valid? [False, False] Translation: X:11.84, Y:0.49, Z:-0.29 [[ 9.86476281e-01 9.24704420e-02 -1.35328360e-01 1.18424272e+01] [-9.09721262e-02 9.95704415e-01 1.72275984e-02 4.87272159e-01] [ 1.36340090e-01 -4.68350854e-03 9.90651021e-01 -2.94585452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.208241008 meters Centerline goodness : 0.899780 Centerline is valid? [False, False] Translation: X:11.84, Y:0.48, Z:-0.29 [[ 9.86400609e-01 9.21108397e-02 -1.36122852e-01 1.18442015e+01] [-9.03445350e-02 9.95727200e-01 1.91104150e-02 4.82457908e-01] [ 1.37301503e-01 -6.55256921e-03 9.90507628e-01 -2.91693038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.238241008 meters Centerline goodness : 0.904599 Centerline is valid? [False, False] Translation: X:11.84, Y:0.48, Z:-0.29 [[ 9.86755827e-01 8.85834622e-02 -1.35889322e-01 1.18418380e+01] [-8.73114665e-02 9.96063499e-01 1.53040349e-02 4.82794267e-01] [ 1.36710078e-01 -3.23664962e-03 9.90605814e-01 -2.91534895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.268241008 meters Centerline goodness : 0.904737 Centerline is valid? [False, False] Translation: X:11.84, Y:0.48, Z:-0.29 [[ 9.86741517e-01 8.87197639e-02 -1.35904315e-01 1.18414643e+01] [-8.74772747e-02 9.96052077e-01 1.50992000e-02 4.83958813e-01] [ 1.36707372e-01 -3.01046841e-03 9.90606901e-01 -2.91341430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.298241008 meters Centerline goodness : 0.906371 Centerline is valid? [False, False] Translation: X:11.84, Y:0.49, Z:-0.29 [[ 9.86713109e-01 8.83418913e-02 -1.36355969e-01 1.18427538e+01] [-8.71530783e-02 9.96086827e-01 1.46756270e-02 4.85677222e-01] [ 1.37118857e-01 -2.59679111e-03 9.90551198e-01 -2.91373826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.328241008 meters Centerline goodness : 0.907407 Centerline is valid? [False, False] Translation: X:11.84, Y:0.49, Z:-0.29 [[ 9.86721534e-01 8.82341389e-02 -1.36364772e-01 1.18432560e+01] [-8.71139320e-02 9.96097538e-01 1.41723986e-02 4.87181084e-01] [ 1.37083103e-01 -2.10493933e-03 9.90557314e-01 -2.92248833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.358241008 meters Centerline goodness : 0.905773 Centerline is valid? [False, False] Translation: X:11.85, Y:0.49, Z:-0.29 [[ 9.86721997e-01 8.74966976e-02 -1.36835771e-01 1.18455683e+01] [-8.65237198e-02 9.96164266e-01 1.30537932e-02 4.90599834e-01] [ 1.37453070e-01 -1.04092498e-03 9.90507734e-01 -2.93836184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.388241008 meters Centerline goodness : 0.904872 Centerline is valid? [False, False] Translation: X:11.85, Y:0.49, Z:-0.29 [[ 9.86710066e-01 8.70573149e-02 -1.37201569e-01 1.18470034e+01] [-8.61296374e-02 9.96203052e-01 1.26950636e-02 4.91388900e-01] [ 1.37785820e-01 -7.09225628e-04 9.90461794e-01 -2.94308209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.418241008 meters Centerline goodness : 0.903932 Centerline is valid? [False, False] Translation: X:11.85, Y:0.49, Z:-0.29 [[ 9.86691693e-01 8.66880757e-02 -1.37567006e-01 1.18478100e+01] [-8.57274932e-02 9.96235061e-01 1.29034941e-02 4.91034608e-01] [ 1.38167653e-01 -9.38495858e-04 9.90408410e-01 -2.93576407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.448241008 meters Centerline goodness : 0.905031 Centerline is valid? [False, False] Translation: X:11.85, Y:0.49, Z:-0.29 [[ 9.86652098e-01 8.64720000e-02 -1.37986346e-01 1.18486088e+01] [-8.54416190e-02 9.96253275e-01 1.33843721e-02 4.90043521e-01] [ 1.38626722e-01 -1.41594197e-03 9.90343691e-01 -2.92488513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.478241008 meters Centerline goodness : 0.903026 Centerline is valid? [False, False] Translation: X:11.85, Y:0.49, Z:-0.29 [[ 9.86616075e-01 8.63611953e-02 -1.38312923e-01 1.18490411e+01] [-8.52526569e-02 9.96261980e-01 1.39302505e-02 4.88693305e-01] [ 1.38998940e-01 -1.95226488e-03 9.90290606e-01 -2.91362154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.508241008 meters Centerline goodness : 0.903841 Centerline is valid? [False, False] Translation: X:11.85, Y:0.49, Z:-0.29 [[ 9.86554343e-01 8.60605080e-02 -1.38939260e-01 1.18501018e+01] [-8.48623761e-02 9.96286650e-01 1.45357731e-02 4.87636736e-01] [ 1.39674285e-01 -2.54961437e-03 9.90194220e-01 -2.89802068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.538241008 meters Centerline goodness : 0.903412 Centerline is valid? [False, False] Translation: X:11.85, Y:0.49, Z:-0.29 [[ 9.86522564e-01 8.60407301e-02 -1.39176948e-01 1.18502389e+01] [-8.47536052e-02 9.96286610e-01 1.51597185e-02 4.86661284e-01] [ 1.39964483e-01 -3.15965624e-03 9.90151483e-01 -2.88487181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.568241008 meters Centerline goodness : 0.905517 Centerline is valid? [False, False] Translation: X:11.86, Y:0.48, Z:-0.28 [[ 9.86288092e-01 8.68057793e-02 -1.40358672e-01 1.18569527e+01] [-8.46862512e-02 9.96186027e-01 2.10151839e-02 4.83795609e-01] [ 1.41647588e-01 -8.84057580e-03 9.89877672e-01 -2.82881643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.598241008 meters Centerline goodness : 0.904146 Centerline is valid? [False, False] Translation: X:11.86, Y:0.48, Z:-0.28 [[ 0.98592018 0.089559 -0.14121115 11.8610062 ] [-0.0867911 0.99589621 0.02565216 0.48146351] [ 0.14292903 -0.01303511 0.9896471 -0.28093737] [ 0. 0. 0. 1. ]] SLAMing on 146.628241008 meters Centerline goodness : 0.904003 Centerline is valid? [False, False] Translation: X:11.86, Y:0.48, Z:-0.28 [[ 0.98553926 0.09288933 -0.14171784 11.86373758] [-0.08935593 0.99551378 0.03110992 0.47909056] [ 0.14397184 -0.01799672 0.98941813 -0.27758115] [ 0. 0. 0. 1. ]] SLAMing on 146.658241008 meters Centerline goodness : 0.904709 Centerline is valid? [False, False] Translation: X:11.86, Y:0.48, Z:-0.28 [[ 0.98550273 0.09252433 -0.14220975 11.86493688] [-0.08898076 0.99554794 0.03109226 0.48003312] [ 0.14445342 -0.01798757 0.9893481 -0.27686552] [ 0. 0. 0. 1. ]] SLAMing on 146.688241008 meters Centerline goodness : 0.904126 Centerline is valid? [False, False] Translation: X:11.87, Y:0.48, Z:-0.27 [[ 0.98508178 0.09587798 -0.1429031 11.86713116] [-0.09139063 0.99510288 0.03765638 0.47747138] [ 0.1458137 -0.02403461 0.98902007 -0.27067118] [ 0. 0. 0. 1. ]] SLAMing on 146.718241008 meters Centerline goodness : 0.905079 Centerline is valid? [False, False] Translation: X:11.87, Y:0.48, Z:-0.27 [[ 0.98507683 0.09564688 -0.14309197 11.86743283] [-0.09119747 0.99513208 0.03735193 0.479138 ] [ 0.145968 -0.0237449 0.98900431 -0.27021168] [ 0. 0. 0. 1. ]] SLAMing on 146.748241008 meters Centerline goodness : 0.906056 Centerline is valid? [False, False] Translation: X:11.87, Y:0.48, Z:-0.27 [[ 0.98507881 0.09517371 -0.14339351 11.8684907 ] [-0.0908255 0.99519458 0.03658518 0.48089327] [ 0.14618639 -0.0230155 0.98898929 -0.27082138] [ 0. 0. 0. 1. ]] SLAMing on 146.778241008 meters Centerline goodness : 0.908714 Centerline is valid? [False, False] Translation: X:11.87, Y:0.48, Z:-0.27 [[ 0.98510142 0.09504174 -0.14332573 11.86863496] [-0.09082046 0.9952262 0.03572751 0.48326584] [ 0.14603712 -0.02217831 0.98903048 -0.27181491] [ 0. 0. 0. 1. ]] SLAMing on 146.808241008 meters Centerline goodness : 0.909917 Centerline is valid? [False, False] Translation: X:11.87, Y:0.48, Z:-0.27 [[ 0.98461859 0.09881601 -0.14408895 11.87151771] [-0.09406118 0.99478398 0.03946308 0.48489765] [ 0.14723696 -0.02530291 0.98877755 -0.27099381] [ 0. 0. 0. 1. ]] SLAMing on 146.838241008 meters Centerline goodness : 0.908004 Centerline is valid? [False, False] Translation: X:11.87, Y:0.49, Z:-0.27 [[ 0.98462265 0.0987504 -0.14410618 11.87199329] [-0.09415567 0.99481741 0.03838006 0.48787101] [ 0.14714939 -0.02422146 0.98881767 -0.27247054] [ 0. 0. 0. 1. ]] SLAMing on 146.868241008 meters Centerline goodness : 0.911260 Centerline is valid? [False, False] Translation: X:11.87, Y:0.49, Z:-0.27 [[ 0.98465325 0.09844933 -0.14410308 11.87280093] [-0.09406367 0.99488011 0.03695398 0.49164451] [ 0.14700338 -0.02283199 0.98887244 -0.27440605] [ 0. 0. 0. 1. ]] SLAMing on 146.898241008 meters Centerline goodness : 0.907619 Centerline is valid? [False, False] Translation: X:11.87, Y:0.50, Z:-0.28 [[ 0.98464088 0.09837406 -0.14423896 11.87362763] [-0.0942716 0.99493028 0.03502284 0.49750913] [ 0.14695305 -0.02088728 0.98892291 -0.27685207] [ 0. 0. 0. 1. ]] SLAMing on 146.92824100800001 meters Centerline goodness : 0.907958 Centerline is valid? [False, False] Translation: X:11.87, Y:0.50, Z:-0.28 [[ 0.98461962 0.09813579 -0.14454608 11.8745862 ] [-0.094163 0.99497293 0.034091 0.50008392] [ 0.14716499 -0.01995577 0.98891063 -0.27768566] [ 0. 0. 0. 1. ]] SLAMing on 146.958241008 meters Centerline goodness : 0.908951 Centerline is valid? [False, False] Translation: X:11.88, Y:0.50, Z:-0.28 [[ 0.98461212 0.09791107 -0.14474942 11.87510627] [-0.09404069 0.99500928 0.03335986 0.50214898] [ 0.14729331 -0.01923419 0.98890582 -0.27811896] [ 0. 0. 0. 1. ]] SLAMing on 146.988241008 meters Centerline goodness : 0.906013 Centerline is valid? [False, False] Translation: X:11.88, Y:0.50, Z:-0.28 [[ 0.98458393 0.09773505 -0.1450598 11.87566957] [-0.09395302 0.99503899 0.03271441 0.50436701] [ 0.1475375 -0.01858127 0.9888819 -0.27825306] [ 0. 0. 0. 1. ]] SLAMing on 147.018241008 meters Centerline goodness : 0.908879 Centerline is valid? [False, False] Translation: X:11.87, Y:0.51, Z:-0.28 [[ 0.98457602 0.09785245 -0.14503432 11.87472098] [-0.09414356 0.99503661 0.03223565 0.50693785] [ 0.14746879 -0.0180844 0.98890136 -0.27765971] [ 0. 0. 0. 1. ]] SLAMing on 147.048241008 meters Centerline goodness : 0.908274 Centerline is valid? [False, False] Translation: X:11.88, Y:0.51, Z:-0.28 [[ 0.98453067 0.09742126 -0.14563125 11.87592809] [-0.09369587 0.99507868 0.03224144 0.50736005] [ 0.14805555 -0.01809764 0.98881345 -0.27669616] [ 0. 0. 0. 1. ]] SLAMing on 147.078241008 meters Centerline goodness : 0.909954 Centerline is valid? [False, False] Translation: X:11.88, Y:0.51, Z:-0.28 [[ 0.98450389 0.0968841 -0.14616965 11.87733373] [-0.09317206 0.99513412 0.03204777 0.5074832 ] [ 0.14856333 -0.01793222 0.9887403 -0.27643625] [ 0. 0. 0. 1. ]] SLAMing on 147.108241008 meters Centerline goodness : 0.910089 Centerline is valid? [False, False] Translation: X:11.88, Y:0.51, Z:-0.28 [[ 0.98452218 0.09550517 -0.14695181 11.88038521] [-0.09181105 0.99527064 0.03173474 0.5074312 ] [ 0.14928765 -0.01775176 0.98863445 -0.2763153 ] [ 0. 0. 0. 1. ]] SLAMing on 147.138241008 meters Centerline goodness : 0.907065 Centerline is valid? [False, False] Translation: X:11.88, Y:0.51, Z:-0.28 [[ 0.98451207 0.09452616 -0.14765094 11.88308968] [-0.09089897 0.99537317 0.0311388 0.50760025] [ 0.14991121 -0.0172352 0.98854923 -0.27709869] [ 0. 0. 0. 1. ]] SLAMing on 147.168241008 meters Centerline goodness : 0.907775 Centerline is valid? [False, False] Translation: X:11.89, Y:0.51, Z:-0.27 [[ 0.98431933 0.09463329 -0.14886234 11.89100364] [-0.09027306 0.99527358 0.03579481 0.50526627] [ 0.15154613 -0.02179526 0.98820986 -0.27365863] [ 0. 0. 0. 1. ]] SLAMing on 147.198241008 meters Centerline goodness : 0.908927 Centerline is valid? [False, False] Translation: X:11.89, Y:0.51, Z:-0.27 [[ 0.98427364 0.09386878 -0.14964642 11.89349884] [-0.08948219 0.99534493 0.03579669 0.50511075] [ 0.15231 -0.02184305 0.98809136 -0.27312433] [ 0. 0. 0. 1. ]] SLAMing on 147.228241008 meters Centerline goodness : 0.907551 Centerline is valid? [False, False] Translation: X:11.89, Y:0.51, Z:-0.27 [[ 0.98467323 0.08910356 -0.14993059 11.89366208] [-0.08536827 0.99586145 0.03118072 0.5064731 ] [ 0.15208841 -0.0179035 0.98820473 -0.27387834] [ 0. 0. 0. 1. ]] SLAMing on 147.258241008 meters Centerline goodness : 0.905004 Centerline is valid? [False, False] Translation: X:11.89, Y:0.51, Z:-0.27 [[ 0.98464339 0.0886938 -0.15036887 11.89486386] [-0.084947 0.99589771 0.03117301 0.50615099] [ 0.15251686 -0.01792091 0.98813837 -0.27359314] [ 0. 0. 0. 1. ]] SLAMing on 147.288241008 meters Centerline goodness : 0.908210 Centerline is valid? [False, False] Translation: X:11.90, Y:0.51, Z:-0.27 [[ 0.98463363 0.08844239 -0.15058074 11.89550708] [-0.08468992 0.99591983 0.03116586 0.50624723] [ 0.15272272 -0.01793428 0.98810634 -0.27337192] [ 0. 0. 0. 1. ]] SLAMing on 147.318241008 meters Centerline goodness : 0.906591 Centerline is valid? [False, False] Translation: X:11.90, Y:0.51, Z:-0.27 [[ 0.98463396 0.08815799 -0.15074526 11.89628387] [-0.08443034 0.99594814 0.03096482 0.50700521] [ 0.15286426 -0.01776154 0.98808757 -0.2734705 ] [ 0. 0. 0. 1. ]] SLAMing on 147.348241008 meters Centerline goodness : 0.906591 Centerline is valid? [False, False] Translation: X:11.90, Y:0.51, Z:-0.27 [[ 0.98463998 0.08815721 -0.15070638 11.89623174] [-0.08444682 0.99595007 0.03085776 0.50724718] [ 0.15281636 -0.01765711 0.98809685 -0.27358491] [ 0. 0. 0. 1. ]] SLAMing on 147.378241008 meters Centerline goodness : 0.906382 Centerline is valid? [False, False] Translation: X:11.90, Y:0.51, Z:-0.27 [[ 0.98465202 0.08820409 -0.15060028 11.89607162] [-0.08452708 0.99594944 0.03065766 0.5085402 ] [ 0.15269439 -0.01745733 0.98811926 -0.27370813] [ 0. 0. 0. 1. ]] SLAMing on 147.408241008 meters Centerline goodness : 0.905426 Centerline is valid? [False, False] Translation: X:11.90, Y:0.51, Z:-0.27 [[ 0.98421091 0.09216611 -0.15111023 11.8979007 ] [-0.08772295 0.9955005 0.03582504 0.5061206 ] [ 0.15373216 -0.02200356 0.98786753 -0.27115937] [ 0. 0. 0. 1. ]] SLAMing on 147.438241008 meters Centerline goodness : 0.905426 Centerline is valid? [False, False] Translation: X:11.90, Y:0.51, Z:-0.27 [[ 0.9842055 0.0922242 -0.15110998 11.89809696] [-0.08787135 0.99550798 0.03524891 0.50789622] [ 0.15368199 -0.02141393 0.9878883 -0.2718401 ] [ 0. 0. 0. 1. ]] SLAMing on 147.468241008 meters Centerline goodness : 0.904287 Centerline is valid? [False, False] Translation: X:11.90, Y:0.51, Z:-0.27 [[ 0.98418248 0.09278381 -0.15091726 11.89750155] [-0.08860433 0.99547956 0.03420122 0.51155348] [ 0.15340837 -0.02028832 0.98795458 -0.27336976] [ 0. 0. 0. 1. ]] SLAMing on 147.498241008 meters Centerline goodness : 0.903880 Centerline is valid? [False, False] Translation: X:11.90, Y:0.51, Z:-0.27 [[ 0.98415317 0.09262889 -0.15120327 11.89848621] [-0.08855488 0.99550869 0.03347348 0.51314587] [ 0.15362479 -0.01955324 0.98793578 -0.27420493] [ 0. 0. 0. 1. ]] SLAMing on 147.528241008 meters Centerline goodness : 0.903616 Centerline is valid? [False, False] Translation: X:11.90, Y:0.51, Z:-0.27 [[ 0.98413714 0.09255663 -0.15135177 11.89902288] [-0.08856594 0.99552638 0.03291365 0.51417399] [ 0.15372105 -0.01898693 0.98793185 -0.2748856 ] [ 0. 0. 0. 1. ]] SLAMing on 147.558241008 meters Centerline goodness : 0.904728 Centerline is valid? [False, False] Translation: X:11.90, Y:0.52, Z:-0.27 [[ 0.98410728 0.09260462 -0.15151645 11.89908723] [-0.08865499 0.99552769 0.03263307 0.51524443] [ 0.1538608 -0.01868175 0.98791591 -0.27477171] [ 0. 0. 0. 1. ]] SLAMing on 147.588241008 meters Centerline goodness : 0.903573 Centerline is valid? [False, False] Translation: X:11.90, Y:0.52, Z:-0.27 [[ 0.98407746 0.09254639 -0.15174558 11.89943952] [-0.08867335 0.99554308 0.03210949 0.51662542] [ 0.15404088 -0.01814244 0.9878979 -0.27499345] [ 0. 0. 0. 1. ]] SLAMing on 147.618241008 meters Centerline goodness : 0.902444 Centerline is valid? [False, False] Translation: X:11.90, Y:0.51, Z:-0.27 [[ 0.98364291 0.095986 -0.15242481 11.90244154] [-0.09142191 0.99513607 0.03669099 0.51441219] [ 0.15520525 -0.02215586 0.98763376 -0.27339053] [ 0. 0. 0. 1. ]] SLAMing on 147.648241008 meters Centerline goodness : 0.901773 Centerline is valid? [False, False] Translation: X:11.90, Y:0.52, Z:-0.27 [[ 0.98365736 0.09543867 -0.15267502 11.90400926] [-0.0910149 0.99520862 0.03572237 0.51617067] [ 0.1553528 -0.02124287 0.98763062 -0.2748731 ] [ 0. 0. 0. 1. ]] SLAMing on 147.67824100800001 meters Centerline goodness : 0.902077 Centerline is valid? [False, False] Translation: X:11.91, Y:0.52, Z:-0.28 [[ 0.98366691 0.09482026 -0.15299844 11.90567643] [-0.09049735 0.99528179 0.03499136 0.51741038] [ 0.15559445 -0.02057389 0.98760674 -0.27596298] [ 0. 0. 0. 1. ]] SLAMing on 147.708241008 meters Centerline goodness : 0.903882 Centerline is valid? [False, False] Translation: X:11.92, Y:0.51, Z:-0.26 [[ 0.98395657 0.09420457 -0.15150899 11.92164708] [-0.08788307 0.99497813 0.04790715 0.51213419] [ 0.1552612 -0.03382348 0.98729425 -0.26402101] [ 0. 0. 0. 1. ]] SLAMing on 147.738241008 meters Centerline goodness : 0.902675 Centerline is valid? [False, False] Translation: X:11.92, Y:0.51, Z:-0.27 [[ 0.98437022 0.08949919 -0.15167453 11.92164092] [-0.08392547 0.99555363 0.04277255 0.5144518 ] [ 0.15482824 -0.02937466 0.98750461 -0.26567977] [ 0. 0. 0. 1. ]] SLAMing on 147.768241008 meters Centerline goodness : 0.904382 Centerline is valid? [False, False] Translation: X:11.92, Y:0.51, Z:-0.26 [[ 0.98436112 0.08885751 -0.15211027 11.92255222] [-0.08305404 0.99556864 0.04410339 0.51220811] [ 0.15535513 -0.03078029 0.98737903 -0.26247227] [ 0. 0. 0. 1. ]] SLAMing on 147.798241008 meters Centerline goodness : 0.904294 Centerline is valid? [False, False] Translation: X:11.92, Y:0.52, Z:-0.26 [[ 0.98473295 0.08410934 -0.15240284 11.92273896] [-0.07906954 0.99611202 0.03884403 0.51515237] [ 0.15507745 -0.02620058 0.98755482 -0.26397349] [ 0. 0. 0. 1. ]] SLAMing on 147.828241008 meters Centerline goodness : 0.905206 Centerline is valid? [False, False] Translation: X:11.92, Y:0.51, Z:-0.26 [[ 0.98446824 0.08734498 -0.15229296 11.92365783] [-0.08153066 0.99569797 0.04402615 0.51178672] [ 0.15548325 -0.0309258 0.98735432 -0.26099807] [ 0. 0. 0. 1. ]] SLAMing on 147.858241008 meters Centerline goodness : 0.903956 Centerline is valid? [False, False] Translation: X:11.92, Y:0.51, Z:-0.26 [[ 0.98444497 0.08725152 -0.15249681 11.92382296] [-0.08139553 0.99569943 0.04424271 0.51195916] [ 0.15570123 -0.03114196 0.98731317 -0.26011268] [ 0. 0. 0. 1. ]] SLAMing on 147.888241008 meters Centerline goodness : 0.903867 Centerline is valid? [False, False] Translation: X:11.92, Y:0.51, Z:-0.26 [[ 0.98447484 0.08677127 -0.15257797 11.92454272] [-0.08098718 0.99575513 0.04373562 0.51349635] [ 0.15572529 -0.03069976 0.98732323 -0.26041031] [ 0. 0. 0. 1. ]] SLAMing on 147.918241008 meters Centerline goodness : 0.903619 Centerline is valid? [False, False] Translation: X:11.93, Y:0.51, Z:-0.26 [[ 0.98445637 0.08614038 -0.15305391 11.92667655] [-0.08044173 0.99582901 0.04305481 0.51428136] [ 0.15612428 -0.03007366 0.98727949 -0.26160967] [ 0. 0. 0. 1. ]] SLAMing on 147.948241008 meters Centerline goodness : 0.902489 Centerline is valid? [False, False] Translation: X:11.93, Y:0.52, Z:-0.26 [[ 0.98445777 0.0855663 -0.15336657 11.92856954] [-0.07998978 0.99590281 0.04218098 0.51559825] [ 0.15634747 -0.02925763 0.98726869 -0.26317146] [ 0. 0. 0. 1. ]] SLAMing on 147.978241008 meters Centerline goodness : 0.899521 Centerline is valid? [False, False] Translation: X:11.91, Y:0.52, Z:-0.27 [[ 0.98416567 0.08446539 -0.15583172 11.90618307] [-0.07826254 0.99589253 0.04553076 0.51876425] [ 0.15903742 -0.03261402 0.98673372 -0.26594261] [ 0. 0. 0. 1. ]] SLAMing on 148.008241008 meters Centerline goodness : 0.898912 Centerline is valid? [False, False] Translation: X:11.91, Y:0.52, Z:-0.27 [[ 0.98414672 0.08387297 -0.15627077 11.9080338 ] [-0.07778485 0.99596821 0.04468593 0.51995962] [ 0.15938866 -0.03182201 0.9867029 -0.26714974] [ 0. 0. 0. 1. ]] SLAMing on 148.038241008 meters Centerline goodness : 0.897175 Centerline is valid? [False, False] Translation: X:11.91, Y:0.52, Z:-0.27 [[ 0.98447863 0.07973395 -0.1563468 11.90746838] [-0.07445532 0.99644798 0.03934245 0.52375668] [ 0.15892838 -0.02709095 0.98691836 -0.26917637] [ 0. 0. 0. 1. ]] SLAMing on 148.068241008 meters Centerline goodness : 0.897491 Centerline is valid? [False, False] Translation: X:11.91, Y:0.52, Z:-0.27 [[ 0.98447208 0.07994242 -0.15628157 11.90700835] [-0.07469391 0.99643643 0.0391823 0.52474534] [ 0.15885698 -0.0269006 0.98693506 -0.26903035] [ 0. 0. 0. 1. ]] SLAMing on 148.098241008 meters Centerline goodness : 0.897192 Centerline is valid? [False, False] Translation: X:11.91, Y:0.52, Z:-0.27 [[ 0.98494854 0.09132802 -0.14675 11.90944472] [-0.08558369 0.995314 0.04500528 0.52152747] [ 0.15017257 -0.03176848 0.98814926 -0.26514623] [ 0. 0. 0. 1. ]] SLAMing on 148.128241008 meters Centerline goodness : 0.896856 Centerline is valid? [False, False] Translation: X:11.91, Y:0.52, Z:-0.27 [[ 0.98493377 0.09218406 -0.14631327 11.90783972] [-0.08655448 0.9952572 0.04440076 0.52465183] [ 0.14971237 -0.03106774 0.98824137 -0.2659462 ] [ 0. 0. 0. 1. ]] SLAMing on 148.158241008 meters Centerline goodness : 0.896114 Centerline is valid? [False, False] Translation: X:11.91, Y:0.52, Z:-0.26 [[ 0.98448509 0.09727688 -0.14603531 11.90724094] [-0.09097533 0.99463494 0.04924243 0.52464765] [ 0.15004197 -0.03519283 0.98805307 -0.26417171] [ 0. 0. 0. 1. ]] SLAMing on 148.188241008 meters Centerline goodness : 0.895101 Centerline is valid? [False, False] Translation: X:11.91, Y:0.53, Z:-0.27 [[ 0.98447788 0.09748623 -0.14594427 11.90725982] [-0.09138087 0.99465923 0.04798496 0.52822938] [ 0.14984269 -0.03390362 0.98812839 -0.26588948] [ 0. 0. 0. 1. ]] SLAMing on 148.218241008 meters Centerline goodness : 0.893626 Centerline is valid? [False, False] Translation: X:11.90, Y:0.53, Z:-0.27 [[ 0.98437319 0.09938305 -0.14536998 11.9044324 ] [-0.09334251 0.99448517 0.04781664 0.53125013] [ 0.14932045 -0.03350022 0.9882212 -0.26655393] [ 0. 0. 0. 1. ]] SLAMing on 148.248241008 meters Centerline goodness : 0.892121 Centerline is valid? [False, False] Translation: X:11.92, Y:0.53, Z:-0.27 [[ 0.98487794 0.09917114 -0.14205821 11.9199074 ] [-0.09506501 0.99484064 0.03542241 0.53445006] [ 0.14483816 -0.02138198 0.9892243 -0.27287293] [ 0. 0. 0. 1. ]] SLAMing on 148.278241008 meters Centerline goodness : 0.892688 Centerline is valid? [False, False] Translation: X:11.92, Y:0.54, Z:-0.27 [[ 0.9851914 0.0956808 -0.14227819 11.91891842] [-0.09226529 0.99526944 0.0304278 0.5377706 ] [ 0.14451649 -0.01684987 0.98935892 -0.27454209] [ 0. 0. 0. 1. ]] SLAMing on 148.308241008 meters Centerline goodness : 0.894783 Centerline is valid? [False, False] Translation: X:11.93, Y:0.54, Z:-0.28 [[ 9.85708463e-01 9.66604931e-02 -1.37969471e-01 1.19346400e+01] [-9.45596429e-02 9.95282302e-01 2.17166721e-02 5.38899430e-01] [ 1.39417717e-01 -8.35996359e-03 9.90198370e-01 -2.77784654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.338241008 meters Centerline goodness : 0.894479 Centerline is valid? [False, False] Translation: X:11.93, Y:0.54, Z:-0.28 [[ 9.85672588e-01 9.68584690e-02 -1.38086881e-01 1.19347847e+01] [-9.47169793e-02 9.95260862e-01 2.20116002e-02 5.37609200e-01] [ 1.39564478e-01 -8.61705865e-03 9.90175491e-01 -2.77604494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.368241008 meters Centerline goodness : 0.893524 Centerline is valid? [False, False] Translation: X:11.93, Y:0.54, Z:-0.28 [[ 9.86079130e-01 9.26906421e-02 -1.38044900e-01 1.19342711e+01] [-9.11646376e-02 9.95684679e-01 1.73501931e-02 5.39360246e-01] [ 1.39057393e-01 -4.52385005e-03 9.90273991e-01 -2.79199660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.398241008 meters Centerline goodness : 0.893239 Centerline is valid? [False, False] Translation: X:11.94, Y:0.54, Z:-0.28 [[ 9.86040099e-01 9.23359624e-02 -1.38560433e-01 1.19359078e+01] [-9.07558360e-02 9.95715998e-01 1.76926517e-02 5.36918078e-01] [ 1.39600508e-01 -4.87049607e-03 9.90195928e-01 -2.79221732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.42824100800001 meters Centerline goodness : 0.893258 Centerline is valid? [False, False] Translation: X:11.94, Y:0.53, Z:-0.28 [[ 9.86386975e-01 8.73237478e-02 -1.39338792e-01 1.19379576e+01] [-8.62246068e-02 9.96178512e-01 1.39172447e-02 5.33484536e-01] [ 1.40021616e-01 -1.71335639e-03 9.90146965e-01 -2.80127005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.458241008 meters Centerline goodness : 0.890469 Centerline is valid? [False, False] Translation: X:11.94, Y:0.53, Z:-0.28 [[ 9.86333798e-01 8.66338385e-02 -1.40143555e-01 1.19407014e+01] [-8.54495403e-02 9.96237601e-01 1.44574452e-02 5.30324029e-01] [ 1.40868783e-01 -2.28466446e-03 9.90025639e-01 -2.79985290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.488241008 meters Centerline goodness : 0.893700 Centerline is valid? [False, False] Translation: X:11.94, Y:0.53, Z:-0.28 [[ 9.86304523e-01 8.62464488e-02 -1.40587827e-01 1.19424372e+01] [-8.50032348e-02 9.96270223e-01 1.48355214e-02 5.27804636e-01] [ 1.41342977e-01 -2.68192184e-03 9.89957055e-01 -2.80196319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.518241008 meters Centerline goodness : 0.889959 Centerline is valid? [False, False] Translation: X:11.95, Y:0.52, Z:-0.28 [[ 9.86288548e-01 8.54666065e-02 -1.41174924e-01 1.19450643e+01] [-8.40833629e-02 9.96334317e-01 1.57453959e-02 5.22442050e-01] [ 1.42003127e-01 -3.65904133e-03 9.89859446e-01 -2.80057676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.548241008 meters Centerline goodness : 0.887900 Centerline is valid? [False, False] Translation: X:11.95, Y:0.52, Z:-0.28 [[ 9.86248183e-01 8.55089492e-02 -1.41431048e-01 1.19455170e+01] [-8.40053060e-02 9.96327374e-01 1.65792902e-02 5.19155230e-01] [ 1.42329302e-01 -4.47033641e-03 9.89809267e-01 -2.79224699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.578241008 meters Centerline goodness : 0.890760 Centerline is valid? [False, False] Translation: X:11.95, Y:0.51, Z:-0.27 [[ 9.85887956e-01 8.85038147e-02 -1.42098604e-01 1.19489346e+01] [-8.59484277e-02 9.96009667e-01 2.40335594e-02 5.12308340e-01] [ 1.43658645e-01 -1.14812452e-02 9.89560698e-01 -2.73010556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.608241008 meters Centerline goodness : 0.885020 Centerline is valid? [False, False] Translation: X:11.95, Y:0.51, Z:-0.27 [[ 0.98583574 0.08839907 -0.14252545 11.95004648] [-0.08575642 0.99601261 0.02459103 0.51015957] [ 0.14413096 -0.01202024 0.98948561 -0.27245734] [ 0. 0. 0. 1. ]] SLAMing on 148.638241008 meters Centerline goodness : 0.889975 Centerline is valid? [False, False] Translation: X:11.95, Y:0.51, Z:-0.28 [[ 9.86210446e-01 8.39615578e-02 -1.42616316e-01 1.19507290e+01] [-8.20216984e-02 9.96440982e-01 1.94373363e-02 5.11321212e-01] [ 1.43740731e-01 -7.47167165e-03 9.89587175e-01 -2.75623192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.668241008 meters Centerline goodness : 0.886322 Centerline is valid? [False, False] Translation: X:11.95, Y:0.51, Z:-0.28 [[ 9.86172878e-01 8.34749450e-02 -1.43160705e-01 1.19528124e+01] [-8.15342974e-02 9.96482110e-01 1.93794558e-02 5.09869419e-01] [ 1.44274781e-01 -7.43898615e-03 9.89509701e-01 -2.76177145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.698241008 meters Centerline goodness : 0.885474 Centerline is valid? [False, False] Translation: X:11.95, Y:0.51, Z:-0.28 [[ 9.86126381e-01 8.31055223e-02 -1.43694927e-01 1.19549122e+01] [-8.11469499e-02 9.96512398e-01 1.94476960e-02 5.08002707e-01] [ 1.44809987e-01 -7.51748108e-03 9.89430925e-01 -2.76810906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.728241008 meters Centerline goodness : 0.886326 Centerline is valid? [False, False] Translation: X:11.96, Y:0.51, Z:-0.28 [[ 9.86059441e-01 8.26253949e-02 -1.44429298e-01 1.19574413e+01] [-8.06398617e-02 9.96551401e-01 1.95580545e-02 5.06320189e-01] [ 1.45547211e-01 -7.63864564e-03 9.89321818e-01 -2.77164453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.758241008 meters Centerline goodness : 0.882888 Centerline is valid? [False, False] Translation: X:11.96, Y:0.50, Z:-0.28 [[ 9.86018025e-01 8.15742862e-02 -1.45306884e-01 1.19615207e+01] [-7.95986388e-02 9.96638806e-01 1.93687077e-02 5.02995758e-01] [ 1.46398468e-01 -7.53166472e-03 9.89197029e-01 -2.78865146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.788241008 meters Centerline goodness : 0.882265 Centerline is valid? [False, False] Translation: X:11.97, Y:0.50, Z:-0.27 [[ 0.98571195 0.08305815 -0.14653769 11.96859424] [-0.08014254 0.99645205 0.0256999 0.49763745] [ 0.14815236 -0.01358879 0.98887119 -0.27393432] [ 0. 0. 0. 1. ]] SLAMing on 148.818241008 meters Centerline goodness : 0.884456 Centerline is valid? [False, False] Translation: X:11.97, Y:0.49, Z:-0.27 [[ 0.98562589 0.08294602 -0.1471787 11.97021624] [-0.07992171 0.99645268 0.02635488 0.49478923] [ 0.14884264 -0.01421328 0.98875874 -0.27329599] [ 0. 0. 0. 1. ]] SLAMing on 148.848241008 meters Centerline goodness : 0.884250 Centerline is valid? [False, False] Translation: X:11.97, Y:0.49, Z:-0.27 [[ 0.98552873 0.08295819 -0.14782106 11.97204469] [-0.07981471 0.99644175 0.02708218 0.49145062] [ 0.14954177 -0.01489197 0.98864326 -0.27300997] [ 0. 0. 0. 1. ]] SLAMing on 148.878241008 meters Centerline goodness : 0.886268 Centerline is valid? [False, False] Translation: X:11.97, Y:0.49, Z:-0.27 [[ 0.98512196 0.08675485 -0.14835201 11.97460344] [-0.08293655 0.99604908 0.03174522 0.48776091] [ 0.15051994 -0.01896911 0.98842497 -0.27192175] [ 0. 0. 0. 1. ]] SLAMing on 148.908241008 meters Centerline goodness : 0.887311 Centerline is valid? [False, False] Translation: X:11.97, Y:0.49, Z:-0.27 [[ 0.98509953 0.08726815 -0.14819981 11.97364499] [-0.08348931 0.99600934 0.03154263 0.48865942] [ 0.15036106 -0.01869953 0.98845429 -0.27204832] [ 0. 0. 0. 1. ]] SLAMing on 148.938241008 meters Centerline goodness : 0.889171 Centerline is valid? [False, False] Translation: X:11.99, Y:0.49, Z:-0.28 [[ 9.85699798e-01 8.74361793e-02 -1.44051458e-01 1.19897797e+01] [-8.51331652e-02 9.96124756e-01 2.20865445e-02 4.90568187e-01] [ 1.45424387e-01 -9.50714584e-03 9.89323689e-01 -2.75078009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.968241008 meters Centerline goodness : 0.885648 Centerline is valid? [False, False] Translation: X:11.99, Y:0.49, Z:-0.27 [[ 9.85703680e-01 8.77548134e-02 -1.43830969e-01 1.19884668e+01] [-8.54472861e-02 9.96096344e-01 2.21547867e-02 4.91890480e-01] [ 1.45213692e-01 -9.54808882e-03 9.89354243e-01 -2.74255194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.998241008 meters Centerline goodness : 0.881985 Centerline is valid? [False, False] Translation: X:11.99, Y:0.49, Z:-0.27 [[ 9.85722863e-01 8.75986065e-02 -1.43794722e-01 1.19888413e+01] [-8.53532887e-02 9.96113935e-01 2.17219695e-02 4.93316456e-01] [ 1.45138741e-01 -9.13848957e-03 9.89369109e-01 -2.74947354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.028241008 meters Centerline goodness : 0.880880 Centerline is valid? [False, False] Translation: X:11.99, Y:0.49, Z:-0.28 [[ 9.85727946e-01 8.71957649e-02 -1.44004565e-01 1.19897334e+01] [-8.49998349e-02 9.96152341e-01 2.13434388e-02 4.94153348e-01] [ 1.45311542e-01 -8.79845985e-03 9.89346826e-01 -2.75305543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.058241008 meters Centerline goodness : 0.880781 Centerline is valid? [False, False] Translation: X:11.99, Y:0.49, Z:-0.28 [[ 9.85705731e-01 8.68121393e-02 -1.44387893e-01 1.19908648e+01] [-8.46419430e-02 9.96187626e-01 2.11176339e-02 4.94854461e-01] [ 1.45670700e-01 -8.59450093e-03 9.89295801e-01 -2.75263533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.088241008 meters Centerline goodness : 0.883317 Centerline is valid? [False, False] Translation: X:11.99, Y:0.50, Z:-0.28 [[ 9.85721520e-01 8.68898278e-02 -1.44233293e-01 1.19903826e+01] [-8.47792319e-02 9.96184152e-01 2.07272261e-02 4.96892669e-01] [ 1.45483906e-01 -8.20328500e-03 9.89326609e-01 -2.75399286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.118241008 meters Centerline goodness : 0.881286 Centerline is valid? [False, False] Translation: X:11.99, Y:0.50, Z:-0.28 [[ 9.85729605e-01 8.68880236e-02 -1.44179118e-01 1.19902739e+01] [-8.48387657e-02 9.96187619e-01 2.03128611e-02 4.98252503e-01] [ 1.45394397e-01 -7.79101015e-03 9.89343100e-01 -2.75767021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.148241008 meters Centerline goodness : 0.882830 Centerline is valid? [False, False] Translation: X:11.99, Y:0.50, Z:-0.28 [[ 9.85707401e-01 8.65873920e-02 -1.44511391e-01 1.19912574e+01] [-8.46008469e-02 9.96217235e-01 1.98473712e-02 4.99304354e-01] [ 1.45683271e-01 -7.33791460e-03 9.89304068e-01 -2.76031356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.17824100800001 meters Centerline goodness : 0.885836 Centerline is valid? [False, False] Translation: X:11.99, Y:0.50, Z:-0.28 [[ 9.85665746e-01 8.61870926e-02 -1.45033865e-01 1.19925447e+01] [-8.42389054e-02 9.96254132e-01 1.95322904e-02 4.99686115e-01] [ 1.46174019e-01 -7.03481556e-03 9.89233879e-01 -2.75954544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.208241008 meters Centerline goodness : 0.883226 Centerline is valid? [False, False] Translation: X:11.99, Y:0.50, Z:-0.28 [[ 9.85617517e-01 8.57294153e-02 -1.45631647e-01 1.19944666e+01] [-8.38309465e-02 9.96296255e-01 1.91348937e-02 4.99423256e-01] [ 1.46732688e-01 -6.65124754e-03 9.89153820e-01 -2.76588966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.238241008 meters Centerline goodness : 0.884976 Centerline is valid? [False, False] Translation: X:12.00, Y:0.50, Z:-0.28 [[ 9.85598828e-01 8.50905495e-02 -1.46131956e-01 1.19964884e+01] [-8.32333564e-02 9.96352960e-01 1.87879667e-02 4.99482296e-01] [ 1.47197685e-01 -6.35434483e-03 9.89086682e-01 -2.77167376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.268241008 meters Centerline goodness : 0.884976 Centerline is valid? [False, False] Translation: X:12.00, Y:0.50, Z:-0.28 [[ 9.85598828e-01 8.50905495e-02 -1.46131956e-01 1.19964884e+01] [-8.32333564e-02 9.96352960e-01 1.87879667e-02 4.99482296e-01] [ 1.47197685e-01 -6.35434483e-03 9.89086682e-01 -2.77167376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.298241008 meters Centerline goodness : 0.883911 Centerline is valid? [False, False] Translation: X:12.00, Y:0.50, Z:-0.28 [[ 9.85570490e-01 8.44708518e-02 -1.46681572e-01 1.19985420e+01] [-8.26654229e-02 9.96407998e-01 1.83719800e-02 4.99520971e-01] [ 1.47706588e-01 -5.98138715e-03 9.89013138e-01 -2.77862296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.328241008 meters Centerline goodness : 0.883918 Centerline is valid? [False, False] Translation: X:12.00, Y:0.50, Z:-0.28 [[ 9.85542255e-01 8.37512567e-02 -1.47282692e-01 1.20007548e+01] [-8.19749755e-02 9.96470017e-01 1.80999813e-02 4.99264359e-01] [ 1.48278683e-01 -5.76480133e-03 9.88928814e-01 -2.78295300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.358241008 meters Centerline goodness : 0.885884 Centerline is valid? [False, False] Translation: X:12.00, Y:0.50, Z:-0.28 [[ 9.85481539e-01 8.24295030e-02 -1.48430161e-01 1.20044563e+01] [-8.04936472e-02 9.96573773e-01 1.90128306e-02 4.96577076e-01] [ 1.49488824e-01 -6.78910858e-03 9.88740107e-01 -2.76342405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.388241008 meters Centerline goodness : 0.883921 Centerline is valid? [False, False] Translation: X:12.01, Y:0.50, Z:-0.27 [[ 9.85418010e-01 8.18508540e-02 -1.49170318e-01 1.20063319e+01] [-7.98230923e-02 9.96617498e-01 1.95406210e-02 4.95261607e-01] [ 1.50265166e-01 -7.34844381e-03 9.88618420e-01 -2.74986963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.418241008 meters Centerline goodness : 0.883287 Centerline is valid? [False, False] Translation: X:12.01, Y:0.49, Z:-0.27 [[ 9.85349251e-01 8.15369171e-02 -1.49795143e-01 1.20074700e+01] [-7.93715028e-02 9.96636591e-01 2.03880054e-02 4.93730839e-01] [ 1.50953695e-01 -8.19984030e-03 9.88506826e-01 -2.73080739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.448241008 meters Centerline goodness : 0.886146 Centerline is valid? [False, False] Translation: X:12.01, Y:0.49, Z:-0.27 [[ 9.85293812e-01 8.12420345e-02 -1.50319111e-01 1.20084769e+01] [-7.89766665e-02 9.96655474e-01 2.09893312e-02 4.92889024e-01] [ 1.51521581e-01 -8.80895582e-03 9.88414697e-01 -2.71541496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.478241008 meters Centerline goodness : 0.885502 Centerline is valid? [False, False] Translation: X:12.01, Y:0.49, Z:-0.27 [[ 9.85250168e-01 8.06038045e-02 -1.50947453e-01 1.20100385e+01] [-7.82999804e-02 9.96705379e-01 2.11542271e-02 4.93165432e-01] [ 1.52155250e-01 -9.02302317e-03 9.88315418e-01 -2.70338250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.508241008 meters Centerline goodness : 0.885125 Centerline is valid? [False, False] Translation: X:12.01, Y:0.49, Z:-0.27 [[ 0.98479836 0.08383618 -0.15213047 12.01411391] [-0.08064157 0.99637578 0.02705999 0.4900321 ] [ 0.15384772 -0.0143806 0.98798992 -0.26606998] [ 0. 0. 0. 1. ]] SLAMing on 149.538241008 meters Centerline goodness : 0.884053 Centerline is valid? [False, False] Translation: X:12.01, Y:0.49, Z:-0.27 [[ 0.98479251 0.0837253 -0.15222937 12.01434976] [-0.08054235 0.99638631 0.0269675 0.49047499] [ 0.15393713 -0.01429648 0.98797721 -0.26593053] [ 0. 0. 0. 1. ]] SLAMing on 149.568241008 meters Centerline goodness : 0.885438 Centerline is valid? [False, False] Translation: X:12.02, Y:0.49, Z:-0.27 [[ 0.98477826 0.08329114 -0.15255939 12.01540528] [-0.08010755 0.99642298 0.0269078 0.4909992 ] [ 0.15425486 -0.01427706 0.98792793 -0.26551486] [ 0. 0. 0. 1. ]] SLAMing on 149.598241008 meters Centerline goodness : 0.883367 Centerline is valid? [False, False] Translation: X:12.02, Y:0.49, Z:-0.27 [[ 0.98477947 0.08313779 -0.1526352 12.01573514] [-0.07998307 0.99643845 0.02670425 0.49127479] [ 0.15431171 -0.01408956 0.98792175 -0.26573003] [ 0. 0. 0. 1. ]] SLAMing on 149.628241008 meters Centerline goodness : 0.886531 Centerline is valid? [False, False] Translation: X:12.02, Y:0.49, Z:-0.27 [[ 0.98475345 0.08259727 -0.1530958 12.01734854] [-0.07949875 0.99648896 0.02626202 0.49231321] [ 0.15472744 -0.01369069 0.98786233 -0.26598343] [ 0. 0. 0. 1. ]] SLAMing on 149.658241008 meters Centerline goodness : 0.887165 Centerline is valid? [False, False] Translation: X:12.02, Y:0.49, Z:-0.26 [[ 0.98431485 0.08629346 -0.15387567 12.02037534] [-0.08239584 0.99610042 0.03154176 0.4896075 ] [ 0.15599747 -0.01836831 0.98758665 -0.26337397] [ 0. 0. 0. 1. ]] SLAMing on 149.688241008 meters Centerline goodness : 0.886669 Centerline is valid? [False, False] Translation: X:12.02, Y:0.49, Z:-0.26 [[ 0.98429453 0.08601894 -0.15415907 12.02161016] [-0.08223529 0.99613792 0.03076682 0.49043241] [ 0.15621023 -0.0176063 0.9875669 -0.26470108] [ 0. 0. 0. 1. ]] SLAMing on 149.718241008 meters Centerline goodness : 0.885550 Centerline is valid? [False, False] Translation: X:12.02, Y:0.49, Z:-0.26 [[ 0.9842211 0.08564362 -0.1548354 12.0234798 ] [-0.08189146 0.99617558 0.03046316 0.49094995] [ 0.15685222 -0.01730278 0.9874705 -0.26479987] [ 0. 0. 0. 1. ]] SLAMing on 149.748241008 meters Centerline goodness : 0.884228 Centerline is valid? [False, False] Translation: X:12.02, Y:0.49, Z:-0.27 [[ 0.98421546 0.08520501 -0.15511298 12.02485359] [-0.08155955 0.99622502 0.02972797 0.49212212] [ 0.1570604 -0.01660778 0.98744935 -0.26588182] [ 0. 0. 0. 1. ]] SLAMing on 149.778241008 meters Centerline goodness : 0.886171 Centerline is valid? [False, False] Translation: X:12.03, Y:0.49, Z:-0.27 [[ 0.98417455 0.08509714 -0.15543145 12.0262676 ] [-0.08163247 0.99625347 0.02855103 0.49442901] [ 0.15727873 -0.01541095 0.987434 -0.26787168] [ 0. 0. 0. 1. ]] SLAMing on 149.808241008 meters Centerline goodness : 0.886759 Centerline is valid? [False, False] Translation: X:12.03, Y:0.50, Z:-0.27 [[ 0.98413853 0.08477886 -0.15583294 12.02772238] [-0.08140781 0.99629029 0.02790032 0.49584961] [ 0.1576202 -0.01477176 0.98738932 -0.26866958] [ 0. 0. 0. 1. ]] SLAMing on 149.838241008 meters Centerline goodness : 0.887699 Centerline is valid? [False, False] Translation: X:12.03, Y:0.50, Z:-0.27 [[ 0.98413469 0.08451343 -0.15600124 12.02876472] [-0.08126775 0.99632438 0.02707915 0.49728449] [ 0.15771639 -0.01397166 0.9873856 -0.26999869] [ 0. 0. 0. 1. ]] SLAMing on 149.868241008 meters Centerline goodness : 0.887210 Centerline is valid? [False, False] Translation: X:12.03, Y:0.50, Z:-0.27 [[ 0.984101 0.08429497 -0.1563316 12.02987234] [-0.08111951 0.99634953 0.02659391 0.49858537] [ 0.15800265 -0.01348955 0.98734654 -0.2705086 ] [ 0. 0. 0. 1. ]] SLAMing on 149.898241008 meters Centerline goodness : 0.886487 Centerline is valid? [False, False] Translation: X:12.03, Y:0.50, Z:-0.27 [[ 0.98411448 0.08458223 -0.15609145 12.02931369] [-0.08146954 0.99633025 0.02624411 0.49941564] [ 0.15773842 -0.01311051 0.9873939 -0.27129538] [ 0. 0. 0. 1. ]] SLAMing on 149.92824100800001 meters Centerline goodness : 0.888038 Centerline is valid? [False, False] Translation: X:12.03, Y:0.50, Z:-0.27 [[ 0.98368406 0.08821252 -0.15679357 12.03231947] [-0.084272 0.99594104 0.03161768 0.49636401] [ 0.15894622 -0.0178885 0.98712517 -0.26859377] [ 0. 0. 0. 1. ]] SLAMing on 149.958241008 meters Centerline goodness : 0.887136 Centerline is valid? [False, False] Translation: X:12.03, Y:0.50, Z:-0.27 [[ 0.98369123 0.08791552 -0.15691535 12.03311364] [-0.08405431 0.99597609 0.03108854 0.49710251] [ 0.1590171 -0.01739211 0.98712262 -0.26939878] [ 0. 0. 0. 1. ]] SLAMing on 149.988241008 meters Centerline goodness : 0.886829 Centerline is valid? [False, False] Translation: X:12.03, Y:0.50, Z:-0.27 [[ 0.9836515 0.08805819 -0.15708434 12.03286562] [-0.08411014 0.99595467 0.03161935 0.49589493] [ 0.15923323 -0.01789004 0.98707889 -0.26815605] [ 0. 0. 0. 1. ]] SLAMing on 150.018241008 meters Centerline goodness : 0.887132 Centerline is valid? [False, False] Translation: X:12.03, Y:0.50, Z:-0.27 [[ 0.98360011 0.08782311 -0.15753707 12.03371518] [-0.08383578 0.99597229 0.03179254 0.49510034] [ 0.15969468 -0.0180639 0.98700117 -0.26740363] [ 0. 0. 0. 1. ]] SLAMing on 150.048241008 meters Centerline goodness : 0.885857 Centerline is valid? [False, False] Translation: X:12.03, Y:0.49, Z:-0.27 [[ 0.98357028 0.08757379 -0.15786175 12.03459715] [-0.08359503 0.99599601 0.03168315 0.49498688] [ 0.16000429 -0.01796614 0.98695281 -0.26735711] [ 0. 0. 0. 1. ]] SLAMing on 150.078241008 meters Centerline goodness : 0.886730 Centerline is valid? [False, False] Translation: X:12.04, Y:0.50, Z:-0.27 [[ 0.98355591 0.08709779 -0.15821422 12.03607787] [-0.08318717 0.99604583 0.03118659 0.49587897] [ 0.1603049 -0.01751236 0.98691218 -0.26797011] [ 0. 0. 0. 1. ]] SLAMing on 150.108241008 meters Centerline goodness : 0.883292 Centerline is valid? [False, False] Translation: X:12.04, Y:0.50, Z:-0.27 [[ 0.9835335 0.08666623 -0.15859009 12.03770591] [-0.08284962 0.99609419 0.03053374 0.49720472] [ 0.16061691 -0.01689183 0.98687227 -0.26889478] [ 0. 0. 0. 1. ]] SLAMing on 150.138241008 meters Centerline goodness : 0.884198 Centerline is valid? [False, False] Translation: X:12.04, Y:0.50, Z:-0.27 [[ 0.98349608 0.08642385 -0.158954 12.03879531] [-0.08260838 0.9961162 0.03046905 0.49726087] [ 0.16096991 -0.01683526 0.98681572 -0.26881188] [ 0. 0. 0. 1. ]] SLAMing on 150.168241008 meters Centerline goodness : 0.886360 Centerline is valid? [False, False] Translation: X:12.04, Y:0.50, Z:-0.27 [[ 0.98348441 0.08610882 -0.159197 12.03985618] [-0.08233592 0.99614823 0.03015794 0.4975247 ] [ 0.16118067 -0.01655223 0.9867861 -0.26931139] [ 0. 0. 0. 1. ]] SLAMing on 150.198241008 meters Centerline goodness : 0.882777 Centerline is valid? [False, False] Translation: X:12.04, Y:0.50, Z:-0.27 [[ 0.98301621 0.08925872 -0.16034968 12.04445225] [-0.08457436 0.99577317 0.03581846 0.49507412] [ 0.16286902 -0.02164866 0.98641017 -0.26545139] [ 0. 0. 0. 1. ]] SLAMing on 150.228241008 meters Centerline goodness : 0.884486 Centerline is valid? [False, False] Translation: X:12.04, Y:0.50, Z:-0.27 [[ 0.98334975 0.08549211 -0.16035699 12.04311295] [-0.08155795 0.99618733 0.03096942 0.49838282] [ 0.16239324 -0.01737539 0.98657312 -0.26682359] [ 0. 0. 0. 1. ]] SLAMing on 150.258241008 meters Centerline goodness : 0.887866 Centerline is valid? [False, False] Translation: X:12.04, Y:0.50, Z:-0.27 [[ 0.98331794 0.08568086 -0.16045133 12.04268101] [-0.08173788 0.99617077 0.03102772 0.49863673] [ 0.16249541 -0.01739516 0.98655595 -0.26620959] [ 0. 0. 0. 1. ]] SLAMing on 150.288241008 meters Centerline goodness : 0.886161 Centerline is valid? [False, False] Translation: X:12.04, Y:0.50, Z:-0.27 [[ 0.98329998 0.08546923 -0.16067407 12.0432894 ] [-0.08158914 0.99619602 0.03060546 0.49995507] [ 0.1626787 -0.01698509 0.98653289 -0.26642239] [ 0. 0. 0. 1. ]] SLAMing on 150.318241008 meters Centerline goodness : 0.887543 Centerline is valid? [False, False] Translation: X:12.04, Y:0.50, Z:-0.27 [[ 0.9833352 0.08500622 -0.16070414 12.04384158] [-0.08124941 0.99624768 0.02981784 0.50277205] [ 0.16263582 -0.01626381 0.98655212 -0.26701514] [ 0. 0. 0. 1. ]] SLAMing on 150.348241008 meters Centerline goodness : 0.888346 Centerline is valid? [False, False] Translation: X:12.04, Y:0.50, Z:-0.27 [[ 0.98330799 0.084607 -0.16108088 12.04469655] [-0.0808466 0.99628189 0.02976964 0.50306669] [ 0.16300069 -0.01624989 0.98649213 -0.26642205] [ 0. 0. 0. 1. ]] SLAMing on 150.378241008 meters Centerline goodness : 0.884922 Centerline is valid? [False, False] Translation: X:12.05, Y:0.50, Z:-0.27 [[ 0.98327478 0.08422857 -0.16148144 12.04586683] [-0.08052928 0.99632062 0.02933 0.50401173] [ 0.16335771 -0.01583546 0.98643981 -0.26661689] [ 0. 0. 0. 1. ]] SLAMing on 150.408241008 meters Centerline goodness : 0.887361 Centerline is valid? [False, False] Translation: X:12.05, Y:0.51, Z:-0.27 [[ 0.9832753 0.0837508 -0.16172658 12.04721664] [-0.08020046 0.99637497 0.02836926 0.50583285] [ 0.16351627 -0.01492424 0.98642775 -0.26791431] [ 0. 0. 0. 1. ]] SLAMing on 150.438241008 meters Centerline goodness : 0.883668 Centerline is valid? [False, False] Translation: X:12.06, Y:0.50, Z:-0.26 [[ 0.98266707 0.08809137 -0.16311144 12.05828786] [-0.0828804 0.99581574 0.03849476 0.50477491] [ 0.16581999 -0.02430879 0.98585639 -0.26144978] [ 0. 0. 0. 1. ]] SLAMing on 150.468241008 meters Centerline goodness : 0.883060 Centerline is valid? [False, False] Translation: X:12.06, Y:0.51, Z:-0.26 [[ 0.98297737 0.0843366 -0.16322631 12.05768633] [-0.07999233 0.99624845 0.03301894 0.5091151 ] [ 0.16539867 -0.01940002 0.98603596 -0.26421499] [ 0. 0. 0. 1. ]] SLAMing on 150.498241008 meters Centerline goodness : 0.883612 Centerline is valid? [False, False] Translation: X:12.06, Y:0.51, Z:-0.27 [[ 0.98328285 0.08039508 -0.16337525 12.05718261] [-0.07684853 0.99665168 0.02792372 0.51243702] [ 0.16507315 -0.01490177 0.98616874 -0.2662358 ] [ 0. 0. 0. 1. ]] SLAMing on 150.528241008 meters Centerline goodness : 0.882942 Centerline is valid? [False, False] Translation: X:12.06, Y:0.51, Z:-0.27 [[ 0.98320859 0.07933381 -0.1643381 12.06074821] [-0.07589174 0.99674694 0.02712898 0.51357291] [ 0.16595574 -0.01420154 0.98603094 -0.26711914] [ 0. 0. 0. 1. ]] SLAMing on 150.558241008 meters Centerline goodness : 0.883826 Centerline is valid? [False, False] Translation: X:12.06, Y:0.51, Z:-0.27 [[ 0.98320574 0.07893615 -0.16454655 12.06196088] [-0.07555935 0.99678402 0.02669096 0.51429055] [ 0.16612425 -0.01380968 0.98600813 -0.26787071] [ 0. 0. 0. 1. ]] SLAMing on 150.588241008 meters Centerline goodness : 0.883680 Centerline is valid? [False, False] Translation: X:12.06, Y:0.52, Z:-0.27 [[ 9.83518766e-01 7.49050726e-02 -1.64560221e-01 1.20610812e+01] [-7.22290153e-02 9.97141100e-01 2.21945158e-02 5.17090081e-01] [ 1.65752242e-01 -9.94270008e-03 9.86117304e-01 -2.68785826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.618241008 meters Centerline goodness : 0.886202 Centerline is valid? [False, False] Translation: X:12.06, Y:0.52, Z:-0.27 [[ 9.83440295e-01 7.45950067e-02 -1.65168918e-01 1.20623785e+01] [-7.18070351e-02 9.97158023e-01 2.27953158e-02 5.15551052e-01] [ 1.66399929e-01 -1.05575418e-02 9.86001827e-01 -2.67437207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.648241008 meters Centerline goodness : 0.885463 Centerline is valid? [False, False] Translation: X:12.06, Y:0.51, Z:-0.27 [[ 9.83377896e-01 7.40409705e-02 -1.65788566e-01 1.20639443e+01] [-7.11714194e-02 9.97194462e-01 2.31912558e-02 5.14041833e-01] [ 1.67040543e-01 -1.10063608e-02 9.85888593e-01 -2.66386672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.67824100800001 meters Centerline goodness : 0.887583 Centerline is valid? [False, False] Translation: X:12.07, Y:0.51, Z:-0.26 [[ 0.98331855 0.07276184 -0.16670437 12.0665606 ] [-0.06966154 0.99727277 0.02437804 0.51201636] [ 0.16802352 -0.01235849 0.98570552 -0.26338206] [ 0. 0. 0. 1. ]] SLAMing on 150.708241008 meters Centerline goodness : 0.884401 Centerline is valid? [False, False] Translation: X:12.07, Y:0.51, Z:-0.26 [[ 0.98324948 0.07213199 -0.1673841 12.06833317] [-0.06889676 0.99730892 0.02506314 0.51102053] [ 0.16874151 -0.01311109 0.98557313 -0.26162363] [ 0. 0. 0. 1. ]] SLAMing on 150.738241008 meters Centerline goodness : 0.885591 Centerline is valid? [False, False] Translation: X:12.08, Y:0.51, Z:-0.25 [[ 0.98357553 0.06912074 -0.1667378 12.08172145] [-0.06437746 0.99735666 0.03369327 0.50736685] [ 0.16862596 -0.02240572 0.98542543 -0.25065434] [ 0. 0. 0. 1. ]] SLAMing on 150.768241008 meters Centerline goodness : 0.882221 Centerline is valid? [False, False] Translation: X:12.08, Y:0.51, Z:-0.25 [[ 0.98351172 0.06875316 -0.16726538 12.08276713] [-0.06386849 0.99736471 0.03441574 0.50645141] [ 0.16919078 -0.0231653 0.98531104 -0.24876674] [ 0. 0. 0. 1. ]] SLAMing on 150.798241008 meters Centerline goodness : 0.882581 Centerline is valid? [False, False] Translation: X:12.08, Y:0.51, Z:-0.25 [[ 0.98348964 0.06838119 -0.16754742 12.08361469] [-0.0634482 0.99738423 0.03462706 0.50570789] [ 0.16947699 -0.02342477 0.98525572 -0.24815753] [ 0. 0. 0. 1. ]] SLAMing on 150.828241008 meters Centerline goodness : 0.882135 Centerline is valid? [False, False] Translation: X:12.09, Y:0.50, Z:-0.24 [[ 0.98312367 0.07068974 -0.16873297 12.08844775] [-0.06482374 0.99709348 0.04003083 0.50288755] [ 0.17107232 -0.02841736 0.98484858 -0.24390432] [ 0. 0. 0. 1. ]] SLAMing on 150.858241008 meters Centerline goodness : 0.888950 Centerline is valid? [False, False] Translation: X:12.09, Y:0.50, Z:-0.24 [[ 0.98305555 0.07011851 -0.16936697 12.0903486 ] [-0.0642256 0.99713215 0.04003191 0.50360754] [ 0.17168823 -0.0284759 0.9847397 -0.24312431] [ 0. 0. 0. 1. ]] SLAMing on 150.888241008 meters Centerline goodness : 0.887792 Centerline is valid? [False, False] Translation: X:12.09, Y:0.50, Z:-0.24 [[ 0.983016 0.06958847 -0.16981457 12.09196233] [-0.06377423 0.99718379 0.03946309 0.50491263] [ 0.17208251 -0.02796306 0.98468557 -0.24354781] [ 0. 0. 0. 1. ]] SLAMing on 150.918241008 meters Centerline goodness : 0.889294 Centerline is valid? [False, False] Translation: X:12.10, Y:0.50, Z:-0.24 [[ 0.9825572 0.07227495 -0.17134083 12.09773203] [-0.06544363 0.99683222 0.04519586 0.50359779] [ 0.17406458 -0.03319435 0.98417461 -0.23887939] [ 0. 0. 0. 1. ]] SLAMing on 150.948241008 meters Centerline goodness : 0.890050 Centerline is valid? [False, False] Translation: X:12.10, Y:0.51, Z:-0.24 [[ 0.98260662 0.07139456 -0.17142652 12.09979373] [-0.06487654 0.9969519 0.04333532 0.50727271] [ 0.1739979 -0.03146002 0.98424336 -0.24173886] [ 0. 0. 0. 1. ]] SLAMing on 150.978241008 meters Centerline goodness : 0.889393 Centerline is valid? [False, False] Translation: X:12.10, Y:0.51, Z:-0.24 [[ 0.98262067 0.07110789 -0.17146511 12.10055974] [-0.06467305 0.99698678 0.04283411 0.50937027] [ 0.17399429 -0.03100051 0.98425858 -0.24205147] [ 0. 0. 0. 1. ]] SLAMing on 151.008241008 meters Centerline goodness : 0.891554 Centerline is valid? [False, False] Translation: X:12.10, Y:0.51, Z:-0.24 [[ 0.9829155 0.06702734 -0.17141896 12.09991866] [-0.0614092 0.99739378 0.0378756 0.5136574 ] [ 0.1735109 -0.02670182 0.9844699 -0.2437957 ] [ 0. 0. 0. 1. ]] SLAMing on 151.038241008 meters Centerline goodness : 0.891914 Centerline is valid? [False, False] Translation: X:12.10, Y:0.51, Z:-0.24 [[ 0.98292661 0.06693038 -0.17139314 12.09993453] [-0.06134693 0.99740522 0.03767466 0.5146565 ] [ 0.17346999 -0.02651698 0.9844821 -0.24362874] [ 0. 0. 0. 1. ]] SLAMing on 151.068241008 meters Centerline goodness : 0.893912 Centerline is valid? [False, False] Translation: X:12.10, Y:0.52, Z:-0.24 [[ 0.98291748 0.06654997 -0.17159352 12.10034676] [-0.0610818 0.9974483 0.03695816 0.51689214] [ 0.17361523 -0.02584558 0.98447436 -0.24381847] [ 0. 0. 0. 1. ]] SLAMing on 151.098241008 meters Centerline goodness : 0.891523 Centerline is valid? [False, False] Translation: X:12.10, Y:0.52, Z:-0.24 [[ 0.98291938 0.06658707 -0.1715682 12.10009473] [-0.0611907 0.99745637 0.03655788 0.51893574] [ 0.17356608 -0.02543507 0.98449371 -0.24389025] [ 0. 0. 0. 1. ]] SLAMing on 151.128241008 meters Centerline goodness : 0.894962 Centerline is valid? [False, False] Translation: X:12.10, Y:0.52, Z:-0.24 [[ 0.98295066 0.06655386 -0.17140183 12.09962128] [-0.06125498 0.99747177 0.03602626 0.52155707] [ 0.17336617 -0.02491282 0.98454229 -0.24405562] [ 0. 0. 0. 1. ]] SLAMing on 151.158241008 meters Centerline goodness : 0.892912 Centerline is valid? [False, False] Translation: X:12.10, Y:0.52, Z:-0.24 [[ 0.98296582 0.06699939 -0.1711411 12.09824615] [-0.06172092 0.99744452 0.03598558 0.52345081] [ 0.17311476 -0.02480961 0.98458913 -0.24345766] [ 0. 0. 0. 1. ]] SLAMing on 151.188241008 meters Centerline goodness : 0.892912 Centerline is valid? [False, False] Translation: X:12.10, Y:0.52, Z:-0.24 [[ 0.9829745 0.06699438 -0.1710932 12.09817043] [-0.0617324 0.99744695 0.03589833 0.5236578 ] [ 0.17306138 -0.02472515 0.98460064 -0.24355547] [ 0. 0. 0. 1. ]] SLAMing on 151.218241008 meters Centerline goodness : 0.895415 Centerline is valid? [False, False] Translation: X:12.09, Y:0.53, Z:-0.24 [[ 0.98299543 0.06801444 -0.17056968 12.09483273] [-0.06275653 0.99737806 0.03603644 0.52643097] [ 0.17257345 -0.02471929 0.98468643 -0.24209024] [ 0. 0. 0. 1. ]] SLAMing on 151.248241008 meters Centerline goodness : 0.897226 Centerline is valid? [False, False] Translation: X:12.09, Y:0.53, Z:-0.24 [[ 0.98300032 0.06825223 -0.17044651 12.09403172] [-0.06303288 0.99736721 0.03585403 0.52847673] [ 0.17244487 -0.02450079 0.98471441 -0.24169663] [ 0. 0. 0. 1. ]] SLAMing on 151.278241008 meters Centerline goodness : 0.899478 Centerline is valid? [False, False] Translation: X:12.09, Y:0.53, Z:-0.24 [[ 0.98303352 0.06851633 -0.17014881 12.092993 ] [-0.06335032 0.9973557 0.03561393 0.53034054] [ 0.17213902 -0.02423071 0.98477461 -0.24158448] [ 0. 0. 0. 1. ]] SLAMing on 151.308241008 meters Centerline goodness : 0.894660 Centerline is valid? [False, False] Translation: X:12.09, Y:0.53, Z:-0.24 [[ 0.98309308 0.06844816 -0.16983179 12.09227741] [-0.06347848 0.99738573 0.03452807 0.53431119] [ 0.17175119 -0.02316364 0.984868 -0.24257007] [ 0. 0. 0. 1. ]] SLAMing on 151.338241008 meters Centerline goodness : 0.894369 Centerline is valid? [False, False] Translation: X:12.09, Y:0.54, Z:-0.24 [[ 0.98311565 0.0683502 -0.16974058 12.09237134] [-0.06349028 0.99740644 0.03390257 0.53682146] [ 0.17161759 -0.02255327 0.98490545 -0.24319303] [ 0. 0. 0. 1. ]] SLAMing on 151.368241008 meters Centerline goodness : 0.893437 Centerline is valid? [False, False] Translation: X:12.09, Y:0.54, Z:-0.24 [[ 0.98273641 0.07237387 -0.17026792 12.09408313] [-0.06669111 0.9970163 0.03886902 0.53540214] [ 0.172573 -0.02684264 0.98463091 -0.24069506] [ 0. 0. 0. 1. ]] SLAMing on 151.398241008 meters Centerline goodness : 0.892008 Centerline is valid? [False, False] Translation: X:12.09, Y:0.54, Z:-0.24 [[ 0.98299166 0.06898095 -0.1702029 12.09269022] [-0.06406313 0.99735879 0.03422521 0.5398919 ] [ 0.17211425 -0.02273937 0.9848145 -0.24205154] [ 0. 0. 0. 1. ]] SLAMing on 151.42824100800001 meters Centerline goodness : 0.891549 Centerline is valid? [False, False] Translation: X:12.09, Y:0.54, Z:-0.24 [[ 0.9826047 0.07362414 -0.17049187 12.09285148] [-0.06777892 0.99690369 0.03986289 0.53738446] [ 0.17289885 -0.02761371 0.98455242 -0.23845879] [ 0. 0. 0. 1. ]] SLAMing on 151.458241008 meters Centerline goodness : 0.891695 Centerline is valid? [False, False] Translation: X:12.09, Y:0.54, Z:-0.24 [[ 0.98254606 0.07384858 -0.17073264 12.09268744] [-0.06793951 0.996879 0.04020557 0.5373593 ] [ 0.1731689 -0.02790433 0.98449676 -0.2373182 ] [ 0. 0. 0. 1. ]] SLAMing on 151.488241008 meters Centerline goodness : 0.894118 Centerline is valid? [False, False] Translation: X:12.11, Y:0.54, Z:-0.24 [[ 0.98331651 0.07324406 -0.16650509 12.1081417 ] [-0.06930887 0.99716396 0.02933113 0.5400855 ] [ 0.16818121 -0.01730151 0.98560425 -0.24145173] [ 0. 0. 0. 1. ]] SLAMing on 151.518241008 meters Centerline goodness : 0.892776 Centerline is valid? [False, False] Translation: X:12.11, Y:0.54, Z:-0.24 [[ 0.98330192 0.07328795 -0.16657195 12.10824241] [-0.06940408 0.99716623 0.02902713 0.5416449 ] [ 0.16822726 -0.01698166 0.98560195 -0.24154423] [ 0. 0. 0. 1. ]] SLAMing on 151.548241008 meters Centerline goodness : 0.893043 Centerline is valid? [False, False] Translation: X:12.11, Y:0.54, Z:-0.24 [[ 0.98291384 0.0778145 -0.16680912 12.10882685] [-0.07320421 0.99675013 0.03362031 0.54225104] [ 0.16888316 -0.02083474 0.98541585 -0.23955199] [ 0. 0. 0. 1. ]] SLAMing on 151.578241008 meters Centerline goodness : 0.890538 Centerline is valid? [False, False] Translation: X:12.11, Y:0.55, Z:-0.24 [[ 0.98318883 0.07434251 -0.16677203 12.10755489] [-0.07049671 0.99709411 0.02887115 0.54595572] [ 0.16843376 -0.01662891 0.9855727 -0.24112363] [ 0. 0. 0. 1. ]] SLAMing on 151.608241008 meters Centerline goodness : 0.892045 Centerline is valid? [False, False] Translation: X:12.11, Y:0.55, Z:-0.24 [[ 0.98312123 0.07403598 -0.16730607 12.10914179] [-0.07030701 0.99712923 0.02811089 0.54704005] [ 0.16890699 -0.01587362 0.98550416 -0.24199868] [ 0. 0. 0. 1. ]] SLAMing on 151.638241008 meters Centerline goodness : 0.893320 Centerline is valid? [False, False] Translation: X:12.11, Y:0.55, Z:-0.24 [[ 0.98267581 0.07765752 -0.16827821 12.11248585] [-0.0731428 0.99677957 0.03287276 0.54514745] [ 0.1702891 -0.01999493 0.98519126 -0.24002999] [ 0. 0. 0. 1. ]] SLAMing on 151.668241008 meters Centerline goodness : 0.891979 Centerline is valid? [False, False] Translation: X:12.11, Y:0.55, Z:-0.24 [[ 0.98268177 0.07716766 -0.16846866 12.1137996 ] [-0.07278916 0.99683315 0.03202198 0.54663054] [ 0.1704062 -0.01920472 0.98518674 -0.2413167 ] [ 0. 0. 0. 1. ]] SLAMing on 151.698241008 meters Centerline goodness : 0.892038 Centerline is valid? [False, False] Translation: X:12.12, Y:0.55, Z:-0.24 [[ 0.98264704 0.07649162 -0.16897878 12.11599232] [-0.07225319 0.99690134 0.03109985 0.54776531] [ 0.17083405 -0.01835092 0.98512891 -0.24262521] [ 0. 0. 0. 1. ]] SLAMing on 151.728241008 meters Centerline goodness : 0.892910 Centerline is valid? [False, False] Translation: X:12.12, Y:0.55, Z:-0.24 [[ 0.98220832 0.07980919 -0.1699921 12.12007673] [-0.07487307 0.99656938 0.03526307 0.54575656] [ 0.17222324 -0.02190785 0.9848143 -0.24180852] [ 0. 0. 0. 1. ]] SLAMing on 151.758241008 meters Centerline goodness : 0.893768 Centerline is valid? [False, False] Translation: X:12.12, Y:0.55, Z:-0.24 [[ 0.98217354 0.07906804 -0.1705385 12.12291715] [-0.0743722 0.99665892 0.0337605 0.54819537] [ 0.1726381 -0.02047534 0.98477249 -0.24434748] [ 0. 0. 0. 1. ]] SLAMing on 151.788241008 meters Centerline goodness : 0.894206 Centerline is valid? [False, False] Translation: X:12.12, Y:0.55, Z:-0.25 [[ 0.98216102 0.07847102 -0.17088602 12.12465322] [-0.073903 0.99672126 0.03294057 0.54947448] [ 0.17291061 -0.01972395 0.98474001 -0.24550432] [ 0. 0. 0. 1. ]] SLAMing on 151.818241008 meters Centerline goodness : 0.894509 Centerline is valid? [False, False] Translation: X:12.13, Y:0.55, Z:-0.25 [[ 0.98212089 0.07807653 -0.17129686 12.12593386] [-0.07356426 0.99675937 0.03254302 0.55028407] [ 0.1732826 -0.01935985 0.98468185 -0.24571349] [ 0. 0. 0. 1. ]] SLAMing on 151.848241008 meters Centerline goodness : 0.895767 Centerline is valid? [False, False] Translation: X:12.13, Y:0.55, Z:-0.24 [[ 0.98175489 0.08136902 -0.17186161 12.1288794 ] [-0.07608519 0.99641004 0.03712232 0.54718069] [ 0.17426524 -0.02336889 0.98442141 -0.2442303 ] [ 0. 0. 0. 1. ]] SLAMing on 151.878241008 meters Centerline goodness : 0.894428 Centerline is valid? [False, False] Translation: X:12.13, Y:0.55, Z:-0.24 [[ 0.98170839 0.08073883 -0.17242355 12.13088612] [-0.07548877 0.99646727 0.03680264 0.5475536 ] [ 0.17478582 -0.02311341 0.98433515 -0.24445467] [ 0. 0. 0. 1. ]] SLAMing on 151.908241008 meters Centerline goodness : 0.892605 Centerline is valid? [False, False] Translation: X:12.13, Y:0.54, Z:-0.24 [[ 0.98128254 0.08467357 -0.17295943 12.13301485] [-0.07831248 0.99598856 0.04328898 0.54419082] [ 0.17593105 -0.02893384 0.98397718 -0.2394707 ] [ 0. 0. 0. 1. ]] SLAMing on 151.938241008 meters Centerline goodness : 0.895116 Centerline is valid? [False, False] Translation: X:12.13, Y:0.55, Z:-0.24 [[ 0.98123591 0.08433929 -0.1733868 12.13427759] [-0.07796322 0.99601664 0.04327331 0.54501699] [ 0.17634578 -0.02894353 0.98390266 -0.23903781] [ 0. 0. 0. 1. ]] SLAMing on 151.968241008 meters Centerline goodness : 0.895925 Centerline is valid? [False, False] Translation: X:12.13, Y:0.54, Z:-0.24 [[ 0.98120428 0.08434754 -0.17356164 12.13450515] [-0.07795681 0.99601483 0.0433267 0.54493288] [ 0.17652447 -0.02898203 0.98386948 -0.23865081] [ 0. 0. 0. 1. ]] SLAMing on 151.998241008 meters Centerline goodness : 0.893879 Centerline is valid? [False, False] Translation: X:12.14, Y:0.54, Z:-0.23 [[ 0.98076993 0.08746242 -0.17447252 12.13800124] [-0.07992383 0.99555672 0.04978955 0.54089517] [ 0.17805201 -0.03488758 0.98340243 -0.23311272] [ 0. 0. 0. 1. ]] SLAMing on 152.028241008 meters Centerline goodness : 0.893513 Centerline is valid? [False, False] Translation: X:12.14, Y:0.54, Z:-0.23 [[ 0.98070722 0.08702479 -0.17504294 12.13954552] [-0.07947155 0.99559637 0.04972058 0.54102329] [ 0.17859904 -0.0348504 0.98330455 -0.2326353 ] [ 0. 0. 0. 1. ]] SLAMing on 152.058241008 meters Centerline goodness : 0.893915 Centerline is valid? [False, False] Translation: X:12.14, Y:0.54, Z:-0.23 [[ 0.98069299 0.08682806 -0.17522028 12.14031839] [-0.07930779 0.99562103 0.04948771 0.54166072] [ 0.17874992 -0.03463592 0.98328471 -0.23286518] [ 0. 0. 0. 1. ]] SLAMing on 152.088241008 meters Centerline goodness : 0.893275 Centerline is valid? [False, False] Translation: X:12.15, Y:0.54, Z:-0.23 [[ 0.9802324 0.08892726 -0.17673817 12.14659173] [-0.08054647 0.99528403 0.05405521 0.54135364] [ 0.18071166 -0.03875103 0.98277243 -0.23009911] [ 0. 0. 0. 1. ]] SLAMing on 152.118241008 meters Centerline goodness : 0.894540 Centerline is valid? [False, False] Translation: X:12.15, Y:0.54, Z:-0.23 [[ 0.98021427 0.08829351 -0.17715597 12.1484018 ] [-0.08005364 0.99537272 0.05314655 0.54282318] [ 0.18102872 -0.03791302 0.98274677 -0.23111603] [ 0. 0. 0. 1. ]] SLAMing on 152.148241008 meters Centerline goodness : 0.893223 Centerline is valid? [False, False] Translation: X:12.15, Y:0.54, Z:-0.23 [[ 0.97986957 0.09109775 -0.17764243 12.15164866] [-0.08219734 0.9949933 0.05685007 0.54043801] [ 0.18193194 -0.04110392 0.98245165 -0.23044176] [ 0. 0. 0. 1. ]] SLAMing on 152.17824100800001 meters Centerline goodness : 0.894377 Centerline is valid? [False, False] Translation: X:12.15, Y:0.55, Z:-0.23 [[ 0.98023385 0.08632085 -0.17801773 12.1524581 ] [-0.07848133 0.99562896 0.05063251 0.5450764 ] [ 0.18161025 -0.03566063 0.98272378 -0.23387193] [ 0. 0. 0. 1. ]] SLAMing on 152.20824100800002 meters Centerline goodness : 0.894171 Centerline is valid? [False, False] Translation: X:12.15, Y:0.55, Z:-0.23 [[ 0.98022638 0.08595198 -0.17823722 12.15321182] [-0.0781999 0.99567881 0.05008471 0.54643195] [ 0.18177191 -0.03515622 0.98271207 -0.23415253] [ 0. 0. 0. 1. ]] SLAMing on 152.238241008 meters Centerline goodness : 0.892687 Centerline is valid? [False, False] Translation: X:12.15, Y:0.55, Z:-0.23 [[ 0.98018867 0.08602756 -0.17840804 12.15341508] [-0.07822993 0.99566541 0.05030368 0.54728954] [ 0.18196222 -0.03535025 0.98266989 -0.23324215] [ 0. 0. 0. 1. ]] SLAMing on 152.268241008 meters Centerline goodness : 0.892258 Centerline is valid? [False, False] Translation: X:12.15, Y:0.55, Z:-0.23 [[ 0.98015615 0.08541353 -0.17888108 12.15481618] [-0.07766404 0.99573009 0.04989872 0.54808656] [ 0.1823793 -0.03501591 0.98260454 -0.23303856] [ 0. 0. 0. 1. ]] SLAMing on 152.298241008 meters Centerline goodness : 0.894387 Centerline is valid? [False, False] Translation: X:12.16, Y:0.55, Z:-0.23 [[ 0.98010972 0.08516758 -0.17925238 12.15586993] [-0.07740931 0.99575224 0.04985256 0.54836068] [ 0.18273678 -0.03498517 0.98253921 -0.23268922] [ 0. 0. 0. 1. ]] SLAMing on 152.328241008 meters Centerline goodness : 0.896153 Centerline is valid? [False, False] Translation: X:12.16, Y:0.55, Z:-0.23 [[ 0.97965445 0.08927573 -0.17974149 12.1575377 ] [-0.08046482 0.99519755 0.05574267 0.54558973] [ 0.18385476 -0.04014569 0.98213327 -0.22849364] [ 0. 0. 0. 1. ]] SLAMing on 152.358241008 meters Centerline goodness : 0.897678 Centerline is valid? [False, False] Translation: X:12.16, Y:0.55, Z:-0.23 [[ 0.97964484 0.08899006 -0.1799354 12.15817851] [-0.08027025 0.99524411 0.05518926 0.54696368] [ 0.18399094 -0.03962242 0.98212901 -0.22881471] [ 0. 0. 0. 1. ]] SLAMing on 152.388241008 meters Centerline goodness : 0.896848 Centerline is valid? [False, False] Translation: X:12.16, Y:0.55, Z:-0.23 [[ 0.97921184 0.09278928 -0.18037273 12.16014988] [-0.08319587 0.99472171 0.06005971 0.54702152] [ 0.18499357 -0.04380492 0.98176296 -0.22588675] [ 0. 0. 0. 1. ]] SLAMing on 152.418241008 meters Centerline goodness : 0.893361 Centerline is valid? [False, False] Translation: X:12.16, Y:0.55, Z:-0.23 [[ 0.97957194 0.08854954 -0.18054859 12.16000157] [-0.07988531 0.99530087 0.05472224 0.55163934] [ 0.1845458 -0.03918119 0.98204261 -0.22805601] [ 0. 0. 0. 1. ]] SLAMing on 152.448241008 meters Centerline goodness : 0.895878 Centerline is valid? [False, False] Translation: X:12.16, Y:0.55, Z:-0.23 [[ 0.97906977 0.09233851 -0.18137249 12.16264092] [-0.08273909 0.9947746 0.05981424 0.5493128 ] [ 0.18594791 -0.04355572 0.98159374 -0.22507914] [ 0. 0. 0. 1. ]] SLAMing on 152.478241008 meters Centerline goodness : 0.895741 Centerline is valid? [False, False] Translation: X:12.16, Y:0.55, Z:-0.23 [[ 0.97904226 0.09205797 -0.18166336 12.16350147] [-0.08251361 0.99481629 0.05943113 0.5502252 ] [ 0.18619278 -0.04319589 0.98156322 -0.22518493] [ 0. 0. 0. 1. ]] SLAMing on 152.508241008 meters Centerline goodness : 0.897432 Centerline is valid? [False, False] Translation: X:12.17, Y:0.55, Z:-0.22 [[ 0.97864555 0.09419263 -0.18270367 12.16888641] [-0.08337866 0.99432924 0.06601035 0.54832457] [ 0.18788529 -0.04936715 0.98094954 -0.21835965] [ 0. 0. 0. 1. ]] SLAMing on 152.538241008 meters Centerline goodness : 0.895881 Centerline is valid? [False, False] Translation: X:12.17, Y:0.55, Z:-0.22 [[ 0.97859687 0.09331121 -0.18341535 12.17134759] [-0.08254945 0.99443379 0.06547537 0.54944031] [ 0.18850401 -0.04893315 0.98085258 -0.21842008] [ 0. 0. 0. 1. ]] SLAMing on 152.568241008 meters Centerline goodness : 0.896230 Centerline is valid? [False, False] Translation: X:12.17, Y:0.55, Z:-0.22 [[ 0.97832969 0.09635732 -0.18326561 12.17317565] [-0.08484863 0.99395631 0.06965317 0.54760891] [ 0.18886961 -0.05259393 0.98059275 -0.21721479] [ 0. 0. 0. 1. ]] SLAMing on 152.598241008 meters Centerline goodness : 0.896357 Centerline is valid? [False, False] Translation: X:12.17, Y:0.55, Z:-0.22 [[ 0.97837085 0.09610563 -0.18317801 12.17371897] [-0.08481066 0.99403648 0.06854658 0.55024246] [ 0.18867334 -0.05152853 0.9806871 -0.21855249] [ 0. 0. 0. 1. ]] SLAMing on 152.628241008 meters Centerline goodness : 0.896656 Centerline is valid? [False, False] Translation: X:12.17, Y:0.55, Z:-0.22 [[ 0.97840017 0.09623558 -0.18295305 12.17337262] [-0.08501409 0.99404037 0.06823744 0.55144561] [ 0.18842959 -0.05120994 0.98075065 -0.2187995 ] [ 0. 0. 0. 1. ]] SLAMing on 152.658241008 meters Centerline goodness : 0.896663 Centerline is valid? [False, False] Translation: X:12.17, Y:0.55, Z:-0.22 [[ 0.97838854 0.09634774 -0.18295624 12.17346773] [-0.0851817 0.99404521 0.0679573 0.55245162] [ 0.18841431 -0.05090412 0.9807695 -0.21902333] [ 0. 0. 0. 1. ]] SLAMing on 152.688241008 meters Centerline goodness : 0.895483 Centerline is valid? [False, False] Translation: X:12.17, Y:0.56, Z:-0.22 [[ 0.9783946 0.09632703 -0.1829347 12.17409453] [-0.08536733 0.99410188 0.06688699 0.55557334] [ 0.18829875 -0.04982523 0.9808471 -0.22069785] [ 0. 0. 0. 1. ]] SLAMing on 152.718241008 meters Centerline goodness : 0.895300 Centerline is valid? [False, False] Translation: X:12.17, Y:0.56, Z:-0.22 [[ 0.97842338 0.09628746 -0.18280159 12.17447025] [-0.08546891 0.99414023 0.06618356 0.5574802 ] [ 0.18810307 -0.04913169 0.98091963 -0.22194587] [ 0. 0. 0. 1. ]] SLAMing on 152.748241008 meters Centerline goodness : 0.894438 Centerline is valid? [False, False] Translation: X:12.17, Y:0.56, Z:-0.22 [[ 0.97843865 0.09662786 -0.18254002 12.17375008] [-0.08588277 0.99412354 0.06589793 0.55903095] [ 0.18783491 -0.04880004 0.98098757 -0.22224136] [ 0. 0. 0. 1. ]] SLAMing on 152.778241008 meters Centerline goodness : 0.895499 Centerline is valid? [False, False] Translation: X:12.17, Y:0.56, Z:-0.22 [[ 0.97847185 0.09715954 -0.18207929 12.17238669] [-0.08647328 0.99408173 0.06575627 0.56013018] [ 0.18739054 -0.04859566 0.98108269 -0.22234343] [ 0. 0. 0. 1. ]] SLAMing on 152.808241008 meters Centerline goodness : 0.893971 Centerline is valid? [False, False] Translation: X:12.17, Y:0.56, Z:-0.22 [[ 0.97849134 0.09791535 -0.18156895 12.17094821] [-0.08739672 0.99404587 0.06507397 0.56300009] [ 0.18685961 -0.04780578 0.98122276 -0.22349864] [ 0. 0. 0. 1. ]] SLAMing on 152.838241008 meters Centerline goodness : 0.893642 Centerline is valid? [False, False] Translation: X:12.17, Y:0.56, Z:-0.22 [[ 0.97798546 0.10216913 -0.1819503 12.17257575] [-0.09075506 0.99340923 0.07001158 0.56174252] [ 0.18790413 -0.0519574 0.98081215 -0.22106244] [ 0. 0. 0. 1. ]] SLAMing on 152.868241008 meters Centerline goodness : 0.892423 Centerline is valid? [False, False] Translation: X:12.17, Y:0.56, Z:-0.22 [[ 0.97796541 0.1019416 -0.18218554 12.17358903] [-0.09062526 0.99346279 0.0694172 0.56296063] [ 0.18807106 -0.05137701 0.98081073 -0.22163707] [ 0. 0. 0. 1. ]] SLAMing on 152.898241008 meters Centerline goodness : 0.894437 Centerline is valid? [False, False] Translation: X:12.17, Y:0.57, Z:-0.22 [[ 0.97829349 0.09799395 -0.18258978 12.17377948] [-0.08766985 0.99410435 0.06380076 0.56680421] [ 0.18776538 -0.04640825 0.98111693 -0.22446812] [ 0. 0. 0. 1. ]] SLAMing on 152.92824100800001 meters Centerline goodness : 0.892996 Centerline is valid? [False, False] Translation: X:12.19, Y:0.57, Z:-0.23 [[ 0.97893844 0.09928547 -0.17838701 12.18910014] [-0.09076437 0.99433414 0.0553303 0.56801905] [ 0.18286979 -0.03797377 0.9824035 -0.22707168] [ 0. 0. 0. 1. ]] SLAMing on 152.95824100800002 meters Centerline goodness : 0.893701 Centerline is valid? [False, False] Translation: X:12.20, Y:0.57, Z:-0.23 [[ 0.97971521 0.09930521 -0.17405915 12.20496782] [-0.09272466 0.99464892 0.04555956 0.57053858] [ 0.17765205 -0.02849582 0.98368071 -0.23085518] [ 0. 0. 0. 1. ]] SLAMing on 152.988241008 meters Centerline goodness : 0.895078 Centerline is valid? [False, False] Translation: X:12.21, Y:0.57, Z:-0.23 [[ 0.97968082 0.09918211 -0.17432269 12.2059981 ] [-0.09263427 0.99466803 0.04532546 0.57104228] [ 0.17788868 -0.02825623 0.98364486 -0.23120405] [ 0. 0. 0. 1. ]] SLAMing on 153.018241008 meters Centerline goodness : 0.893133 Centerline is valid? [False, False] Translation: X:12.21, Y:0.57, Z:-0.23 [[ 0.97918679 0.10269507 -0.17506271 12.20919101] [-0.09524487 0.99417396 0.05046337 0.56766111] [ 0.17922513 -0.03273924 0.98326319 -0.22872525] [ 0. 0. 0. 1. ]] SLAMing on 153.048241008 meters Centerline goodness : 0.893487 Centerline is valid? [False, False] Translation: X:12.21, Y:0.57, Z:-0.23 [[ 0.97912483 0.10226241 -0.1756615 12.21122525] [-0.09470888 0.99420387 0.05088122 0.56568951] [ 0.17984658 -0.03318236 0.98313485 -0.22816513] [ 0. 0. 0. 1. ]] SLAMing on 153.078241008 meters Centerline goodness : 0.893487 Centerline is valid? [False, False] Translation: X:12.21, Y:0.57, Z:-0.23 [[ 0.97913058 0.10235121 -0.1755777 12.21102829] [-0.09482856 0.99419991 0.05073549 0.56607743] [ 0.17975217 -0.03302689 0.98315735 -0.22830515] [ 0. 0. 0. 1. ]] SLAMing on 153.108241008 meters Centerline goodness : 0.893129 Centerline is valid? [False, False] Translation: X:12.21, Y:0.57, Z:-0.23 [[ 0.97908489 0.10219122 -0.17592534 12.21230899] [-0.09457088 0.99420113 0.0511905 0.5650922 ] [ 0.18013639 -0.03348243 0.98307162 -0.22754859] [ 0. 0. 0. 1. ]] SLAMing on 153.138241008 meters Centerline goodness : 0.891273 Centerline is valid? [False, False] Translation: X:12.21, Y:0.56, Z:-0.23 [[ 0.97906479 0.10223672 -0.17601078 12.21255321] [-0.09447543 0.99417097 0.05194688 0.56313337] [ 0.18029568 -0.03423067 0.98301665 -0.22637246] [ 0. 0. 0. 1. ]] SLAMing on 153.168241008 meters Centerline goodness : 0.893012 Centerline is valid? [False, False] Translation: X:12.21, Y:0.56, Z:-0.23 [[ 0.97902763 0.1018239 -0.17645621 12.21405196] [-0.09395449 0.9941958 0.05241444 0.56053562] [ 0.18076907 -0.03473634 0.98291197 -0.22566882] [ 0. 0. 0. 1. ]] SLAMing on 153.198241008 meters Centerline goodness : 0.894972 Centerline is valid? [False, False] Translation: X:12.22, Y:0.55, Z:-0.23 [[ 0.98063527 0.10328503 -0.16639311 12.21791067] [-0.09528345 0.99390763 0.05539573 0.55313424] [ 0.17110093 -0.03846849 0.98450223 -0.2262941 ] [ 0. 0. 0. 1. ]] SLAMing on 153.228241008 meters Centerline goodness : 0.894728 Centerline is valid? [False, False] Translation: X:12.22, Y:0.56, Z:-0.23 [[ 0.98110684 0.09876046 -0.1663603 12.21767029] [-0.09155654 0.99452117 0.05044846 0.55546566] [ 0.17043115 -0.03426395 0.98477368 -0.22810686] [ 0. 0. 0. 1. ]] SLAMing on 153.258241008 meters Centerline goodness : 0.895659 Centerline is valid? [False, False] Translation: X:12.22, Y:0.56, Z:-0.23 [[ 0.98154641 0.09428593 -0.16636349 12.21727634] [-0.08786741 0.99509042 0.04554538 0.55792136] [ 0.16984101 -0.03008697 0.98501208 -0.22961236] [ 0. 0. 0. 1. ]] SLAMing on 153.288241008 meters Centerline goodness : 0.895664 Centerline is valid? [False, False] Translation: X:12.22, Y:0.56, Z:-0.23 [[ 0.98152282 0.09386217 -0.16674188 12.21875235] [-0.08741384 0.99512712 0.04561609 0.55647666] [ 0.170211 -0.03019769 0.98494483 -0.22964599] [ 0. 0. 0. 1. ]] SLAMing on 153.318241008 meters Centerline goodness : 0.893106 Centerline is valid? [False, False] Translation: X:12.22, Y:0.55, Z:-0.23 [[ 0.982928 0.09721161 -0.15621283 12.22103364] [-0.09035192 0.99463146 0.05044585 0.54914971] [ 0.16027811 -0.03547051 0.98643437 -0.22886003] [ 0. 0. 0. 1. ]] SLAMing on 153.348241008 meters Centerline goodness : 0.894542 Centerline is valid? [False, False] Translation: X:12.22, Y:0.54, Z:-0.23 [[ 0.98414965 0.10087818 -0.14585288 12.22461503] [-0.09384385 0.99410241 0.05434825 0.54385218] [ 0.15047525 -0.03979942 0.98781233 -0.22920577] [ 0. 0. 0. 1. ]] SLAMing on 153.378241008 meters Centerline goodness : 0.895089 Centerline is valid? [False, False] Translation: X:12.20, Y:0.55, Z:-0.23 [[ 0.98462136 0.09669333 -0.14550318 12.1995033 ] [-0.0897453 0.99452159 0.05359654 0.5476052 ] [ 0.14988848 -0.03971407 0.98790497 -0.23434484] [ 0. 0. 0. 1. ]] SLAMing on 153.408241008 meters Centerline goodness : 0.893099 Centerline is valid? [False, False] Translation: X:12.18, Y:0.55, Z:-0.23 [[ 0.98450337 0.09458373 -0.14767201 12.17718511] [-0.08686617 0.99453726 0.05787832 0.54794747] [ 0.15233967 -0.0441537 0.98734142 -0.23451217] [ 0. 0. 0. 1. ]] SLAMing on 153.438241008 meters Centerline goodness : 0.897073 Centerline is valid? [False, False] Translation: X:12.18, Y:0.54, Z:-0.23 [[ 0.98571802 0.09783937 -0.13706732 12.17995579] [-0.09004803 0.99400887 0.06194939 0.54072714] [ 0.14230722 -0.04872199 0.98862269 -0.23473346] [ 0. 0. 0. 1. ]] SLAMing on 153.468241008 meters Centerline goodness : 0.896406 Centerline is valid? [False, False] Translation: X:12.18, Y:0.54, Z:-0.24 [[ 0.98614493 0.09332447 -0.13714488 12.1801904 ] [-0.08626765 0.99466629 0.05654089 0.5433561 ] [ 0.14169004 -0.04392635 0.988936 -0.23749124] [ 0. 0. 0. 1. ]] SLAMing on 153.498241008 meters Centerline goodness : 0.896214 Centerline is valid? [False, False] Translation: X:12.16, Y:0.55, Z:-0.24 [[ 0.98632053 0.08974336 -0.13826765 12.15500073] [-0.08267511 0.99499891 0.0560535 0.54649523] [ 0.14260659 -0.04385543 0.98880739 -0.24199408] [ 0. 0. 0. 1. ]] SLAMing on 153.528241008 meters Centerline goodness : 0.897652 Centerline is valid? [False, False] Translation: X:12.16, Y:0.54, Z:-0.24 [[ 0.98718613 0.09477318 -0.12838065 12.15793759] [-0.08779694 0.99439179 0.05896334 0.53844933] [ 0.13324881 -0.04693636 0.98997057 -0.24098332] [ 0. 0. 0. 1. ]] SLAMing on 153.558241008 meters Centerline goodness : 0.900084 Centerline is valid? [False, False] Translation: X:12.17, Y:0.53, Z:-0.24 [[ 0.98760956 0.09980301 -0.12110618 12.16725458] [-0.09314484 0.99387549 0.05946045 0.53291314] [ 0.1262988 -0.0474433 0.99085708 -0.24367422] [ 0. 0. 0. 1. ]] SLAMing on 153.588241008 meters Centerline goodness : 0.896570 Centerline is valid? [False, False] Translation: X:12.17, Y:0.54, Z:-0.25 [[ 0.98800514 0.09591372 -0.12102229 12.16678473] [-0.09000554 0.99450928 0.05338806 0.53697562] [ 0.12547844 -0.041855 0.99121305 -0.24786482] [ 0. 0. 0. 1. ]] SLAMing on 153.618241008 meters Centerline goodness : 0.892792 Centerline is valid? [False, False] Translation: X:12.14, Y:0.54, Z:-0.26 [[ 0.98858099 0.09285485 -0.11868278 12.1394478 ] [-0.08733278 0.99487683 0.05092237 0.54287321] [ 0.12280313 -0.03997599 0.99162559 -0.25577594] [ 0. 0. 0. 1. ]] SLAMing on 153.648241008 meters Centerline goodness : 0.896082 Centerline is valid? [False, False] Translation: X:12.14, Y:0.54, Z:-0.26 [[ 0.98855566 0.09392208 -0.11805233 12.13748696] [-0.08842177 0.99477624 0.05100803 0.54269171] [ 0.12222643 -0.03998588 0.99169644 -0.25639282] [ 0. 0. 0. 1. ]] SLAMing on 153.67824100800001 meters Centerline goodness : 0.897965 Centerline is valid? [False, False] Translation: X:12.14, Y:0.55, Z:-0.26 [[ 0.98883519 0.09102088 -0.11798379 12.13596402] [-0.08612762 0.99522437 0.04594001 0.54629256] [ 0.12160184 -0.03526544 0.99195229 -0.25903108] [ 0. 0. 0. 1. ]] SLAMing on 153.70824100800002 meters Centerline goodness : 0.897767 Centerline is valid? [False, False] Translation: X:12.14, Y:0.54, Z:-0.26 [[ 0.98913569 0.09656495 -0.11084133 12.1449668 ] [-0.09208223 0.99473926 0.04488508 0.54210058] [ 0.11459255 -0.03419092 0.99282402 -0.26228901] [ 0. 0. 0. 1. ]] SLAMing on 153.738241008 meters Centerline goodness : 0.896998 Centerline is valid? [False, False] Translation: X:12.14, Y:0.55, Z:-0.26 [[ 0.98940098 0.09439331 -0.11034315 12.14148603] [-0.09045326 0.99508924 0.04019478 0.54524923] [ 0.1135954 -0.02978786 0.99308044 -0.26426271] [ 0. 0. 0. 1. ]] SLAMing on 153.768241008 meters Centerline goodness : 0.900496 Centerline is valid? [False, False] Translation: X:12.15, Y:0.55, Z:-0.27 [[ 0.98965181 0.09753423 -0.10524436 12.15393099] [-0.09464289 0.99499241 0.03213764 0.54560463] [ 0.10785185 -0.02184444 0.99392696 -0.26781105] [ 0. 0. 0. 1. ]] SLAMing on 153.798241008 meters Centerline goodness : 0.899793 Centerline is valid? [False, False] Translation: X:12.17, Y:0.55, Z:-0.27 [[ 9.89993805e-01 9.88834279e-02 -1.00669424e-01 1.21689573e+01] [-9.71464612e-02 9.95026368e-01 2.20247940e-02 5.48129163e-01] [ 1.02346619e-01 -1.20247313e-02 9.94676116e-01 -2.73925175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.828241008 meters Centerline goodness : 0.898984 Centerline is valid? [False, False] Translation: X:12.17, Y:0.55, Z:-0.27 [[ 0.98952942 0.10319066 -0.10091192 12.17006008] [-0.10093447 0.99452043 0.0272276 0.54551709] [ 0.1031686 -0.01675702 0.99452272 -0.27182484] [ 0. 0. 0. 1. ]] SLAMing on 153.858241008 meters Centerline goodness : 0.901287 Centerline is valid? [False, False] Translation: X:12.17, Y:0.54, Z:-0.27 [[ 0.98945414 0.10467572 -0.10011739 12.16679917] [-0.10238001 0.99435644 0.02781388 0.54479022] [ 0.10246381 -0.01727054 0.9945868 -0.27124454] [ 0. 0. 0. 1. ]] SLAMing on 153.888241008 meters Centerline goodness : 0.904088 Centerline is valid? [False, False] Translation: X:12.17, Y:0.55, Z:-0.27 [[ 0.98979259 0.10125108 -0.10029379 12.16584916] [-0.0994586 0.99478212 0.022727 0.54764226] [ 0.10207161 -0.01251994 0.99469827 -0.27334951] [ 0. 0. 0. 1. ]] SLAMing on 153.918241008 meters Centerline goodness : 0.902664 Centerline is valid? [False, False] Translation: X:12.17, Y:0.55, Z:-0.27 [[ 0.9897618 0.1012682 -0.10057995 12.16650774] [-0.09945699 0.9947789 0.02287475 0.54684285] [ 0.1023713 -0.01263717 0.99466598 -0.27325768] [ 0. 0. 0. 1. ]] SLAMing on 153.948241008 meters Centerline goodness : 0.897993 Centerline is valid? [False, False] Translation: X:12.17, Y:0.55, Z:-0.27 [[ 0.98975465 0.10102802 -0.10089143 12.16747843] [-0.09920435 0.9948025 0.02294505 0.54557393] [ 0.10268514 -0.0127011 0.99463282 -0.27339071] [ 0. 0. 0. 1. ]] SLAMing on 153.978241008 meters Centerline goodness : 0.901985 Centerline is valid? [False, False] Translation: X:12.17, Y:0.55, Z:-0.28 [[ 9.90195847e-01 9.61379703e-02 -1.01339407e-01 1.21690151e+01] [-9.47923541e-02 9.95333914e-01 1.80224742e-02 5.45478723e-01] [ 1.02599193e-01 -8.23957810e-03 9.94688652e-01 -2.75936098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.008241008 meters Centerline goodness : 0.903188 Centerline is valid? [False, False] Translation: X:12.17, Y:0.54, Z:-0.28 [[ 9.90209118e-01 9.49452162e-02 -1.02329412e-01 1.21728488e+01] [-9.35832906e-02 9.95448007e-01 1.80397652e-02 5.43404503e-01] [ 1.03576399e-01 -8.28681689e-03 9.94586979e-01 -2.76460581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.038241008 meters Centerline goodness : 0.897523 Centerline is valid? [False, False] Translation: X:12.18, Y:0.54, Z:-0.28 [[ 9.90245995e-01 9.36539877e-02 -1.03159098e-01 1.21764605e+01] [-9.22531969e-02 9.95567810e-01 1.82779477e-02 5.40987315e-01] [ 1.04413680e-01 -8.58290791e-03 9.94496917e-01 -2.76651129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.068241008 meters Centerline goodness : 0.899201 Centerline is valid? [False, False] Translation: X:12.18, Y:0.54, Z:-0.28 [[ 9.90263796e-01 9.22546484e-02 -1.04243440e-01 1.21806056e+01] [-9.07739850e-02 9.95692724e-01 1.88701684e-02 5.38012482e-01] [ 1.05535295e-01 -9.22385212e-03 9.94372778e-01 -2.76105903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.098241008 meters Centerline goodness : 0.897501 Centerline is valid? [False, False] Translation: X:12.20, Y:0.53, Z:-0.27 [[ 0.99078863 0.08690523 -0.10385265 12.19616599] [-0.08462129 0.99606847 0.02620781 0.53064454] [ 0.10572194 -0.01717825 0.99424734 -0.26698382] [ 0. 0. 0. 1. ]] SLAMing on 154.128241008 meters Centerline goodness : 0.899787 Centerline is valid? [False, False] Translation: X:12.20, Y:0.53, Z:-0.26 [[ 0.99073258 0.08677465 -0.10449454 12.1968564 ] [-0.08440096 0.99606774 0.02693588 0.52992398] [ 0.106421 -0.01786682 0.99416063 -0.26469057] [ 0. 0. 0. 1. ]] SLAMing on 154.158241008 meters Centerline goodness : 0.896132 Centerline is valid? [False, False] Translation: X:12.20, Y:0.53, Z:-0.26 [[ 0.99070154 0.08659471 -0.10493721 12.19748435] [-0.08413418 0.99607046 0.02766002 0.52890627] [ 0.10692006 -0.01857402 0.99409411 -0.26288167] [ 0. 0. 0. 1. ]] SLAMing on 154.188241008 meters Centerline goodness : 0.895752 Centerline is valid? [False, False] Translation: X:12.20, Y:0.53, Z:-0.26 [[ 0.9906976 0.08607698 -0.10539931 12.19918416] [-0.08358781 0.99611204 0.02781868 0.52891118] [ 0.10738407 -0.0187498 0.9940408 -0.26239701] [ 0. 0. 0. 1. ]] SLAMing on 154.218241008 meters Centerline goodness : 0.895210 Centerline is valid? [False, False] Translation: X:12.20, Y:0.53, Z:-0.26 [[ 0.99072756 0.08465089 -0.10626916 12.20273266] [-0.08222685 0.99624794 0.02699617 0.53004499] [ 0.10815568 -0.01800767 0.99397086 -0.263276 ] [ 0. 0. 0. 1. ]] SLAMing on 154.248241008 meters Centerline goodness : 0.896899 Centerline is valid? [False, False] Translation: X:12.19, Y:0.53, Z:-0.26 [[ 0.99046089 0.08439916 -0.10892201 12.1879525 ] [-0.08049845 0.99596248 0.03973328 0.52884843] [ 0.11183569 -0.0305862 0.99325589 -0.25575955] [ 0. 0. 0. 1. ]] SLAMing on 154.278241008 meters Centerline goodness : 0.896486 Centerline is valid? [False, False] Translation: X:12.19, Y:0.53, Z:-0.26 [[ 0.99047417 0.08384528 -0.10922863 12.18942858] [-0.08002812 0.996034 0.03888151 0.53108759] [ 0.11205546 -0.02976977 0.99325593 -0.25671646] [ 0. 0. 0. 1. ]] SLAMing on 154.308241008 meters Centerline goodness : 0.897948 Centerline is valid? [False, False] Translation: X:12.19, Y:0.53, Z:-0.26 [[ 0.99047955 0.08347089 -0.10946627 12.19054589] [-0.07974837 0.99609191 0.03796193 0.53370371] [ 0.11220718 -0.02887076 0.99326534 -0.2576055 ] [ 0. 0. 0. 1. ]] SLAMing on 154.338241008 meters Centerline goodness : 0.899637 Centerline is valid? [False, False] Translation: X:12.19, Y:0.54, Z:-0.26 [[ 0.99048197 0.08360646 -0.1093409 12.19026651] [-0.08004213 0.99611937 0.03659865 0.53829301] [ 0.11197647 -0.02749842 0.99333031 -0.25903044] [ 0. 0. 0. 1. ]] SLAMing on 154.368241008 meters Centerline goodness : 0.898877 Centerline is valid? [False, False] Translation: X:12.19, Y:0.54, Z:-0.26 [[ 0.99046993 0.08362924 -0.10943247 12.19061218] [-0.08015194 0.99613936 0.03580556 0.54151683] [ 0.11200438 -0.0266931 0.99334913 -0.25959642] [ 0. 0. 0. 1. ]] SLAMing on 154.398241008 meters Centerline goodness : 0.896631 Centerline is valid? [False, False] Translation: X:12.19, Y:0.54, Z:-0.26 [[ 0.99047725 0.0834118 -0.10953215 12.19139708] [-0.08005449 0.99618608 0.03470695 0.54405819] [ 0.11200937 -0.0256079 0.99337714 -0.26116344] [ 0. 0. 0. 1. ]] SLAMing on 154.42824100800001 meters Centerline goodness : 0.897654 Centerline is valid? [False, False] Translation: X:12.19, Y:0.55, Z:-0.26 [[ 0.99046353 0.08332873 -0.10971931 12.19229947] [-0.08013268 0.99623012 0.03323112 0.54829685] [ 0.11207479 -0.02412211 0.99340695 -0.26313269] [ 0. 0. 0. 1. ]] SLAMing on 154.45824100800002 meters Centerline goodness : 0.896359 Centerline is valid? [False, False] Translation: X:12.19, Y:0.55, Z:-0.26 [[ 0.99004832 0.08725117 -0.11041538 12.19445848] [-0.08348288 0.99577246 0.03831198 0.54677072] [ 0.11329136 -0.02871292 0.99314684 -0.26055043] [ 0. 0. 0. 1. ]] SLAMing on 154.488241008 meters Centerline goodness : 0.897082 Centerline is valid? [False, False] Translation: X:12.20, Y:0.54, Z:-0.26 [[ 0.98961802 0.09138018 -0.11093167 12.19615943] [-0.08699015 0.99524587 0.04379926 0.54490686] [ 0.11440667 -0.03369457 0.99286242 -0.25743834] [ 0. 0. 0. 1. ]] SLAMing on 154.518241008 meters Centerline goodness : 0.897562 Centerline is valid? [False, False] Translation: X:12.20, Y:0.55, Z:-0.26 [[ 0.98988629 0.0881673 -0.11113801 12.19547329] [-0.08434327 0.99568646 0.0386613 0.55003187] [ 0.11406727 -0.02889655 0.99305269 -0.25976927] [ 0. 0. 0. 1. ]] SLAMing on 154.548241008 meters Centerline goodness : 0.899334 Centerline is valid? [False, False] Translation: X:12.20, Y:0.55, Z:-0.26 [[ 0.98989126 0.08764212 -0.11150856 12.19685629] [-0.08395516 0.9957693 0.03735014 0.55299822] [ 0.11431025 -0.02761086 0.99306133 -0.26118013] [ 0. 0. 0. 1. ]] SLAMing on 154.578241008 meters Centerline goodness : 0.896319 Centerline is valid? [False, False] Translation: X:12.20, Y:0.55, Z:-0.26 [[ 0.9898849 0.08705425 -0.11202431 12.19857047] [-0.08343531 0.99584061 0.0366063 0.55429203] [ 0.11474509 -0.02688924 0.99303098 -0.26189241] [ 0. 0. 0. 1. ]] SLAMing on 154.608241008 meters Centerline goodness : 0.902361 Centerline is valid? [False, False] Translation: X:12.20, Y:0.56, Z:-0.26 [[ 0.98987483 0.08660746 -0.11245878 12.2000839 ] [-0.0830342 0.99589309 0.03608709 0.55523293] [ 0.11512234 -0.02638378 0.99300088 -0.26240077] [ 0. 0. 0. 1. ]] SLAMing on 154.638241008 meters Centerline goodness : 0.900771 Centerline is valid? [False, False] Translation: X:12.20, Y:0.56, Z:-0.26 [[ 0.98984828 0.08617226 -0.11302529 12.20174412] [-0.08262656 0.99594103 0.03569756 0.55602727] [ 0.11564267 -0.02599628 0.99295064 -0.26252877] [ 0. 0. 0. 1. ]] SLAMing on 154.668241008 meters Centerline goodness : 0.901188 Centerline is valid? [False, False] Translation: X:12.20, Y:0.56, Z:-0.26 [[ 0.98982801 0.08554549 -0.11367707 12.20382581] [-0.08204955 0.99601023 0.03509267 0.55674061] [ 0.11622554 -0.02540856 0.99289779 -0.26310622] [ 0. 0. 0. 1. ]] SLAMing on 154.698241008 meters Centerline goodness : 0.901677 Centerline is valid? [False, False] Translation: X:12.21, Y:0.56, Z:-0.26 [[ 0.98980007 0.08509413 -0.11425763 12.20560291] [-0.08163259 0.99606002 0.03464902 0.55735782] [ 0.11675589 -0.02496845 0.99284673 -0.26353721] [ 0. 0. 0. 1. ]] SLAMing on 154.728241008 meters Centerline goodness : 0.900500 Centerline is valid? [False, False] Translation: X:12.21, Y:0.56, Z:-0.26 [[ 0.98980936 0.08443768 -0.11466347 12.20743544] [-0.08108419 0.9961404 0.0336105 0.55923595] [ 0.1170589 -0.0239706 0.99283565 -0.26492235] [ 0. 0. 0. 1. ]] SLAMing on 154.758241008 meters Centerline goodness : 0.900832 Centerline is valid? [False, False] Translation: X:12.21, Y:0.56, Z:-0.26 [[ 0.98939933 0.08836507 -0.11524141 12.20968335] [-0.08446238 0.99568919 0.03832937 0.5579835 ] [ 0.1181316 -0.02818949 0.99259774 -0.2632453 ] [ 0. 0. 0. 1. ]] SLAMing on 154.788241008 meters Centerline goodness : 0.902707 Centerline is valid? [False, False] Translation: X:12.21, Y:0.55, Z:-0.26 [[ 0.98896387 0.09255768 -0.11568728 12.21085621] [-0.08797209 0.99514427 0.0441451 0.55465769] [ 0.1192115 -0.03348065 0.99230422 -0.25950623] [ 0. 0. 0. 1. ]] SLAMing on 154.818241008 meters Centerline goodness : 0.900151 Centerline is valid? [False, False] Translation: X:12.23, Y:0.56, Z:-0.27 [[ 0.98939438 0.09226978 -0.1121831 12.22615636] [-0.08925789 0.99550742 0.03159117 0.55787445] [ 0.11459401 -0.0212429 0.99318526 -0.26609717] [ 0. 0. 0. 1. ]] SLAMing on 154.848241008 meters Centerline goodness : 0.903405 Centerline is valid? [False, False] Translation: X:12.23, Y:0.56, Z:-0.27 [[ 0.98938883 0.09210347 -0.11236854 12.22676033] [-0.08914154 0.99553283 0.03111528 0.55926969] [ 0.1147324 -0.0207684 0.99317931 -0.26647472] [ 0. 0. 0. 1. ]] SLAMing on 154.878241008 meters Centerline goodness : 0.900264 Centerline is valid? [False, False] Translation: X:12.24, Y:0.56, Z:-0.27 [[ 0.98968248 0.09377605 -0.1083266 12.24468565] [-0.09179599 0.99550907 0.02313394 0.56136344] [ 0.11000952 -0.01295131 0.99384615 -0.27093484] [ 0. 0. 0. 1. ]] SLAMing on 154.908241008 meters Centerline goodness : 0.904098 Centerline is valid? [False, False] Translation: X:12.25, Y:0.56, Z:-0.27 [[ 0.98965759 0.09352099 -0.10877351 12.24589387] [-0.09156666 0.99553707 0.02283617 0.56164965] [ 0.11042372 -0.01263996 0.99380422 -0.27117632] [ 0. 0. 0. 1. ]] SLAMing on 154.938241008 meters Centerline goodness : 0.899393 Centerline is valid? [False, False] Translation: X:12.25, Y:0.56, Z:-0.27 [[ 0.98964227 0.09344001 -0.1089823 12.24640419] [-0.09149175 0.99554585 0.02275334 0.56138397] [ 0.11062295 -0.01254668 0.99378325 -0.27123809] [ 0. 0. 0. 1. ]] SLAMing on 154.968241008 meters Centerline goodness : 0.905232 Centerline is valid? [False, False] Translation: X:12.25, Y:0.56, Z:-0.27 [[ 0.9892652 0.09614418 -0.11004843 12.25083954] [-0.09344457 0.99518904 0.02944308 0.55667938] [ 0.11234977 -0.01884359 0.99349003 -0.26595547] [ 0. 0. 0. 1. ]] SLAMing on 154.998241008 meters Centerline goodness : 0.905232 Centerline is valid? [False, False] Translation: X:12.25, Y:0.56, Z:-0.27 [[ 0.9892647 0.09617002 -0.11003035 12.25078677] [-0.09347412 0.9951871 0.02941475 0.55674359] [ 0.11232961 -0.01881399 0.99349288 -0.26598731] [ 0. 0. 0. 1. ]] SLAMing on 155.028241008 meters Centerline goodness : 0.905845 Centerline is valid? [False, False] Translation: X:12.25, Y:0.56, Z:-0.27 [[ 0.98926464 0.09568974 -0.11044881 12.25237729] [-0.0930192 0.99523911 0.02909553 0.55674391] [ 0.11270711 -0.01850932 0.99345584 -0.2665428 ] [ 0. 0. 0. 1. ]] SLAMing on 155.058241008 meters Centerline goodness : 0.904090 Centerline is valid? [False, False] Translation: X:12.25, Y:0.56, Z:-0.27 [[ 0.98925583 0.09508974 -0.11104437 12.2543445 ] [-0.09243288 0.99530101 0.02884566 0.55644923] [ 0.1132655 -0.01827159 0.99339674 -0.26686447] [ 0. 0. 0. 1. ]] SLAMing on 155.088241008 meters Centerline goodness : 0.903771 Centerline is valid? [False, False] Translation: X:12.26, Y:0.55, Z:-0.27 [[ 0.98923676 0.09439505 -0.11180435 12.25677232] [-0.09169492 0.99536294 0.0290629 0.55388971] [ 0.1140293 -0.0184982 0.99330516 -0.2668272 ] [ 0. 0. 0. 1. ]] SLAMing on 155.118241008 meters Centerline goodness : 0.901131 Centerline is valid? [False, False] Translation: X:12.26, Y:0.55, Z:-0.26 [[ 0.98887957 0.09691362 -0.11280489 12.26158256] [-0.09341266 0.99497893 0.03593047 0.54904232] [ 0.11572064 -0.0249935 0.9929673 -0.26108087] [ 0. 0. 0. 1. ]] SLAMing on 155.148241008 meters Centerline goodness : 0.904970 Centerline is valid? [False, False] Translation: X:12.26, Y:0.55, Z:-0.26 [[ 0.98929294 0.09237398 -0.1129891 12.26203687] [-0.08948862 0.99552507 0.03035822 0.5519114 ] [ 0.11528779 -0.01992194 0.99313234 -0.26393762] [ 0. 0. 0. 1. ]] SLAMing on 155.17824100800001 meters Centerline goodness : 0.905229 Centerline is valid? [False, False] Translation: X:12.26, Y:0.55, Z:-0.26 [[ 0.98926431 0.09203405 -0.11351592 12.26360032] [-0.08912321 0.99555452 0.03046712 0.55151382] [ 0.1158153 -0.02002314 0.99306893 -0.26367756] [ 0. 0. 0. 1. ]] SLAMing on 155.20824100800002 meters Centerline goodness : 0.907076 Centerline is valid? [False, False] Translation: X:12.26, Y:0.55, Z:-0.26 [[ 0.98925765 0.09178775 -0.11377311 12.26456714] [-0.08888446 0.99557961 0.03034444 0.5509522 ] [ 0.11605543 -0.01990581 0.99304325 -0.26399874] [ 0. 0. 0. 1. ]] SLAMing on 155.238241008 meters Centerline goodness : 0.905306 Centerline is valid? [False, False] Translation: X:12.27, Y:0.55, Z:-0.26 [[ 0.98923226 0.0916034 -0.11414177 12.26559447] [-0.08863522 0.99558709 0.03082435 0.54844388] [ 0.11646169 -0.02037546 0.99298616 -0.26353146] [ 0. 0. 0. 1. ]] SLAMing on 155.268241008 meters Centerline goodness : 0.906303 Centerline is valid? [False, False] Translation: X:12.27, Y:0.55, Z:-0.26 [[ 0.98920687 0.09137527 -0.11454398 12.26702239] [-0.08838909 0.99560681 0.03089419 0.54789596] [ 0.11686373 -0.02043631 0.99293767 -0.26358926] [ 0. 0. 0. 1. ]] SLAMing on 155.298241008 meters Centerline goodness : 0.905699 Centerline is valid? [False, False] Translation: X:12.27, Y:0.54, Z:-0.26 [[ 0.98883339 0.09470482 -0.11506311 12.27005283] [-0.09114454 0.99519286 0.03583073 0.54437853] [ 0.11790333 -0.02494324 0.99271176 -0.26187411] [ 0. 0. 0. 1. ]] SLAMing on 155.328241008 meters Centerline goodness : 0.908502 Centerline is valid? [False, False] Translation: X:12.27, Y:0.54, Z:-0.26 [[ 0.98882152 0.09425966 -0.11552975 12.27201082] [-0.09074034 0.99524649 0.03536399 0.54457846] [ 0.11831398 -0.02448547 0.9926743 -0.26289241] [ 0. 0. 0. 1. ]] SLAMing on 155.358241008 meters Centerline goodness : 0.904658 Centerline is valid? [False, False] Translation: X:12.27, Y:0.54, Z:-0.26 [[ 0.98875732 0.09421516 -0.11611406 12.27368761] [-0.09073372 0.99526262 0.03492423 0.54385565] [ 0.11885438 -0.02399613 0.99262169 -0.2640977 ] [ 0. 0. 0. 1. ]] SLAMing on 155.388241008 meters Centerline goodness : 0.906991 Centerline is valid? [False, False] Translation: X:12.27, Y:0.54, Z:-0.26 [[ 0.98871588 0.09417834 -0.11649612 12.27468052] [-0.09070856 0.99527109 0.0347478 0.54346914] [ 0.11921771 -0.02378851 0.99258312 -0.26450802] [ 0. 0. 0. 1. ]] SLAMing on 155.418241008 meters Centerline goodness : 0.905820 Centerline is valid? [False, False] Translation: X:12.28, Y:0.54, Z:-0.27 [[ 0.98868997 0.0942289 -0.11667504 12.27513413] [-0.09079669 0.99527506 0.03440239 0.54411844] [ 0.11936546 -0.02341959 0.99257413 -0.26502878] [ 0. 0. 0. 1. ]] SLAMing on 155.448241008 meters Centerline goodness : 0.905808 Centerline is valid? [False, False] Translation: X:12.29, Y:0.55, Z:-0.27 [[ 0.98891931 0.09626241 -0.11301389 12.29127466] [-0.09409066 0.99526438 0.02440829 0.54700113] [ 0.1148283 -0.01350428 0.99329356 -0.27171808] [ 0. 0. 0. 1. ]] SLAMing on 155.478241008 meters Centerline goodness : 0.905227 Centerline is valid? [False, False] Translation: X:12.29, Y:0.55, Z:-0.27 [[ 0.98892426 0.09604818 -0.11315277 12.29195798] [-0.09392092 0.99529045 0.02399557 0.54776265] [ 0.1149246 -0.01310239 0.9932878 -0.27232793] [ 0. 0. 0. 1. ]] SLAMing on 155.508241008 meters Centerline goodness : 0.906483 Centerline is valid? [False, False] Translation: X:12.30, Y:0.54, Z:-0.27 [[ 0.98851027 0.09922687 -0.11402402 12.29566789] [-0.09649819 0.99490416 0.0292199 0.54454282] [ 0.11634237 -0.01788106 0.9930482 -0.26980904] [ 0. 0. 0. 1. ]] SLAMing on 155.538241008 meters Centerline goodness : 0.906749 Centerline is valid? [False, False] Translation: X:12.30, Y:0.55, Z:-0.27 [[ 0.98887375 0.09520844 -0.1142981 12.29557558] [-0.09306507 0.99537178 0.02395657 0.54812957] [ 0.11604997 -0.01305286 0.9931576 -0.27197595] [ 0. 0. 0. 1. ]] SLAMing on 155.568241008 meters Centerline goodness : 0.907388 Centerline is valid? [False, False] Translation: X:12.30, Y:0.55, Z:-0.27 [[ 0.9888466 0.09435821 -0.1152342 12.298312 ] [-0.09215703 0.99544807 0.02429428 0.54695957] [ 0.11700202 -0.01340367 0.99304122 -0.27107941] [ 0. 0. 0. 1. ]] SLAMing on 155.598241008 meters Centerline goodness : 0.905360 Centerline is valid? [False, False] Translation: X:12.30, Y:0.55, Z:-0.27 [[ 0.98885823 0.09356362 -0.11578106 12.30058101] [-0.09140382 0.99552858 0.02383669 0.54694822] [ 0.1174936 -0.01298827 0.9929887 -0.27191574] [ 0. 0. 0. 1. ]] SLAMing on 155.628241008 meters Centerline goodness : 0.905127 Centerline is valid? [False, False] Translation: X:12.30, Y:0.55, Z:-0.27 [[ 0.98886653 0.09283343 -0.11629676 12.30264181] [-0.09069784 0.99560035 0.02353405 0.54658244] [ 0.11796984 -0.01272417 0.99293565 -0.27248643] [ 0. 0. 0. 1. ]] SLAMing on 155.658241008 meters Centerline goodness : 0.903651 Centerline is valid? [False, False] Translation: X:12.31, Y:0.54, Z:-0.27 [[ 0.98868108 0.09377799 -0.11711279 12.30977436] [-0.09077948 0.99539794 0.03069232 0.54269575] [ 0.11945209 -0.01971348 0.99264423 -0.26552808] [ 0. 0. 0. 1. ]] SLAMing on 155.688241008 meters Centerline goodness : 0.901966 Centerline is valid? [False, False] Translation: X:12.31, Y:0.54, Z:-0.26 [[ 0.98867399 0.09292093 -0.11785347 12.31179635] [-0.08985378 0.99546964 0.03108833 0.54021741] [ 0.12020831 -0.02014664 0.99254424 -0.26446925] [ 0. 0. 0. 1. ]] SLAMing on 155.718241008 meters Centerline goodness : 0.902982 Centerline is valid? [False, False] Translation: X:12.32, Y:0.54, Z:-0.26 [[ 0.98833185 0.0955144 -0.11864714 12.3161218 ] [-0.09167251 0.99508514 0.03743961 0.53657006] [ 0.12164003 -0.02612608 0.99223038 -0.25941567] [ 0. 0. 0. 1. ]] SLAMing on 155.748241008 meters Centerline goodness : 0.902969 Centerline is valid? [False, False] Translation: X:12.32, Y:0.54, Z:-0.26 [[ 0.98832802 0.09497048 -0.11911478 12.3179011 ] [-0.0911917 0.99515334 0.03679544 0.53755767] [ 0.12203195 -0.02550369 0.99219845 -0.26021389] [ 0. 0. 0. 1. ]] SLAMing on 155.778241008 meters Centerline goodness : 0.906721 Centerline is valid? [False, False] Translation: X:12.32, Y:0.54, Z:-0.26 [[ 0.98834709 0.09433139 -0.11946385 12.3199105 ] [-0.0906921 0.9952441 0.03555459 0.54018641] [ 0.12224961 -0.02430585 0.99220172 -0.26222346] [ 0. 0. 0. 1. ]] SLAMing on 155.808241008 meters Centerline goodness : 0.903921 Centerline is valid? [False, False] Translation: X:12.32, Y:0.54, Z:-0.26 [[ 0.98792672 0.09780102 -0.12014888 12.32309855] [-0.09361142 0.99480309 0.04004646 0.53886342] [ 0.12344106 -0.02831566 0.99194785 -0.26098977] [ 0. 0. 0. 1. ]] SLAMing on 155.838241008 meters Centerline goodness : 0.902171 Centerline is valid? [False, False] Translation: X:12.32, Y:0.54, Z:-0.26 [[ 0.98793828 0.09743803 -0.12034856 12.32423177] [-0.09335531 0.99486393 0.03912215 0.54065657] [ 0.12354243 -0.02741509 0.99196052 -0.26238966] [ 0. 0. 0. 1. ]] SLAMing on 155.868241008 meters Centerline goodness : 0.904306 Centerline is valid? [False, False] Translation: X:12.34, Y:0.54, Z:-0.27 [[ 0.98829568 0.09726997 -0.11751681 12.3399554 ] [-0.09489555 0.99515679 0.02564748 0.54451631] [ 0.11944239 -0.01419547 0.99273965 -0.2702799 ] [ 0. 0. 0. 1. ]] SLAMing on 155.898241008 meters Centerline goodness : 0.902477 Centerline is valid? [False, False] Translation: X:12.36, Y:0.55, Z:-0.27 [[ 9.88606031e-01 9.89677563e-02 -1.13417365e-01 1.23557879e+01] [-9.76487706e-02 9.95073327e-01 1.71403299e-02 5.45516717e-01] [ 1.14554935e-01 -5.86996727e-03 9.93399572e-01 -2.74045163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.92824100800001 meters Centerline goodness : 0.903368 Centerline is valid? [False, False] Translation: X:12.35, Y:0.55, Z:-0.27 [[ 9.88575557e-01 9.95183725e-02 -1.13200975e-01 1.23545737e+01] [-9.81927087e-02 9.95018065e-01 1.72407237e-02 5.46208279e-01] [ 1.14352784e-01 -5.92824766e-03 9.93422517e-01 -2.73610147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.95824100800002 meters Centerline goodness : 0.899169 Centerline is valid? [False, False] Translation: X:12.36, Y:0.54, Z:-0.27 [[ 9.88116760e-01 1.03532252e-01 -1.13606080e-01 1.23561775e+01] [-1.01661808e-01 9.94572358e-01 2.21518060e-02 5.43840515e-01] [ 1.15282893e-01 -1.03391713e-02 9.93278891e-01 -2.71654381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.988241008 meters Centerline goodness : 0.904390 Centerline is valid? [False, False] Translation: X:12.35, Y:0.55, Z:-0.27 [[ 9.88104771e-01 1.04270618e-01 -1.13033622e-01 1.23545090e+01] [-1.02449593e-01 9.94498913e-01 2.18172624e-02 5.45658502e-01] [ 1.14686713e-01 -9.97749252e-03 9.93351603e-01 -2.72337766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.018241008 meters Centerline goodness : 0.903553 Centerline is valid? [False, False] Translation: X:12.36, Y:0.55, Z:-0.27 [[ 9.88088208e-01 1.03918993e-01 -1.13501263e-01 1.23561516e+01] [-1.02142050e-01 9.94540120e-01 2.13764353e-02 5.46546051e-01] [ 1.15102978e-01 -9.52855186e-03 9.93307863e-01 -2.72981579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.048241008 meters Centerline goodness : 0.903368 Centerline is valid? [False, False] Translation: X:12.36, Y:0.55, Z:-0.27 [[ 9.88078447e-01 1.03947032e-01 -1.13560541e-01 1.23564380e+01] [-1.02198560e-01 9.94539634e-01 2.11274835e-02 5.46777746e-01] [ 1.15136598e-01 -9.26988735e-03 9.93306414e-01 -2.73521008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.078241008 meters Centerline goodness : 0.899652 Centerline is valid? [False, False] Translation: X:12.36, Y:0.55, Z:-0.27 [[ 9.88060592e-01 1.04106432e-01 -1.13569875e-01 1.23562396e+01] [-1.02360756e-01 9.94523291e-01 2.11116034e-02 5.46478828e-01] [ 1.15145739e-01 -9.23444513e-03 9.93305685e-01 -2.73549415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.108241008 meters Centerline goodness : 0.903712 Centerline is valid? [False, False] Translation: X:12.37, Y:0.55, Z:-0.28 [[ 9.88522092e-01 1.04039816e-01 -1.09543552e-01 1.23724376e+01] [-1.03478074e-01 9.94572925e-01 1.08159963e-02 5.47019587e-01] [ 1.10074345e-01 6.43504384e-04 9.93923148e-01 -2.77955829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.138241008 meters Centerline goodness : 0.900754 Centerline is valid? [False, False] Translation: X:12.37, Y:0.55, Z:-0.28 [[ 9.88506637e-01 1.04132940e-01 -1.09594519e-01 1.23723863e+01] [-1.03518204e-01 9.94563372e-01 1.12996223e-02 5.45878076e-01] [ 1.10175358e-01 1.75276097e-04 9.93912149e-01 -2.77313764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.168241008 meters Centerline goodness : 0.901175 Centerline is valid? [False, False] Translation: X:12.37, Y:0.55, Z:-0.28 [[ 9.88509116e-01 1.03905839e-01 -1.09787541e-01 1.23732896e+01] [-1.03282979e-01 9.94587133e-01 1.13605260e-02 5.45159758e-01] [ 1.10373700e-01 1.09200690e-04 9.93890152e-01 -2.77576109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.198241008 meters Centerline goodness : 0.898174 Centerline is valid? [False, False] Translation: X:12.38, Y:0.54, Z:-0.28 [[ 9.88474466e-01 1.03423790e-01 -1.10552019e-01 1.23755316e+01] [-1.02731051e-01 9.94637273e-01 1.19593968e-02 5.43339815e-01] [ 1.11196045e-01 -4.64433251e-04 9.93798382e-01 -2.76799787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.228241008 meters Centerline goodness : 0.898655 Centerline is valid? [False, False] Translation: X:12.38, Y:0.54, Z:-0.28 [[ 9.88471134e-01 1.03163608e-01 -1.10824582e-01 1.23766835e+01] [-1.02481755e-01 9.94664338e-01 1.18467001e-02 5.42933861e-01] [ 1.11455408e-01 -3.52623356e-04 9.93769373e-01 -2.77305185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.258241008 meters Centerline goodness : 0.898732 Centerline is valid? [False, False] Translation: X:12.38, Y:0.54, Z:-0.28 [[ 9.88447328e-01 1.02635717e-01 -1.11524841e-01 1.23791305e+01] [-1.01989812e-01 9.94719010e-01 1.14964740e-02 5.43166044e-01] [ 1.12115829e-01 1.07385740e-05 9.93695145e-01 -2.78022676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.288241008 meters Centerline goodness : 0.899183 Centerline is valid? [False, False] Translation: X:12.38, Y:0.54, Z:-0.28 [[ 9.88435147e-01 1.02100751e-01 -1.12122243e-01 1.23814674e+01] [-1.01496792e-01 9.94773978e-01 1.10965812e-02 5.42861992e-01] [ 1.12669259e-01 4.11797126e-04 9.93632461e-01 -2.79158236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.318241008 meters Centerline goodness : 0.899598 Centerline is valid? [False, False] Translation: X:12.39, Y:0.54, Z:-0.28 [[ 9.88035027e-01 1.04455531e-01 -1.13471702e-01 1.23874658e+01] [-1.03198096e-01 9.94516973e-01 1.69158008e-02 5.40309420e-01] [ 1.14616483e-01 -5.00334005e-03 9.93397216e-01 -2.75075296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.348241008 meters Centerline goodness : 0.898950 Centerline is valid? [False, False] Translation: X:12.39, Y:0.54, Z:-0.28 [[ 9.88042179e-01 1.04214987e-01 -1.13630489e-01 1.23883752e+01] [-1.03002883e-01 9.94544150e-01 1.65027263e-02 5.41444781e-01] [ 1.14730370e-01 -4.60112163e-03 9.93386014e-01 -2.75779166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.378241008 meters Centerline goodness : 0.899323 Centerline is valid? [False, False] Translation: X:12.39, Y:0.54, Z:-0.28 [[ 9.88045893e-01 1.03955246e-01 -1.13835932e-01 1.23893579e+01] [-1.02775222e-01 9.94572641e-01 1.62023386e-02 5.41986939e-01] [ 1.14902422e-01 -4.30914093e-03 9.93367437e-01 -2.76395725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.408241008 meters Centerline goodness : 0.898458 Centerline is valid? [False, False] Translation: X:12.39, Y:0.54, Z:-0.28 [[ 9.88025111e-01 1.03926996e-01 -1.14041922e-01 1.23897947e+01] [-1.02683688e-01 9.94573209e-01 1.67389640e-02 5.41606061e-01] [ 1.15162670e-01 -4.82827164e-03 9.93334912e-01 -2.75377037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.438241008 meters Centerline goodness : 0.898013 Centerline is valid? [False, False] Translation: X:12.39, Y:0.54, Z:-0.27 [[ 9.88010382e-01 1.03380960e-01 -1.14664123e-01 1.23912777e+01] [-1.02040097e-01 9.94626024e-01 1.75182751e-02 5.40555014e-01] [ 1.15858977e-01 -5.60789935e-03 9.93249842e-01 -2.73435661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.468241008 meters Centerline goodness : 0.900516 Centerline is valid? [False, False] Translation: X:12.39, Y:0.54, Z:-0.27 [[ 9.87987366e-01 1.03299842e-01 -1.14935231e-01 1.23918524e+01] [-1.01874005e-01 9.94630315e-01 1.82270035e-02 5.40012242e-01] [ 1.16200912e-01 -6.29913686e-03 9.93205754e-01 -2.71961367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.498241008 meters Centerline goodness : 0.897395 Centerline is valid? [False, False] Translation: X:12.39, Y:0.54, Z:-0.27 [[ 9.88384068e-01 9.91906336e-02 -1.15144048e-01 1.23912212e+01] [-9.82750438e-02 9.95066144e-01 1.36155857e-02 5.42699083e-01] [ 1.15926482e-01 -2.14164168e-03 9.93255488e-01 -2.72722253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.528241008 meters Centerline goodness : 0.895477 Centerline is valid? [False, False] Translation: X:12.39, Y:0.54, Z:-0.27 [[ 9.88411085e-01 9.84391790e-02 -1.15556289e-01 1.23927282e+01] [-9.74183051e-02 9.95138432e-01 1.44628873e-02 5.40679977e-01] [ 1.16418219e-01 -3.03798031e-03 9.93195635e-01 -2.71221941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.558241008 meters Centerline goodness : 0.900000 Centerline is valid? [False, False] Translation: X:12.39, Y:0.54, Z:-0.27 [[ 9.88398315e-01 9.79876977e-02 -1.16048188e-01 1.23943692e+01] [-9.69468922e-02 9.95182567e-01 1.45931074e-02 5.40795810e-01] [ 1.16919079e-01 -3.17329156e-03 9.93136375e-01 -2.70892495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.588241008 meters Centerline goodness : 0.895132 Centerline is valid? [False, False] Translation: X:12.40, Y:0.54, Z:-0.27 [[ 9.88016855e-01 1.00777348e-01 -1.16904326e-01 1.23986352e+01] [-9.89805482e-02 9.94865855e-01 2.10898296e-02 5.37586173e-01] [ 1.18429499e-01 -9.26585284e-03 9.92919230e-01 -2.65713719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.618241008 meters Centerline goodness : 0.895533 Centerline is valid? [False, False] Translation: X:12.40, Y:0.54, Z:-0.26 [[ 9.87990848e-01 1.00793756e-01 -1.17109788e-01 1.23986325e+01] [-9.89457707e-02 9.94860471e-01 2.15029662e-02 5.37811392e-01] [ 1.18675263e-01 -9.65721559e-03 9.92886157e-01 -2.64322863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.648241008 meters Centerline goodness : 0.895934 Centerline is valid? [False, False] Translation: X:12.40, Y:0.54, Z:-0.26 [[ 9.87963286e-01 1.00869126e-01 -1.17277301e-01 1.23987551e+01] [-9.90077760e-02 9.94852085e-01 2.16053106e-02 5.38936372e-01] [ 1.18852876e-01 -9.73388892e-03 9.92864163e-01 -2.63518987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.67824100800001 meters Centerline goodness : 0.895596 Centerline is valid? [False, False] Translation: X:12.40, Y:0.54, Z:-0.26 [[ 9.87951005e-01 1.01049032e-01 -1.17225873e-01 1.23983850e+01] [-9.91997850e-02 9.94834831e-01 2.15188767e-02 5.40283458e-01] [ 1.18794844e-01 -9.63081439e-03 9.92872113e-01 -2.63201091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.70824100800002 meters Centerline goodness : 0.893919 Centerline is valid? [False, False] Translation: X:12.40, Y:0.54, Z:-0.26 [[ 0.98748245 0.10482031 -0.11786054 12.40043632] [-0.10221957 0.99437009 0.02791566 0.53762258] [ 0.12012312 -0.01551857 0.9926377 -0.25783494] [ 0. 0. 0. 1. ]] SLAMing on 156.738241008 meters Centerline goodness : 0.893388 Centerline is valid? [False, False] Translation: X:12.40, Y:0.54, Z:-0.26 [[ 0.98744376 0.10534257 -0.11771898 12.39908337] [-0.10267281 0.99430581 0.02853493 0.53843806] [ 0.12005461 -0.0160901 0.99263689 -0.25586284] [ 0. 0. 0. 1. ]] SLAMing on 156.768241008 meters Centerline goodness : 0.899450 Centerline is valid? [False, False] Translation: X:12.40, Y:0.54, Z:-0.25 [[ 0.98741457 0.10548651 -0.11783491 12.39821093] [-0.10277206 0.99428511 0.02889665 0.5394699 ] [ 0.1202097 -0.01642284 0.99261267 -0.25390294] [ 0. 0. 0. 1. ]] SLAMing on 156.798241008 meters Centerline goodness : 0.897626 Centerline is valid? [False, False] Translation: X:12.40, Y:0.54, Z:-0.25 [[ 0.98739444 0.10556576 -0.11793259 12.39829907] [-0.10286362 0.99427885 0.02878625 0.541481 ] [ 0.12029672 -0.01629241 0.99260428 -0.25334191] [ 0. 0. 0. 1. ]] SLAMing on 156.828241008 meters Centerline goodness : 0.897959 Centerline is valid? [False, False] Translation: X:12.40, Y:0.54, Z:-0.25 [[ 0.98737685 0.1055417 -0.11810125 12.39852323] [-0.10285576 0.99428422 0.02862846 0.54278608] [ 0.12044771 -0.01611968 0.99258879 -0.25300389] [ 0. 0. 0. 1. ]] SLAMing on 156.858241008 meters Centerline goodness : 0.899516 Centerline is valid? [False, False] Translation: X:12.40, Y:0.54, Z:-0.25 [[ 0.98695159 0.10951489 -0.11803835 12.3992138 ] [-0.10615153 0.99375361 0.03443278 0.54000531] [ 0.12107194 -0.02145354 0.99241188 -0.24906222] [ 0. 0. 0. 1. ]] SLAMing on 156.888241008 meters Centerline goodness : 0.899516 Centerline is valid? [False, False] Translation: X:12.40, Y:0.54, Z:-0.25 [[ 0.98694969 0.10960137 -0.11797395 12.39904689] [-0.10626523 0.9937486 0.034226 0.5405486 ] [ 0.12098767 -0.02124281 0.99242669 -0.24922418] [ 0. 0. 0. 1. ]] SLAMing on 156.918241008 meters Centerline goodness : 0.901131 Centerline is valid? [False, False] Translation: X:12.40, Y:0.54, Z:-0.25 [[ 0.98692058 0.10960138 -0.11821719 12.3992916 ] [-0.10624905 0.99374724 0.03431563 0.54172893] [ 0.12123904 -0.02130634 0.99239465 -0.24841042] [ 0. 0. 0. 1. ]] SLAMing on 156.948241008 meters Centerline goodness : 0.898178 Centerline is valid? [False, False] Translation: X:12.40, Y:0.54, Z:-0.25 [[ 0.98648841 0.11264278 -0.1189631 12.40295196] [-0.10870044 0.99330354 0.03914448 0.54040285] [ 0.12257581 -0.02568423 0.99212675 -0.24611532] [ 0. 0. 0. 1. ]] SLAMing on 156.978241008 meters Centerline goodness : 0.898910 Centerline is valid? [False, False] Translation: X:12.40, Y:0.54, Z:-0.25 [[ 0.98650817 0.11223839 -0.11918123 12.40423022] [-0.10838109 0.99336794 0.03838853 0.5423997 ] [ 0.12269948 -0.02495361 0.99213011 -0.2472199 ] [ 0. 0. 0. 1. ]] SLAMing on 157.008241008 meters Centerline goodness : 0.898696 Centerline is valid? [False, False] Translation: X:12.41, Y:0.54, Z:-0.25 [[ 0.98650233 0.11172802 -0.11970796 12.40596796] [-0.10795088 0.99344469 0.03760661 0.54441898] [ 0.12312495 -0.02417643 0.99209664 -0.24796527] [ 0. 0. 0. 1. ]] SLAMing on 157.038241008 meters Centerline goodness : 0.899495 Centerline is valid? [False, False] Translation: X:12.41, Y:0.55, Z:-0.25 [[ 0.98646772 0.11194963 -0.11978611 12.40534313] [-0.10822645 0.99343117 0.03716919 0.5465524 ] [ 0.12316033 -0.02370218 0.99210369 -0.24754344] [ 0. 0. 0. 1. ]] SLAMing on 157.068241008 meters Centerline goodness : 0.898320 Centerline is valid? [False, False] Translation: X:12.41, Y:0.55, Z:-0.25 [[ 0.9864278 0.11215542 -0.11992227 12.40528405] [-0.10844032 0.99341082 0.03708949 0.54825552] [ 0.12329187 -0.02358169 0.99209023 -0.24679785] [ 0. 0. 0. 1. ]] SLAMing on 157.098241008 meters Centerline goodness : 0.903299 Centerline is valid? [False, False] Translation: X:12.41, Y:0.55, Z:-0.25 [[ 0.98642568 0.11209234 -0.11999869 12.4054291 ] [-0.10846493 0.99343489 0.03636581 0.55048901] [ 0.12328721 -0.02285652 0.99210778 -0.24729733] [ 0. 0. 0. 1. ]] SLAMing on 157.128241008 meters Centerline goodness : 0.901735 Centerline is valid? [False, False] Translation: X:12.41, Y:0.56, Z:-0.25 [[ 0.98642435 0.11151917 -0.12054245 12.40758823] [-0.10814198 0.99354616 0.03422489 0.555556 ] [ 0.12358122 -0.02072457 0.99211802 -0.25004387] [ 0. 0. 0. 1. ]] SLAMing on 157.158241008 meters Centerline goodness : 0.901038 Centerline is valid? [False, False] Translation: X:12.41, Y:0.56, Z:-0.25 [[ 0.98640884 0.11118212 -0.12097994 12.40920078] [-0.10793494 0.99360708 0.0330911 0.55871983] [ 0.12388566 -0.01958339 0.99210324 -0.25137565] [ 0. 0. 0. 1. ]] SLAMing on 157.188241008 meters Centerline goodness : 0.898677 Centerline is valid? [False, False] Translation: X:12.41, Y:0.56, Z:-0.25 [[ 0.98640399 0.11070626 -0.12145489 12.410873 ] [-0.10758912 0.99368193 0.03194991 0.56185597] [ 0.12422459 -0.0184483 0.99208261 -0.25254306] [ 0. 0. 0. 1. ]] SLAMing on 157.218241008 meters Centerline goodness : 0.896562 Centerline is valid? [False, False] Translation: X:12.41, Y:0.56, Z:-0.25 [[ 0.9864089 0.11031657 -0.12176919 12.41177913] [-0.10732981 0.99374501 0.03084083 0.56447776] [ 0.12440978 -0.01735221 0.99207918 -0.25345397] [ 0. 0. 0. 1. ]] SLAMing on 157.248241008 meters Centerline goodness : 0.899622 Centerline is valid? [False, False] Translation: X:12.41, Y:0.56, Z:-0.25 [[ 0.98638573 0.10983114 -0.12239408 12.41333708] [-0.10687238 0.99380476 0.03050245 0.5648708 ] [ 0.12498594 -0.01700664 0.99201275 -0.2534293 ] [ 0. 0. 0. 1. ]] SLAMing on 157.278241008 meters Centerline goodness : 0.900955 Centerline is valid? [False, False] Translation: X:12.41, Y:0.57, Z:-0.25 [[ 0.98635005 0.10963684 -0.12285499 12.41433021] [-0.10667186 0.99382708 0.03047711 0.5654245 ] [ 0.12543803 -0.01695593 0.99195655 -0.25289492] [ 0. 0. 0. 1. ]] SLAMing on 157.308241008 meters Centerline goodness : 0.902890 Centerline is valid? [False, False] Translation: X:12.42, Y:0.57, Z:-0.25 [[ 0.98633365 0.10871081 -0.12380583 12.41724839] [-0.10578891 0.99393733 0.02995474 0.56657135] [ 0.12631164 -0.01644808 0.99185424 -0.25308894] [ 0. 0. 0. 1. ]] SLAMing on 157.338241008 meters Centerline goodness : 0.901861 Centerline is valid? [False, False] Translation: X:12.42, Y:0.56, Z:-0.25 [[ 0.9858975 0.11173779 -0.12458245 12.42142437] [-0.10802656 0.9934895 0.03617848 0.56437328] [ 0.12781386 -0.02221006 0.99154946 -0.24839736] [ 0. 0. 0. 1. ]] SLAMing on 157.368241008 meters Centerline goodness : 0.902563 Centerline is valid? [False, False] Translation: X:12.42, Y:0.57, Z:-0.25 [[ 0.98591865 0.11118819 -0.1249064 12.42298703] [-0.10755801 0.99356618 0.03546162 0.56548125] [ 0.12804569 -0.02152759 0.9915346 -0.24949975] [ 0. 0. 0. 1. ]] SLAMing on 157.398241008 meters Centerline goodness : 0.899300 Centerline is valid? [False, False] Translation: X:12.42, Y:0.56, Z:-0.25 [[ 0.9854259 0.1153395 -0.1250304 12.42414877] [-0.11102596 0.9929731 0.04095929 0.56309299] [ 0.12887605 -0.02648072 0.99130708 -0.24654266] [ 0. 0. 0. 1. ]] SLAMing on 157.42824100800001 meters Centerline goodness : 0.899873 Centerline is valid? [False, False] Translation: X:12.44, Y:0.57, Z:-0.25 [[ 0.98573482 0.11772924 -0.12027753 12.43732585] [-0.11464809 0.99288261 0.03224797 0.56609927] [ 0.123218 -0.01799836 0.9922164 -0.24970979] [ 0. 0. 0. 1. ]] SLAMing on 157.45824100800002 meters Centerline goodness : 0.899616 Centerline is valid? [False, False] Translation: X:12.44, Y:0.57, Z:-0.25 [[ 0.98571019 0.1181576 -0.12005919 12.4363279 ] [-0.11510968 0.99283603 0.03203703 0.56757356] [ 0.12298451 -0.01775925 0.99224968 -0.24962798] [ 0. 0. 0. 1. ]] SLAMing on 157.488241008 meters Centerline goodness : 0.899457 Centerline is valid? [False, False] Translation: X:12.44, Y:0.57, Z:-0.25 [[ 0.98567873 0.11857262 -0.11990823 12.43542146] [-0.11556728 0.99279244 0.03173917 0.56904788] [ 0.12280738 -0.01742716 0.9922775 -0.24957084] [ 0. 0. 0. 1. ]] SLAMing on 157.518241008 meters Centerline goodness : 0.901086 Centerline is valid? [False, False] Translation: X:12.45, Y:0.57, Z:-0.25 [[ 9.85960846e-01 1.20635796e-01 -1.15447890e-01 1.24503750e+01] [-1.18682100e-01 9.92650017e-01 2.36749390e-02 5.70425261e-01] [ 1.17455395e-01 -9.64096498e-03 9.93031360e-01 -2.52539085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.548241008 meters Centerline goodness : 0.899895 Centerline is valid? [False, False] Translation: X:12.45, Y:0.57, Z:-0.25 [[ 9.85887211e-01 1.21903809e-01 -1.14742623e-01 1.24471741e+01] [-1.19945075e-01 9.92494034e-01 2.38489181e-02 5.72519849e-01] [ 1.16788643e-01 -9.74953077e-03 9.93108936e-01 -2.51446200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.578241008 meters Centerline goodness : 0.904649 Centerline is valid? [False, False] Translation: X:12.45, Y:0.57, Z:-0.25 [[ 0.98540918 0.1252678 -0.11522472 12.44998195] [-0.12282746 0.99203102 0.02806896 0.57075226] [ 0.11782263 -0.01350665 0.9929428 -0.25064443] [ 0. 0. 0. 1. ]] SLAMing on 157.608241008 meters Centerline goodness : 0.901067 Centerline is valid? [False, False] Translation: X:12.45, Y:0.57, Z:-0.25 [[ 0.98543325 0.12475437 -0.11557533 12.45172978] [-0.12239979 0.99210593 0.02727861 0.57199798] [ 0.1180661 -0.01273486 0.99292408 -0.25204287] [ 0. 0. 0. 1. ]] SLAMing on 157.638241008 meters Centerline goodness : 0.899833 Centerline is valid? [False, False] Translation: X:12.46, Y:0.57, Z:-0.25 [[ 9.85466398e-01 1.23490295e-01 -1.16645297e-01 1.24560979e+01] [-1.21274693e-01 9.92280194e-01 2.59319405e-02 5.73134959e-01] [ 1.18947161e-01 -1.14089334e-02 9.92835036e-01 -2.54564104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.668241008 meters Centerline goodness : 0.900657 Centerline is valid? [False, False] Translation: X:12.46, Y:0.57, Z:-0.25 [[ 0.98507561 0.12503275 -0.11829139 12.46386778] [-0.12204372 0.99200187 0.03221224 0.57015887] [ 0.12137286 -0.01729477 0.99245631 -0.2493883 ] [ 0. 0. 0. 1. ]] SLAMing on 157.698241008 meters Centerline goodness : 0.901722 Centerline is valid? [False, False] Translation: X:12.46, Y:0.57, Z:-0.25 [[ 0.98555152 0.12066066 -0.11886636 12.46461396] [-0.11823996 0.99261143 0.02723717 0.57302097] [ 0.12127456 -0.01278888 0.99253661 -0.25108464] [ 0. 0. 0. 1. ]] SLAMing on 157.728241008 meters Centerline goodness : 0.898012 Centerline is valid? [False, False] Translation: X:12.48, Y:0.57, Z:-0.24 [[ 0.98597496 0.11849457 -0.11752625 12.48272341] [-0.11444929 0.99259848 0.04061553 0.56532148] [ 0.1214691 -0.0265951 0.99223886 -0.23846286] [ 0. 0. 0. 1. ]] SLAMing on 157.758241008 meters Centerline goodness : 0.898792 Centerline is valid? [False, False] Translation: X:12.48, Y:0.57, Z:-0.24 [[ 0.98647173 0.1135374 -0.11824886 12.48457327] [-0.11008647 0.99329358 0.03533886 0.56704181] [ 0.12146812 -0.02184318 0.99235496 -0.24093708] [ 0. 0. 0. 1. ]] SLAMing on 157.788241008 meters Centerline goodness : 0.901982 Centerline is valid? [False, False] Translation: X:12.49, Y:0.56, Z:-0.23 [[ 0.98648706 0.1125503 -0.11906182 12.4949897 ] [-0.10825465 0.99323676 0.04197219 0.56338365] [ 0.12298056 -0.02851603 0.9919993 -0.2345574 ] [ 0. 0. 0. 1. ]] SLAMing on 157.818241008 meters Centerline goodness : 0.899506 Centerline is valid? [False, False] Translation: X:12.50, Y:0.56, Z:-0.24 [[ 0.98726278 0.11594757 -0.10894204 12.49984391] [-0.11157085 0.99271583 0.04546673 0.55720395] [ 0.11342024 -0.03273286 0.99300776 -0.23642322] [ 0. 0. 0. 1. ]] SLAMing on 157.848241008 meters Centerline goodness : 0.897239 Centerline is valid? [False, False] Translation: X:12.47, Y:0.56, Z:-0.24 [[ 0.9887522 0.10745668 -0.10402955 12.47449214] [-0.1022054 0.99326526 0.05457263 0.55958275] [ 0.10919314 -0.04332642 0.99307587 -0.2386148 ] [ 0. 0. 0. 1. ]] SLAMing on 157.878241008 meters Centerline goodness : 0.896328 Centerline is valid? [False, False] Translation: X:12.45, Y:0.56, Z:-0.24 [[ 0.98891603 0.10451587 -0.1054586 12.44919981] [-0.09904382 0.99351344 0.05586927 0.56269963] [ 0.11061376 -0.04480499 0.99285301 -0.24008646] [ 0. 0. 0. 1. ]] SLAMing on 157.908241008 meters Centerline goodness : 0.896118 Centerline is valid? [False, False] Translation: X:12.45, Y:0.57, Z:-0.24 [[ 0.98934698 0.10057021 -0.10525298 12.4479457 ] [-0.09560865 0.99410236 0.05118097 0.56565938] [ 0.10977951 -0.04057264 0.99312754 -0.24118845] [ 0. 0. 0. 1. ]] SLAMing on 157.938241008 meters Centerline goodness : 0.896620 Centerline is valid? [False, False] Translation: X:12.42, Y:0.57, Z:-0.24 [[ 0.99018233 0.09634203 -0.10127767 12.41829308] [-0.09160244 0.99451629 0.05046126 0.57016024] [ 0.10558384 -0.04068857 0.99357762 -0.24383452] [ 0. 0. 0. 1. ]] SLAMing on 157.968241008 meters Centerline goodness : 0.898488 Centerline is valid? [False, False] Translation: X:12.42, Y:0.57, Z:-0.25 [[ 0.99058466 0.09200814 -0.10137321 12.41812362] [-0.08782367 0.99511888 0.04500462 0.57381191] [ 0.10501919 -0.03567792 0.99382999 -0.24606777] [ 0. 0. 0. 1. ]] SLAMing on 157.998241008 meters Centerline goodness : 0.899925 Centerline is valid? [False, False] Translation: X:12.42, Y:0.57, Z:-0.25 [[ 0.99059756 0.09168525 -0.10153961 12.4187307 ] [-0.08750554 0.99515213 0.04488885 0.5738742 ] [ 0.105163 -0.03558151 0.99381824 -0.24603522] [ 0. 0. 0. 1. ]] SLAMing on 158.028241008 meters Centerline goodness : 0.899713 Centerline is valid? [False, False] Translation: X:12.42, Y:0.58, Z:-0.25 [[ 0.99094139 0.08794471 -0.10149331 12.41757219] [-0.08424707 0.9956349 0.04016929 0.57717282] [ 0.10458296 -0.03125489 0.99402492 -0.24705995] [ 0. 0. 0. 1. ]] SLAMing on 158.058241008 meters Centerline goodness : 0.900064 Centerline is valid? [False, False] Translation: X:12.42, Y:0.58, Z:-0.25 [[ 0.99128467 0.08400322 -0.1014799 12.41624594] [-0.08080987 0.99610826 0.03518651 0.58069511] [ 0.10404075 -0.02667927 0.99421514 -0.24787543] [ 0. 0. 0. 1. ]] SLAMing on 158.088241008 meters Centerline goodness : 0.897187 Centerline is valid? [False, False] Translation: X:12.40, Y:0.58, Z:-0.25 [[ 0.99121402 0.08248008 -0.10340117 12.39503668] [-0.07865466 0.99607688 0.04054988 0.58277956] [ 0.10634007 -0.03206063 0.99381281 -0.24695557] [ 0. 0. 0. 1. ]] SLAMing on 158.118241008 meters Centerline goodness : 0.898380 Centerline is valid? [False, False] Translation: X:12.40, Y:0.59, Z:-0.25 [[ 0.99154889 0.07825406 -0.10347508 12.39536492] [-0.07502576 0.99657637 0.03473722 0.58792464] [ 0.10583915 -0.02668036 0.99402527 -0.25009996] [ 0. 0. 0. 1. ]] SLAMing on 158.148241008 meters Centerline goodness : 0.899761 Centerline is valid? [False, False] Translation: X:12.40, Y:0.59, Z:-0.25 [[ 0.99155196 0.07759933 -0.10393778 12.39719906] [-0.07442841 0.99664479 0.03405238 0.58893342] [ 0.10623149 -0.02602878 0.99400069 -0.25103158] [ 0. 0. 0. 1. ]] SLAMing on 158.17824100800001 meters Centerline goodness : 0.896360 Centerline is valid? [False, False] Translation: X:12.40, Y:0.59, Z:-0.25 [[ 0.99153654 0.0770967 -0.10445759 12.39897483] [-0.07398703 0.99670207 0.03333021 0.59006677] [ 0.10668275 -0.02531962 0.99397068 -0.25199534] [ 0. 0. 0. 1. ]] SLAMing on 158.20824100800002 meters Centerline goodness : 0.893772 Centerline is valid? [False, False] Translation: X:12.38, Y:0.59, Z:-0.25 [[ 0.99129686 0.07582692 -0.10761415 12.37893795] [-0.07205126 0.99665545 0.03855558 0.59276554] [ 0.11017778 -0.03046629 0.99344485 -0.25161019] [ 0. 0. 0. 1. ]] SLAMing on 158.238241008 meters Centerline goodness : 0.894368 Centerline is valid? [False, False] Translation: X:12.38, Y:0.60, Z:-0.25 [[ 0.99131298 0.0751449 -0.10794361 12.38086722] [-0.0714868 0.99674112 0.03737339 0.59515482] [ 0.11040025 -0.02933218 0.99345428 -0.25348021] [ 0. 0. 0. 1. ]] SLAMing on 158.268241008 meters Centerline goodness : 0.895887 Centerline is valid? [False, False] Translation: X:12.38, Y:0.59, Z:-0.25 [[ 0.99195954 0.08081695 -0.09739041 12.38487806] [-0.07703107 0.99614234 0.0420316 0.59076933] [ 0.10041158 -0.03419156 0.99435831 -0.25464839] [ 0. 0. 0. 1. ]] SLAMing on 158.298241008 meters Centerline goodness : 0.892672 Centerline is valid? [False, False] Translation: X:12.38, Y:0.60, Z:-0.26 [[ 0.99225075 0.0769526 -0.09755386 12.38456437] [-0.07369291 0.99660939 0.0365935 0.59552408] [ 0.10003905 -0.0291209 0.99455727 -0.25679555] [ 0. 0. 0. 1. ]] SLAMing on 158.328241008 meters Centerline goodness : 0.893829 Centerline is valid? [False, False] Translation: X:12.38, Y:0.60, Z:-0.26 [[ 0.99222678 0.07780401 -0.09712133 12.38224425] [-0.07459082 0.99655356 0.03629336 0.59813638] [ 0.09961037 -0.02876689 0.9946106 -0.2560948 ] [ 0. 0. 0. 1. ]] SLAMing on 158.358241008 meters Centerline goodness : 0.896258 Centerline is valid? [False, False] Translation: X:12.38, Y:0.60, Z:-0.26 [[ 0.99220463 0.07862103 -0.09668873 12.38018939] [-0.0754252 0.99649122 0.0362807 0.59970081] [ 0.0992019 -0.02870511 0.99465321 -0.25551123] [ 0. 0. 0. 1. ]] SLAMing on 158.388241008 meters Centerline goodness : 0.895904 Centerline is valid? [False, False] Translation: X:12.38, Y:0.60, Z:-0.26 [[ 0.99218002 0.07950477 -0.0962175 12.37820993] [-0.07634344 0.99642753 0.03610883 0.6019381 ] [ 0.09874459 -0.02848088 0.99470515 -0.25522673] [ 0. 0. 0. 1. ]] SLAMing on 158.418241008 meters Centerline goodness : 0.895446 Centerline is valid? [False, False] Translation: X:12.38, Y:0.61, Z:-0.26 [[ 0.99204728 0.08159762 -0.09583333 12.37571793] [-0.07848363 0.99627124 0.03583192 0.60681906] [ 0.09839979 -0.02802561 0.99475225 -0.25577848] [ 0. 0. 0. 1. ]] SLAMing on 158.448241008 meters Centerline goodness : 0.895247 Centerline is valid? [False, False] Translation: X:12.38, Y:0.61, Z:-0.25 [[ 0.99166986 0.08614215 -0.09576232 12.37574234] [-0.08258637 0.99576056 0.04050173 0.60634932] [ 0.09884525 -0.03225569 0.9945799 -0.25415026] [ 0. 0. 0. 1. ]] SLAMing on 158.478241008 meters Centerline goodness : 0.893490 Centerline is valid? [False, False] Translation: X:12.39, Y:0.61, Z:-0.26 [[ 0.99185498 0.08863758 -0.09147175 12.38949534] [-0.08618232 0.99581366 0.03045917 0.6098128 ] [ 0.09378864 -0.02232784 0.99534173 -0.26004604] [ 0. 0. 0. 1. ]] SLAMing on 158.508241008 meters Centerline goodness : 0.894039 Centerline is valid? [False, False] Translation: X:12.39, Y:0.61, Z:-0.26 [[ 0.99181032 0.08915969 -0.09144851 12.38904016] [-0.0867682 0.99578244 0.02980975 0.61200605] [ 0.09372064 -0.02163079 0.99536353 -0.260749 ] [ 0. 0. 0. 1. ]] SLAMing on 158.538241008 meters Centerline goodness : 0.890816 Centerline is valid? [False, False] Translation: X:12.40, Y:0.62, Z:-0.27 [[ 0.99166603 0.09399929 -0.08810574 12.40417271] [-0.09250447 0.99549274 0.02090749 0.61587284] [ 0.08967391 -0.01258308 0.99589169 -0.26826671] [ 0. 0. 0. 1. ]] SLAMing on 158.568241008 meters Centerline goodness : 0.891766 Centerline is valid? [False, False] Translation: X:12.40, Y:0.62, Z:-0.27 [[ 9.91640439e-01 9.42705514e-02 -8.81039275e-02 1.24041261e+01] [-9.28261047e-02 9.95474155e-01 2.03597985e-02 6.17508385e-01] [ 8.96245121e-02 -1.20112551e-02 9.95903196e-01 -2.68987635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.598241008 meters Centerline goodness : 0.890815 Centerline is valid? [False, False] Translation: X:12.40, Y:0.62, Z:-0.27 [[ 9.91603748e-01 9.46899889e-02 -8.80670897e-02 1.24036102e+01] [-9.32525865e-02 9.95435424e-01 2.03044632e-02 6.17946650e-01] [ 8.95877302e-02 -1.19214979e-02 9.95907584e-01 -2.68920392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.628241008 meters Centerline goodness : 0.892078 Centerline is valid? [False, False] Translation: X:12.40, Y:0.62, Z:-0.27 [[ 9.91565864e-01 9.52318723e-02 -8.79092040e-02 1.24031835e+01] [-9.38132198e-02 9.95386085e-01 2.01400335e-02 6.17757207e-01] [ 8.94215716e-02 -1.17231242e-02 9.95924872e-01 -2.69777934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.658241008 meters Centerline goodness : 0.891900 Centerline is valid? [False, False] Translation: X:12.41, Y:0.62, Z:-0.27 [[ 9.91581433e-01 9.46143450e-02 -8.83990185e-02 1.24053143e+01] [-9.32524225e-02 9.95453074e-01 1.94206884e-02 6.18232846e-01] [ 8.98345504e-02 -1.10137714e-02 9.95895803e-01 -2.71225603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.688241008 meters Centerline goodness : 0.893720 Centerline is valid? [False, False] Translation: X:12.41, Y:0.62, Z:-0.27 [[ 9.91601383e-01 9.39092331e-02 -8.89255475e-02 1.24076877e+01] [-9.25946098e-02 9.95526314e-01 1.88041528e-02 6.18301942e-01] [ 9.02936061e-02 -1.04121976e-02 9.95860759e-01 -2.72639834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.718241008 meters Centerline goodness : 0.891376 Centerline is valid? [False, False] Translation: X:12.41, Y:0.62, Z:-0.27 [[ 9.91983641e-01 8.96090182e-02 -8.90992720e-02 1.24080738e+01] [-8.87230898e-02 9.95959862e-01 1.38624230e-02 6.20430026e-01] [ 8.99814967e-02 -5.84613412e-03 9.95926279e-01 -2.74720789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.748241008 meters Centerline goodness : 0.893525 Centerline is valid? [False, False] Translation: X:12.41, Y:0.62, Z:-0.27 [[ 9.92012681e-01 8.80817077e-02 -9.02909435e-02 1.24120986e+01] [-8.71252501e-02 9.96092009e-01 1.44879676e-02 6.15402307e-01] [ 9.12142122e-02 -6.50562655e-03 9.95810044e-01 -2.74190868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.778241008 meters Centerline goodness : 0.890392 Centerline is valid? [False, False] Translation: X:12.41, Y:0.61, Z:-0.27 [[ 9.91991959e-01 8.73897324e-02 -9.11865549e-02 1.24147972e+01] [-8.63713398e-02 9.96149136e-01 1.50628770e-02 6.12099165e-01] [ 9.21517487e-02 -7.06634797e-03 9.95719901e-01 -2.73795710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.808241008 meters Centerline goodness : 0.890392 Centerline is valid? [False, False] Translation: X:12.41, Y:0.61, Z:-0.27 [[ 9.91991959e-01 8.73897324e-02 -9.11865549e-02 1.24147972e+01] [-8.63713398e-02 9.96149136e-01 1.50628770e-02 6.12099165e-01] [ 9.21517487e-02 -7.06634797e-03 9.95719901e-01 -2.73795710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.838241008 meters Centerline goodness : 0.890704 Centerline is valid? [False, False] Translation: X:12.42, Y:0.61, Z:-0.27 [[ 9.91975049e-01 8.66238916e-02 -9.20967063e-02 1.24177088e+01] [-8.55262907e-02 9.96210531e-01 1.58060670e-02 6.09117635e-01] [ 9.31168917e-02 -7.80253439e-03 9.95624610e-01 -2.73070897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.868241008 meters Centerline goodness : 0.890735 Centerline is valid? [False, False] Translation: X:12.42, Y:0.61, Z:-0.27 [[ 9.92347697e-01 8.14046786e-02 -9.28403332e-02 1.24199113e+01] [-8.06620844e-02 9.96672487e-01 1.17294912e-02 6.07082345e-01] [ 9.34862413e-02 -4.15103880e-03 9.95611918e-01 -2.73923595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.898241008 meters Centerline goodness : 0.891104 Centerline is valid? [False, False] Translation: X:12.42, Y:0.60, Z:-0.27 [[ 9.92326475e-01 8.08532940e-02 -9.35463128e-02 1.24219313e+01] [-8.00208904e-02 9.96713275e-01 1.26215924e-02 6.04186251e-01] [ 9.42593491e-02 -5.03908105e-03 9.95534923e-01 -2.72821353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.92824100800001 meters Centerline goodness : 0.888727 Centerline is valid? [False, False] Translation: X:12.42, Y:0.60, Z:-0.27 [[ 9.92309505e-01 8.01508364e-02 -9.43275679e-02 1.24242369e+01] [-7.92575159e-02 9.96766973e-01 1.31851191e-02 6.01942313e-01] [ 9.50794027e-02 -5.60755029e-03 9.95453898e-01 -2.71944614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.95824100800002 meters Centerline goodness : 0.889051 Centerline is valid? [False, False] Translation: X:12.43, Y:0.60, Z:-0.27 [[ 9.92288320e-01 7.99177774e-02 -9.47472343e-02 1.24253597e+01] [-7.89049883e-02 9.96778216e-01 1.43941015e-02 5.99146133e-01] [ 9.55923239e-02 -6.80706937e-03 9.95397293e-01 -2.70152911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.988241008 meters Centerline goodness : 0.889963 Centerline is valid? [False, False] Translation: X:12.43, Y:0.60, Z:-0.27 [[ 9.92307967e-01 7.89477216e-02 -9.53527974e-02 1.24275430e+01] [-7.77672604e-02 9.96842515e-01 1.60391031e-02 5.95020386e-01] [ 9.63179731e-02 -8.50040398e-03 9.95314318e-01 -2.67508910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.018241008 meters Centerline goodness : 0.889352 Centerline is valid? [False, False] Translation: X:12.43, Y:0.59, Z:-0.27 [[ 9.92304748e-01 7.84711660e-02 -9.57787163e-02 1.24292481e+01] [-7.72602744e-02 9.96877836e-01 1.62920217e-02 5.94211474e-01] [ 9.67581334e-02 -8.76676057e-03 9.95269314e-01 -2.67201698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.048241008 meters Centerline goodness : 0.892132 Centerline is valid? [False, False] Translation: X:12.43, Y:0.59, Z:-0.27 [[ 9.92289576e-01 7.81698490e-02 -9.61814525e-02 1.24301909e+01] [-7.68853020e-02 9.96895081e-01 1.69955238e-02 5.92377916e-01] [ 9.72113544e-02 -9.46954113e-03 9.95218710e-01 -2.66085791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.078241008 meters Centerline goodness : 0.892204 Centerline is valid? [False, False] Translation: X:12.41, Y:0.59, Z:-0.26 [[ 0.99220993 0.07509559 -0.09939868 12.41373939] [-0.0727365 0.99698149 0.02715363 0.58769939] [ 0.10113776 -0.01971219 0.99467712 -0.25819813] [ 0. 0. 0. 1. ]] SLAMing on 159.108241008 meters Centerline goodness : 0.892156 Centerline is valid? [False, False] Translation: X:12.42, Y:0.58, Z:-0.26 [[ 0.99295842 0.07894763 -0.08832244 12.41579373] [-0.07637136 0.99655993 0.03218276 0.58250975] [ 0.09055935 -0.02521084 0.9955719 -0.25852081] [ 0. 0. 0. 1. ]] SLAMing on 159.138241008 meters Centerline goodness : 0.890168 Centerline is valid? [False, False] Translation: X:12.42, Y:0.59, Z:-0.26 [[ 0.99331053 0.07406176 -0.08859483 12.41732403] [-0.07202053 0.9970636 0.02602344 0.5863666 ] [ 0.09026202 -0.01946871 0.99572774 -0.2624694 ] [ 0. 0. 0. 1. ]] SLAMing on 159.168241008 meters Centerline goodness : 0.892592 Centerline is valid? [False, False] Translation: X:12.42, Y:0.58, Z:-0.26 [[ 0.99378581 0.07897672 -0.07843748 12.42154979] [-0.07682198 0.99658967 0.03012322 0.58166236] [ 0.08054902 -0.02391031 0.99646382 -0.26370781] [ 0. 0. 0. 1. ]] SLAMing on 159.198241008 meters Centerline goodness : 0.889575 Centerline is valid? [False, False] Translation: X:12.42, Y:0.58, Z:-0.27 [[ 0.99381255 0.07807852 -0.07899596 12.42421476] [-0.07605329 0.99670112 0.02833343 0.58435954] [ 0.0809476 -0.02215021 0.9964722 -0.266599 ] [ 0. 0. 0. 1. ]] SLAMing on 159.228241008 meters Centerline goodness : 0.889410 Centerline is valid? [False, False] Translation: X:12.42, Y:0.59, Z:-0.27 [[ 0.99381773 0.07796246 -0.07904538 12.4244657 ] [-0.07598362 0.99672298 0.02774493 0.58620217] [ 0.08094941 -0.02156724 0.99648485 -0.26714132] [ 0. 0. 0. 1. ]] SLAMing on 159.258241008 meters Centerline goodness : 0.889864 Centerline is valid? [False, False] Translation: X:12.42, Y:0.59, Z:-0.27 [[ 0.9938208 0.07785025 -0.0791173 12.42458817] [-0.07592042 0.99674504 0.02711867 0.5883672 ] [ 0.08097097 -0.02094448 0.99649638 -0.26743571] [ 0. 0. 0. 1. ]] SLAMing on 159.288241008 meters Centerline goodness : 0.891938 Centerline is valid? [False, False] Translation: X:12.42, Y:0.59, Z:-0.27 [[ 0.99378843 0.07881424 -0.07856759 12.42167894] [-0.07690902 0.99667268 0.02699214 0.59178452] [ 0.08043354 -0.02078192 0.9965433 -0.26606802] [ 0. 0. 0. 1. ]] SLAMing on 159.318241008 meters Centerline goodness : 0.889181 Centerline is valid? [False, False] Translation: X:12.42, Y:0.60, Z:-0.27 [[ 0.99379518 0.07896003 -0.07833553 12.4209294 ] [-0.07711791 0.99667574 0.02627339 0.59502861] [ 0.08014967 -0.0200693 0.99658078 -0.26644414] [ 0. 0. 0. 1. ]] SLAMing on 159.348241008 meters Centerline goodness : 0.890097 Centerline is valid? [False, False] Translation: X:12.42, Y:0.60, Z:-0.27 [[ 0.99380125 0.07913349 -0.07808314 12.42006296] [-0.07735345 0.99667582 0.02556867 0.59839782] [ 0.07984691 -0.01937018 0.99661892 -0.26673804] [ 0. 0. 0. 1. ]] SLAMing on 159.378241008 meters Centerline goodness : 0.887859 Centerline is valid? [False, False] Translation: X:12.42, Y:0.60, Z:-0.27 [[ 0.99379478 0.07954883 -0.07774266 12.41860717] [-0.07779989 0.99664851 0.02527699 0.60112756] [ 0.07949286 -0.01907177 0.99665298 -0.26627192] [ 0. 0. 0. 1. ]] SLAMing on 159.408241008 meters Centerline goodness : 0.889261 Centerline is valid? [False, False] Translation: X:12.42, Y:0.60, Z:-0.26 [[ 0.993765 0.08036977 -0.07727761 12.41597846] [-0.07865049 0.9965876 0.02504493 0.60497077] [ 0.07902676 -0.01881085 0.996695 -0.26491362] [ 0. 0. 0. 1. ]] SLAMing on 159.438241008 meters Centerline goodness : 0.887612 Centerline is valid? [False, False] Translation: X:12.42, Y:0.61, Z:-0.26 [[ 0.99376761 0.08047862 -0.07713059 12.4153242 ] [-0.07878172 0.99658333 0.0248012 0.60660287] [ 0.07886302 -0.01857015 0.99671248 -0.26461918] [ 0. 0. 0. 1. ]] SLAMing on 159.468241008 meters Centerline goodness : 0.888538 Centerline is valid? [False, False] Translation: X:12.42, Y:0.61, Z:-0.26 [[ 0.99376274 0.08038729 -0.07728844 12.4154907 ] [-0.07870568 0.99659512 0.02456792 0.60808319] [ 0.07900023 -0.01833165 0.99670603 -0.26426412] [ 0. 0. 0. 1. ]] SLAMing on 159.498241008 meters Centerline goodness : 0.889168 Centerline is valid? [False, False] Translation: X:12.42, Y:0.61, Z:-0.26 [[ 0.99377359 0.08012572 -0.07742037 12.41582504] [-0.07847544 0.9966239 0.02413305 0.60951463] [ 0.07909267 -0.01790719 0.99670642 -0.26433871] [ 0. 0. 0. 1. ]] SLAMing on 159.528241008 meters Centerline goodness : 0.890857 Centerline is valid? [False, False] Translation: X:12.42, Y:0.61, Z:-0.26 [[ 0.99378753 0.07988962 -0.0774854 12.41633316] [-0.07827336 0.99665063 0.02368125 0.61055744] [ 0.07911776 -0.01746909 0.9967122 -0.26491577] [ 0. 0. 0. 1. ]] SLAMing on 159.558241008 meters Centerline goodness : 0.888965 Centerline is valid? [False, False] Translation: X:12.39, Y:0.61, Z:-0.26 [[ 0.99379696 0.07878281 -0.07849124 12.39228894] [-0.07680378 0.99665507 0.0279257 0.61348579] [ 0.08042876 -0.02172405 0.9965236 -0.26465689] [ 0. 0. 0. 1. ]] SLAMing on 159.588241008 meters Centerline goodness : 0.890617 Centerline is valid? [False, False] Translation: X:12.39, Y:0.62, Z:-0.27 [[ 0.99379245 0.07869985 -0.07863148 12.39280171] [-0.07675871 0.99667269 0.02741609 0.6152337 ] [ 0.08052749 -0.02121025 0.99652669 -0.26522016] [ 0. 0. 0. 1. ]] SLAMing on 159.618241008 meters Centerline goodness : 0.890460 Centerline is valid? [False, False] Translation: X:12.39, Y:0.62, Z:-0.26 [[ 0.99375784 0.07964559 -0.07811483 12.39051872] [-0.07771976 0.99659875 0.02739644 0.61785632] [ 0.08003115 -0.02115436 0.99656786 -0.26435589] [ 0. 0. 0. 1. ]] SLAMing on 159.648241008 meters Centerline goodness : 0.888644 Centerline is valid? [False, False] Translation: X:12.39, Y:0.62, Z:-0.26 [[ 0.9937402 0.08017655 -0.07779544 12.38901248] [-0.07824694 0.99655333 0.02754769 0.61872424] [ 0.07973598 -0.02128799 0.99658868 -0.26361913] [ 0. 0. 0. 1. ]] SLAMing on 159.67824100800001 meters Centerline goodness : 0.890700 Centerline is valid? [False, False] Translation: X:12.39, Y:0.62, Z:-0.26 [[ 0.99372338 0.08029671 -0.07788631 12.38883383] [-0.07839694 0.99655232 0.02715494 0.62041856] [ 0.07979824 -0.02087845 0.99659236 -0.2635649 ] [ 0. 0. 0. 1. ]] SLAMing on 159.70824100800002 meters Centerline goodness : 0.889593 Centerline is valid? [False, False] Translation: X:12.40, Y:0.62, Z:-0.27 [[ 0.99380741 0.08391062 -0.07284115 12.40255944] [-0.08273127 0.99638952 0.01906483 0.62471713] [ 0.0741779 -0.01292053 0.99716132 -0.2686287 ] [ 0. 0. 0. 1. ]] SLAMing on 159.738241008 meters Centerline goodness : 0.888327 Centerline is valid? [False, False] Translation: X:12.40, Y:0.63, Z:-0.27 [[ 0.99379812 0.08426688 -0.07255618 12.40153541] [-0.08312874 0.99636576 0.0185711 0.62678407] [ 0.07385743 -0.01242442 0.99719141 -0.26884808] [ 0. 0. 0. 1. ]] SLAMing on 159.768241008 meters Centerline goodness : 0.889064 Centerline is valid? [False, False] Translation: X:12.40, Y:0.63, Z:-0.27 [[ 0.99343168 0.08827035 -0.07281369 12.40258502] [-0.08680656 0.99595884 0.02303477 0.6255837 ] [ 0.07455273 -0.01656277 0.99707952 -0.26761031] [ 0. 0. 0. 1. ]] SLAMing on 159.798241008 meters Centerline goodness : 0.889244 Centerline is valid? [False, False] Translation: X:12.40, Y:0.62, Z:-0.27 [[ 0.9930434 0.09233505 -0.07306881 12.40385624] [-0.09053401 0.99551097 0.02759538 0.62435394] [ 0.07528882 -0.0207882 0.99694506 -0.26642192] [ 0. 0. 0. 1. ]] SLAMing on 159.828241008 meters Centerline goodness : 0.887459 Centerline is valid? [False, False] Translation: X:12.40, Y:0.63, Z:-0.27 [[ 0.99295718 0.0932981 -0.07301712 12.40336544] [-0.09159806 0.99544864 0.02630225 0.6289189 ] [ 0.07513874 -0.01942878 0.9969838 -0.2684227 ] [ 0. 0. 0. 1. ]] SLAMing on 159.858241008 meters Centerline goodness : 0.887261 Centerline is valid? [False, False] Translation: X:12.40, Y:0.63, Z:-0.27 [[ 0.99296641 0.09314557 -0.07308629 12.40402255] [-0.09153109 0.99548472 0.02514421 0.63185539] [ 0.07509836 -0.01827769 0.99700861 -0.26997366] [ 0. 0. 0. 1. ]] SLAMing on 159.888241008 meters Centerline goodness : 0.887348 Centerline is valid? [False, False] Translation: X:12.40, Y:0.64, Z:-0.27 [[ 0.99298543 0.09296269 -0.07306081 12.40466641] [-0.09144545 0.9955244 0.0238517 0.6354028 ] [ 0.07495113 -0.01700331 0.99704223 -0.2717813 ] [ 0. 0. 0. 1. ]] SLAMing on 159.918241008 meters Centerline goodness : 0.885807 Centerline is valid? [False, False] Translation: X:12.41, Y:0.64, Z:-0.27 [[ 0.99297764 0.09294376 -0.07319066 12.40549066] [-0.09154887 0.9955532 0.02219517 0.63952005] [ 0.0749281 -0.01533879 0.99707096 -0.27416608] [ 0. 0. 0. 1. ]] SLAMing on 159.948241008 meters Centerline goodness : 0.885911 Centerline is valid? [False, False] Translation: X:12.41, Y:0.64, Z:-0.28 [[ 9.93255527e-01 8.94880231e-02 -7.37248352e-02 1.24054263e+01] [-8.84376725e-02 9.95929780e-01 1.73968532e-02 6.42921499e-01] [ 7.49815689e-02 -1.07594677e-02 9.97126872e-01 -2.75402366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.978241008 meters Centerline goodness : 0.886365 Centerline is valid? [False, False] Translation: X:12.41, Y:0.64, Z:-0.28 [[ 9.93265948e-01 8.92856082e-02 -7.38297841e-02 1.24059622e+01] [-8.82634476e-02 9.95952088e-01 1.70000634e-02 6.43391643e-01] [ 7.50487887e-02 -1.03691128e-02 9.97125950e-01 -2.75971048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.008241008 meters Centerline goodness : 0.885183 Centerline is valid? [False, False] Translation: X:12.41, Y:0.65, Z:-0.28 [[ 9.93310246e-01 8.85061873e-02 -7.41714898e-02 1.24077633e+01] [-8.75450429e-02 9.96030169e-01 1.61173063e-02 6.45055759e-01] [ 7.53035229e-02 -9.51613923e-03 9.97115250e-01 -2.77261310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.038241008 meters Centerline goodness : 0.884329 Centerline is valid? [False, False] Translation: X:12.41, Y:0.65, Z:-0.28 [[ 9.93327664e-01 8.78408076e-02 -7.47271397e-02 1.24097075e+01] [-8.69085977e-02 9.96093469e-01 1.56427838e-02 6.45389061e-01] [ 7.58092906e-02 -9.04397895e-03 9.97081320e-01 -2.77923896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.068241008 meters Centerline goodness : 0.884272 Centerline is valid? [False, False] Translation: X:12.41, Y:0.65, Z:-0.28 [[ 9.93343435e-01 8.72228589e-02 -7.52395723e-02 1.24115630e+01] [-8.63121847e-02 9.96150990e-01 1.52778009e-02 6.45470649e-01] [ 7.62825479e-02 -8.68201134e-03 9.97048442e-01 -2.78560729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.098241008 meters Centerline goodness : 0.886788 Centerline is valid? [False, False] Translation: X:12.41, Y:0.65, Z:-0.28 [[ 9.93365275e-01 8.65260760e-02 -7.57539985e-02 1.24137323e+01] [-8.56477242e-02 9.96215940e-01 1.47738881e-02 6.45818631e-01] [ 7.67456674e-02 -8.18770985e-03 9.97017083e-01 -2.79605393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.128241008 meters Centerline goodness : 0.884719 Centerline is valid? [False, False] Translation: X:12.42, Y:0.64, Z:-0.28 [[ 0.99327433 0.08633691 -0.07714953 12.42232549] [-0.08508824 0.99618581 0.01933441 0.64366388] [ 0.07852454 -0.01263986 0.99683205 -0.27726618] [ 0. 0. 0. 1. ]] SLAMing on 160.158241008 meters Centerline goodness : 0.884206 Centerline is valid? [False, False] Translation: X:12.43, Y:0.64, Z:-0.28 [[ 9.93366357e-01 8.35609042e-02 -7.89990834e-02 1.24293371e+01] [-8.23090576e-02 9.96426147e-01 1.89777019e-02 6.42482524e-01] [ 8.03025462e-02 -1.23494705e-02 9.96694031e-01 -2.77512279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.188241008 meters Centerline goodness : 0.885553 Centerline is valid? [False, False] Translation: X:12.43, Y:0.64, Z:-0.28 [[ 0.99394694 0.08620278 -0.06810706 12.43306327] [-0.08491624 0.99615459 0.0215698 0.63719676] [ 0.06970454 -0.01565584 0.99744482 -0.28001137] [ 0. 0. 0. 1. ]] SLAMing on 160.218241008 meters Centerline goodness : 0.885948 Centerline is valid? [False, False] Translation: X:12.43, Y:0.64, Z:-0.28 [[ 9.94308601e-01 8.16730068e-02 -6.84099879e-02 1.24335367e+01] [-8.07080817e-02 9.96596918e-01 1.67567223e-02 6.39156508e-01] [ 6.95457551e-02 -1.11401142e-02 9.97516559e-01 -2.81180686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.248241008 meters Centerline goodness : 0.884301 Centerline is valid? [False, False] Translation: X:12.41, Y:0.64, Z:-0.28 [[ 0.99543126 0.07115779 -0.06366455 12.40512368] [-0.0694825 0.99718578 0.02815516 0.63949907] [ 0.06548884 -0.02360295 0.99757411 -0.27921649] [ 0. 0. 0. 1. ]] SLAMing on 160.278241008 meters Centerline goodness : 0.886305 Centerline is valid? [False, False] Translation: X:12.41, Y:0.63, Z:-0.28 [[ 0.9959855 0.0726602 -0.05228181 12.40830182] [-0.0710762 0.99697191 0.03154648 0.63464108] [ 0.05441567 -0.02770384 0.99813397 -0.28208152] [ 0. 0. 0. 1. ]] SLAMing on 160.308241008 meters Centerline goodness : 0.884827 Centerline is valid? [False, False] Translation: X:12.41, Y:0.63, Z:-0.28 [[ 0.99620406 0.07021275 -0.05145531 12.40667157] [-0.06861874 0.9971258 0.03211869 0.63374009] [ 0.05356256 -0.02846597 0.99815867 -0.28239797] [ 0. 0. 0. 1. ]] SLAMing on 160.338241008 meters Centerline goodness : 0.886104 Centerline is valid? [False, False] Translation: X:12.41, Y:0.63, Z:-0.29 [[ 0.99658 0.07160971 -0.04123546 12.41175566] [-0.07021672 0.99694207 0.03429453 0.62902847] [ 0.04356518 -0.03128183 0.99856073 -0.28503475] [ 0. 0. 0. 1. ]] SLAMing on 160.368241008 meters Centerline goodness : 0.884155 Centerline is valid? [False, False] Translation: X:12.41, Y:0.63, Z:-0.29 [[ 0.9969869 0.06663788 -0.03970541 12.40913555] [-0.06526522 0.99725676 0.03491989 0.62809606] [ 0.04192348 -0.03222329 0.99860106 -0.28606665] [ 0. 0. 0. 1. ]] SLAMing on 160.398241008 meters Centerline goodness : 0.886436 Centerline is valid? [False, False] Translation: X:12.41, Y:0.63, Z:-0.29 [[ 0.99711931 0.06493225 -0.03920321 12.40853968] [-0.06357077 0.99736231 0.03503112 0.62778604] [ 0.04137445 -0.03243803 0.99861701 -0.28692398] [ 0. 0. 0. 1. ]] SLAMing on 160.42824100800001 meters Centerline goodness : 0.886968 Centerline is valid? [False, False] Translation: X:12.41, Y:0.63, Z:-0.29 [[ 0.99719483 0.06356601 -0.03952015 12.41035972] [-0.06221661 0.99746669 0.03448615 0.62722034] [ 0.04161218 -0.0319306 0.99862348 -0.28871436] [ 0. 0. 0. 1. ]] SLAMing on 160.45824100800002 meters Centerline goodness : 0.883980 Centerline is valid? [False, False] Translation: X:12.41, Y:0.63, Z:-0.29 [[ 0.99720356 0.06358515 -0.03926828 12.40936217] [-0.06225153 0.99747094 0.03429987 0.62720415] [ 0.04134993 -0.03175944 0.99863984 -0.28778603] [ 0. 0. 0. 1. ]] SLAMing on 160.488241008 meters Centerline goodness : 0.885029 Centerline is valid? [False, False] Translation: X:12.41, Y:0.63, Z:-0.29 [[ 0.99713182 0.06441261 -0.03973852 12.4102094 ] [-0.06308036 0.997432 0.03391574 0.62712742] [ 0.04182107 -0.03131174 0.99863435 -0.28748225] [ 0. 0. 0. 1. ]] SLAMing on 160.518241008 meters Centerline goodness : 0.885464 Centerline is valid? [False, False] Translation: X:12.41, Y:0.63, Z:-0.29 [[ 0.99704363 0.06517878 -0.0406907 12.41288384] [-0.06385839 0.99741492 0.03294835 0.62740494] [ 0.04273305 -0.0302525 0.9986284 -0.28847849] [ 0. 0. 0. 1. ]] SLAMing on 160.548241008 meters Centerline goodness : 0.883882 Centerline is valid? [False, False] Translation: X:12.41, Y:0.63, Z:-0.29 [[ 0.99692322 0.06698163 -0.04071314 12.41339426] [-0.06564018 0.9972829 0.03343928 0.62797271] [ 0.04284234 -0.03066398 0.99861116 -0.28864794] [ 0. 0. 0. 1. ]] SLAMing on 160.578241008 meters Centerline goodness : 0.883944 Centerline is valid? [False, False] Translation: X:12.41, Y:0.63, Z:-0.29 [[ 0.99665717 0.07059148 -0.04112572 12.41469966] [-0.06919318 0.99700698 0.03448739 0.62874314] [ 0.04343714 -0.03152648 0.99855861 -0.28890338] [ 0. 0. 0. 1. ]] SLAMing on 160.608241008 meters Centerline goodness : 0.881046 Centerline is valid? [False, False] Translation: X:12.42, Y:0.63, Z:-0.29 [[ 0.99646239 0.07233786 -0.04277774 12.41824513] [-0.07095096 0.99693053 0.03309802 0.62881524] [ 0.04504067 -0.02994581 0.99853622 -0.2889243 ] [ 0. 0. 0. 1. ]] SLAMing on 160.638241008 meters Centerline goodness : 0.880477 Centerline is valid? [False, False] Translation: X:12.42, Y:0.63, Z:-0.29 [[ 0.99631586 0.07335727 -0.0444231 12.421825 ] [-0.07200909 0.99691505 0.03122619 0.62930674] [ 0.04657672 -0.02791228 0.99852467 -0.28927264] [ 0. 0. 0. 1. ]] SLAMing on 160.668241008 meters Centerline goodness : 0.882463 Centerline is valid? [False, False] Translation: X:12.42, Y:0.63, Z:-0.29 [[ 0.99605014 0.07657645 -0.04494621 12.42333942] [-0.07520282 0.99667066 0.03149801 0.63093106] [ 0.04720857 -0.02799352 0.99849272 -0.28923289] [ 0. 0. 0. 1. ]] SLAMing on 160.698241008 meters Centerline goodness : 0.882463 Centerline is valid? [False, False] Translation: X:12.42, Y:0.63, Z:-0.29 [[ 0.99605014 0.07657645 -0.04494621 12.42333942] [-0.07520282 0.99667066 0.03149801 0.63093106] [ 0.04720857 -0.02799352 0.99849272 -0.28923289] [ 0. 0. 0. 1. ]] SLAMing on 160.728241008 meters Centerline goodness : 0.880404 Centerline is valid? [False, False] Translation: X:12.43, Y:0.63, Z:-0.29 [[ 0.99587707 0.07820392 -0.04596741 12.42569599] [-0.07685179 0.99657642 0.03048361 0.63098653] [ 0.04819398 -0.02682525 0.99847771 -0.28925632] [ 0. 0. 0. 1. ]] SLAMing on 160.758241008 meters Centerline goodness : 0.879795 Centerline is valid? [False, False] Translation: X:12.43, Y:0.63, Z:-0.29 [[ 0.99571466 0.07925108 -0.04766104 12.42881087] [-0.07800927 0.99657668 0.02737665 0.6311423 ] [ 0.04966751 -0.02354133 0.99848833 -0.28875203] [ 0. 0. 0. 1. ]] SLAMing on 160.788241008 meters Centerline goodness : 0.880982 Centerline is valid? [False, False] Translation: X:12.43, Y:0.63, Z:-0.29 [[ 0.99557221 0.07954734 -0.05008197 12.4338696 ] [-0.07847727 0.99665089 0.02298514 0.63142163] [ 0.05174265 -0.01895307 0.99848059 -0.28942149] [ 0. 0. 0. 1. ]] SLAMing on 160.818241008 meters Centerline goodness : 0.882446 Centerline is valid? [False, False] Translation: X:12.43, Y:0.63, Z:-0.29 [[ 0.9955132 0.08033547 -0.04999672 12.43314513] [-0.07926373 0.99658681 0.02306515 0.63261205] [ 0.05167902 -0.01899874 0.99848301 -0.28821385] [ 0. 0. 0. 1. ]] SLAMing on 160.848241008 meters Centerline goodness : 0.878803 Centerline is valid? [False, False] Translation: X:12.43, Y:0.63, Z:-0.29 [[ 0.99556027 0.08010943 -0.04941892 12.43291695] [-0.07897609 0.99657594 0.02447806 0.6327095 ] [ 0.05121063 -0.02046647 0.99847814 -0.2893353 ] [ 0. 0. 0. 1. ]] SLAMing on 160.878241008 meters Centerline goodness : 0.879206 Centerline is valid? [False, False] Translation: X:12.43, Y:0.63, Z:-0.29 [[ 0.99562348 0.0794996 -0.04912946 12.43359943] [-0.07837129 0.99662354 0.0244838 0.63244921] [ 0.05091003 -0.02052631 0.99849228 -0.29100527] [ 0. 0. 0. 1. ]] SLAMing on 160.908241008 meters Centerline goodness : 0.881529 Centerline is valid? [False, False] Translation: X:12.43, Y:0.63, Z:-0.29 [[ 0.99578799 0.07743759 -0.04908868 12.43334707] [-0.07635899 0.99680383 0.02348244 0.63103421] [ 0.05075021 -0.01963517 0.99851834 -0.29124952] [ 0. 0. 0. 1. ]] SLAMing on 160.938241008 meters Centerline goodness : 0.878162 Centerline is valid? [False, False] Translation: X:12.43, Y:0.63, Z:-0.29 [[ 0.99583655 0.07661543 -0.04939272 12.4344411 ] [-0.07557725 0.99688477 0.02255737 0.6299005 ] [ 0.05096709 -0.01873048 0.99852467 -0.29205459] [ 0. 0. 0. 1. ]] SLAMing on 160.968241008 meters Centerline goodness : 0.879799 Centerline is valid? [False, False] Translation: X:12.44, Y:0.63, Z:-0.29 [[ 0.9958579 0.07594354 -0.04999623 12.43641139] [-0.07494498 0.99695466 0.02155589 0.62842919] [ 0.05148101 -0.01771964 0.99851676 -0.29329867] [ 0. 0. 0. 1. ]] SLAMing on 160.998241008 meters Centerline goodness : 0.877200 Centerline is valid? [False, False] Translation: X:12.44, Y:0.63, Z:-0.29 [[ 0.99592964 0.07495913 -0.05005286 12.43609979] [-0.07395543 0.99702727 0.02161506 0.62782595] [ 0.05152432 -0.0178254 0.99851264 -0.29280757] [ 0. 0. 0. 1. ]] SLAMing on 161.028241008 meters Centerline goodness : 0.875586 Centerline is valid? [False, False] Translation: X:12.44, Y:0.63, Z:-0.29 [[ 0.99605865 0.07366829 -0.04939787 12.43506132] [-0.07261802 0.99710074 0.02273175 0.62781693] [ 0.05092926 -0.01905498 0.99852046 -0.29315576] [ 0. 0. 0. 1. ]] SLAMing on 161.058241008 meters Centerline goodness : 0.875829 Centerline is valid? [False, False] Translation: X:12.44, Y:0.62, Z:-0.30 [[ 0.99614741 0.07703378 -0.04190617 12.44389165] [-0.07619793 0.99686747 0.0211927 0.62499922] [ 0.04340746 -0.01791789 0.99889676 -0.30072306] [ 0. 0. 0. 1. ]] SLAMing on 161.088241008 meters Centerline goodness : 0.873607 Centerline is valid? [False, False] Translation: X:12.44, Y:0.62, Z:-0.30 [[ 0.99615428 0.07688828 -0.04201005 12.44485311] [-0.07605689 0.99688137 0.02104487 0.62478838] [ 0.04349714 -0.01776878 0.99889552 -0.3017728 ] [ 0. 0. 0. 1. ]] SLAMing on 161.118241008 meters Centerline goodness : 0.874909 Centerline is valid? [False, False] Translation: X:12.45, Y:0.62, Z:-0.30 [[ 0.9961187 0.07682668 -0.04295565 12.44740003] [-0.07606696 0.99692068 0.01905176 0.62433356] [ 0.04428706 -0.01571031 0.99889531 -0.30295488] [ 0. 0. 0. 1. ]] SLAMing on 161.148241008 meters Centerline goodness : 0.875958 Centerline is valid? [False, False] Translation: X:12.45, Y:0.62, Z:-0.30 [[ 0.99606958 0.07717338 -0.04347023 12.4484028 ] [-0.0764335 0.99690424 0.0184352 0.62418991] [ 0.04475837 -0.01504016 0.99888462 -0.30281422] [ 0. 0. 0. 1. ]] SLAMing on 161.17824100800001 meters Centerline goodness : 0.876408 Centerline is valid? [False, False] Translation: X:12.45, Y:0.62, Z:-0.30 [[ 0.99603291 0.07753274 -0.04367061 12.44917911] [-0.07678642 0.99687558 0.01851805 0.62377841] [ 0.04496992 -0.01509128 0.99887435 -0.30314732] [ 0. 0. 0. 1. ]] SLAMing on 161.20824100800002 meters Centerline goodness : 0.875037 Centerline is valid? [False, False] Translation: X:12.45, Y:0.62, Z:-0.30 [[ 0.99604437 0.0777127 -0.04308543 12.44899835] [-0.07689512 0.99683207 0.02032154 0.62355179] [ 0.04452818 -0.01692809 0.9988647 -0.30447753] [ 0. 0. 0. 1. ]] SLAMing on 161.238241008 meters Centerline goodness : 0.874212 Centerline is valid? [False, False] Translation: X:12.45, Y:0.62, Z:-0.31 [[ 0.99604293 0.07763055 -0.04326637 12.44982713] [-0.07680273 0.99683594 0.02048024 0.62301177] [ 0.04471936 -0.01707622 0.99885363 -0.30508432] [ 0. 0. 0. 1. ]] SLAMing on 161.268241008 meters Centerline goodness : 0.873677 Centerline is valid? [False, False] Translation: X:12.45, Y:0.63, Z:-0.31 [[ 0.99633765 0.07388719 -0.04303447 12.44850712] [-0.0732731 0.99718866 0.01567864 0.62594893] [ 0.04407194 -0.01246795 0.99895056 -0.30600922] [ 0. 0. 0. 1. ]] SLAMing on 161.298241008 meters Centerline goodness : 0.874351 Centerline is valid? [False, False] Translation: X:12.45, Y:0.63, Z:-0.31 [[ 9.96593265e-01 7.07105995e-02 -4.24484898e-02 1.24458318e+01] [-7.02821918e-02 9.97460821e-01 1.15032035e-02 6.27418474e-01] [ 4.31541039e-02 -8.48064219e-03 9.99032433e-01 -3.06218935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.328241008 meters Centerline goodness : 0.875145 Centerline is valid? [False, False] Translation: X:12.45, Y:0.63, Z:-0.31 [[ 9.96523030e-01 7.14826455e-02 -4.28028242e-02 1.24460951e+01] [-7.10364042e-02 9.97403222e-01 1.18592219e-02 6.27217761e-01] [ 4.35394034e-02 -8.77742905e-03 9.99013152e-01 -3.05518134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.358241008 meters Centerline goodness : 0.874434 Centerline is valid? [False, False] Translation: X:12.45, Y:0.63, Z:-0.31 [[ 9.96395247e-01 7.29296591e-02 -4.33333185e-02 1.24477390e+01] [-7.24960426e-02 9.97302430e-01 1.14972482e-02 6.27444431e-01] [ 4.40549143e-02 -8.31430933e-03 9.98994513e-01 -3.05978178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.388241008 meters Centerline goodness : 0.873325 Centerline is valid? [False, False] Translation: X:12.45, Y:0.63, Z:-0.31 [[ 9.96198627e-01 7.53967777e-02 -4.36305161e-02 1.24494229e+01] [-7.49299057e-02 9.97113666e-01 1.22411632e-02 6.27629062e-01] [ 4.44275282e-02 -8.92539946e-03 9.98972738e-01 -3.06994337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.418241008 meters Centerline goodness : 0.871027 Centerline is valid? [False, False] Translation: X:12.45, Y:0.63, Z:-0.31 [[ 0.99582875 0.08046354 -0.04302006 12.44765888] [-0.07981609 0.99667197 0.01656413 0.62906505] [ 0.0442097 -0.01306135 0.99893689 -0.30581339] [ 0. 0. 0. 1. ]] SLAMing on 161.448241008 meters Centerline goodness : 0.873942 Centerline is valid? [False, False] Translation: X:12.45, Y:0.63, Z:-0.30 [[ 0.99557776 0.08317062 -0.04367586 12.44794089] [-0.08252245 0.99645356 0.01644238 0.62960867] [ 0.04488849 -0.01276543 0.99891044 -0.30372414] [ 0. 0. 0. 1. ]] SLAMing on 161.478241008 meters Centerline goodness : 0.871590 Centerline is valid? [False, False] Translation: X:12.45, Y:0.63, Z:-0.30 [[ 0.99553624 0.08382262 -0.04337479 12.44635857] [-0.08316752 0.99639569 0.0166968 0.63029938] [ 0.04461803 -0.01301489 0.99891934 -0.30268261] [ 0. 0. 0. 1. ]] SLAMing on 161.508241008 meters Centerline goodness : 0.872853 Centerline is valid? [False, False] Translation: X:12.44, Y:0.63, Z:-0.30 [[ 0.99549693 0.08450481 -0.04295116 12.44462308] [-0.08383709 0.9963324 0.01711982 0.63119118] [ 0.04424034 -0.01344183 0.99893048 -0.30129249] [ 0. 0. 0. 1. ]] SLAMing on 161.538241008 meters Centerline goodness : 0.871674 Centerline is valid? [False, False] Translation: X:12.44, Y:0.63, Z:-0.30 [[ 0.99548681 0.08465885 -0.04288226 12.44428788] [-0.08396473 0.9963108 0.01774031 0.63072236] [ 0.04422594 -0.01405965 0.99892262 -0.30091012] [ 0. 0. 0. 1. ]] SLAMing on 161.568241008 meters Centerline goodness : 0.872643 Centerline is valid? [False, False] Translation: X:12.44, Y:0.63, Z:-0.30 [[ 0.99549448 0.08449168 -0.0430336 12.44475539] [-0.0837906 0.99632357 0.01784595 0.63042646] [ 0.04438323 -0.01415973 0.99891423 -0.30072334] [ 0. 0. 0. 1. ]] SLAMing on 161.598241008 meters Centerline goodness : 0.872306 Centerline is valid? [False, False] Translation: X:12.43, Y:0.63, Z:-0.29 [[ 0.99551635 0.08323456 -0.04493557 12.43064325] [-0.08181922 0.99611811 0.03247036 0.62574049] [ 0.04746379 -0.02864818 0.99846205 -0.29029752] [ 0. 0. 0. 1. ]] SLAMing on 161.628241008 meters Centerline goodness : 0.873511 Centerline is valid? [False, False] Translation: X:12.43, Y:0.62, Z:-0.29 [[ 0.99552617 0.08314025 -0.04489257 12.43077462] [-0.08171326 0.99611796 0.03274059 0.62494675] [ 0.04744036 -0.02892579 0.99845516 -0.28998732] [ 0. 0. 0. 1. ]] SLAMing on 161.658241008 meters Centerline goodness : 0.871404 Centerline is valid? [False, False] Translation: X:12.43, Y:0.62, Z:-0.29 [[ 0.99553099 0.08298333 -0.04507556 12.43141061] [-0.08153906 0.99612402 0.03298969 0.62396479] [ 0.04763844 -0.02916684 0.99843872 -0.28975552] [ 0. 0. 0. 1. ]] SLAMing on 161.688241008 meters Centerline goodness : 0.872710 Centerline is valid? [False, False] Translation: X:12.43, Y:0.62, Z:-0.29 [[ 0.9955394 0.08275534 -0.04530853 12.43244705] [-0.08130171 0.99614176 0.03303989 0.62335046] [ 0.04786795 -0.02920885 0.99842651 -0.29008564] [ 0. 0. 0. 1. ]] SLAMing on 161.718241008 meters Centerline goodness : 0.868496 Centerline is valid? [False, False] Translation: X:12.41, Y:0.62, Z:-0.29 [[ 0.99563291 0.07973439 -0.04855445 12.41269217] [-0.07797673 0.99626537 0.03708026 0.62371784] [ 0.05132969 -0.03313221 0.99813202 -0.28931604] [ 0. 0. 0. 1. ]] SLAMing on 161.748241008 meters Centerline goodness : 0.871628 Centerline is valid? [False, False] Translation: X:12.41, Y:0.63, Z:-0.29 [[ 0.99593872 0.07592988 -0.04838089 12.41193405] [-0.07442009 0.99670435 0.03228134 0.62580618] [ 0.05067257 -0.02854973 0.99830717 -0.29088325] [ 0. 0. 0. 1. ]] SLAMing on 161.778241008 meters Centerline goodness : 0.871539 Centerline is valid? [False, False] Translation: X:12.41, Y:0.63, Z:-0.29 [[ 0.99622599 0.07218703 -0.04819557 12.41082184] [-0.07090574 0.99709589 0.02778787 0.62714566] [ 0.05006153 -0.02426565 0.99845131 -0.2917011 ] [ 0. 0. 0. 1. ]] SLAMing on 161.808241008 meters Centerline goodness : 0.872671 Centerline is valid? [False, False] Translation: X:12.41, Y:0.63, Z:-0.29 [[ 0.99649699 0.06853824 -0.04791939 12.40945025] [-0.06747192 0.99744371 0.02352859 0.62833405] [ 0.0494095 -0.02021295 0.99857405 -0.29218903] [ 0. 0. 0. 1. ]] SLAMing on 161.838241008 meters Centerline goodness : 0.871734 Centerline is valid? [False, False] Translation: X:12.41, Y:0.63, Z:-0.29 [[ 0.99678283 0.0643154 -0.04782804 12.40944761] [-0.06346754 0.99780224 0.01904119 0.62917503] [ 0.04894757 -0.0159444 0.99867408 -0.29369293] [ 0. 0. 0. 1. ]] SLAMing on 161.868241008 meters Centerline goodness : 0.872996 Centerline is valid? [False, False] Translation: X:12.41, Y:0.63, Z:-0.29 [[ 0.99679633 0.06380488 -0.04822868 12.41120364] [-0.06295809 0.99783759 0.01887924 0.62863931] [ 0.04932898 -0.01578237 0.99865788 -0.29455401] [ 0. 0. 0. 1. ]] SLAMing on 161.898241008 meters Centerline goodness : 0.873859 Centerline is valid? [False, False] Translation: X:12.41, Y:0.63, Z:-0.30 [[ 0.9968122 0.06327031 -0.04860352 12.41290053] [-0.06243063 0.99787587 0.01860568 0.62834004] [ 0.04967747 -0.01551202 0.99864485 -0.29545181] [ 0. 0. 0. 1. ]] SLAMing on 161.92824100800001 meters Centerline goodness : 0.873850 Centerline is valid? [False, False] Translation: X:12.41, Y:0.63, Z:-0.30 [[ 9.97060558e-01 5.92878680e-02 -4.85303234e-02 1.24125164e+01] [-5.86650817e-02 9.98177297e-01 1.41594920e-02 6.29500026e-01] [ 4.92813532e-02 -1.12708356e-02 9.98721341e-01 -2.96601520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.95824100800002 meters Centerline goodness : 0.871315 Centerline is valid? [False, False] Translation: X:12.42, Y:0.62, Z:-0.30 [[ 0.99725395 0.0632283 -0.03855828 12.41646519] [-0.06260491 0.99789073 0.01716744 0.62405906] [ 0.03956242 -0.01470636 0.99910887 -0.29688141] [ 0. 0. 0. 1. ]] SLAMing on 161.988241008 meters Centerline goodness : 0.873298 Centerline is valid? [False, False] Translation: X:12.42, Y:0.63, Z:-0.30 [[ 9.97501550e-01 5.92411575e-02 -3.84856332e-02 1.24161946e+01] [-5.88170711e-02 9.98195919e-01 1.20606596e-02 6.26410605e-01] [ 3.91306895e-02 -9.76691440e-03 9.99186367e-01 -2.98795646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.018241008 meters Centerline goodness : 0.875024 Centerline is valid? [False, False] Translation: X:12.42, Y:0.63, Z:-0.30 [[ 9.97510399e-01 5.88412395e-02 -3.88678798e-02 1.24175134e+01] [-5.84169017e-02 9.98220565e-01 1.19653663e-02 6.26057320e-01] [ 3.95027739e-02 -9.66503615e-03 9.99172717e-01 -2.99125957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.048241008 meters Centerline goodness : 0.873136 Centerline is valid? [False, False] Translation: X:12.42, Y:0.63, Z:-0.30 [[ 9.97519171e-01 5.86577200e-02 -3.89201146e-02 1.24180451e+01] [-5.82458926e-02 9.98234484e-01 1.16331718e-02 6.26722463e-01] [ 3.95337758e-02 -9.33737507e-03 9.99174606e-01 -2.99787544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.078241008 meters Centerline goodness : 0.875675 Centerline is valid? [False, False] Translation: X:12.42, Y:0.63, Z:-0.30 [[ 9.97509063e-01 5.89267904e-02 -3.87724540e-02 1.24175719e+01] [-5.85083165e-02 9.98216686e-01 1.18416409e-02 6.26452784e-01] [ 3.94011004e-02 -9.54363311e-03 9.99177898e-01 -2.99614217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.108241008 meters Centerline goodness : 0.875278 Centerline is valid? [False, False] Translation: X:12.42, Y:0.63, Z:-0.30 [[ 9.97499485e-01 5.92004380e-02 -3.86016215e-02 1.24170683e+01] [-5.87815882e-02 9.98199965e-01 1.18977181e-02 6.26650092e-01] [ 3.92364873e-02 -9.59890306e-03 9.99183847e-01 -2.99599829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.138241008 meters Centerline goodness : 0.874489 Centerline is valid? [False, False] Translation: X:12.42, Y:0.63, Z:-0.30 [[ 9.97480933e-01 5.97459295e-02 -3.82388914e-02 1.24159514e+01] [-5.93312607e-02 9.98167540e-01 1.18896274e-02 6.27391928e-01] [ 3.88791770e-02 -9.59091498e-03 9.99197890e-01 -2.99649321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.168241008 meters Centerline goodness : 0.874310 Centerline is valid? [False, False] Translation: X:12.41, Y:0.63, Z:-0.30 [[ 9.97396956e-01 6.14934224e-02 -3.76546367e-02 1.24131807e+01] [-6.10799895e-02 9.98060323e-01 1.20343604e-02 6.29168897e-01] [ 3.83216329e-02 -9.70308965e-03 9.99218346e-01 -2.99580997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.198241008 meters Centerline goodness : 0.875984 Centerline is valid? [False, False] Translation: X:12.41, Y:0.63, Z:-0.30 [[ 9.97362415e-01 6.22225362e-02 -3.73706990e-02 1.24120286e+01] [-6.18125607e-02 9.98015290e-01 1.20286128e-02 6.30308564e-01] [ 3.80449798e-02 -9.68690767e-03 9.99229075e-01 -2.99455805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.228241008 meters Centerline goodness : 0.877279 Centerline is valid? [False, False] Translation: X:12.41, Y:0.63, Z:-0.30 [[ 0.99699848 0.06839194 -0.03628457 12.40829758] [-0.06781474 0.99755465 0.01690808 0.63036079] [ 0.03735222 -0.0143967 0.99919845 -0.29815815] [ 0. 0. 0. 1. ]] SLAMing on 162.258241008 meters Centerline goodness : 0.875747 Centerline is valid? [False, False] Translation: X:12.41, Y:0.63, Z:-0.30 [[ 0.99667124 0.07304147 -0.03621307 12.40819351] [-0.07228785 0.99714767 0.02170254 0.62919596] [ 0.03769497 -0.01901253 0.99910841 -0.29684295] [ 0. 0. 0. 1. ]] SLAMing on 162.288241008 meters Centerline goodness : 0.874093 Centerline is valid? [False, False] Translation: X:12.41, Y:0.63, Z:-0.30 [[ 0.99660018 0.07416376 -0.03588615 12.40671392] [-0.07342518 0.99706936 0.02148095 0.63083741] [ 0.03737409 -0.01877297 0.99912499 -0.29732756] [ 0. 0. 0. 1. ]] SLAMing on 162.318241008 meters Centerline goodness : 0.874799 Centerline is valid? [False, False] Translation: X:12.42, Y:0.63, Z:-0.30 [[ 9.96443667e-01 7.81877238e-02 -3.14117660e-02 1.24213413e+01] [-7.77656532e-02 9.96867047e-01 1.44427630e-02 6.31828512e-01] [ 3.24426012e-02 -1.19486432e-02 9.99402175e-01 -3.02000977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.348241008 meters Centerline goodness : 0.872216 Centerline is valid? [False, False] Translation: X:12.43, Y:0.63, Z:-0.31 [[ 9.96194095e-01 8.28700768e-02 -2.70161987e-02 1.24340196e+01] [-8.27508109e-02 9.96555065e-01 5.50505285e-03 6.33445674e-01] [ 2.73793338e-02 -3.24848880e-03 9.99619837e-01 -3.08942269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.378241008 meters Centerline goodness : 0.872839 Centerline is valid? [False, False] Translation: X:12.43, Y:0.63, Z:-0.31 [[ 9.96157567e-01 8.33668342e-02 -2.68341712e-02 1.24335143e+01] [-8.32495683e-02 9.96513773e-01 5.45986964e-03 6.33564309e-01] [ 2.71957932e-02 -3.20495729e-03 9.99624988e-01 -3.09428556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.408241008 meters Centerline goodness : 0.871241 Centerline is valid? [False, False] Translation: X:12.44, Y:0.63, Z:-0.31 [[ 9.95834632e-01 8.69728064e-02 -2.73699891e-02 1.24358664e+01] [-8.67221178e-02 9.96180128e-01 1.02189723e-02 6.29469846e-01] [ 2.81542119e-02 -7.80282309e-03 9.99573137e-01 -3.08871930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.438241008 meters Centerline goodness : 0.870923 Centerline is valid? [False, False] Translation: X:12.44, Y:0.63, Z:-0.31 [[ 9.95808595e-01 8.71936563e-02 -2.76135425e-02 1.24362941e+01] [-8.69339994e-02 9.96159048e-01 1.04704368e-02 6.28188039e-01] [ 2.84204359e-02 -8.02599525e-03 9.99563836e-01 -3.08866059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.468241008 meters Centerline goodness : 0.873394 Centerline is valid? [False, False] Translation: X:12.44, Y:0.63, Z:-0.31 [[ 9.95772826e-01 8.75586461e-02 -2.77481972e-02 1.24367483e+01] [-8.72838532e-02 9.96123117e-01 1.09665596e-02 6.25032849e-01] [ 2.86008378e-02 -8.49823246e-03 9.99554787e-01 -3.09388342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.498241008 meters Centerline goodness : 0.873190 Centerline is valid? [False, False] Translation: X:12.44, Y:0.62, Z:-0.31 [[ 9.95799323e-01 8.71274114e-02 -2.81517892e-02 1.24386533e+01] [-8.68592812e-02 9.96164055e-01 1.06132520e-02 6.24750807e-01] [ 2.89685057e-02 -8.12342498e-03 9.99547315e-01 -3.10732337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.528241008 meters Centerline goodness : 0.872498 Centerline is valid? [False, False] Translation: X:12.44, Y:0.62, Z:-0.31 [[ 9.95818498e-01 8.68392181e-02 -2.83631501e-02 1.24401146e+01] [-8.65715894e-02 9.96189944e-01 1.05335823e-02 6.23329596e-01] [ 2.91698129e-02 -8.03409314e-03 9.99542183e-01 -3.12037601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.558241008 meters Centerline goodness : 0.869505 Centerline is valid? [False, False] Translation: X:12.44, Y:0.62, Z:-0.31 [[ 9.95880125e-01 8.58293844e-02 -2.92590783e-02 1.24435990e+01] [-8.55295133e-02 9.96270952e-01 1.13530613e-02 6.16812530e-01] [ 3.01243961e-02 -8.80377334e-03 9.99507386e-01 -3.12581615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.588241008 meters Centerline goodness : 0.874110 Centerline is valid? [False, False] Translation: X:12.45, Y:0.61, Z:-0.31 [[ 9.95901536e-01 8.53265426e-02 -2.99918633e-02 1.24458956e+01] [-8.49886503e-02 9.96305152e-01 1.23682429e-02 6.12508720e-01] [ 3.09363874e-02 -9.76858414e-03 9.99473619e-01 -3.11995452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.618241008 meters Centerline goodness : 0.874110 Centerline is valid? [False, False] Translation: X:12.45, Y:0.61, Z:-0.31 [[ 9.95901536e-01 8.53265426e-02 -2.99918633e-02 1.24458956e+01] [-8.49886503e-02 9.96305152e-01 1.23682429e-02 6.12508720e-01] [ 3.09363874e-02 -9.76858414e-03 9.99473619e-01 -3.11995452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.648241008 meters Centerline goodness : 0.873417 Centerline is valid? [False, False] Translation: X:12.45, Y:0.61, Z:-0.31 [[ 9.96244709e-01 8.11501248e-02 -3.01850585e-02 1.24464396e+01] [-8.09474154e-02 9.96687224e-01 7.88000157e-03 6.12491774e-01] [ 3.07245252e-02 -5.40700740e-03 9.99513265e-01 -3.13726092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.67824100800001 meters Centerline goodness : 0.873427 Centerline is valid? [False, False] Translation: X:12.45, Y:0.61, Z:-0.31 [[ 9.96278631e-01 8.04315005e-02 -3.09784227e-02 1.24490702e+01] [-8.01875486e-02 9.96738797e-01 9.04035491e-03 6.08382875e-01] [ 3.16045251e-02 -6.52262864e-03 9.99479169e-01 -3.12720187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.70824100800002 meters Centerline goodness : 0.876087 Centerline is valid? [False, False] Translation: X:12.45, Y:0.60, Z:-0.31 [[ 9.96621076e-01 7.57487209e-02 -3.17578571e-02 1.24510960e+01] [-7.55764819e-02 9.97118225e-01 6.59097771e-03 6.01886632e-01] [ 3.21655962e-02 -4.16856019e-03 9.99473860e-01 -3.11928421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.738241008 meters Centerline goodness : 0.874431 Centerline is valid? [False, False] Translation: X:12.45, Y:0.60, Z:-0.31 [[ 9.96666748e-01 7.48038004e-02 -3.25543226e-02 1.24539627e+01] [-7.45907856e-02 9.97184413e-01 7.71105181e-03 5.97396617e-01] [ 3.30394791e-02 -5.25709644e-03 9.99440221e-01 -3.10962411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.768241008 meters Centerline goodness : 0.875021 Centerline is valid? [False, False] Translation: X:12.46, Y:0.59, Z:-0.31 [[ 9.96693097e-01 7.40673105e-02 -3.34200999e-02 1.24567121e+01] [-7.38084882e-02 9.97232590e-01 8.91454798e-03 5.93380972e-01] [ 3.39878894e-02 -6.41838139e-03 9.99401635e-01 -3.09744759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.798241008 meters Centerline goodness : 0.873195 Centerline is valid? [False, False] Translation: X:12.46, Y:0.59, Z:-0.31 [[ 9.96708930e-01 7.34724322e-02 -3.42506966e-02 1.24592021e+01] [-7.31872899e-02 9.97272895e-01 9.50753662e-03 5.90938250e-01] [ 3.48558332e-02 -6.96953098e-03 9.99368049e-01 -3.09209591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.828241008 meters Centerline goodness : 0.874040 Centerline is valid? [False, False] Translation: X:12.46, Y:0.59, Z:-0.31 [[ 9.96748552e-01 7.24053183e-02 -3.53524133e-02 1.24626833e+01] [-7.21045591e-02 9.97349801e-01 9.71121588e-03 5.89779833e-01] [ 3.59618661e-02 -7.13057020e-03 9.99327724e-01 -3.08757243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.858241008 meters Centerline goodness : 0.873583 Centerline is valid? [False, False] Translation: X:12.47, Y:0.59, Z:-0.30 [[ 0.99669103 0.07270105 -0.03635319 12.47005007] [-0.07217417 0.99726999 0.01560319 0.58635515] [ 0.03738832 -0.0129278 0.99921719 -0.30442036] [ 0. 0. 0. 1. ]] SLAMing on 162.888241008 meters Centerline goodness : 0.871160 Centerline is valid? [False, False] Translation: X:12.48, Y:0.58, Z:-0.30 [[ 0.99651182 0.07438235 -0.03783468 12.47694985] [-0.07366693 0.99708301 0.01996615 0.58443149] [ 0.03920945 -0.01710934 0.99908453 -0.30385312] [ 0. 0. 0. 1. ]] SLAMing on 162.918241008 meters Centerline goodness : 0.871594 Centerline is valid? [False, False] Translation: X:12.48, Y:0.59, Z:-0.31 [[ 0.99652646 0.07401327 -0.0381714 12.4788845 ] [-0.07333143 0.99712728 0.01896558 0.58697197] [ 0.03946545 -0.01610054 0.99909121 -0.30576688] [ 0. 0. 0. 1. ]] SLAMing on 162.948241008 meters Centerline goodness : 0.871061 Centerline is valid? [False, False] Translation: X:12.48, Y:0.59, Z:-0.31 [[ 0.99652899 0.07386695 -0.03838796 12.47995848] [-0.07319988 0.99714563 0.01850326 0.58879873] [ 0.03964517 -0.01562904 0.99909158 -0.30656845] [ 0. 0. 0. 1. ]] SLAMing on 162.978241008 meters Centerline goodness : 0.868956 Centerline is valid? [False, False] Translation: X:12.48, Y:0.59, Z:-0.31 [[ 0.99652988 0.07368499 -0.03871338 12.48101986] [-0.07301594 0.99716061 0.01842268 0.58983494] [ 0.03996093 -0.01553206 0.99908052 -0.30649353] [ 0. 0. 0. 1. ]] SLAMing on 163.008241008 meters Centerline goodness : 0.876424 Centerline is valid? [False, False] Translation: X:12.48, Y:0.59, Z:-0.31 [[ 0.99651748 0.0735628 -0.03926103 12.48208117] [-0.0728955 0.9971741 0.01816761 0.59069592] [ 0.04048654 -0.01524239 0.99906382 -0.30614418] [ 0. 0. 0. 1. ]] SLAMing on 163.038241008 meters Centerline goodness : 0.876466 Centerline is valid? [False, False] Translation: X:12.48, Y:0.59, Z:-0.30 [[ 0.99650124 0.07364924 -0.03951026 12.48219703] [-0.07295919 0.99716084 0.01863352 0.59093644] [ 0.04077043 -0.01568569 0.99904541 -0.30468027] [ 0. 0. 0. 1. ]] SLAMing on 163.068241008 meters Centerline goodness : 0.874982 Centerline is valid? [False, False] Translation: X:12.48, Y:0.59, Z:-0.30 [[ 0.99649751 0.07349255 -0.03989441 12.48300173] [-0.07280364 0.9971755 0.0184569 0.59175669] [ 0.04113817 -0.0154878 0.99903342 -0.30436673] [ 0. 0. 0. 1. ]] SLAMing on 163.098241008 meters Centerline goodness : 0.873641 Centerline is valid? [False, False] Translation: X:12.48, Y:0.59, Z:-0.30 [[ 0.99650501 0.07320993 -0.04022532 12.48388829] [-0.07253905 0.99720504 0.0178939 0.59306159] [ 0.0414229 -0.01491345 0.9990304 -0.30472988] [ 0. 0. 0. 1. ]] SLAMing on 163.128241008 meters Centerline goodness : 0.872571 Centerline is valid? [False, False] Translation: X:12.50, Y:0.60, Z:-0.31 [[ 9.96544114e-01 7.49861174e-02 -3.57338972e-02 1.25026157e+01] [-7.46337598e-02 9.97149272e-01 1.10964213e-02 5.96359401e-01] [ 3.64641072e-02 -8.39111826e-03 9.99299734e-01 -3.08301028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.158241008 meters Centerline goodness : 0.871964 Centerline is valid? [False, False] Translation: X:12.50, Y:0.60, Z:-0.31 [[ 9.96546649e-01 7.48814352e-02 -3.58824086e-02 1.25031145e+01] [-7.45402599e-02 9.97160004e-01 1.07552978e-02 5.97357331e-01] [ 3.65858749e-02 -8.04347190e-03 9.99298142e-01 -3.08628557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.188241008 meters Centerline goodness : 0.872522 Centerline is valid? [False, False] Translation: X:12.50, Y:0.60, Z:-0.31 [[ 9.96545282e-01 7.47418254e-02 -3.62099460e-02 1.25038710e+01] [-7.44001175e-02 9.97171107e-01 1.06960336e-02 5.98144732e-01] [ 3.69069531e-02 -7.96505763e-03 9.99286963e-01 -3.08264900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.218241008 meters Centerline goodness : 0.871022 Centerline is valid? [False, False] Translation: X:12.50, Y:0.60, Z:-0.31 [[ 9.96556169e-01 7.44297950e-02 -3.65514463e-02 1.25048750e+01] [-7.40904741e-02 9.97195679e-01 1.05536438e-02 5.98359116e-01] [ 3.72344498e-02 -7.80918484e-03 9.99276044e-01 -3.08246151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.248241008 meters Centerline goodness : 0.872022 Centerline is valid? [False, False] Translation: X:12.51, Y:0.60, Z:-0.31 [[ 9.96557693e-01 7.41295734e-02 -3.71156308e-02 1.25061027e+01] [-7.37739112e-02 9.97215816e-01 1.08639989e-02 5.98076828e-01] [ 3.78176377e-02 -8.08843646e-03 9.99251922e-01 -3.07199150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.278241008 meters Centerline goodness : 0.872285 Centerline is valid? [False, False] Translation: X:12.51, Y:0.60, Z:-0.31 [[ 9.96571240e-01 7.35906665e-02 -3.78176826e-02 1.25081424e+01] [-7.32351106e-02 9.97257254e-01 1.07045423e-02 5.98462576e-01] [ 3.85017127e-02 -7.89825683e-03 9.99227319e-01 -3.07159415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.308241008 meters Centerline goodness : 0.871095 Centerline is valid? [False, False] Translation: X:12.51, Y:0.60, Z:-0.30 [[ 0.99632823 0.07624288 -0.03894977 12.51257101] [-0.07566873 0.99700447 0.01601034 0.59576988] [ 0.04005377 -0.01300428 0.9991129 -0.30466556] [ 0. 0. 0. 1. ]] SLAMing on 163.338241008 meters Centerline goodness : 0.868332 Centerline is valid? [False, False] Translation: X:12.51, Y:0.60, Z:-0.31 [[ 9.96345905e-01 7.58528426e-02 -3.92579218e-02 1.25136892e+01] [-7.53033005e-02 9.97043371e-01 1.52947170e-02 5.97259240e-01] [ 4.03019984e-02 -1.22825776e-02 9.99112049e-01 -3.05478216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.368241008 meters Centerline goodness : 0.870802 Centerline is valid? [False, False] Translation: X:12.51, Y:0.60, Z:-0.31 [[ 9.96343985e-01 7.56291566e-02 -3.97353071e-02 1.25148713e+01] [-7.50813867e-02 9.97063020e-01 1.51036278e-02 5.97573553e-01] [ 4.07608799e-02 -1.20650268e-02 9.99096084e-01 -3.05488596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.398241008 meters Centerline goodness : 0.870329 Centerline is valid? [False, False] Translation: X:12.51, Y:0.60, Z:-0.31 [[ 9.96572073e-01 7.23963995e-02 -4.00357996e-02 1.25143566e+01] [-7.20479365e-02 9.97350223e-01 1.00810696e-02 6.01580764e-01] [ 4.06595468e-02 -7.16201566e-03 9.99147390e-01 -3.07084313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.42824100800001 meters Centerline goodness : 0.869129 Centerline is valid? [False, False] Translation: X:12.52, Y:0.60, Z:-0.30 [[ 9.96278127e-01 7.59731374e-02 -4.07182642e-02 1.25166710e+01] [-7.54002609e-02 9.97034002e-01 1.54272413e-02 5.98958590e-01] [ 4.17695498e-02 -1.22996553e-02 9.99051562e-01 -3.04472975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.45824100800002 meters Centerline goodness : 0.870611 Centerline is valid? [False, False] Translation: X:12.52, Y:0.60, Z:-0.31 [[ 9.96261679e-01 7.60247284e-02 -4.10232684e-02 1.25174799e+01] [-7.55017090e-02 9.97045216e-01 1.41537359e-02 6.02704771e-01] [ 4.19780874e-02 -1.10034978e-02 9.99057938e-01 -3.05964902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.488241008 meters Centerline goodness : 0.867392 Centerline is valid? [False, False] Translation: X:12.52, Y:0.60, Z:-0.31 [[ 9.96263458e-01 7.58206221e-02 -4.13564481e-02 1.25186980e+01] [-7.53252054e-02 9.97068834e-01 1.34109606e-02 6.04194216e-01] [ 4.22520529e-02 -1.02456671e-02 9.99054448e-01 -3.07142710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.518241008 meters Centerline goodness : 0.866812 Centerline is valid? [False, False] Translation: X:12.52, Y:0.61, Z:-0.31 [[ 9.96263085e-01 7.56520709e-02 -4.16728983e-02 1.25199431e+01] [-7.51839519e-02 9.97088926e-01 1.26904137e-02 6.05564779e-01] [ 4.25116415e-02 -9.50985754e-03 9.99050711e-01 -3.08395785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.548241008 meters Centerline goodness : 0.868997 Centerline is valid? [False, False] Translation: X:12.52, Y:0.61, Z:-0.31 [[ 9.96249863e-01 7.54077029e-02 -4.24251056e-02 1.25218491e+01] [-7.49672852e-02 9.97115222e-01 1.18802500e-02 6.07310876e-01] [ 4.31985809e-02 -8.65520242e-03 9.99029014e-01 -3.09298892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.578241008 meters Centerline goodness : 0.870352 Centerline is valid? [False, False] Translation: X:12.52, Y:0.61, Z:-0.31 [[ 9.96456012e-01 7.24419435e-02 -4.27502063e-02 1.25212758e+01] [-7.21780656e-02 9.97362146e-01 7.68615544e-03 6.09911454e-01] [ 4.31942376e-02 -4.57328860e-03 9.99056226e-01 -3.10068223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.608241008 meters Centerline goodness : 0.868723 Centerline is valid? [False, False] Translation: X:12.52, Y:0.61, Z:-0.31 [[ 9.96446635e-01 7.22864300e-02 -4.32293416e-02 1.25223461e+01] [-7.20093589e-02 9.97372395e-01 7.93457382e-03 6.09177336e-01] [ 4.36893140e-02 -4.79346221e-03 9.99033666e-01 -3.09553548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.638241008 meters Centerline goodness : 0.870367 Centerline is valid? [False, False] Translation: X:12.52, Y:0.61, Z:-0.31 [[ 9.96441478e-01 7.22019530e-02 -4.34886142e-02 1.25230590e+01] [-7.19243326e-02 9.97378670e-01 7.91700412e-03 6.08806074e-01] [ 4.39462394e-02 -4.76094174e-03 9.99022553e-01 -3.09674053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.668241008 meters Centerline goodness : 0.868038 Centerline is valid? [False, False] Translation: X:12.52, Y:0.61, Z:-0.31 [[ 9.96448493e-01 7.18213131e-02 -4.39556465e-02 1.25247711e+01] [-7.15353444e-02 9.97405608e-01 8.04661745e-03 6.08004681e-01] [ 4.44195269e-02 -4.87365752e-03 9.99001078e-01 -3.09856087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.698241008 meters Centerline goodness : 0.868742 Centerline is valid? [False, False] Translation: X:12.53, Y:0.61, Z:-0.31 [[ 9.96448548e-01 7.14477804e-02 -4.45590205e-02 1.25264627e+01] [-7.11309495e-02 9.97429411e-01 8.65786972e-03 6.06593899e-01] [ 4.50630631e-02 -5.45759628e-03 9.98969236e-01 -3.08922926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.728241008 meters Centerline goodness : 0.871468 Centerline is valid? [False, False] Translation: X:12.53, Y:0.61, Z:-0.31 [[ 9.96460469e-01 7.09251251e-02 -4.51238334e-02 1.25283085e+01] [-7.05974190e-02 9.97465921e-01 8.81702609e-03 6.05007332e-01] [ 4.56348348e-02 -5.60019178e-03 9.98942491e-01 -3.09016350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.758241008 meters Centerline goodness : 0.870905 Centerline is valid? [False, False] Translation: X:12.53, Y:0.60, Z:-0.31 [[ 9.96508628e-01 6.95159145e-02 -4.62394984e-02 1.25324244e+01] [-6.91520780e-02 9.97561615e-01 9.42409830e-03 6.01734743e-01] [ 4.67818735e-02 -6.19363787e-03 9.98885927e-01 -3.08630299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.788241008 meters Centerline goodness : 0.870718 Centerline is valid? [False, False] Translation: X:12.54, Y:0.60, Z:-0.31 [[ 9.96526431e-01 6.86324711e-02 -4.71662672e-02 1.25354741e+01] [-6.82561996e-02 9.97622172e-01 9.54427703e-03 5.99864873e-01] [ 4.77091612e-02 -6.29173418e-03 9.98841454e-01 -3.08770913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.818241008 meters Centerline goodness : 0.871652 Centerline is valid? [False, False] Translation: X:12.54, Y:0.60, Z:-0.31 [[ 9.96532648e-01 6.79656943e-02 -4.79931816e-02 1.25379389e+01] [-6.75774469e-02 9.97667186e-01 9.66826646e-03 5.98449245e-01] [ 4.85383328e-02 -6.39148650e-03 9.98800871e-01 -3.08676829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.848241008 meters Centerline goodness : 0.871899 Centerline is valid? [False, False] Translation: X:12.54, Y:0.60, Z:-0.31 [[ 9.96547974e-01 6.68251362e-02 -4.92598897e-02 1.25418802e+01] [-6.64297873e-02 9.97744711e-01 9.62154666e-03 5.97296815e-01] [ 4.97917556e-02 -6.31600884e-03 9.98739650e-01 -3.08732327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.878241008 meters Centerline goodness : 0.873178 Centerline is valid? [False, False] Translation: X:12.55, Y:0.59, Z:-0.31 [[ 9.96588430e-01 6.46850476e-02 -5.12576404e-02 1.25549792e+01] [-6.40261938e-02 9.97844393e-01 1.43948913e-02 5.94413773e-01] [ 5.20782834e-02 -1.10639505e-02 9.98581715e-01 -3.05882076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.908241008 meters Centerline goodness : 0.869506 Centerline is valid? [False, False] Translation: X:12.56, Y:0.59, Z:-0.30 [[ 0.996454 0.06550202 -0.05281022 12.56295369] [-0.06454388 0.99772137 0.01965075 0.59237644] [ 0.05397704 -0.01617249 0.9984112 -0.30289764] [ 0. 0. 0. 1. ]] SLAMing on 163.938241008 meters Centerline goodness : 0.869916 Centerline is valid? [False, False] Translation: X:12.57, Y:0.59, Z:-0.30 [[ 0.99646568 0.06450431 -0.05380832 12.56661287] [-0.06356159 0.99779603 0.01905289 0.59354939] [ 0.05491872 -0.01556541 0.9983695 -0.30392566] [ 0. 0. 0. 1. ]] SLAMing on 163.968241008 meters Centerline goodness : 0.866001 Centerline is valid? [False, False] Translation: X:12.57, Y:0.59, Z:-0.30 [[ 0.99633917 0.06520621 -0.05528474 12.57416217] [-0.06403611 0.99768981 0.02268064 0.59373463] [ 0.05663594 -0.01905739 0.998213 -0.30320883] [ 0. 0. 0. 1. ]] SLAMing on 163.998241008 meters Centerline goodness : 0.869250 Centerline is valid? [False, False] Translation: X:12.58, Y:0.60, Z:-0.30 [[ 0.99634292 0.06479079 -0.05570404 12.57560905] [-0.06363373 0.99772409 0.02230203 0.59503544] [ 0.05702223 -0.01867582 0.99819822 -0.30349431] [ 0. 0. 0. 1. ]] SLAMing on 164.028241008 meters Centerline goodness : 0.867741 Centerline is valid? [False, False] Translation: X:12.58, Y:0.60, Z:-0.30 [[ 0.99633374 0.06448175 -0.05622437 12.57667593] [-0.06330933 0.99774272 0.02239194 0.59558057] [ 0.05754132 -0.01875032 0.99816703 -0.30261911] [ 0. 0. 0. 1. ]] SLAMing on 164.058241008 meters Centerline goodness : 0.868022 Centerline is valid? [False, False] Translation: X:12.58, Y:0.60, Z:-0.30 [[ 0.99632383 0.06442008 -0.05647022 12.5769692 ] [-0.06322156 0.99773992 0.02276129 0.59516759] [ 0.05780888 -0.01910748 0.9981448 -0.30162746] [ 0. 0. 0. 1. ]] SLAMing on 164.088241008 meters Centerline goodness : 0.871788 Centerline is valid? [False, False] Translation: X:12.58, Y:0.60, Z:-0.30 [[ 0.9963069 0.06423395 -0.05697852 12.57749583] [-0.06298994 0.99774054 0.02336857 0.59539008] [ 0.05835083 -0.0196932 0.99810188 -0.2992201 ] [ 0. 0. 0. 1. ]] SLAMing on 164.118241008 meters Centerline goodness : 0.870060 Centerline is valid? [False, False] Translation: X:12.58, Y:0.60, Z:-0.30 [[ 0.99631361 0.06395487 -0.05717481 12.57835006] [-0.06274356 0.99777063 0.02273781 0.59685704] [ 0.05850154 -0.01906664 0.99810522 -0.30000657] [ 0. 0. 0. 1. ]] SLAMing on 164.148241008 meters Centerline goodness : 0.869952 Centerline is valid? [False, False] Translation: X:12.58, Y:0.60, Z:-0.30 [[ 0.99632606 0.06361995 -0.05733133 12.57948263] [-0.06246357 0.99781037 0.02174306 0.59956942] [ 0.05858909 -0.01808206 0.99811841 -0.30147892] [ 0. 0. 0. 1. ]] SLAMing on 164.17824100800001 meters Centerline goodness : 0.868994 Centerline is valid? [False, False] Translation: X:12.58, Y:0.60, Z:-0.30 [[ 0.99626989 0.06422226 -0.05763505 12.58036526] [-0.06311346 0.99778836 0.02085857 0.60420016] [ 0.05884716 -0.01714322 0.99811979 -0.30310304] [ 0. 0. 0. 1. ]] SLAMing on 164.20824100800002 meters Centerline goodness : 0.868794 Centerline is valid? [False, False] Translation: X:12.58, Y:0.60, Z:-0.30 [[ 0.9959724 0.0682324 -0.05816633 12.58205336] [-0.06683181 0.99743333 0.02569569 0.60301984] [ 0.05977032 -0.02170484 0.99797616 -0.3011923 ] [ 0. 0. 0. 1. ]] SLAMing on 164.238241008 meters Centerline goodness : 0.869886 Centerline is valid? [False, False] Translation: X:12.60, Y:0.61, Z:-0.31 [[ 0.99604248 0.07120235 -0.05319404 12.59602998] [-0.0704038 0.9973781 0.01674034 0.60664511] [ 0.05424652 -0.01292902 0.99844387 -0.30708213] [ 0. 0. 0. 1. ]] SLAMing on 164.268241008 meters Centerline goodness : 0.866931 Centerline is valid? [False, False] Translation: X:12.61, Y:0.61, Z:-0.31 [[ 9.96017018e-01 7.49163656e-02 -4.83491254e-02 1.26106644e+01] [-7.45582089e-02 9.97174485e-01 9.17169326e-03 6.09666113e-01] [ 4.88996242e-02 -5.53033838e-03 9.98788387e-01 -3.12073199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.298241008 meters Centerline goodness : 0.867587 Centerline is valid? [False, False] Translation: X:12.62, Y:0.61, Z:-0.32 [[ 9.95695792e-01 8.17194373e-02 -4.37244059e-02 1.26242209e+01] [-8.16420128e-02 9.96655373e-01 3.55654117e-03 6.12616959e-01] [ 4.38688026e-02 2.85154331e-05 9.99037300e-01 -3.16468434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.328241008 meters Centerline goodness : 0.867911 Centerline is valid? [False, False] Translation: X:12.62, Y:0.61, Z:-0.32 [[ 9.95623376e-01 8.27505989e-02 -4.34330749e-02 1.26227964e+01] [-8.26774176e-02 9.96570280e-01 3.48163039e-03 6.14418802e-01] [ 4.35722187e-02 1.24541876e-04 9.99050272e-01 -3.16510861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.358241008 meters Centerline goodness : 0.866505 Centerline is valid? [False, False] Translation: X:12.62, Y:0.62, Z:-0.32 [[ 9.95570411e-01 8.35527624e-02 -4.31102337e-02 1.26218047e+01] [-8.34896593e-02 9.96503294e-01 3.26531413e-03 6.16367863e-01] [ 4.32323159e-02 3.48408599e-04 9.99064986e-01 -3.17024350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.388241008 meters Centerline goodness : 0.865660 Centerline is valid? [False, False] Translation: X:12.62, Y:0.62, Z:-0.32 [[ 9.95542490e-01 8.38027197e-02 -4.32695676e-02 1.26223118e+01] [-8.37542278e-02 9.96482118e-01 2.93553360e-03 6.18200409e-01] [ 4.33633561e-02 7.01560788e-04 9.99059121e-01 -3.17609351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.418241008 meters Centerline goodness : 0.867732 Centerline is valid? [False, False] Translation: X:12.62, Y:0.62, Z:-0.32 [[ 9.95510209e-01 8.41794364e-02 -4.32810102e-02 1.26221074e+01] [-8.41299799e-02 9.96450374e-01 2.96612754e-03 6.18680100e-01] [ 4.33770657e-02 6.88420272e-04 9.99058535e-01 -3.17504826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.448241008 meters Centerline goodness : 0.866996 Centerline is valid? [False, False] Translation: X:12.62, Y:0.62, Z:-0.32 [[ 9.95504483e-01 8.41170277e-02 -4.35333183e-02 1.26227890e+01] [-8.40556669e-02 9.96455789e-01 3.24133300e-03 6.17994310e-01] [ 4.36516783e-02 4.32460565e-04 9.99046718e-01 -3.17147001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.478241008 meters Centerline goodness : 0.867945 Centerline is valid? [False, False] Translation: X:12.62, Y:0.62, Z:-0.32 [[ 9.95494075e-01 8.39282990e-02 -4.41314681e-02 1.26242426e+01] [-8.38502560e-02 9.96471791e-01 3.61985246e-03 6.17077140e-01] [ 4.42795711e-02 9.68932166e-05 9.99019174e-01 -3.16546318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.508241008 meters Centerline goodness : 0.867945 Centerline is valid? [False, False] Translation: X:12.62, Y:0.62, Z:-0.32 [[ 9.95494075e-01 8.39282990e-02 -4.41314681e-02 1.26242426e+01] [-8.38502560e-02 9.96471791e-01 3.61985246e-03 6.17077140e-01] [ 4.42795711e-02 9.68932166e-05 9.99019174e-01 -3.16546318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.538241008 meters Centerline goodness : 0.869530 Centerline is valid? [False, False] Translation: X:12.63, Y:0.62, Z:-0.32 [[ 9.95508569e-01 8.34740241e-02 -4.46629099e-02 1.26259856e+01] [-8.34002858e-02 9.96509928e-01 3.51509877e-03 6.16447419e-01] [ 4.48004526e-02 2.25588504e-04 9.98995930e-01 -3.16907861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.568241008 meters Centerline goodness : 0.865456 Centerline is valid? [False, False] Translation: X:12.63, Y:0.61, Z:-0.32 [[ 9.95541141e-01 8.26075011e-02 -4.55393994e-02 1.26291165e+01] [-8.25310036e-02 9.96582137e-01 3.56066205e-03 6.14081523e-01] [ 4.56778894e-02 2.13626777e-04 9.98956198e-01 -3.17613913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.598241008 meters Centerline goodness : 0.867353 Centerline is valid? [False, False] Translation: X:12.63, Y:0.61, Z:-0.32 [[ 9.95541358e-01 8.23068342e-02 -4.60759210e-02 1.26306618e+01] [-8.22131020e-02 9.96607029e-01 3.92886942e-03 6.12180497e-01] [ 4.62429595e-02 -1.23307607e-04 9.98930215e-01 -3.17490593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.628241008 meters Centerline goodness : 0.866228 Centerline is valid? [False, False] Translation: X:12.63, Y:0.61, Z:-0.32 [[ 9.95607250e-01 8.09241512e-02 -4.70901899e-02 1.26344477e+01] [-8.07953752e-02 9.96719934e-01 4.63479539e-03 6.08127411e-01] [ 4.73107978e-02 -8.09766330e-04 9.98879889e-01 -3.17098669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.658241008 meters Centerline goodness : 0.866398 Centerline is valid? [False, False] Translation: X:12.64, Y:0.61, Z:-0.32 [[ 9.95634020e-01 8.00558424e-02 -4.79995933e-02 1.26374851e+01] [-7.98949084e-02 9.96789387e-01 5.26515501e-03 6.05466471e-01] [ 4.82669915e-02 -1.40724434e-03 9.98833478e-01 -3.16632715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.688241008 meters Centerline goodness : 0.864672 Centerline is valid? [False, False] Translation: X:12.64, Y:0.61, Z:-0.32 [[ 9.95943885e-01 7.59062204e-02 -4.83117412e-02 1.26379521e+01] [-7.59546458e-02 9.97110924e-01 8.35334920e-04 6.06119293e-01] [ 4.82355721e-02 2.83755449e-03 9.98831957e-01 -3.17865217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.718241008 meters Centerline goodness : 0.865052 Centerline is valid? [False, False] Translation: X:12.64, Y:0.60, Z:-0.32 [[ 9.95961122e-01 7.53497657e-02 -4.88247513e-02 1.26398285e+01] [-7.53737162e-02 9.97154437e-01 1.35304969e-03 6.03554599e-01] [ 4.87877694e-02 2.33251806e-03 9.98806444e-01 -3.17697626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.748241008 meters Centerline goodness : 0.864715 Centerline is valid? [False, False] Translation: X:12.65, Y:0.60, Z:-0.32 [[ 9.96143275e-01 7.16704792e-02 -5.06154008e-02 1.26479993e+01] [-7.16194411e-02 9.97428034e-01 2.82365765e-03 5.98204922e-01] [ 5.06875926e-02 8.12279138e-04 9.98714227e-01 -3.15233124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.778241008 meters Centerline goodness : 0.864120 Centerline is valid? [False, False] Translation: X:12.65, Y:0.60, Z:-0.31 [[ 9.96152689e-01 7.08443597e-02 -5.15838868e-02 1.26511432e+01] [-7.07646342e-02 9.97487339e-01 3.37258972e-03 5.95958670e-01] [ 5.16932030e-02 2.90700559e-04 9.98662970e-01 -3.14794109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.808241008 meters Centerline goodness : 0.863273 Centerline is valid? [False, False] Translation: X:12.65, Y:0.59, Z:-0.31 [[ 9.96151381e-01 7.01840441e-02 -5.25035818e-02 1.26539758e+01] [-7.00793180e-02 9.97534050e-01 3.83525002e-03 5.94154573e-01] [ 5.26432839e-02 -1.41074398e-04 9.98613371e-01 -3.14427028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.838241008 meters Centerline goodness : 0.866496 Centerline is valid? [False, False] Translation: X:12.66, Y:0.59, Z:-0.31 [[ 9.95906402e-01 7.30120870e-02 -5.32885838e-02 1.26574967e+01] [-7.26441746e-02 9.97318998e-01 8.81132268e-03 5.90680709e-01] [ 5.37890501e-02 -4.90414748e-03 9.98540278e-01 -3.12645659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.868241008 meters Centerline goodness : 0.865756 Centerline is valid? [False, False] Translation: X:12.66, Y:0.59, Z:-0.31 [[ 9.95878608e-01 7.28650377e-02 -5.40044867e-02 1.26586872e+01] [-7.24732108e-02 9.97328100e-01 9.18126188e-03 5.89608145e-01] [ 5.45291850e-02 -5.22954375e-03 9.98498483e-01 -3.11484977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.898241008 meters Centerline goodness : 0.865525 Centerline is valid? [False, False] Translation: X:12.67, Y:0.59, Z:-0.31 [[ 9.95721753e-01 7.37829745e-02 -5.56261110e-02 1.26669919e+01] [-7.29825174e-02 9.97200184e-01 1.62893950e-02 5.85672340e-01] [ 5.66722482e-02 -1.21599713e-02 9.98318782e-01 -3.05199929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.92824100800001 meters Centerline goodness : 0.863408 Centerline is valid? [False, False] Translation: X:12.67, Y:0.58, Z:-0.30 [[ 0.9955079 0.07556785 -0.05703958 12.67349428] [-0.07440119 0.99697879 0.02231025 0.58263631] [ 0.05855319 -0.01796622 0.99812261 -0.30111659] [ 0. 0. 0. 1. ]] SLAMing on 164.95824100800002 meters Centerline goodness : 0.862866 Centerline is valid? [False, False] Translation: X:12.68, Y:0.58, Z:-0.30 [[ 0.99556332 0.07418004 -0.05788778 12.67720777] [-0.07307409 0.99710547 0.02099651 0.58472857] [ 0.05927774 -0.01667326 0.99810228 -0.30311863] [ 0. 0. 0. 1. ]] SLAMing on 164.988241008 meters Centerline goodness : 0.862018 Centerline is valid? [False, False] Translation: X:12.68, Y:0.59, Z:-0.30 [[ 0.99557919 0.0733444 -0.0586744 12.68006222] [-0.07226091 0.99717748 0.02038245 0.58544024] [ 0.06000372 -0.01605248 0.99806907 -0.30412124] [ 0. 0. 0. 1. ]] SLAMing on 165.018241008 meters Centerline goodness : 0.862485 Centerline is valid? [False, False] Translation: X:12.69, Y:0.58, Z:-0.30 [[ 0.99533971 0.07504519 -0.06055636 12.68749554] [-0.07356091 0.99694172 0.02638183 0.58258844] [ 0.06235099 -0.02180431 0.99781608 -0.29983626] [ 0. 0. 0. 1. ]] SLAMing on 165.048241008 meters Centerline goodness : 0.860993 Centerline is valid? [False, False] Translation: X:12.69, Y:0.58, Z:-0.30 [[ 0.9953398 0.07441072 -0.06133298 12.68992031] [-0.07292891 0.99699667 0.02605774 0.58318607] [ 0.06308775 -0.02146336 0.99777716 -0.30000192] [ 0. 0. 0. 1. ]] SLAMing on 165.078241008 meters Centerline goodness : 0.862501 Centerline is valid? [False, False] Translation: X:12.69, Y:0.58, Z:-0.30 [[ 0.9953017 0.07423705 -0.06215616 12.69124374] [-0.07269522 0.99699639 0.02671323 0.58306714] [ 0.06395258 -0.02206927 0.99770888 -0.29773218] [ 0. 0. 0. 1. ]] SLAMing on 165.108241008 meters Centerline goodness : 0.862034 Centerline is valid? [False, False] Translation: X:12.69, Y:0.58, Z:-0.30 [[ 0.99529767 0.07398577 -0.06251923 12.69260417] [-0.07244623 0.99701897 0.02654634 0.58399229] [ 0.06429691 -0.02189223 0.99769065 -0.29768083] [ 0. 0. 0. 1. ]] SLAMing on 165.138241008 meters Centerline goodness : 0.862117 Centerline is valid? [False, False] Translation: X:12.69, Y:0.59, Z:-0.30 [[ 0.99529527 0.07341947 -0.06322106 12.69482979] [-0.07191133 0.99707698 0.025812 0.58528262] [ 0.06493137 -0.02114425 0.99766569 -0.29863649] [ 0. 0. 0. 1. ]] SLAMing on 165.168241008 meters Centerline goodness : 0.860997 Centerline is valid? [False, False] Translation: X:12.70, Y:0.58, Z:-0.30 [[ 0.99498155 0.07657793 -0.06440139 12.69931431] [-0.07472867 0.99673268 0.03065274 0.58481227] [ 0.06653829 -0.02568628 0.99745319 -0.29658133] [ 0. 0. 0. 1. ]] SLAMing on 165.198241008 meters Centerline goodness : 0.858975 Centerline is valid? [False, False] Translation: X:12.70, Y:0.59, Z:-0.30 [[ 0.99497687 0.07634611 -0.06474793 12.70070761] [-0.07455781 0.99677719 0.0296035 0.58704241] [ 0.06679937 -0.02462733 0.99746245 -0.29821572] [ 0. 0. 0. 1. ]] SLAMing on 165.228241008 meters Centerline goodness : 0.858664 Centerline is valid? [False, False] Translation: X:12.70, Y:0.59, Z:-0.30 [[ 0.99463934 0.0800519 -0.0654544 12.70335679] [-0.07793556 0.99636904 0.03427514 0.5857437 ] [ 0.06796053 -0.02899018 0.99726673 -0.29682552] [ 0. 0. 0. 1. ]] SLAMing on 165.258241008 meters Centerline goodness : 0.861715 Centerline is valid? [False, False] Translation: X:12.72, Y:0.59, Z:-0.31 [[ 0.99473871 0.08172933 -0.06176742 12.71872802] [-0.08046651 0.99649955 0.02266697 0.59008218] [ 0.06340376 -0.0175775 0.99783315 -0.30503468] [ 0. 0. 0. 1. ]] SLAMing on 165.288241008 meters Centerline goodness : 0.857483 Centerline is valid? [False, False] Translation: X:12.74, Y:0.59, Z:-0.31 [[ 9.94501790e-01 8.67318051e-02 -5.86837626e-02 1.27351597e+01] [-8.60191387e-02 9.96186971e-01 1.45680292e-02 5.93702814e-01] [ 5.97235111e-02 -9.44000436e-03 9.98170320e-01 -3.11767488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.318241008 meters Centerline goodness : 0.859775 Centerline is valid? [False, False] Translation: X:12.74, Y:0.60, Z:-0.31 [[ 9.94458447e-01 8.71733055e-02 -5.87640344e-02 1.27351388e+01] [-8.65003906e-02 9.96154786e-01 1.39041055e-02 5.95700683e-01] [ 5.97501410e-02 -8.74394326e-03 9.98175067e-01 -3.12701918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.348241008 meters Centerline goodness : 0.861405 Centerline is valid? [False, False] Translation: X:12.73, Y:0.60, Z:-0.31 [[ 9.94405683e-01 8.77225107e-02 -5.88396054e-02 1.27347588e+01] [-8.70685404e-02 9.96109588e-01 1.35925903e-02 5.97322264e-01] [ 5.98030713e-02 -8.39347053e-03 9.98174906e-01 -3.12926200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.378241008 meters Centerline goodness : 0.860631 Centerline is valid? [False, False] Translation: X:12.75, Y:0.60, Z:-0.32 [[ 9.94239543e-01 9.23768025e-02 -5.43530837e-02 1.27499684e+01] [-9.21359693e-02 9.95722351e-01 6.92551293e-03 5.99048656e-01] [ 5.47603370e-02 -1.87774477e-03 9.98497761e-01 -3.17729854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.408241008 meters Centerline goodness : 0.860951 Centerline is valid? [False, False] Translation: X:12.75, Y:0.60, Z:-0.32 [[ 9.93888357e-01 9.57199595e-02 -5.49874743e-02 1.27528806e+01] [-9.52233617e-02 9.95388490e-01 1.15872831e-02 5.96185349e-01] [ 5.58430333e-02 -6.28037362e-03 9.98419808e-01 -3.16804550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.438241008 meters Centerline goodness : 0.858890 Centerline is valid? [False, False] Translation: X:12.76, Y:0.60, Z:-0.32 [[ 9.93909155e-01 9.50422768e-02 -5.57813302e-02 1.27554192e+01] [-9.45408284e-02 9.95453789e-01 1.15665885e-02 5.95479321e-01] [ 5.66270514e-02 -6.22252509e-03 9.98376010e-01 -3.17015936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.468241008 meters Centerline goodness : 0.859205 Centerline is valid? [False, False] Translation: X:12.76, Y:0.59, Z:-0.32 [[ 9.93928592e-01 9.43744444e-02 -5.65633993e-02 1.27579490e+01] [-9.38711128e-02 9.95517980e-01 1.14963607e-02 5.94182156e-01] [ 5.73948436e-02 -6.11689232e-03 9.98332818e-01 -3.17389762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.498241008 meters Centerline goodness : 0.860012 Centerline is valid? [False, False] Translation: X:12.76, Y:0.59, Z:-0.32 [[ 9.94239296e-01 9.06897111e-02 -5.71279197e-02 1.27581206e+01] [-9.04116602e-02 9.95876700e-01 7.43847827e-03 5.93714271e-01] [ 5.75669575e-02 -2.23059734e-03 9.98339156e-01 -3.18137147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.528241008 meters Centerline goodness : 0.860583 Centerline is valid? [False, False] Translation: X:12.76, Y:0.59, Z:-0.32 [[ 9.94239124e-01 9.02133437e-02 -5.78801969e-02 1.27601628e+01] [-8.99065899e-02 9.95918969e-01 7.88751722e-03 5.91743350e-01] [ 5.83555453e-02 -2.63826708e-03 9.98292377e-01 -3.17568139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.558241008 meters Centerline goodness : 0.861434 Centerline is valid? [False, False] Translation: X:12.76, Y:0.59, Z:-0.32 [[ 9.94238049e-01 8.98913583e-02 -5.83973130e-02 1.27617301e+01] [-8.95584264e-02 9.95946995e-01 8.29889291e-03 5.89677460e-01] [ 5.89066271e-02 -3.02110364e-03 9.98258925e-01 -3.17399569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.588241008 meters Centerline goodness : 0.860207 Centerline is valid? [False, False] Translation: X:12.76, Y:0.59, Z:-0.32 [[ 9.94257731e-01 8.91351340e-02 -5.92156344e-02 1.27644081e+01] [-8.87943567e-02 9.96014839e-01 8.36671861e-03 5.87927396e-01] [ 5.97254192e-02 -3.06066051e-03 9.98210152e-01 -3.17713695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.618241008 meters Centerline goodness : 0.865135 Centerline is valid? [False, False] Translation: X:12.77, Y:0.59, Z:-0.32 [[ 9.94300138e-01 8.79058269e-02 -6.03307708e-02 1.27686708e+01] [-8.75895784e-02 9.96125545e-01 7.87176832e-03 5.86356625e-01] [ 6.07889963e-02 -2.54255354e-03 9.98147401e-01 -3.19424826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.648241008 meters Centerline goodness : 0.863484 Centerline is valid? [False, False] Translation: X:12.77, Y:0.59, Z:-0.32 [[ 9.94312614e-01 8.72224307e-02 -6.11119783e-02 1.27713573e+01] [-8.69319134e-02 9.96186758e-01 7.40169987e-03 5.86967302e-01] [ 6.15245378e-02 -2.04702234e-03 9.98103472e-01 -3.20297246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.67824100800001 meters Centerline goodness : 0.863056 Centerline is valid? [False, False] Translation: X:12.77, Y:0.59, Z:-0.32 [[ 9.94324706e-01 8.67591282e-02 -6.15729806e-02 1.27733268e+01] [-8.64904845e-02 9.96227944e-01 7.01999970e-03 5.87775644e-01] [ 6.19497729e-02 -1.65468221e-03 9.98077897e-01 -3.21205351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.70824100800002 meters Centerline goodness : 0.862409 Centerline is valid? [False, False] Translation: X:12.77, Y:0.59, Z:-0.32 [[ 9.94307969e-01 8.68470133e-02 -6.17191998e-02 1.27739114e+01] [-8.66044594e-02 9.96220917e-01 6.59935832e-03 5.89154405e-01] [ 6.20590924e-02 -1.21663664e-03 9.98071735e-01 -3.22101616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.738241008 meters Centerline goodness : 0.862945 Centerline is valid? [False, False] Translation: X:12.77, Y:0.59, Z:-0.32 [[ 9.94283792e-01 8.68187147e-02 -6.21470172e-02 1.27747108e+01] [-8.65568188e-02 9.96223027e-01 6.89913593e-03 5.88824675e-01] [ 6.25112637e-02 -1.48045092e-03 9.98043160e-01 -3.21395333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.768241008 meters Centerline goodness : 0.862264 Centerline is valid? [False, False] Translation: X:12.78, Y:0.59, Z:-0.32 [[ 9.94270913e-01 8.66206023e-02 -6.26276541e-02 1.27757705e+01] [-8.63383939e-02 9.96239826e-01 7.20352757e-03 5.88043904e-01] [ 6.30161371e-02 -1.75508687e-03 9.98010965e-01 -3.20683565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.798241008 meters Centerline goodness : 0.862962 Centerline is valid? [False, False] Translation: X:12.78, Y:0.59, Z:-0.32 [[ 9.94263432e-01 8.66465587e-02 -6.27104589e-02 1.27758913e+01] [-8.63494488e-02 9.96237147e-01 7.43769175e-03 5.87542966e-01] [ 6.31189390e-02 -1.98001136e-03 9.98004048e-01 -3.20297049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.828241008 meters Centerline goodness : 0.863878 Centerline is valid? [False, False] Translation: X:12.78, Y:0.59, Z:-0.32 [[ 9.94266158e-01 8.63068778e-02 -6.31342181e-02 1.27774309e+01] [-8.60138329e-02 9.96266831e-01 7.34999749e-03 5.87836257e-01] [ 6.35328827e-02 -1.87743768e-03 9.97977980e-01 -3.20492588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.858241008 meters Centerline goodness : 0.862510 Centerline is valid? [False, False] Translation: X:12.78, Y:0.59, Z:-0.32 [[ 9.94265777e-01 8.60826151e-02 -6.34456278e-02 1.27785168e+01] [-8.57929820e-02 9.96286384e-01 7.28043067e-03 5.87561862e-01] [ 6.38367336e-02 -1.79549346e-03 9.97958740e-01 -3.20788323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.888241008 meters Centerline goodness : 0.861719 Centerline is valid? [False, False] Translation: X:12.78, Y:0.59, Z:-0.32 [[ 9.94273746e-01 8.55607666e-02 -6.40240127e-02 1.27806613e+01] [-8.52922346e-02 9.96331942e-01 6.92076549e-03 5.87347590e-01] [ 6.43813149e-02 -1.42038431e-03 9.97924360e-01 -3.21720406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.918241008 meters Centerline goodness : 0.861859 Centerline is valid? [False, False] Translation: X:12.78, Y:0.59, Z:-0.32 [[ 9.94275229e-01 8.49791848e-02 -6.47711938e-02 1.27830826e+01] [-8.47238025e-02 9.96382053e-01 6.68439895e-03 5.87277543e-01] [ 6.51048898e-02 -1.15847047e-03 9.97877754e-01 -3.22240247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.948241008 meters Centerline goodness : 0.862273 Centerline is valid? [False, False] Translation: X:12.79, Y:0.59, Z:-0.32 [[ 9.94266847e-01 8.45667794e-02 -6.54362074e-02 1.27851226e+01] [-8.43318771e-02 9.96417498e-01 6.34861347e-03 5.86540079e-01] [ 6.57386639e-02 -7.93857693e-04 9.97836559e-01 -3.23100238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.978241008 meters Centerline goodness : 0.863236 Centerline is valid? [False, False] Translation: X:12.79, Y:0.59, Z:-0.32 [[ 9.94261575e-01 8.43756460e-02 -6.57622224e-02 1.27862516e+01] [-8.41506806e-02 9.96433825e-01 6.18834684e-03 5.86187865e-01] [ 6.60498486e-02 -6.18899712e-04 9.97816133e-01 -3.23639536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.008241008 meters Centerline goodness : 0.864962 Centerline is valid? [False, False] Translation: X:12.79, Y:0.59, Z:-0.32 [[ 9.94260341e-01 8.41119007e-02 -6.61177964e-02 1.27876482e+01] [-8.39011965e-02 9.96456243e-01 5.96202999e-03 5.86072135e-01] [ 6.63849687e-02 -3.80447738e-04 9.97794012e-01 -3.24433748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.038241008 meters Centerline goodness : 0.864977 Centerline is valid? [False, False] Translation: X:12.79, Y:0.59, Z:-0.33 [[ 9.94267320e-01 8.34682365e-02 -6.68247738e-02 1.27903215e+01] [-8.32992852e-02 9.96510398e-01 5.31552238e-03 5.87068458e-01] [ 6.70352592e-02 2.81405704e-04 9.97750567e-01 -3.25754912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.068241008 meters Centerline goodness : 0.865739 Centerline is valid? [False, False] Translation: X:12.79, Y:0.59, Z:-0.33 [[ 9.94269808e-01 8.32012494e-02 -6.71200548e-02 1.27916977e+01] [-8.30614699e-02 9.96532500e-01 4.87540324e-03 5.88009409e-01] [ 6.72929556e-02 7.27624174e-04 9.97732995e-01 -3.26849284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.098241008 meters Centerline goodness : 0.864161 Centerline is valid? [False, False] Translation: X:12.79, Y:0.59, Z:-0.33 [[ 9.94254049e-01 8.30694597e-02 -6.75155548e-02 1.27924823e+01] [-8.29077840e-02 9.96543667e-01 5.19797240e-03 5.87192863e-01] [ 6.77139913e-02 4.29459923e-04 9.97704681e-01 -3.26188221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.128241008 meters Centerline goodness : 0.860987 Centerline is valid? [False, False] Translation: X:12.79, Y:0.59, Z:-0.33 [[ 9.94227042e-01 8.29948618e-02 -6.80032526e-02 1.27933791e+01] [-8.27940826e-02 9.96549969e-01 5.77047586e-03 5.86232136e-01] [ 6.82475592e-02 -1.06896225e-04 9.97668411e-01 -3.25107161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.158241008 meters Centerline goodness : 0.862136 Centerline is valid? [False, False] Translation: X:12.79, Y:0.59, Z:-0.32 [[ 9.94205085e-01 8.28688847e-02 -6.84762561e-02 1.27943017e+01] [-8.26267018e-02 9.96560232e-01 6.36641049e-03 5.85412708e-01] [ 6.87682910e-02 -6.71550483e-04 9.97632433e-01 -3.23892096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.188241008 meters Centerline goodness : 0.863550 Centerline is valid? [False, False] Translation: X:12.79, Y:0.58, Z:-0.32 [[ 9.94200829e-01 8.29552868e-02 -6.84334057e-02 1.27938539e+01] [-8.26636788e-02 9.96552302e-01 7.08694847e-03 5.84772064e-01] [ 6.87853678e-02 -1.38889297e-03 9.97630515e-01 -3.22412360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.218241008 meters Centerline goodness : 0.863088 Centerline is valid? [False, False] Translation: X:12.79, Y:0.58, Z:-0.32 [[ 9.94191602e-01 8.28654452e-02 -6.86758767e-02 1.27941920e+01] [-8.25535927e-02 9.96559363e-01 7.37153672e-03 5.84260441e-01] [ 6.90504336e-02 -1.65927955e-03 9.97611790e-01 -3.21660199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.248241008 meters Centerline goodness : 0.863158 Centerline is valid? [False, False] Translation: X:12.80, Y:0.58, Z:-0.32 [[ 9.94190263e-01 8.26507252e-02 -6.89534495e-02 1.27950062e+01] [-8.23396345e-02 9.96577249e-01 7.34654275e-03 5.83901268e-01] [ 6.93246361e-02 -1.62625944e-03 9.97592828e-01 -3.21693607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.278241008 meters Centerline goodness : 0.862877 Centerline is valid? [False, False] Translation: X:12.80, Y:0.58, Z:-0.32 [[ 9.94196320e-01 8.24152063e-02 -6.91477539e-02 1.27958678e+01] [-8.21193757e-02 9.96597104e-01 7.11483464e-03 5.84346053e-01] [ 6.94988218e-02 -1.39517204e-03 9.97581058e-01 -3.22167361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.308241008 meters Centerline goodness : 0.862515 Centerline is valid? [False, False] Translation: X:12.80, Y:0.59, Z:-0.32 [[ 9.94212532e-01 8.20363877e-02 -6.93647709e-02 1.27973134e+01] [-8.17793460e-02 9.96628988e-01 6.54210150e-03 5.85372074e-01] [ 6.96676318e-02 -8.31633705e-04 9.97569912e-01 -3.23488693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.338241008 meters Centerline goodness : 0.863428 Centerline is valid? [False, False] Translation: X:12.80, Y:0.58, Z:-0.32 [[ 9.94195965e-01 8.17168310e-02 -6.99767265e-02 1.27988579e+01] [-8.14559466e-02 9.96655233e-01 6.57838368e-03 5.84974363e-01] [ 7.02802354e-02 -8.40182010e-04 9.97526933e-01 -3.23275663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.368241008 meters Centerline goodness : 0.862520 Centerline is valid? [False, False] Translation: X:12.80, Y:0.58, Z:-0.32 [[ 9.94167535e-01 8.16954477e-02 -7.04043005e-02 1.27996665e+01] [-8.14018563e-02 9.96656541e-01 7.03393876e-03 5.84251198e-01] [ 7.07435474e-02 -1.26187281e-03 9.97493738e-01 -3.22412418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.398241008 meters Centerline goodness : 0.863036 Centerline is valid? [False, False] Translation: X:12.80, Y:0.58, Z:-0.32 [[ 9.94133429e-01 8.16822853e-02 -7.08994383e-02 1.28007560e+01] [-8.13844440e-02 9.96657607e-01 7.08432382e-03 5.84149903e-01] [ 7.12411282e-02 -1.27265176e-03 9.97458311e-01 -3.22294867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.42824100800001 meters Centerline goodness : 0.863036 Centerline is valid? [False, False] Translation: X:12.80, Y:0.58, Z:-0.32 [[ 9.94133429e-01 8.16822853e-02 -7.08994383e-02 1.28007560e+01] [-8.13844440e-02 9.96657607e-01 7.08432382e-03 5.84149903e-01] [ 7.12411282e-02 -1.27265176e-03 9.97458311e-01 -3.22294867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.45824100800002 meters Centerline goodness : 0.862462 Centerline is valid? [False, False] Translation: X:12.80, Y:0.58, Z:-0.32 [[ 9.94116492e-01 8.17781891e-02 -7.10262508e-02 1.28010080e+01] [-8.14847047e-02 9.96649837e-01 7.02458799e-03 5.84153984e-01] [ 7.13627593e-02 -1.19570571e-03 9.97449711e-01 -3.22492247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.48824100800002 meters Centerline goodness : 0.863181 Centerline is valid? [False, False] Translation: X:12.80, Y:0.58, Z:-0.32 [[ 9.94104486e-01 8.15199717e-02 -7.14896108e-02 1.28022493e+01] [-8.12246188e-02 9.96671003e-01 7.03366631e-03 5.84142239e-01] [ 7.18250064e-02 -1.18548286e-03 9.97416544e-01 -3.22289044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.518241008 meters Centerline goodness : 0.860852 Centerline is valid? [False, False] Translation: X:12.80, Y:0.58, Z:-0.32 [[ 9.94084979e-01 8.13163069e-02 -7.19910608e-02 1.28033757e+01] [-8.09965183e-02 9.96687246e-01 7.35513242e-03 5.83684988e-01] [ 7.23506644e-02 -1.48060139e-03 9.97378158e-01 -3.21518065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.548241008 meters Centerline goodness : 0.861325 Centerline is valid? [False, False] Translation: X:12.80, Y:0.58, Z:-0.32 [[ 9.94409324e-01 7.74495024e-02 -7.17751361e-02 1.28018360e+01] [-7.74165741e-02 9.96993554e-01 3.24473805e-03 5.84372705e-01] [ 7.18106513e-02 2.32998737e-03 9.97415561e-01 -3.21692485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.578241008 meters Centerline goodness : 0.863758 Centerline is valid? [False, False] Translation: X:12.81, Y:0.58, Z:-0.32 [[ 9.94242169e-01 7.85338996e-02 -7.29036098e-02 1.28087256e+01] [-7.79778067e-02 9.96900353e-01 1.04473375e-02 5.79687677e-01] [ 7.34981046e-02 -4.70231994e-03 9.97284271e-01 -3.15255417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.608241008 meters Centerline goodness : 0.861355 Centerline is valid? [False, False] Translation: X:12.81, Y:0.58, Z:-0.32 [[ 9.94247400e-01 7.78385044e-02 -7.35749638e-02 1.28109763e+01] [-7.72821885e-02 9.96955199e-01 1.03824266e-02 5.79385377e-01] [ 7.41590952e-02 -4.63666645e-03 9.97235644e-01 -3.15291856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.638241008 meters Centerline goodness : 0.862385 Centerline is valid? [False, False] Translation: X:12.81, Y:0.58, Z:-0.32 [[ 9.94255784e-01 7.73537731e-02 -7.39718208e-02 1.28125368e+01] [-7.68186547e-02 9.96994365e-01 1.00563186e-02 5.79727638e-01] [ 7.45273827e-02 -4.31613718e-03 9.97209627e-01 -3.15885979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.668241008 meters Centerline goodness : 0.862290 Centerline is valid? [False, False] Translation: X:12.83, Y:0.58, Z:-0.31 [[ 0.99423249 0.07712524 -0.07452146 12.8289298 ] [-0.07582476 0.99691795 0.02012972 0.57629063] [ 0.07584429 -0.01436305 0.99701622 -0.30986346] [ 0. 0. 0. 1. ]] SLAMing on 166.698241008 meters Centerline goodness : 0.860216 Centerline is valid? [False, False] Translation: X:12.83, Y:0.58, Z:-0.31 [[ 9.94505229e-01 7.33079292e-02 -7.47348478e-02 1.28290609e+01] [-7.23848058e-02 9.97264122e-01 1.49903271e-02 5.80378809e-01] [ 7.56292922e-02 -9.49829122e-03 9.97090764e-01 -3.12023947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.728241008 meters Centerline goodness : 0.861711 Centerline is valid? [False, False] Translation: X:12.83, Y:0.58, Z:-0.31 [[ 0.99419996 0.07627614 -0.0758181 12.83312496] [-0.07489158 0.99697171 0.02094421 0.57749796] [ 0.07718604 -0.01514459 0.99690168 -0.30796365] [ 0. 0. 0. 1. ]] SLAMing on 166.758241008 meters Centerline goodness : 0.859950 Centerline is valid? [False, False] Translation: X:12.84, Y:0.58, Z:-0.31 [[ 0.9941851 0.07561131 -0.07667407 12.83602452] [-0.07431417 0.99704154 0.01963609 0.57990196] [ 0.07793194 -0.01382394 0.99686283 -0.30994164] [ 0. 0. 0. 1. ]] SLAMing on 166.788241008 meters Centerline goodness : 0.860742 Centerline is valid? [False, False] Translation: X:12.84, Y:0.58, Z:-0.31 [[ 9.94193081e-01 7.50470434e-02 -7.71236656e-02 1.28378867e+01] [-7.38217752e-02 9.97097588e-01 1.86211049e-02 5.81585274e-01] [ 7.82972798e-02 -1.28195678e-02 9.96847629e-01 -3.11491061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.818241008 meters Centerline goodness : 0.862571 Centerline is valid? [False, False] Translation: X:12.84, Y:0.58, Z:-0.31 [[ 9.94183891e-01 7.45212530e-02 -7.77494306e-02 1.28400460e+01] [-7.33281722e-02 9.97143734e-01 1.80929027e-02 5.82721809e-01] [ 7.88756633e-02 -1.22864487e-02 9.96808744e-01 -3.12257961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.848241008 meters Centerline goodness : 0.860941 Centerline is valid? [False, False] Translation: X:12.84, Y:0.58, Z:-0.31 [[ 9.94187023e-01 7.37248336e-02 -7.84653538e-02 1.28427578e+01] [-7.25901501e-02 9.97213184e-01 1.72202219e-02 5.83301992e-01] [ 7.95162433e-02 -1.14243093e-02 9.96768104e-01 -3.13840414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.878241008 meters Centerline goodness : 0.862485 Centerline is valid? [False, False] Translation: X:12.84, Y:0.58, Z:-0.31 [[ 9.94187365e-01 7.30797695e-02 -7.90621881e-02 1.28449080e+01] [-7.19835511e-02 9.97267148e-01 1.66314176e-02 5.83798385e-01] [ 8.00615430e-02 -1.08435682e-02 9.96730940e-01 -3.14762845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.908241008 meters Centerline goodness : 0.861989 Centerline is valid? [False, False] Translation: X:12.85, Y:0.58, Z:-0.32 [[ 9.94175775e-01 7.23768114e-02 -7.98506475e-02 1.28475725e+01] [-7.12937485e-02 9.97321582e-01 1.63359765e-02 5.84062325e-01] [ 8.08191199e-02 -1.05479802e-02 9.96672970e-01 -3.15235188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.938241008 meters Centerline goodness : 0.859001 Centerline is valid? [False, False] Translation: X:12.85, Y:0.58, Z:-0.32 [[ 9.94162276e-01 7.17337000e-02 -8.05955643e-02 1.28499988e+01] [-7.06585339e-02 9.97370338e-01 1.61177074e-02 5.83930827e-01] [ 8.15398080e-02 -1.03288523e-02 9.96616563e-01 -3.15586688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.968241008 meters Centerline goodness : 0.861695 Centerline is valid? [False, False] Translation: X:12.85, Y:0.58, Z:-0.32 [[ 9.94150538e-01 7.06773263e-02 -8.16665361e-02 1.28537283e+01] [-6.96156226e-02 9.97449089e-01 1.57791187e-02 5.83262579e-01] [ 8.25734379e-02 -1.00015526e-02 9.96534794e-01 -3.16327938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.998241008 meters Centerline goodness : 0.859142 Centerline is valid? [False, False] Translation: X:12.87, Y:0.58, Z:-0.31 [[ 0.99411074 0.07181554 -0.08115643 12.86607341] [-0.06979242 0.99718242 0.02749995 0.5786887 ] [ 0.08290269 -0.02167389 0.99632193 -0.30730293] [ 0. 0. 0. 1. ]] SLAMing on 167.028241008 meters Centerline goodness : 0.860859 Centerline is valid? [False, False] Translation: X:12.87, Y:0.58, Z:-0.30 [[ 0.99381384 0.0748838 -0.0820151 12.86945492] [-0.07238428 0.99682938 0.03304106 0.57539792] [ 0.0842293 -0.02690006 0.99608324 -0.30407323] [ 0. 0. 0. 1. ]] SLAMing on 167.058241008 meters Centerline goodness : 0.859528 Centerline is valid? [False, False] Translation: X:12.87, Y:0.58, Z:-0.30 [[ 0.99380351 0.07460897 -0.08238983 12.87041845] [-0.07212922 0.9968598 0.03267892 0.57581619] [ 0.08456925 -0.02653371 0.99606426 -0.30432622] [ 0. 0. 0. 1. ]] SLAMing on 167.088241008 meters Centerline goodness : 0.858152 Centerline is valid? [False, False] Translation: X:12.87, Y:0.58, Z:-0.30 [[ 0.99377774 0.07460826 -0.08270077 12.87078665] [-0.07210233 0.99685485 0.0328886 0.57667347] [ 0.08489443 -0.02672104 0.99603159 -0.30309057] [ 0. 0. 0. 1. ]] SLAMing on 167.118241008 meters Centerline goodness : 0.861094 Centerline is valid? [False, False] Translation: X:12.89, Y:0.58, Z:-0.31 [[ 0.99410903 0.0751302 -0.0781197 12.88686239] [-0.07354867 0.99702792 0.02293288 0.57938213] [ 0.07961047 -0.01705218 0.99668019 -0.30850341] [ 0. 0. 0. 1. ]] SLAMing on 167.148241008 meters Centerline goodness : 0.859828 Centerline is valid? [False, False] Translation: X:12.89, Y:0.58, Z:-0.30 [[ 0.9937827 0.07872273 -0.07873168 12.88914978] [-0.07667471 0.99664271 0.02871061 0.57638608] [ 0.08072753 -0.02249538 0.99648232 -0.30487041] [ 0. 0. 0. 1. ]] SLAMing on 167.17824100800001 meters Centerline goodness : 0.859469 Centerline is valid? [False, False] Translation: X:12.89, Y:0.58, Z:-0.31 [[ 0.99378415 0.07850548 -0.07893 12.88984737] [-0.07647548 0.99666619 0.02842558 0.57710721] [ 0.08089843 -0.02221268 0.99647481 -0.30513916] [ 0. 0. 0. 1. ]] SLAMing on 167.20824100800002 meters Centerline goodness : 0.859501 Centerline is valid? [False, False] Translation: X:12.90, Y:0.57, Z:-0.30 [[ 0.99353844 0.08046926 -0.08003789 12.89529829] [-0.07784288 0.99633641 0.03541519 0.57370403] [ 0.08259449 -0.02895597 0.99616249 -0.29846475] [ 0. 0. 0. 1. ]] SLAMing on 167.23824100800002 meters Centerline goodness : 0.859640 Centerline is valid? [False, False] Translation: X:12.90, Y:0.57, Z:-0.29 [[ 0.99325542 0.08346579 -0.08048061 12.89799419] [-0.08035971 0.99591841 0.04109553 0.56996629] [ 0.08358219 -0.03435096 0.99590864 -0.29497573] [ 0. 0. 0. 1. ]] SLAMing on 167.268241008 meters Centerline goodness : 0.860476 Centerline is valid? [False, False] Translation: X:12.91, Y:0.57, Z:-0.30 [[ 0.99365092 0.08248685 -0.07650994 12.91413817] [-0.08045952 0.99632957 0.02921727 0.57262196] [ 0.07863916 -0.02287582 0.99664065 -0.30095788] [ 0. 0. 0. 1. ]] SLAMing on 167.298241008 meters Centerline goodness : 0.862283 Centerline is valid? [False, False] Translation: X:12.92, Y:0.57, Z:-0.30 [[ 0.99362646 0.08201793 -0.07732732 12.91596666] [-0.07988249 0.99634303 0.03032098 0.57046697] [ 0.0795314 -0.02395063 0.99654459 -0.29852461] [ 0. 0. 0. 1. ]] SLAMing on 167.328241008 meters Centerline goodness : 0.860756 Centerline is valid? [False, False] Translation: X:12.92, Y:0.57, Z:-0.30 [[ 0.99332059 0.08492105 -0.07811925 12.91969593] [-0.08235851 0.99597152 0.03546563 0.56733524] [ 0.08081632 -0.02879496 0.99631299 -0.29613382] [ 0. 0. 0. 1. ]] SLAMing on 167.358241008 meters Centerline goodness : 0.858761 Centerline is valid? [False, False] Translation: X:12.92, Y:0.57, Z:-0.30 [[ 0.99332444 0.08447664 -0.07855099 12.92141333] [-0.0819506 0.99602691 0.0348497 0.56791924] [ 0.08118288 -0.02817976 0.99630078 -0.2972194 ] [ 0. 0. 0. 1. ]] SLAMing on 167.388241008 meters Centerline goodness : 0.860794 Centerline is valid? [False, False] Translation: X:12.92, Y:0.56, Z:-0.29 [[ 0.99299783 0.08777387 -0.07906368 12.92416851] [-0.08480253 0.9955868 0.04019267 0.56477631] [ 0.08224262 -0.03320644 0.99605898 -0.2944484 ] [ 0. 0. 0. 1. ]] SLAMing on 167.418241008 meters Centerline goodness : 0.857065 Centerline is valid? [False, False] Translation: X:12.93, Y:0.57, Z:-0.30 [[ 0.99322497 0.0843948 -0.07988534 12.92512472] [-0.08181238 0.99603048 0.03507147 0.56794954] [ 0.08252808 -0.02829825 0.99618689 -0.29711051] [ 0. 0. 0. 1. ]] SLAMing on 167.448241008 meters Centerline goodness : 0.857883 Centerline is valid? [False, False] Translation: X:12.93, Y:0.57, Z:-0.30 [[ 0.99322382 0.08385153 -0.08046965 12.92746561] [-0.08130178 0.99609358 0.03446143 0.56912056] [ 0.08304495 -0.02768559 0.99616115 -0.29812623] [ 0. 0. 0. 1. ]] SLAMing on 167.478241008 meters Centerline goodness : 0.860660 Centerline is valid? [False, False] Translation: X:12.93, Y:0.57, Z:-0.30 [[ 0.99323867 0.08328788 -0.08087078 12.92946191] [-0.08080549 0.99616664 0.03350363 0.57038389] [ 0.08335122 -0.0267423 0.99616134 -0.29996424] [ 0. 0. 0. 1. ]] SLAMing on 167.508241008 meters Centerline goodness : 0.858942 Centerline is valid? [False, False] Translation: X:12.93, Y:0.57, Z:-0.30 [[ 0.99287581 0.08668132 -0.08175555 12.93334466] [-0.08377621 0.99574731 0.03832545 0.56899396] [ 0.08472997 -0.03120325 0.99591525 -0.29837869] [ 0. 0. 0. 1. ]] SLAMing on 167.538241008 meters Centerline goodness : 0.858286 Centerline is valid? [False, False] Translation: X:12.93, Y:0.57, Z:-0.30 [[ 0.99286668 0.08657767 -0.08197603 12.93417515] [-0.08371072 0.99577316 0.03779313 0.56961996] [ 0.08490158 -0.03066126 0.99591747 -0.29924766] [ 0. 0. 0. 1. ]] SLAMing on 167.568241008 meters Centerline goodness : 0.861124 Centerline is valid? [False, False] Translation: X:12.95, Y:0.57, Z:-0.31 [[ 0.99318227 0.08652783 -0.07811476 12.9500746 ] [-0.0847418 0.9960662 0.02590285 0.57249327] [ 0.08004879 -0.01910667 0.99660781 -0.30621495] [ 0. 0. 0. 1. ]] SLAMing on 167.598241008 meters Centerline goodness : 0.863228 Centerline is valid? [False, False] Translation: X:12.95, Y:0.57, Z:-0.30 [[ 0.99283717 0.08965078 -0.07897531 12.95392174] [-0.08729952 0.99564379 0.03274492 0.56905611] [ 0.08156689 -0.02561586 0.99633863 -0.30043202] [ 0. 0. 0. 1. ]] SLAMing on 167.628241008 meters Centerline goodness : 0.860158 Centerline is valid? [False, False] Translation: X:12.97, Y:0.57, Z:-0.31 [[ 0.99307862 0.09062182 -0.07471646 12.96869651] [-0.0892254 0.99577226 0.02182726 0.57112676] [ 0.07637861 -0.01500958 0.99696591 -0.30661104] [ 0. 0. 0. 1. ]] SLAMing on 167.658241008 meters Centerline goodness : 0.860883 Centerline is valid? [False, False] Translation: X:12.97, Y:0.57, Z:-0.30 [[ 0.99268468 0.0944511 -0.07520717 12.97050033] [-0.09260157 0.99531734 0.02771889 0.56707524] [ 0.07747308 -0.02055182 0.9967826 -0.30319258] [ 0. 0. 0. 1. ]] SLAMing on 167.688241008 meters Centerline goodness : 0.863307 Centerline is valid? [False, False] Translation: X:12.99, Y:0.57, Z:-0.31 [[ 9.92923365e-01 9.50604427e-02 -7.11807795e-02 1.29866585e+01] [-9.40865806e-02 9.95420240e-01 1.69192368e-02 5.69792902e-01] [ 7.24631387e-02 -1.01023494e-02 9.97319927e-01 -3.09731966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.718241008 meters Centerline goodness : 0.861580 Centerline is valid? [False, False] Translation: X:12.99, Y:0.57, Z:-0.31 [[ 9.92924145e-01 9.48434714e-02 -7.14587928e-02 1.29873927e+01] [-9.38729262e-02 9.95441966e-01 1.68275536e-02 5.69870237e-01] [ 7.27290648e-02 -1.00004382e-02 9.97301596e-01 -3.09611029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.748241008 meters Centerline goodness : 0.861709 Centerline is valid? [False, False] Translation: X:13.00, Y:0.56, Z:-0.30 [[ 0.99290617 0.09526513 -0.07114693 13.00153877] [-0.09347834 0.99522631 0.02804269 0.56493905] [ 0.07347878 -0.02119306 0.99707157 -0.30148919] [ 0. 0. 0. 1. ]] SLAMing on 167.778241008 meters Centerline goodness : 0.860404 Centerline is valid? [False, False] Translation: X:13.00, Y:0.57, Z:-0.30 [[ 0.99323563 0.09159238 -0.07137103 13.00180323] [-0.0901847 0.99566612 0.02270909 0.56926827] [ 0.0731417 -0.0161189 0.99719129 -0.30448724] [ 0. 0. 0. 1. ]] SLAMing on 167.808241008 meters Centerline goodness : 0.861641 Centerline is valid? [False, False] Translation: X:13.00, Y:0.57, Z:-0.31 [[ 9.93547216e-01 8.76157695e-02 -7.20236461e-02 1.30029355e+01] [-8.65853580e-02 9.96094000e-01 1.73123828e-02 5.72999653e-01] [ 7.32591594e-02 -1.09644765e-02 9.97252664e-01 -3.07298237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.838241008 meters Centerline goodness : 0.860368 Centerline is valid? [False, False] Translation: X:13.00, Y:0.57, Z:-0.31 [[ 9.93534151e-01 8.73855353e-02 -7.24821229e-02 1.30041743e+01] [-8.63290726e-02 9.96111409e-01 1.75884307e-02 5.72450771e-01] [ 7.37372440e-02 -1.12173921e-02 9.97214615e-01 -3.06756734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.868241008 meters Centerline goodness : 0.860178 Centerline is valid? [False, False] Translation: X:13.01, Y:0.57, Z:-0.30 [[ 0.99322739 0.09007275 -0.07339112 13.00832284] [-0.08855793 0.99579032 0.0236461 0.56853357] [ 0.07521204 -0.01698658 0.99702287 -0.30265452] [ 0. 0. 0. 1. ]] SLAMing on 167.898241008 meters Centerline goodness : 0.861491 Centerline is valid? [False, False] Translation: X:13.01, Y:0.57, Z:-0.30 [[ 0.99323461 0.08982308 -0.07359911 13.0090596 ] [-0.0883192 0.99581625 0.02344587 0.56884906] [ 0.07539717 -0.01678704 0.99701227 -0.30282786] [ 0. 0. 0. 1. ]] SLAMing on 167.92824100800001 meters Centerline goodness : 0.862854 Centerline is valid? [False, False] Translation: X:13.01, Y:0.57, Z:-0.30 [[ 0.99321418 0.08970807 -0.07401394 13.00999089] [-0.08821166 0.99583034 0.02325165 0.56959641] [ 0.07579119 -0.01656498 0.99698611 -0.30278769] [ 0. 0. 0. 1. ]] SLAMing on 167.95824100800002 meters Centerline goodness : 0.863103 Centerline is valid? [False, False] Translation: X:13.01, Y:0.57, Z:-0.30 [[ 0.99321391 0.0893675 -0.07442829 13.01133244] [-0.08791124 0.99587136 0.02262399 0.57090054] [ 0.07614285 -0.01592738 0.9969697 -0.30351072] [ 0. 0. 0. 1. ]] SLAMing on 167.98824100800002 meters Centerline goodness : 0.863388 Centerline is valid? [False, False] Translation: X:13.01, Y:0.57, Z:-0.30 [[ 0.99322153 0.08908528 -0.07466455 13.01238375] [-0.08769038 0.99591001 0.02176332 0.5726524 ] [ 0.07629796 -0.01506844 0.99697119 -0.30476461] [ 0. 0. 0. 1. ]] SLAMing on 168.018241008 meters Centerline goodness : 0.863567 Centerline is valid? [False, False] Translation: X:13.01, Y:0.57, Z:-0.31 [[ 0.99321851 0.08890764 -0.07491606 13.01340789] [-0.08756369 0.99593663 0.02104357 0.57454649] [ 0.07648258 -0.01434094 0.99696778 -0.30579685] [ 0. 0. 0. 1. ]] SLAMing on 168.048241008 meters Centerline goodness : 0.862488 Centerline is valid? [False, False] Translation: X:13.01, Y:0.58, Z:-0.31 [[ 0.99323718 0.0887286 -0.07488078 13.01369929] [-0.08747003 0.99596777 0.01992958 0.57722124] [ 0.07634717 -0.01324498 0.99699332 -0.30723895] [ 0. 0. 0. 1. ]] SLAMing on 168.078241008 meters Centerline goodness : 0.862618 Centerline is valid? [False, False] Translation: X:13.01, Y:0.58, Z:-0.31 [[ 0.99323954 0.08836826 -0.07527468 13.01477773] [-0.08706718 0.99599354 0.02040052 0.57657197] [ 0.07677585 -0.01370865 0.99695413 -0.30609939] [ 0. 0. 0. 1. ]] SLAMing on 168.108241008 meters Centerline goodness : 0.862628 Centerline is valid? [False, False] Translation: X:13.02, Y:0.58, Z:-0.31 [[ 0.99325995 0.08774341 -0.0757349 13.01631323] [-0.08645597 0.99605248 0.02012 0.57662585] [ 0.07720133 -0.01343666 0.99692498 -0.30624958] [ 0. 0. 0. 1. ]] SLAMing on 168.138241008 meters Centerline goodness : 0.866339 Centerline is valid? [False, False] Translation: X:13.02, Y:0.58, Z:-0.31 [[ 9.93292543e-01 8.66533722e-02 -7.65579326e-02 1.30195936e+01] [-8.54267642e-02 9.96160203e-01 1.91603008e-02 5.78003160e-01] [ 7.79242704e-02 -1.24916875e-02 9.96881019e-01 -3.07711854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.168241008 meters Centerline goodness : 0.863552 Centerline is valid? [False, False] Translation: X:13.02, Y:0.58, Z:-0.31 [[ 9.93300119e-01 8.60729789e-02 -7.71123616e-02 1.30214709e+01] [-8.48877019e-02 9.96218299e-01 1.85250741e-02 5.79020819e-01] [ 7.84152540e-02 -1.18550672e-02 9.96850292e-01 -3.08468894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.198241008 meters Centerline goodness : 0.863091 Centerline is valid? [False, False] Translation: X:13.02, Y:0.58, Z:-0.31 [[ 9.93298113e-01 8.57757616e-02 -7.74685611e-02 1.30225501e+01] [-8.46156421e-02 9.96248498e-01 1.81417596e-02 5.79873045e-01] [ 7.87340609e-02 -1.14651236e-02 9.96829724e-01 -3.08740144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.228241008 meters Centerline goodness : 0.863893 Centerline is valid? [False, False] Translation: X:13.03, Y:0.58, Z:-0.31 [[ 0.99291817 0.08934072 -0.0783055 13.02519437] [-0.08777152 0.99586894 0.02326411 0.57687592] [ 0.08006045 -0.01622637 0.99665793 -0.30636328] [ 0. 0. 0. 1. ]] SLAMing on 168.258241008 meters Centerline goodness : 0.865762 Centerline is valid? [False, False] Translation: X:13.03, Y:0.58, Z:-0.31 [[ 0.9929171 0.08903318 -0.07866847 13.02670474] [-0.08755269 0.99591517 0.02207922 0.57943244] [ 0.08031291 -0.0150352 0.9966563 -0.3081621 ] [ 0. 0. 0. 1. ]] SLAMing on 168.288241008 meters Centerline goodness : 0.863505 Centerline is valid? [False, False] Translation: X:13.03, Y:0.58, Z:-0.31 [[ 0.9929214 0.08860834 -0.07909265 13.02841282] [-0.08719223 0.99596614 0.02118875 0.5812277 ] [ 0.0806511 -0.0141425 0.99664206 -0.30954965] [ 0. 0. 0. 1. ]] SLAMing on 168.318241008 meters Centerline goodness : 0.863505 Centerline is valid? [False, False] Translation: X:13.03, Y:0.58, Z:-0.31 [[ 0.9929214 0.08860834 -0.07909265 13.02841282] [-0.08719223 0.99596614 0.02118875 0.5812277 ] [ 0.0806511 -0.0141425 0.99664206 -0.30954965] [ 0. 0. 0. 1. ]] SLAMing on 168.348241008 meters Centerline goodness : 0.863833 Centerline is valid? [False, False] Translation: X:13.03, Y:0.58, Z:-0.31 [[ 0.9929331 0.08821941 -0.07938007 13.02978748] [-0.08687047 0.99601285 0.02029604 0.58291484] [ 0.08085408 -0.01325682 0.99663779 -0.31090899] [ 0. 0. 0. 1. ]] SLAMing on 168.378241008 meters Centerline goodness : 0.865141 Centerline is valid? [False, False] Translation: X:13.03, Y:0.58, Z:-0.31 [[ 9.92928919e-01 8.79779736e-02 -7.96996758e-02 1.30308188e+01] [-8.66654241e-02 9.96040942e-01 1.97875070e-02 5.83876810e-01] [ 8.11250049e-02 -1.27403817e-02 9.96622504e-01 -3.11535771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.408241008 meters Centerline goodness : 0.866039 Centerline is valid? [False, False] Translation: X:13.03, Y:0.58, Z:-0.31 [[ 9.92904402e-01 8.77724369e-02 -8.02299716e-02 1.30323681e+01] [-8.65090028e-02 9.96068019e-01 1.90969486e-02 5.84813448e-01] [ 8.15906946e-02 -1.20208295e-02 9.96593427e-01 -3.12624179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.438241008 meters Centerline goodness : 0.866229 Centerline is valid? [False, False] Translation: X:13.03, Y:0.58, Z:-0.31 [[ 9.92902311e-01 8.76911654e-02 -8.03446343e-02 1.30328004e+01] [-8.64424138e-02 9.96077599e-01 1.88977539e-02 5.84911501e-01] [ 8.16866565e-02 -1.18184394e-02 9.96587986e-01 -3.13019362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.468241008 meters Centerline goodness : 0.866653 Centerline is valid? [False, False] Translation: X:13.03, Y:0.59, Z:-0.31 [[ 9.92900154e-01 8.73746992e-02 -8.07152111e-02 1.30340135e+01] [-8.61326792e-02 9.96107221e-01 1.87501006e-02 5.85001914e-01] [ 8.20392890e-02 -1.16647604e-02 9.96560830e-01 -3.13147363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.498241008 meters Centerline goodness : 0.865100 Centerline is valid? [False, False] Translation: X:13.03, Y:0.58, Z:-0.31 [[ 9.92894933e-01 8.72301459e-02 -8.09354868e-02 1.30344690e+01] [-8.59447550e-02 9.96114141e-01 1.92384099e-02 5.83365306e-01] [ 8.22991522e-02 -1.21457391e-02 9.96533658e-01 -3.12339897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.528241008 meters Centerline goodness : 0.867644 Centerline is valid? [False, False] Translation: X:13.04, Y:0.58, Z:-0.31 [[ 9.92898063e-01 8.67865584e-02 -8.13727812e-02 1.30356944e+01] [-8.55008577e-02 9.96153846e-01 1.91603131e-02 5.82879103e-01] [ 8.27226666e-02 -1.20667952e-02 9.96499550e-01 -3.12222313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.558241008 meters Centerline goodness : 0.868429 Centerline is valid? [False, False] Translation: X:13.03, Y:0.59, Z:-0.31 [[ 9.93233304e-01 8.29859828e-02 -8.12461157e-02 1.30347083e+01] [-8.20745907e-02 9.96520709e-01 1.44995684e-02 5.85641367e-01] [ 8.21666977e-02 -7.73321255e-03 9.96588597e-01 -3.13533829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.588241008 meters Centerline goodness : 0.867411 Centerline is valid? [False, False] Translation: X:13.04, Y:0.58, Z:-0.31 [[ 9.93227445e-01 8.26035617e-02 -8.17061441e-02 1.30360645e+01] [-8.16629774e-02 9.96550211e-01 1.47930905e-02 5.84794327e-01] [ 8.26462371e-02 -8.02053647e-03 9.96546673e-01 -3.12988012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.618241008 meters Centerline goodness : 0.866712 Centerline is valid? [False, False] Translation: X:13.04, Y:0.58, Z:-0.31 [[ 9.93223633e-01 8.22420495e-02 -8.21161375e-02 1.30368243e+01] [-8.12166001e-02 9.96571921e-01 1.57565946e-02 5.81886095e-01] [ 8.31304915e-02 -8.98062860e-03 9.96498204e-01 -3.11153724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.648241008 meters Centerline goodness : 0.867124 Centerline is valid? [False, False] Translation: X:13.04, Y:0.58, Z:-0.30 [[ 0.99300146 0.08429172 -0.08272245 13.04194979] [-0.08262133 0.99630582 0.02341846 0.57741585] [ 0.08439084 -0.01641992 0.99629743 -0.30403445] [ 0. 0. 0. 1. ]] SLAMing on 168.67824100800001 meters Centerline goodness : 0.868426 Centerline is valid? [False, False] Translation: X:13.04, Y:0.58, Z:-0.30 [[ 0.99300176 0.08386147 -0.08315507 13.04329198] [-0.08218277 0.99634217 0.02341503 0.57683563] [ 0.08481452 -0.01641725 0.9962615 -0.30398073] [ 0. 0. 0. 1. ]] SLAMing on 168.70824100800002 meters Centerline goodness : 0.866993 Centerline is valid? [False, False] Translation: X:13.05, Y:0.57, Z:-0.30 [[ 0.99286224 0.08419796 -0.08447058 13.05242679] [-0.08197947 0.99620019 0.02940315 0.57418099] [ 0.08662529 -0.02226843 0.99599206 -0.29952421] [ 0. 0. 0. 1. ]] SLAMing on 168.73824100800002 meters Centerline goodness : 0.869463 Centerline is valid? [False, False] Translation: X:13.05, Y:0.58, Z:-0.30 [[ 0.99287431 0.08385708 -0.0846676 13.05375385] [-0.08169879 0.99624524 0.0286484 0.57531385] [ 0.08675207 -0.02152702 0.99599732 -0.30085911] [ 0. 0. 0. 1. ]] SLAMing on 168.768241008 meters Centerline goodness : 0.868858 Centerline is valid? [False, False] Translation: X:13.06, Y:0.58, Z:-0.30 [[ 0.99289679 0.0832786 -0.08497432 13.0554909 ] [-0.08118299 0.99631054 0.02783218 0.57617927] [ 0.08697863 -0.02073601 0.99599434 -0.30243517] [ 0. 0. 0. 1. ]] SLAMing on 168.798241008 meters Centerline goodness : 0.871082 Centerline is valid? [False, False] Translation: X:13.06, Y:0.58, Z:-0.30 [[ 0.99291368 0.08222931 -0.08579487 13.05874318] [-0.08018846 0.99641467 0.02697449 0.5768016 ] [ 0.08770536 -0.01990358 0.9959476 -0.30377803] [ 0. 0. 0. 1. ]] SLAMing on 168.828241008 meters Centerline goodness : 0.868389 Centerline is valid? [False, False] Translation: X:13.06, Y:0.58, Z:-0.31 [[ 0.99325486 0.0780565 -0.08574364 13.05817245] [-0.07647687 0.99683822 0.02156051 0.57997851] [ 0.08715548 -0.01485768 0.99608392 -0.30595408] [ 0. 0. 0. 1. ]] SLAMing on 168.858241008 meters Centerline goodness : 0.869551 Centerline is valid? [False, False] Translation: X:13.06, Y:0.58, Z:-0.31 [[ 0.993247 0.07794502 -0.08593587 13.05842805] [-0.07634142 0.99684347 0.02179646 0.57962914] [ 0.08736354 -0.0150888 0.99606222 -0.30508 ] [ 0. 0. 0. 1. ]] SLAMing on 168.888241008 meters Centerline goodness : 0.869214 Centerline is valid? [False, False] Translation: X:13.06, Y:0.58, Z:-0.31 [[ 0.99325014 0.07767779 -0.08614128 13.059097 ] [-0.07607681 0.99686537 0.02172009 0.57935585] [ 0.08755842 -0.01502012 0.99604614 -0.30510725] [ 0. 0. 0. 1. ]] SLAMing on 168.918241008 meters Centerline goodness : 0.869923 Centerline is valid? [False, False] Translation: X:13.06, Y:0.58, Z:-0.31 [[ 0.99328271 0.07717915 -0.08621392 13.06027605] [-0.07566108 0.99691779 0.020744 0.58112389] [ 0.08754919 -0.01408162 0.99606066 -0.30683428] [ 0. 0. 0. 1. ]] SLAMing on 168.948241008 meters Centerline goodness : 0.869329 Centerline is valid? [False, False] Translation: X:13.06, Y:0.58, Z:-0.31 [[ 0.99328125 0.07717926 -0.0862306 13.06035473] [-0.07568131 0.99692105 0.02051241 0.58218704] [ 0.08754823 -0.01384855 0.99606402 -0.30700501] [ 0. 0. 0. 1. ]] SLAMing on 168.978241008 meters Centerline goodness : 0.870217 Centerline is valid? [False, False] Translation: X:13.06, Y:0.58, Z:-0.31 [[ 0.99328074 0.07734018 -0.08609222 13.06010856] [-0.07585573 0.99691036 0.02038741 0.58288195] [ 0.08740299 -0.01371983 0.99607855 -0.30726291] [ 0. 0. 0. 1. ]] SLAMing on 169.008241008 meters Centerline goodness : 0.870783 Centerline is valid? [False, False] Translation: X:13.06, Y:0.58, Z:-0.30 [[ 0.99296616 0.0809451 -0.08640652 13.06196218] [-0.07899881 0.99654294 0.02571699 0.5803573 ] [ 0.08818947 -0.01871009 0.99592798 -0.3044287 ] [ 0. 0. 0. 1. ]] SLAMing on 169.038241008 meters Centerline goodness : 0.871209 Centerline is valid? [False, False] Translation: X:13.06, Y:0.58, Z:-0.30 [[ 0.99260877 0.08472263 -0.0868902 13.06412056] [-0.08236907 0.99614027 0.03032979 0.57844084] [ 0.08912444 -0.02294855 0.99575609 -0.30308675] [ 0. 0. 0. 1. ]] SLAMing on 169.068241008 meters Centerline goodness : 0.870277 Centerline is valid? [False, False] Translation: X:13.06, Y:0.58, Z:-0.30 [[ 0.99260206 0.08473667 -0.08695317 13.06463733] [-0.08242891 0.99615123 0.02980261 0.58009063] [ 0.08914389 -0.02241468 0.99576651 -0.30386491] [ 0. 0. 0. 1. ]] SLAMing on 169.098241008 meters Centerline goodness : 0.870638 Centerline is valid? [False, False] Translation: X:13.07, Y:0.58, Z:-0.31 [[ 0.99259533 0.08470525 -0.0870605 13.06546028] [-0.08245935 0.99616996 0.02908392 0.58171574] [ 0.08919062 -0.02168961 0.99577839 -0.30511323] [ 0. 0. 0. 1. ]] SLAMing on 169.128241008 meters Centerline goodness : 0.868814 Centerline is valid? [False, False] Translation: X:13.07, Y:0.58, Z:-0.30 [[ 0.99221877 0.08842146 -0.08765585 13.06790439] [-0.08572908 0.99573731 0.03402564 0.5792938 ] [ 0.0902908 -0.02624623 0.99556954 -0.30322892] [ 0. 0. 0. 1. ]] SLAMing on 169.158241008 meters Centerline goodness : 0.873522 Centerline is valid? [False, False] Translation: X:13.08, Y:0.58, Z:-0.31 [[ 0.99247298 0.08983298 -0.08323114 13.08126492] [-0.08822477 0.99583939 0.02281023 0.58191289] [ 0.08493395 -0.01529549 0.99626918 -0.3094301 ] [ 0. 0. 0. 1. ]] SLAMing on 169.188241008 meters Centerline goodness : 0.874592 Centerline is valid? [False, False] Translation: X:13.10, Y:0.58, Z:-0.31 [[ 9.92664468e-01 9.15208971e-02 -7.90011309e-02 1.30977123e+01] [-9.06787511e-02 9.95779097e-01 1.41899496e-02 5.83618702e-01] [ 7.99663517e-02 -6.92213494e-03 9.96773528e-01 -3.14002878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.218241008 meters Centerline goodness : 0.872793 Centerline is valid? [False, False] Translation: X:13.10, Y:0.58, Z:-0.31 [[ 9.92255374e-01 9.56717886e-02 -7.92223560e-02 1.30990445e+01] [-9.44282496e-02 9.95344460e-01 1.93057447e-02 5.81429572e-01] [ 8.07005483e-02 -1.16754005e-02 9.96670009e-01 -3.12233511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.248241008 meters Centerline goodness : 0.873120 Centerline is valid? [False, False] Translation: X:13.10, Y:0.58, Z:-0.31 [[ 9.92241332e-01 9.61579913e-02 -7.88085006e-02 1.30981673e+01] [-9.49679602e-02 9.95304292e-01 1.87203925e-02 5.83349521e-01] [ 8.02385542e-02 -1.10908646e-02 9.96713985e-01 -3.13425946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.278241008 meters Centerline goodness : 0.873806 Centerline is valid? [False, False] Translation: X:13.11, Y:0.59, Z:-0.32 [[ 9.92362157e-01 9.88125885e-02 -7.38472850e-02 1.31117303e+01] [-9.83337063e-02 9.95102226e-01 1.01016285e-02 5.85902550e-01] [ 7.44837657e-02 -2.76279665e-03 9.97218399e-01 -3.17580474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.308241008 meters Centerline goodness : 0.876503 Centerline is valid? [False, False] Translation: X:13.11, Y:0.59, Z:-0.32 [[ 9.92341858e-01 9.90064734e-02 -7.38603766e-02 1.31115305e+01] [-9.85239917e-02 9.95082845e-01 1.01564906e-02 5.86126091e-01] [ 7.45027521e-02 -2.80169164e-03 9.97216872e-01 -3.17334369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.338241008 meters Centerline goodness : 0.873330 Centerline is valid? [False, False] Translation: X:13.11, Y:0.59, Z:-0.32 [[ 9.92349915e-01 9.86234419e-02 -7.42634719e-02 1.31129254e+01] [-9.81666898e-02 9.95121883e-01 9.78460835e-03 5.87077644e-01] [ 7.48661978e-02 -2.41955605e-03 9.97190653e-01 -3.17742046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.368241008 meters Centerline goodness : 0.870457 Centerline is valid? [False, False] Translation: X:13.11, Y:0.59, Z:-0.32 [[ 9.92353288e-01 9.85940937e-02 -7.42573634e-02 1.31132490e+01] [-9.81642160e-02 9.95125592e-01 9.42564199e-03 5.88407552e-01] [ 7.48247153e-02 -2.06415096e-03 9.97194565e-01 -3.18390417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.398241008 meters Centerline goodness : 0.874166 Centerline is valid? [False, False] Translation: X:13.12, Y:0.59, Z:-0.32 [[ 9.92358733e-01 9.81292431e-02 -7.47983693e-02 1.31152135e+01] [-9.77265073e-02 9.95172302e-01 9.03431091e-03 5.88892715e-01] [ 7.53237955e-02 -1.65549395e-03 9.97157753e-01 -3.19214275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.42824100800001 meters Centerline goodness : 0.873829 Centerline is valid? [False, False] Translation: X:13.12, Y:0.59, Z:-0.32 [[ 9.92348294e-01 9.81353350e-02 -7.49287598e-02 1.31155788e+01] [-9.77234920e-02 9.95171523e-01 9.15202786e-03 5.88210558e-01] [ 7.54651053e-02 -1.75969918e-03 9.97146891e-01 -3.19273674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.45824100800002 meters Centerline goodness : 0.872830 Centerline is valid? [False, False] Translation: X:13.12, Y:0.59, Z:-0.32 [[ 9.92344717e-01 9.77893946e-02 -7.54267637e-02 1.31171262e+01] [-9.73801222e-02 9.95205715e-01 9.09378187e-03 5.87966289e-01] [ 7.59544217e-02 -1.67909893e-03 9.97109877e-01 -3.19413286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.48824100800002 meters Centerline goodness : 0.873641 Centerline is valid? [False, False] Translation: X:13.12, Y:0.59, Z:-0.32 [[ 9.92350641e-01 9.73646416e-02 -7.58968563e-02 1.31187020e+01] [-9.69678692e-02 9.95247681e-01 8.90427725e-03 5.87739468e-01] [ 7.64031320e-02 -1.47660880e-03 9.97075915e-01 -3.19798051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.518241008 meters Centerline goodness : 0.872997 Centerline is valid? [False, False] Translation: X:13.12, Y:0.59, Z:-0.32 [[ 9.92343780e-01 9.72394109e-02 -7.61467007e-02 1.31197135e+01] [-9.68500548e-02 9.95260096e-01 8.79822703e-03 5.87186222e-01] [ 7.66413071e-02 -1.35605373e-03 9.97057807e-01 -3.20427966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.548241008 meters Centerline goodness : 0.875000 Centerline is valid? [False, False] Translation: X:13.12, Y:0.59, Z:-0.32 [[ 9.92361828e-01 9.68290809e-02 -7.64338433e-02 1.31211269e+01] [-9.64723373e-02 9.95300602e-01 8.35464333e-03 5.87857349e-01] [ 7.68836226e-02 -9.17077612e-04 9.97039652e-01 -3.21307718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.578241008 meters Centerline goodness : 0.870191 Centerline is valid? [False, False] Translation: X:13.12, Y:0.59, Z:-0.32 [[ 9.92385440e-01 9.65007785e-02 -7.65423891e-02 1.31222188e+01] [-9.61810213e-02 9.95332812e-01 7.86160407e-03 5.88435160e-01] [ 7.69438023e-02 -4.39816258e-04 9.97035334e-01 -3.22474265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.608241008 meters Centerline goodness : 0.872925 Centerline is valid? [False, False] Translation: X:13.12, Y:0.59, Z:-0.32 [[ 9.92393195e-01 9.61025480e-02 -7.69418432e-02 1.31237792e+01] [-9.58057939e-02 9.95371431e-01 7.54742646e-03 5.88879275e-01] [ 7.73110395e-02 -1.18540293e-04 9.97007016e-01 -3.23070619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.638241008 meters Centerline goodness : 0.871201 Centerline is valid? [False, False] Translation: X:13.12, Y:0.59, Z:-0.32 [[ 9.92374415e-01 9.64940409e-02 -7.66936820e-02 1.31226870e+01] [-9.61531535e-02 9.95333318e-01 8.13371378e-03 5.87899997e-01] [ 7.71206319e-02 -6.97350077e-04 9.97021525e-01 -3.22130011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.668241008 meters Centerline goodness : 0.875481 Centerline is valid? [False, False] Translation: X:13.12, Y:0.59, Z:-0.32 [[ 9.92371080e-01 9.65607900e-02 -7.66528072e-02 1.31224788e+01] [-9.61940311e-02 9.95326553e-01 8.47123260e-03 5.87150931e-01] [ 7.71125632e-02 -1.03306374e-03 9.97021858e-01 -3.21593748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.698241008 meters Centerline goodness : 0.874400 Centerline is valid? [False, False] Translation: X:13.12, Y:0.59, Z:-0.32 [[ 9.92365958e-01 9.65948293e-02 -7.66762289e-02 1.31224402e+01] [-9.62056335e-02 9.95322913e-01 8.76218338e-03 5.86663055e-01] [ 7.71639891e-02 -1.31860733e-03 9.97017543e-01 -3.21069759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.728241008 meters Centerline goodness : 0.875189 Centerline is valid? [False, False] Translation: X:13.12, Y:0.59, Z:-0.32 [[ 9.92365867e-01 9.62809829e-02 -7.70711247e-02 1.31238614e+01] [-9.58875440e-02 9.95353292e-01 8.79794447e-03 5.86164507e-01] [ 7.75600724e-02 -1.34061893e-03 9.96986779e-01 -3.21269876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.758241008 meters Centerline goodness : 0.873152 Centerline is valid? [False, False] Translation: X:13.12, Y:0.59, Z:-0.32 [[ 9.92357638e-01 9.62372450e-02 -7.72315365e-02 1.31242014e+01] [-9.58123659e-02 9.95356927e-01 9.19670002e-03 5.85191288e-01] [ 7.77580099e-02 -1.72667928e-03 9.96970767e-01 -3.20660950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.788241008 meters Centerline goodness : 0.876000 Centerline is valid? [False, False] Translation: X:13.13, Y:0.58, Z:-0.32 [[ 9.92358356e-01 9.59087215e-02 -7.76299555e-02 1.31252605e+01] [-9.54601060e-02 9.95388134e-01 9.47790653e-03 5.84177585e-01] [ 7.81809505e-02 -1.99491596e-03 9.96937189e-01 -3.20066988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.818241008 meters Centerline goodness : 0.875615 Centerline is valid? [False, False] Translation: X:13.13, Y:0.58, Z:-0.32 [[ 9.92361035e-01 9.56239011e-02 -7.79464275e-02 1.31264212e+01] [-9.51715941e-02 9.95415496e-01 9.50564847e-03 5.83447680e-01] [ 7.84980490e-02 -2.01474940e-03 9.96912231e-01 -3.20217680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.848241008 meters Centerline goodness : 0.874227 Centerline is valid? [False, False] Translation: X:13.13, Y:0.58, Z:-0.32 [[ 9.92375932e-01 9.49868842e-02 -7.85334456e-02 1.31287997e+01] [-9.45590749e-02 9.95477138e-01 9.15688292e-03 5.83038427e-01] [ 7.90480334e-02 -1.66102025e-03 9.96869424e-01 -3.21251664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.878241008 meters Centerline goodness : 0.871143 Centerline is valid? [False, False] Translation: X:13.13, Y:0.58, Z:-0.32 [[ 9.92391942e-01 9.42681489e-02 -7.91943827e-02 1.31314674e+01] [-9.38692021e-02 9.95546054e-01 8.75370089e-03 5.83443788e-01] [ 7.96668504e-02 -1.25318871e-03 9.96820757e-01 -3.22162025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.908241008 meters Centerline goodness : 0.870899 Centerline is valid? [False, False] Translation: X:13.13, Y:0.58, Z:-0.32 [[ 9.92412152e-01 9.36892325e-02 -7.96269362e-02 1.31335263e+01] [-9.33124581e-02 9.95601034e-01 8.44788818e-03 5.83619141e-01] [ 8.00681361e-02 -9.53601742e-04 9.96788937e-01 -3.23071084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.938241008 meters Centerline goodness : 0.871830 Centerline is valid? [False, False] Translation: X:13.14, Y:0.58, Z:-0.32 [[ 9.92420924e-01 9.30637852e-02 -8.02486190e-02 1.31358640e+01] [-9.26769738e-02 9.95659608e-01 8.53951044e-03 5.83078293e-01] [ 8.06950277e-02 -1.03758969e-03 9.96738299e-01 -3.23159717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.968241008 meters Centerline goodness : 0.874946 Centerline is valid? [False, False] Translation: X:13.14, Y:0.58, Z:-0.32 [[ 9.92472208e-01 9.19274761e-02 -8.09212931e-02 1.31382011e+01] [-9.14736721e-02 9.95764018e-01 9.30528438e-03 5.80193630e-01] [ 8.14339232e-02 -1.83306831e-03 9.96677057e-01 -3.21621538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.998241008 meters Centerline goodness : 0.875584 Centerline is valid? [False, False] Translation: X:13.14, Y:0.58, Z:-0.32 [[ 9.92454391e-01 9.16752811e-02 -8.14243480e-02 1.31392473e+01] [-9.11330179e-02 9.95784846e-01 1.03592090e-02 5.78469262e-01] [ 8.20308152e-02 -2.86059592e-03 9.96625688e-01 -3.19510526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.028241008 meters Centerline goodness : 0.877833 Centerline is valid? [False, False] Translation: X:13.14, Y:0.58, Z:-0.32 [[ 9.92464669e-01 9.12526495e-02 -8.17730697e-02 1.31398002e+01] [-9.05391150e-02 9.95815706e-01 1.23995449e-02 5.75897175e-01] [ 8.25623985e-02 -4.90244884e-03 9.96573839e-01 -3.15266438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.058241008 meters Centerline goodness : 0.878197 Centerline is valid? [False, False] Translation: X:13.14, Y:0.58, Z:-0.31 [[ 9.92472045e-01 9.06899847e-02 -8.23077598e-02 1.31413048e+01] [-8.99333010e-02 9.95864731e-01 1.28623356e-02 5.75703332e-01] [ 8.31338800e-02 -5.36330001e-03 9.96523955e-01 -3.13943243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.088241008 meters Centerline goodness : 0.878699 Centerline is valid? [False, False] Translation: X:13.14, Y:0.58, Z:-0.31 [[ 9.92483931e-01 9.03406964e-02 -8.25481992e-02 1.31421250e+01] [-8.95561810e-02 9.95894759e-01 1.31651020e-02 5.75392633e-01] [ 8.33986634e-02 -5.67345072e-03 9.96500113e-01 -3.13173350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.118241008 meters Centerline goodness : 0.879876 Centerline is valid? [False, False] Translation: X:13.14, Y:0.58, Z:-0.31 [[ 9.92492529e-01 8.99826174e-02 -8.28354300e-02 1.31430298e+01] [-8.91946361e-02 9.95927112e-01 1.31721213e-02 5.75316382e-01] [ 8.36833125e-02 -5.68475592e-03 9.96476185e-01 -3.12870641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.148241008 meters Centerline goodness : 0.882440 Centerline is valid? [False, False] Translation: X:13.15, Y:0.57, Z:-0.31 [[ 9.92185316e-01 9.26878910e-02 -8.35299563e-02 1.31466281e+01] [-9.14893481e-02 9.95642051e-01 1.80722490e-02 5.72269628e-01] [ 8.48410156e-02 -1.02889188e-02 9.96341377e-01 -3.10752265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.17824100800001 meters Centerline goodness : 0.881606 Centerline is valid? [False, False] Translation: X:13.15, Y:0.58, Z:-0.31 [[ 9.92210244e-01 9.20664759e-02 -8.39201704e-02 1.31485202e+01] [-9.09769186e-02 9.95712556e-01 1.67244101e-02 5.75462860e-01] [ 8.51001249e-02 -8.95933252e-03 9.96332123e-01 -3.12518254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.20824100800002 meters Centerline goodness : 0.883931 Centerline is valid? [False, False] Translation: X:13.15, Y:0.58, Z:-0.31 [[ 9.92234507e-01 9.17449464e-02 -8.39854036e-02 1.31495172e+01] [-9.07138041e-02 9.95748135e-01 1.60205533e-02 5.77788965e-01] [ 8.50981138e-02 -8.27751039e-03 9.96338193e-01 -3.13542192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.23824100800002 meters Centerline goodness : 0.883931 Centerline is valid? [False, False] Translation: X:13.15, Y:0.58, Z:-0.31 [[ 9.92234583e-01 9.17810083e-02 -8.39450934e-02 1.31494207e+01] [-9.07546365e-02 9.95745224e-01 1.59701033e-02 5.77929436e-01] [ 8.50536781e-02 -8.22768237e-03 9.96342400e-01 -3.13584259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.268241008 meters Centerline goodness : 0.881027 Centerline is valid? [False, False] Translation: X:13.15, Y:0.58, Z:-0.31 [[ 9.92239563e-01 9.17289721e-02 -8.39431017e-02 1.31498757e+01] [-9.07488815e-02 9.95754330e-01 1.54258129e-02 5.80128764e-01] [ 8.50017009e-02 -7.68835924e-03 9.96351143e-01 -3.14296426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.298241008 meters Centerline goodness : 0.879600 Centerline is valid? [False, False] Translation: X:13.15, Y:0.58, Z:-0.31 [[ 9.92239394e-01 9.18414171e-02 -8.38220686e-02 1.31497325e+01] [-9.08817128e-02 9.95745655e-01 1.52021590e-02 5.82319133e-01] [ 8.48616484e-02 -7.46628783e-03 9.96364770e-01 -3.14282339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.328241008 meters Centerline goodness : 0.882098 Centerline is valid? [False, False] Translation: X:13.15, Y:0.59, Z:-0.31 [[ 9.92195662e-01 9.25358076e-02 -8.35756726e-02 1.31489984e+01] [-9.16351704e-02 9.95686240e-01 1.45570090e-02 5.87535386e-01] [ 8.45621919e-02 -6.78493016e-03 9.96395103e-01 -3.14730174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.358241008 meters Centerline goodness : 0.881253 Centerline is valid? [False, False] Translation: X:13.15, Y:0.59, Z:-0.31 [[ 9.91779246e-01 9.65991628e-02 -8.39197809e-02 1.31502799e+01] [-9.52980047e-02 9.95260041e-01 1.93840300e-02 5.86553832e-01] [ 8.53944857e-02 -1.12272910e-02 9.96283960e-01 -3.12469247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.388241008 meters Centerline goodness : 0.880657 Centerline is valid? [False, False] Translation: X:13.17, Y:0.59, Z:-0.32 [[ 9.91638737e-01 1.00980000e-01 -8.03470877e-02 1.31675636e+01] [-1.00285944e-01 9.94878395e-01 1.26375818e-02 5.90705061e-01] [ 8.12117246e-02 -4.47423208e-03 9.96686830e-01 -3.16363772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.418241008 meters Centerline goodness : 0.878637 Centerline is valid? [False, False] Translation: X:13.17, Y:0.59, Z:-0.32 [[ 9.91584662e-01 1.01508488e-01 -8.03485246e-02 1.31675694e+01] [-1.00861822e-01 9.94827141e-01 1.20769330e-02 5.94265653e-01] [ 8.11588042e-02 -3.87120296e-03 9.96693665e-01 -3.17054284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.448241008 meters Centerline goodness : 0.883513 Centerline is valid? [False, False] Translation: X:13.17, Y:0.59, Z:-0.32 [[ 9.91160477e-01 1.05159714e-01 -8.08847594e-02 1.31703451e+01] [-1.04154730e-01 9.94423278e-01 1.65570874e-02 5.94417875e-01] [ 8.21748261e-02 -7.98620036e-03 9.96585931e-01 -3.15668227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.478241008 meters Centerline goodness : 0.884500 Centerline is valid? [False, False] Translation: X:13.17, Y:0.60, Z:-0.32 [[ 9.91142407e-01 1.05385377e-01 -8.08124444e-02 1.31704869e+01] [-1.04447268e-01 9.94405530e-01 1.57610089e-02 5.97152454e-01] [ 8.20213215e-02 -7.18076531e-03 9.96604706e-01 -3.16837712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.508241008 meters Centerline goodness : 0.885080 Centerline is valid? [False, False] Translation: X:13.17, Y:0.60, Z:-0.32 [[ 9.91041294e-01 1.06286090e-01 -8.08728679e-02 1.31701538e+01] [-1.05410412e-01 9.94315161e-01 1.50334749e-02 6.01135518e-01] [ 8.20109680e-02 -6.37395212e-03 9.96611044e-01 -3.17715470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.538241008 meters Centerline goodness : 0.889807 Centerline is valid? [False, False] Translation: X:13.17, Y:0.60, Z:-0.32 [[ 9.90603808e-01 1.09762037e-01 -8.15867116e-02 1.31732315e+01] [-1.08518837e-01 9.93902483e-01 1.95324361e-02 5.99848066e-01] [ 8.32331552e-02 -1.04952104e-02 9.96474833e-01 -3.16471809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.568241008 meters Centerline goodness : 0.887979 Centerline is valid? [False, False] Translation: X:13.17, Y:0.60, Z:-0.32 [[ 9.90602223e-01 1.09715812e-01 -8.16680863e-02 1.31735584e+01] [-1.08511542e-01 9.93912556e-01 1.90545512e-02 6.01924748e-01] [ 8.32615220e-02 -1.00135508e-02 9.96477420e-01 -3.16707810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.598241008 meters Centerline goodness : 0.886530 Centerline is valid? [False, False] Translation: X:13.17, Y:0.60, Z:-0.32 [[ 9.90618131e-01 1.09327803e-01 -8.19948153e-02 1.31749480e+01] [-1.08178113e-01 9.93962182e-01 1.83487345e-02 6.04011390e-01] [ 8.35057723e-02 -9.30654464e-03 9.96463835e-01 -3.17426268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.628241008 meters Centerline goodness : 0.883145 Centerline is valid? [False, False] Translation: X:13.18, Y:0.61, Z:-0.32 [[ 9.90602689e-01 1.09275168e-01 -8.22511396e-02 1.31758258e+01] [-1.08208061e-01 9.93977120e-01 1.73349646e-02 6.07310194e-01] [ 8.36500320e-02 -8.27182621e-03 9.96460862e-01 -3.18495397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.658241008 meters Centerline goodness : 0.883845 Centerline is valid? [False, False] Translation: X:13.18, Y:0.61, Z:-0.32 [[ 9.90608555e-01 1.08958167e-01 -8.26002938e-02 1.31772114e+01] [-1.07923397e-01 9.94015492e-01 1.69038803e-02 6.08317068e-01] [ 8.39477876e-02 -7.83062411e-03 9.96439386e-01 -3.18993134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.688241008 meters Centerline goodness : 0.883180 Centerline is valid? [False, False] Translation: X:13.18, Y:0.61, Z:-0.32 [[ 9.90606470e-01 1.08824405e-01 -8.28013866e-02 1.31777985e+01] [-1.07801026e-01 9.94031464e-01 1.67447505e-02 6.09019970e-01] [ 8.41294210e-02 -7.66138382e-03 9.96425383e-01 -3.18881019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.718241008 meters Centerline goodness : 0.881698 Centerline is valid? [False, False] Translation: X:13.18, Y:0.61, Z:-0.32 [[ 9.90626408e-01 1.08358069e-01 -8.31736024e-02 1.31793201e+01] [-1.07367800e-01 9.94085723e-01 1.63012221e-02 6.09973826e-01] [ 8.44480597e-02 -7.21825433e-03 9.96401737e-01 -3.19374516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.748241008 meters Centerline goodness : 0.882430 Centerline is valid? [False, False] Translation: X:13.18, Y:0.61, Z:-0.32 [[ 9.90633251e-01 1.07872093e-01 -8.37220024e-02 1.31810992e+01] [-1.06884157e-01 9.94139379e-01 1.62071604e-02 6.10469902e-01] [ 8.49796398e-02 -7.10679641e-03 9.96357343e-01 -3.19055349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.778241008 meters Centerline goodness : 0.882302 Centerline is valid? [False, False] Translation: X:13.21, Y:0.60, Z:-0.30 [[ 0.99107488 0.10825205 -0.07779515 13.20943674] [-0.10505375 0.99348812 0.04410287 0.59872766] [ 0.08206278 -0.03553658 0.9959934 -0.29508529] [ 0. 0. 0. 1. ]] SLAMing on 170.808241008 meters Centerline goodness : 0.883836 Centerline is valid? [False, False] Translation: X:13.21, Y:0.60, Z:-0.30 [[ 0.99148257 0.10431032 -0.07798504 13.20988226] [-0.1015585 0.99408557 0.03846763 0.60303456] [ 0.08153637 -0.03021994 0.99621211 -0.29846092] [ 0. 0. 0. 1. ]] SLAMing on 170.838241008 meters Centerline goodness : 0.881542 Centerline is valid? [False, False] Translation: X:13.23, Y:0.61, Z:-0.31 [[ 0.99180764 0.10374084 -0.07453481 13.22654319] [-0.10203396 0.99443148 0.02636479 0.60690777] [ 0.07685487 -0.01854372 0.99686983 -0.30516013] [ 0. 0. 0. 1. ]] SLAMing on 170.868241008 meters Centerline goodness : 0.882724 Centerline is valid? [False, False] Translation: X:13.23, Y:0.61, Z:-0.31 [[ 0.99222435 0.09932635 -0.07500078 13.2277377 ] [-0.0980286 0.99496621 0.02079985 0.61018605] [ 0.07668921 -0.01328589 0.99696652 -0.30790347] [ 0. 0. 0. 1. ]] SLAMing on 170.898241008 meters Centerline goodness : 0.882637 Centerline is valid? [False, False] Translation: X:13.23, Y:0.61, Z:-0.31 [[ 9.92266534e-01 9.83100636e-02 -7.57776802e-02 1.32308432e+01] [-9.70534457e-02 9.95076191e-01 2.00998166e-02 6.10871102e-01] [ 7.73805797e-02 -1.25898904e-02 9.96922134e-01 -3.08967192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.92824100800001 meters Centerline goodness : 0.884746 Centerline is valid? [False, False] Translation: X:13.23, Y:0.61, Z:-0.31 [[ 9.92643968e-01 9.40640998e-02 -7.62226881e-02 1.32323039e+01] [-9.31643875e-02 9.95533443e-01 1.52827178e-02 6.14421314e-01] [ 7.73197902e-02 -8.06905755e-03 9.96973691e-01 -3.10976934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.95824100800002 meters Centerline goodness : 0.882924 Centerline is valid? [False, False] Translation: X:13.25, Y:0.61, Z:-0.31 [[ 0.99287523 0.09029553 -0.07775272 13.24779984] [-0.08894202 0.99582157 0.02070559 0.61241684] [ 0.07929746 -0.01364259 0.99675764 -0.30591708] [ 0. 0. 0. 1. ]] SLAMing on 170.98824100800002 meters Centerline goodness : 0.883055 Centerline is valid? [False, False] Translation: X:13.25, Y:0.61, Z:-0.31 [[ 0.99290734 0.08905072 -0.07877173 13.25135147] [-0.08767282 0.99593239 0.02078806 0.61171021] [ 0.08030251 -0.01373447 0.99667591 -0.30532716] [ 0. 0. 0. 1. ]] SLAMing on 171.018241008 meters Centerline goodness : 0.884358 Centerline is valid? [False, False] Translation: X:13.26, Y:0.61, Z:-0.30 [[ 0.9929525 0.08740352 -0.08003718 13.25563508] [-0.0859968 0.99607693 0.02086391 0.61049559] [ 0.08154677 -0.01383393 0.9965735 -0.30459094] [ 0. 0. 0. 1. ]] SLAMing on 171.048241008 meters Centerline goodness : 0.883421 Centerline is valid? [False, False] Translation: X:13.27, Y:0.61, Z:-0.30 [[ 0.99321331 0.0835981 -0.08086208 13.26904235] [-0.08174082 0.99631395 0.0260181 0.60817156] [ 0.08273908 -0.01923179 0.99638566 -0.29929384] [ 0. 0. 0. 1. ]] SLAMing on 171.078241008 meters Centerline goodness : 0.884513 Centerline is valid? [False, False] Translation: X:13.28, Y:0.61, Z:-0.30 [[ 0.9932872 0.0809366 -0.08264264 13.27601876] [-0.07907226 0.99654029 0.0255936 0.60758101] [ 0.08442818 -0.01888706 0.99625055 -0.29951408] [ 0. 0. 0. 1. ]] SLAMing on 171.108241008 meters Centerline goodness : 0.884706 Centerline is valid? [False, False] Translation: X:13.30, Y:0.60, Z:-0.29 [[ 0.99405083 0.07291388 -0.08091048 13.3014175 ] [-0.07032478 0.99693067 0.03440446 0.60438972] [ 0.0831707 -0.02850977 0.99612742 -0.29255103] [ 0. 0. 0. 1. ]] SLAMing on 171.138241008 meters Centerline goodness : 0.885106 Centerline is valid? [False, False] Translation: X:13.31, Y:0.60, Z:-0.29 [[ 0.9940853 0.06994355 -0.08308023 13.30983043] [-0.06726297 0.99713375 0.03464059 0.60428228] [ 0.08526499 -0.02884748 0.99594061 -0.29130145] [ 0. 0. 0. 1. ]] SLAMing on 171.168241008 meters Centerline goodness : 0.886674 Centerline is valid? [False, False] Translation: X:13.31, Y:0.61, Z:-0.29 [[ 0.99439655 0.06438577 -0.08384496 13.31309281] [-0.06215465 0.99764639 0.0289565 0.60683682] [ 0.08551201 -0.02358289 0.996058 -0.29416265] [ 0. 0. 0. 1. ]] SLAMing on 171.198241008 meters Centerline goodness : 0.889025 Centerline is valid? [False, False] Translation: X:13.32, Y:0.61, Z:-0.29 [[ 0.99440569 0.06309375 -0.08471421 13.31653705] [-0.06083225 0.99772608 0.02901922 0.60656016] [ 0.08635251 -0.02370352 0.99598262 -0.29370801] [ 0. 0. 0. 1. ]] SLAMing on 171.228241008 meters Centerline goodness : 0.886965 Centerline is valid? [False, False] Translation: X:13.29, Y:0.61, Z:-0.29 [[ 0.99532317 0.05213574 -0.08132431 13.29396175] [-0.04929907 0.99811659 0.03650863 0.60979265] [ 0.08307455 -0.03232868 0.99601881 -0.29403736] [ 0. 0. 0. 1. ]] SLAMing on 171.258241008 meters Centerline goodness : 0.886428 Centerline is valid? [False, False] Translation: X:13.30, Y:0.61, Z:-0.29 [[ 0.99553033 0.0474094 -0.08168051 13.29515673] [-0.04494485 0.99848471 0.03175301 0.61263661] [ 0.08306213 -0.02793997 0.99615262 -0.29491036] [ 0. 0. 0. 1. ]] SLAMing on 171.288241008 meters Centerline goodness : 0.889432 Centerline is valid? [False, False] Translation: X:13.30, Y:0.62, Z:-0.30 [[ 0.99572481 0.0427334 -0.08188994 13.29591786] [-0.04066657 0.9988148 0.02674371 0.61555717] [ 0.08293573 -0.02329919 0.9962825 -0.2960742 ] [ 0. 0. 0. 1. ]] SLAMing on 171.318241008 meters Centerline goodness : 0.888199 Centerline is valid? [False, False] Translation: X:13.30, Y:0.62, Z:-0.29 [[ 0.99642205 0.04342261 -0.07250915 13.30033658] [-0.04133544 0.99869357 0.0300422 0.61584492] [ 0.07371893 -0.02693751 0.99691519 -0.29431765] [ 0. 0. 0. 1. ]] SLAMing on 171.348241008 meters Centerline goodness : 0.885637 Centerline is valid? [False, False] Translation: X:13.31, Y:0.61, Z:-0.30 [[ 0.99688549 0.0477468 -0.06276593 13.3071375 ] [-0.04579474 0.9984324 0.03218039 0.61460856] [ 0.06420405 -0.02920581 0.99750933 -0.29825157] [ 0. 0. 0. 1. ]] SLAMing on 171.378241008 meters Centerline goodness : 0.888177 Centerline is valid? [False, False] Translation: X:13.31, Y:0.61, Z:-0.30 [[ 0.99717466 0.05293881 -0.05329335 13.31295422] [-0.05103778 0.99803234 0.03642236 0.61331682] [ 0.05511664 -0.03359948 0.99791444 -0.29889976] [ 0. 0. 0. 1. ]] SLAMing on 171.408241008 meters Centerline goodness : 0.888812 Centerline is valid? [False, False] Translation: X:13.32, Y:0.62, Z:-0.30 [[ 0.99699849 0.06179794 -0.0466372 13.32312836] [-0.06018245 0.99756357 0.03528439 0.61577813] [ 0.04870407 -0.03237175 0.99828853 -0.30147642] [ 0. 0. 0. 1. ]] SLAMing on 171.438241008 meters Centerline goodness : 0.891066 Centerline is valid? [False, False] Translation: X:13.32, Y:0.62, Z:-0.30 [[ 0.99696478 0.06227037 -0.04672925 13.32296313] [-0.06070809 0.99757156 0.03413965 0.6207451 ] [ 0.04874166 -0.03119918 0.99832403 -0.30226467] [ 0. 0. 0. 1. ]] SLAMing on 171.468241008 meters Centerline goodness : 0.890723 Centerline is valid? [False, False] Translation: X:13.32, Y:0.63, Z:-0.30 [[ 0.99693409 0.06259712 -0.046947 13.32373388] [-0.06109633 0.99759444 0.03275022 0.62654844] [ 0.04888414 -0.02978152 0.99836036 -0.3039011 ] [ 0. 0. 0. 1. ]] SLAMing on 171.498241008 meters Centerline goodness : 0.891447 Centerline is valid? [False, False] Translation: X:13.32, Y:0.63, Z:-0.31 [[ 0.99688314 0.0631885 -0.0472357 13.32445668] [-0.06174878 0.99759948 0.03134279 0.63271778] [ 0.04910281 -0.02832835 0.99839192 -0.30562913] [ 0. 0. 0. 1. ]] SLAMing on 171.528241008 meters Centerline goodness : 0.889595 Centerline is valid? [False, False] Translation: X:13.33, Y:0.64, Z:-0.31 [[ 0.99655064 0.06798426 -0.04759163 13.32524897] [-0.06643393 0.9972305 0.03343448 0.64111748] [ 0.04973285 -0.03015745 0.99830715 -0.30699955] [ 0. 0. 0. 1. ]] SLAMing on 171.558241008 meters Centerline goodness : 0.889846 Centerline is valid? [False, False] Translation: X:13.33, Y:0.65, Z:-0.31 [[ 0.99651163 0.06837291 -0.04785102 13.32587757] [-0.06688386 0.9972456 0.03205877 0.64658987] [ 0.04991117 -0.02874647 0.99833988 -0.30836881] [ 0. 0. 0. 1. ]] SLAMing on 171.588241008 meters Centerline goodness : 0.887916 Centerline is valid? [False, False] Translation: X:13.33, Y:0.65, Z:-0.31 [[ 0.99641712 0.06948598 -0.04821423 13.32644603] [-0.06798673 0.99717065 0.03207024 0.65125049] [ 0.05030625 -0.0286774 0.99832204 -0.30819662] [ 0. 0. 0. 1. ]] SLAMing on 171.618241008 meters Centerline goodness : 0.889994 Centerline is valid? [False, False] Translation: X:13.35, Y:0.66, Z:-0.31 [[ 0.99626849 0.07386745 -0.04463969 13.34595435] [-0.07275139 0.99700771 0.02613159 0.65819493] [ 0.04643639 -0.02278648 0.99866132 -0.31275214] [ 0. 0. 0. 1. ]] SLAMing on 171.648241008 meters Centerline goodness : 0.891355 Centerline is valid? [False, False] Translation: X:13.35, Y:0.66, Z:-0.31 [[ 0.99600084 0.07681605 -0.04562484 13.34994999] [-0.0754881 0.99669075 0.03015105 0.65895482] [ 0.04778994 -0.02658634 0.99850352 -0.31193737] [ 0. 0. 0. 1. ]] SLAMing on 171.67824100800001 meters Centerline goodness : 0.890413 Centerline is valid? [False, False] Translation: X:13.35, Y:0.66, Z:-0.31 [[ 0.99584243 0.07842362 -0.04634211 13.35293519] [-0.07703652 0.99654627 0.03099844 0.66070301] [ 0.04861306 -0.02729952 0.99844454 -0.31286986] [ 0. 0. 0. 1. ]] SLAMing on 171.70824100800002 meters Centerline goodness : 0.893452 Centerline is valid? [False, False] Translation: X:13.36, Y:0.66, Z:-0.31 [[ 0.99567315 0.07959861 -0.04794826 13.35815562] [-0.07821484 0.99648267 0.03007881 0.66199331] [ 0.05017385 -0.0261984 0.99839683 -0.31470741] [ 0. 0. 0. 1. ]] SLAMing on 171.73824100800002 meters Centerline goodness : 0.890626 Centerline is valid? [False, False] Translation: X:13.36, Y:0.66, Z:-0.31 [[ 0.99533172 0.08299188 -0.04926571 13.3604129 ] [-0.08153874 0.99619382 0.03081069 0.66455373] [ 0.05163523 -0.0266498 0.99831037 -0.31235564] [ 0. 0. 0. 1. ]] SLAMing on 171.768241008 meters Centerline goodness : 0.890569 Centerline is valid? [False, False] Translation: X:13.36, Y:0.67, Z:-0.31 [[ 0.99515901 0.08428883 -0.05053653 13.36335406] [-0.08285173 0.9961135 0.02989115 0.6662475 ] [ 0.05285961 -0.02555941 0.9982748 -0.31175301] [ 0. 0. 0. 1. ]] SLAMing on 171.798241008 meters Centerline goodness : 0.890684 Centerline is valid? [False, False] Translation: X:13.37, Y:0.67, Z:-0.31 [[ 0.99494892 0.08580079 -0.05210447 13.36740838] [-0.08441589 0.99603074 0.02822637 0.66774907] [ 0.0543195 -0.02368535 0.99824265 -0.31185962] [ 0. 0. 0. 1. ]] SLAMing on 171.828241008 meters Centerline goodness : 0.890392 Centerline is valid? [False, False] Translation: X:13.37, Y:0.67, Z:-0.31 [[ 0.99468596 0.08812149 -0.05323944 13.37017218] [-0.08673503 0.99584294 0.02781844 0.66953664] [ 0.05546953 -0.02305289 0.99819422 -0.31116607] [ 0. 0. 0. 1. ]] SLAMing on 171.858241008 meters Centerline goodness : 0.887836 Centerline is valid? [False, False] Translation: X:13.38, Y:0.67, Z:-0.31 [[ 0.99407752 0.09245809 -0.0571086 13.37967215] [-0.09111106 0.99550744 0.02576263 0.6717823 ] [ 0.059234 -0.02040683 0.99803552 -0.31152109] [ 0. 0. 0. 1. ]] SLAMing on 171.888241008 meters Centerline goodness : 0.888270 Centerline is valid? [False, False] Translation: X:13.38, Y:0.67, Z:-0.31 [[ 0.99382674 0.09413013 -0.05871912 13.38295512] [-0.09280426 0.99537251 0.02491842 0.67305535] [ 0.06079298 -0.0193152 0.99796349 -0.31032019] [ 0. 0. 0. 1. ]] SLAMing on 171.918241008 meters Centerline goodness : 0.890991 Centerline is valid? [False, False] Translation: X:13.39, Y:0.67, Z:-0.31 [[ 0.99361844 0.09523928 -0.06043082 13.38811737] [-0.09400708 0.99530761 0.02292224 0.6741512 ] [ 0.06233035 -0.01709503 0.99790916 -0.31142907] [ 0. 0. 0. 1. ]] SLAMing on 171.948241008 meters Centerline goodness : 0.892826 Centerline is valid? [False, False] Translation: X:13.39, Y:0.67, Z:-0.31 [[ 0.99326624 0.09836778 -0.06120417 13.3908312 ] [-0.09694263 0.99495444 0.02584169 0.67481075] [ 0.06343735 -0.01973438 0.99779069 -0.31096745] [ 0. 0. 0. 1. ]] SLAMing on 171.978241008 meters Centerline goodness : 0.893458 Centerline is valid? [False, False] Translation: X:13.40, Y:0.68, Z:-0.31 [[ 0.99316861 0.09860441 -0.06239617 13.3950155 ] [-0.09718173 0.9949413 0.0254463 0.67565192] [ 0.06458964 -0.0192087 0.99772702 -0.31248056] [ 0. 0. 0. 1. ]] SLAMing on 172.008241008 meters Centerline goodness : 0.891297 Centerline is valid? [False, False] Translation: X:13.40, Y:0.68, Z:-0.31 [[ 0.99309895 0.09874034 -0.06328373 13.39805445] [-0.09732005 0.99493523 0.02515338 0.67583784] [ 0.06544686 -0.01882102 0.99767854 -0.3134506 ] [ 0. 0. 0. 1. ]] SLAMing on 172.038241008 meters Centerline goodness : 0.891498 Centerline is valid? [False, False] Translation: X:13.40, Y:0.68, Z:-0.31 [[ 0.99305539 0.09782557 -0.065354 13.40189685] [-0.0964816 0.99505917 0.02342097 0.67521657] [ 0.06732227 -0.01695286 0.99758725 -0.31227187] [ 0. 0. 0. 1. ]] SLAMing on 172.068241008 meters Centerline goodness : 0.892582 Centerline is valid? [False, False] Translation: X:13.41, Y:0.67, Z:-0.32 [[ 0.99316215 0.10123458 -0.05814208 13.41207506] [-0.10016298 0.99474801 0.02106588 0.67128183] [ 0.05996931 -0.01509815 0.99808603 -0.31758358] [ 0. 0. 0. 1. ]] SLAMing on 172.098241008 meters Centerline goodness : 0.892954 Centerline is valid? [False, False] Translation: X:13.41, Y:0.67, Z:-0.32 [[ 0.99327566 0.09990792 -0.0584967 13.41392227] [-0.09886701 0.99489085 0.02043331 0.67174739] [ 0.06023929 -0.01451252 0.99807846 -0.31864385] [ 0. 0. 0. 1. ]] SLAMing on 172.128241008 meters Centerline goodness : 0.892954 Centerline is valid? [False, False] Translation: X:13.41, Y:0.67, Z:-0.32 [[ 0.99327566 0.09990792 -0.0584967 13.41392227] [-0.09886701 0.99489085 0.02043331 0.67174739] [ 0.06023929 -0.01451252 0.99807846 -0.31864385] [ 0. 0. 0. 1. ]] SLAMing on 172.158241008 meters Centerline goodness : 0.892531 Centerline is valid? [False, False] Translation: X:13.42, Y:0.67, Z:-0.32 [[ 9.93326739e-01 9.87641470e-02 -5.95620063e-02 1.34181468e+01] [-9.77843556e-02 9.95023301e-01 1.91533583e-02 6.71844897e-01] [ 6.11572492e-02 -1.32013105e-02 9.98040839e-01 -3.20997940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.188241008 meters Centerline goodness : 0.893807 Centerline is valid? [False, False] Translation: X:13.42, Y:0.67, Z:-0.32 [[ 9.93396885e-01 9.74625455e-02 -6.05283565e-02 1.34211790e+01] [-9.65051221e-02 9.95159585e-01 1.85516136e-02 6.71568087e-01] [ 6.20434616e-02 -1.25878187e-02 9.97994066e-01 -3.21455397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.218241008 meters Centerline goodness : 0.893418 Centerline is valid? [False, False] Translation: X:13.43, Y:0.67, Z:-0.32 [[ 0.99361009 0.10029371 -0.05177035 13.42908541] [-0.09940424 0.99485633 0.01948551 0.6670397 ] [ 0.05345834 -0.0142148 0.9984689 -0.32326907] [ 0. 0. 0. 1. ]] SLAMing on 172.248241008 meters Centerline goodness : 0.892800 Centerline is valid? [False, False] Translation: X:13.43, Y:0.67, Z:-0.32 [[ 9.93628922e-01 9.93891199e-02 -5.31353832e-02 1.34320758e+01] [-9.85664198e-02 9.94969613e-01 1.78921973e-02 6.66845718e-01] [ 5.46463814e-02 -1.25408402e-02 9.98427013e-01 -3.23009028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.278241008 meters Centerline goodness : 0.891993 Centerline is valid? [False, False] Translation: X:13.44, Y:0.67, Z:-0.32 [[ 9.93589099e-01 9.86295109e-02 -5.52532596e-02 1.34381894e+01] [-9.79085603e-02 9.95072933e-01 1.56131708e-02 6.66622258e-01] [ 5.65209425e-02 -1.01033092e-02 9.98350292e-01 -3.24746138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.308241008 meters Centerline goodness : 0.891563 Centerline is valid? [False, False] Translation: X:13.44, Y:0.67, Z:-0.32 [[ 9.93330558e-01 1.00236243e-01 -5.69833089e-02 1.34428823e+01] [-9.94217314e-02 9.94900826e-01 1.69607088e-02 6.66613002e-01] [ 5.83928188e-02 -1.11822111e-02 9.98231054e-01 -3.24476271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.338241008 meters Centerline goodness : 0.892596 Centerline is valid? [False, False] Translation: X:13.45, Y:0.67, Z:-0.32 [[ 9.93164168e-01 1.01217811e-01 -5.81368314e-02 1.34462929e+01] [-1.00404035e-01 9.94805581e-01 1.67596427e-02 6.67013588e-01] [ 5.95312187e-02 -1.08079041e-02 9.98167933e-01 -3.24951559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.368241008 meters Centerline goodness : 0.894773 Centerline is valid? [False, False] Translation: X:13.45, Y:0.67, Z:-0.33 [[ 9.92942076e-01 1.02614532e-01 -5.94667295e-02 1.34497514e+01] [-1.01819517e-01 9.94670052e-01 1.62564727e-02 6.67276842e-01] [ 6.08179253e-02 -1.00868620e-02 9.98097909e-01 -3.25012820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.398241008 meters Centerline goodness : 0.892584 Centerline is valid? [False, False] Translation: X:13.45, Y:0.67, Z:-0.33 [[ 9.92760312e-01 1.03718092e-01 -6.05765588e-02 1.34533371e+01] [-1.02967540e-01 9.94565628e-01 1.53914636e-02 6.67621282e-01] [ 6.18437365e-02 -9.04261494e-03 9.98044880e-01 -3.25721343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.42824100800001 meters Centerline goodness : 0.890489 Centerline is valid? [False, False] Translation: X:13.46, Y:0.67, Z:-0.33 [[ 9.92432429e-01 1.05827216e-01 -6.22774013e-02 1.34584774e+01] [-1.05122788e-01 9.94353675e-01 1.44902884e-02 6.69704762e-01] [ 6.34592297e-02 -7.83385804e-03 9.97953685e-01 -3.25846613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.45824100800002 meters Centerline goodness : 0.894017 Centerline is valid? [False, False] Translation: X:13.46, Y:0.67, Z:-0.33 [[ 9.92246919e-01 1.06843907e-01 -6.34856705e-02 1.34615987e+01] [-1.06177877e-01 9.94251615e-01 1.37835242e-02 6.70729466e-01] [ 6.45934160e-02 -6.93588577e-03 9.97887561e-01 -3.25577641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.48824100800002 meters Centerline goodness : 0.892344 Centerline is valid? [False, False] Translation: X:13.46, Y:0.67, Z:-0.33 [[ 9.92119653e-01 1.07374361e-01 -6.45704306e-02 1.34642266e+01] [-1.06777190e-01 9.94202635e-01 1.26392856e-02 6.72027106e-01] [ 6.55532274e-02 -5.64503449e-03 9.97833106e-01 -3.25096824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.518241008 meters Centerline goodness : 0.891604 Centerline is valid? [False, False] Translation: X:13.48, Y:0.67, Z:-0.33 [[ 9.91963275e-01 1.12574209e-01 -5.77573265e-02 1.34755240e+01] [-1.12160576e-01 9.93636042e-01 1.03643926e-02 6.70790321e-01] [ 5.85565246e-02 -3.80300183e-03 9.98276851e-01 -3.27084551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.548241008 meters Centerline goodness : 0.891877 Centerline is valid? [False, False] Translation: X:13.48, Y:0.67, Z:-0.33 [[ 9.91828104e-01 1.13093960e-01 -5.90488723e-02 1.34785514e+01] [-1.12756899e-01 9.93581663e-01 9.02003803e-03 6.71914881e-01] [ 5.96899885e-02 -2.28815947e-03 9.98214341e-01 -3.26565054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.578241008 meters Centerline goodness : 0.892736 Centerline is valid? [False, False] Translation: X:13.48, Y:0.67, Z:-0.33 [[ 9.91712953e-01 1.13609847e-01 -5.99851826e-02 1.34811127e+01] [-1.13319263e-01 9.93524498e-01 8.23512953e-03 6.73675916e-01] [ 6.05323402e-02 -1.36940794e-03 9.98165297e-01 -3.26296511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.608241008 meters Centerline goodness : 0.890475 Centerline is valid? [False, False] Translation: X:13.48, Y:0.68, Z:-0.33 [[ 9.91578137e-01 1.14476820e-01 -6.05628214e-02 1.34838444e+01] [-1.14199057e-01 9.93425359e-01 8.03937380e-03 6.75391763e-01] [ 6.10849645e-02 -1.05545018e-03 9.98132012e-01 -3.27189134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.638241008 meters Centerline goodness : 0.892127 Centerline is valid? [False, False] Translation: X:13.49, Y:0.68, Z:-0.33 [[ 9.91267076e-01 1.16545781e-01 -6.16981741e-02 1.34882668e+01] [-1.16227092e-01 9.93184197e-01 8.74154990e-03 6.77082152e-01] [ 6.22964422e-02 -1.49421124e-03 9.98056572e-01 -3.27854627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.668241008 meters Centerline goodness : 0.893615 Centerline is valid? [False, False] Translation: X:13.49, Y:0.68, Z:-0.33 [[ 9.91276616e-01 1.16233118e-01 -6.21331789e-02 1.34899687e+01] [-1.15932520e-01 9.93221287e-01 8.43366736e-03 6.77560018e-01] [ 6.26922673e-02 -1.15684122e-03 9.98032235e-01 -3.28391062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.698241008 meters Centerline goodness : 0.894350 Centerline is valid? [False, False] Translation: X:13.49, Y:0.68, Z:-0.33 [[ 9.90925995e-01 1.18823637e-01 -6.28221019e-02 1.34939744e+01] [-1.18279409e-01 9.92903856e-01 1.23253721e-02 6.75088088e-01] [ 6.38408527e-02 -4.78297054e-03 9.97948630e-01 -3.28283499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.728241008 meters Centerline goodness : 0.893706 Centerline is valid? [False, False] Translation: X:13.50, Y:0.67, Z:-0.32 [[ 9.90770435e-01 1.19148679e-01 -6.46338776e-02 1.35041582e+01] [-1.18204070e-01 9.92821406e-01 1.82607214e-02 6.73067306e-01] [ 6.63456381e-02 -1.04521955e-02 9.97741955e-01 -3.24185277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.758241008 meters Centerline goodness : 0.896130 Centerline is valid? [False, False] Translation: X:13.51, Y:0.67, Z:-0.32 [[ 9.90790101e-01 1.18475243e-01 -6.55636539e-02 1.35071086e+01] [-1.17541012e-01 9.92905946e-01 1.79413673e-02 6.73824376e-01] [ 6.72241497e-02 -1.00697109e-02 9.97687083e-01 -3.24523910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.788241008 meters Centerline goodness : 0.894579 Centerline is valid? [False, False] Translation: X:13.51, Y:0.67, Z:-0.33 [[ 9.90810905e-01 1.17814127e-01 -6.64347985e-02 1.35101305e+01] [-1.16893217e-01 9.92988592e-01 1.75963446e-02 6.74534342e-01] [ 6.80420951e-02 -9.66887278e-03 9.97635598e-01 -3.25083835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.818241008 meters Centerline goodness : 0.896257 Centerline is valid? [False, False] Translation: X:13.51, Y:0.67, Z:-0.33 [[ 9.90681228e-01 1.18010101e-01 -6.80023583e-02 1.35140594e+01] [-1.17174306e-01 9.92979795e-01 1.61650488e-02 6.74387560e-01] [ 6.94326069e-02 -8.04628131e-03 9.97554194e-01 -3.25403342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.848241008 meters Centerline goodness : 0.894772 Centerline is valid? [False, False] Translation: X:13.52, Y:0.67, Z:-0.33 [[ 9.90704105e-01 1.17217308e-01 -6.90324436e-02 1.35174788e+01] [-1.16348457e-01 9.93071572e-01 1.64890959e-02 6.72497670e-01] [ 7.04869647e-02 -8.30399672e-03 9.97478136e-01 -3.25113768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.878241008 meters Centerline goodness : 0.895418 Centerline is valid? [False, False] Translation: X:13.52, Y:0.67, Z:-0.33 [[ 9.90743667e-01 1.16479009e-01 -6.97110210e-02 1.35203203e+01] [-1.15639860e-01 9.93162845e-01 1.59682863e-02 6.72626920e-01] [ 7.10943661e-02 -7.75910584e-03 9.97439415e-01 -3.26341273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.908241008 meters Centerline goodness : 0.893543 Centerline is valid? [False, False] Translation: X:13.52, Y:0.67, Z:-0.33 [[ 9.90686517e-01 1.16393490e-01 -7.06596066e-02 1.35245496e+01] [-1.15575303e-01 9.93176632e-01 1.55732595e-02 6.72400442e-01] [ 7.19900962e-02 -7.26171279e-03 9.97378912e-01 -3.28814318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.938241008 meters Centerline goodness : 0.893522 Centerline is valid? [False, False] Translation: X:13.53, Y:0.67, Z:-0.34 [[ 9.90629819e-01 1.21227684e-01 -6.29000036e-02 1.35347841e+01] [-1.20459676e-01 9.92591267e-01 1.58758834e-02 6.68736501e-01] [ 6.43585908e-02 -8.15020949e-03 9.97893554e-01 -3.35490083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.968241008 meters Centerline goodness : 0.891951 Centerline is valid? [False, False] Translation: X:13.54, Y:0.67, Z:-0.34 [[ 9.90307128e-01 1.23271713e-01 -6.39990440e-02 1.35379355e+01] [-1.22458257e-01 9.92336561e-01 1.64962243e-02 6.66549659e-01] [ 6.55421091e-02 -8.49911711e-03 9.97813608e-01 -3.35720812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.998241008 meters Centerline goodness : 0.891785 Centerline is valid? [False, False] Translation: X:13.54, Y:0.67, Z:-0.34 [[ 9.90200190e-01 1.23362003e-01 -6.54629587e-02 1.35412350e+01] [-1.22674584e-01 9.92341979e-01 1.44340903e-02 6.65362915e-01] [ 6.67422602e-02 -6.26199772e-03 9.97750599e-01 -3.36040141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.028241008 meters Centerline goodness : 0.890646 Centerline is valid? [False, False] Translation: X:13.54, Y:0.67, Z:-0.34 [[ 9.90100613e-01 1.23451967e-01 -6.67861341e-02 1.35439320e+01] [-1.22875175e-01 9.92340970e-01 1.26921256e-02 6.65316404e-01] [ 6.78414850e-02 -4.36012338e-03 9.97686585e-01 -3.35493118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.058241008 meters Centerline goodness : 0.891666 Centerline is valid? [False, False] Translation: X:13.55, Y:0.66, Z:-0.33 [[ 9.89707239e-01 1.26053628e-01 -6.77500095e-02 1.35487620e+01] [-1.25152028e-01 9.91984837e-01 1.74084082e-02 6.61889699e-01] [ 6.94013751e-02 -8.75017654e-03 9.97550442e-01 -3.34286687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.088241008 meters Centerline goodness : 0.890718 Centerline is valid? [False, False] Translation: X:13.55, Y:0.66, Z:-0.33 [[ 9.89706136e-01 1.25646100e-01 -6.85187687e-02 1.35511359e+01] [-1.24749964e-01 9.92038743e-01 1.72214725e-02 6.61614151e-01] [ 7.01370840e-02 -8.49648306e-03 9.97501178e-01 -3.34760289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.118241008 meters Centerline goodness : 0.888504 Centerline is valid? [False, False] Translation: X:13.56, Y:0.66, Z:-0.34 [[ 9.89574649e-01 1.25601065e-01 -7.04726006e-02 1.35558720e+01] [-1.24850784e-01 9.92062595e-01 1.49696170e-02 6.60715362e-01] [ 7.17934309e-02 -6.01499402e-03 9.97401385e-01 -3.35501676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.148241008 meters Centerline goodness : 0.885301 Centerline is valid? [False, False] Translation: X:13.56, Y:0.66, Z:-0.34 [[ 9.89542176e-01 1.25406693e-01 -7.12702133e-02 1.35583625e+01] [-1.24612248e-01 9.92084384e-01 1.55036280e-02 6.58620732e-01] [ 7.26503244e-02 -6.46035234e-03 9.97336550e-01 -3.35486118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.17824100800001 meters Centerline goodness : 0.883951 Centerline is valid? [False, False] Translation: X:13.56, Y:0.66, Z:-0.34 [[ 9.89535502e-01 1.25017973e-01 -7.20416373e-02 1.35608711e+01] [-1.24198874e-01 9.92132226e-01 1.57570602e-02 6.57307318e-01] [ 7.34447457e-02 -6.64468025e-03 9.97277152e-01 -3.35712949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.20824100800002 meters Centerline goodness : 0.886841 Centerline is valid? [False, False] Translation: X:13.56, Y:0.66, Z:-0.34 [[ 9.89532826e-01 1.24520330e-01 -7.29347179e-02 1.35635904e+01] [-1.23666660e-01 9.92192820e-01 1.61234336e-02 6.55402179e-01] [ 7.43729987e-02 -6.93507385e-03 9.97206379e-01 -3.35676340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.23824100800002 meters Centerline goodness : 0.886770 Centerline is valid? [False, False] Translation: X:13.57, Y:0.65, Z:-0.34 [[ 9.89597261e-01 1.23455646e-01 -7.38645012e-02 1.35670537e+01] [-1.22604365e-01 9.92327165e-01 1.59677221e-02 6.53565238e-01] [ 7.52690565e-02 -6.74550375e-03 9.97140445e-01 -3.36579284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.268241008 meters Centerline goodness : 0.884720 Centerline is valid? [False, False] Translation: X:13.57, Y:0.65, Z:-0.34 [[ 9.89661497e-01 1.22165921e-01 -7.51372681e-02 1.35715076e+01] [-1.21281438e-01 9.92485285e-01 1.62410681e-02 6.51212959e-01] [ 7.65567379e-02 -6.96040381e-03 9.97040931e-01 -3.36829585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.298241008 meters Centerline goodness : 0.886787 Centerline is valid? [False, False] Translation: X:13.60, Y:0.64, Z:-0.33 [[ 0.99069487 0.11576602 -0.07156745 13.5952704 ] [-0.1141735 0.99312133 0.02596984 0.6416347 ] [ 0.07408159 -0.01755708 0.99709762 -0.33104625] [ 0. 0. 0. 1. ]] SLAMing on 173.328241008 meters Centerline goodness : 0.886400 Centerline is valid? [False, False] Translation: X:13.60, Y:0.64, Z:-0.33 [[ 0.9907651 0.11430195 -0.07293541 13.60002382] [-0.11260939 0.99327448 0.0269246 0.63781292] [ 0.07552241 -0.01846274 0.99697317 -0.32998935] [ 0. 0. 0. 1. ]] SLAMing on 173.358241008 meters Centerline goodness : 0.882631 Centerline is valid? [False, False] Translation: X:13.62, Y:0.63, Z:-0.33 [[ 0.991408 0.10699276 -0.07525111 13.6158478 ] [-0.10512443 0.99405413 0.02837681 0.63246552] [ 0.07783979 -0.02022226 0.99676077 -0.32703245] [ 0. 0. 0. 1. ]] SLAMing on 173.388241008 meters Centerline goodness : 0.883996 Centerline is valid? [False, False] Translation: X:13.63, Y:0.63, Z:-0.32 [[ 0.99153075 0.10544076 -0.07582233 13.62640065] [-0.10299676 0.99404933 0.03546269 0.62749056] [ 0.07911035 -0.0273529 0.99649053 -0.32071131] [ 0. 0. 0. 1. ]] SLAMing on 173.418241008 meters Centerline goodness : 0.886480 Centerline is valid? [False, False] Translation: X:13.63, Y:0.62, Z:-0.32 [[ 0.99153003 0.10540795 -0.07587725 13.63352878] [-0.10240709 0.9938377 0.04241959 0.62261162] [ 0.07988104 -0.03428993 0.99621445 -0.31522498] [ 0. 0. 0. 1. ]] SLAMing on 173.448241008 meters Centerline goodness : 0.883405 Centerline is valid? [False, False] Translation: X:13.64, Y:0.62, Z:-0.32 [[ 0.99156482 0.10425755 -0.0770037 13.63765886] [-0.10121343 0.99395909 0.04244028 0.62047863] [ 0.08096324 -0.03428848 0.99612713 -0.31584705] [ 0. 0. 0. 1. ]] SLAMing on 173.478241008 meters Centerline goodness : 0.882665 Centerline is valid? [False, False] Translation: X:13.65, Y:0.61, Z:-0.31 [[ 0.99203742 0.10072043 -0.07561185 13.64708335] [-0.09721381 0.99407055 0.04871567 0.61457373] [ 0.08007018 -0.04097725 0.9959466 -0.30905457] [ 0. 0. 0. 1. ]] SLAMing on 173.508241008 meters Centerline goodness : 0.884764 Centerline is valid? [False, False] Translation: X:13.65, Y:0.61, Z:-0.31 [[ 0.99206114 0.10046937 -0.07563463 13.64780048] [-0.09689337 0.99406011 0.04955982 0.61249173] [ 0.08016461 -0.04183788 0.99590322 -0.30817687] [ 0. 0. 0. 1. ]] SLAMing on 173.538241008 meters Centerline goodness : 0.885550 Centerline is valid? [False, False] Translation: X:13.65, Y:0.61, Z:-0.31 [[ 0.99245696 0.09614441 -0.07606203 13.64877395] [-0.09292299 0.99466389 0.04482267 0.61411081] [ 0.07996561 -0.03741666 0.99609512 -0.30996798] [ 0. 0. 0. 1. ]] SLAMing on 173.568241008 meters Centerline goodness : 0.882936 Centerline is valid? [False, False] Translation: X:13.65, Y:0.61, Z:-0.31 [[ 0.99246823 0.095544 -0.07666911 13.65092065] [-0.09227115 0.99470934 0.04515933 0.61247731] [ 0.08057818 -0.03774485 0.99603337 -0.30998372] [ 0. 0. 0. 1. ]] SLAMing on 173.598241008 meters Centerline goodness : 0.881648 Centerline is valid? [False, False] Translation: X:13.65, Y:0.61, Z:-0.31 [[ 0.99278819 0.09161441 -0.07732013 13.65456554] [-0.08859217 0.99519644 0.04165891 0.61162231] [ 0.08076527 -0.03450851 0.9961356 -0.31284498] [ 0. 0. 0. 1. ]] SLAMing on 173.628241008 meters Centerline goodness : 0.882161 Centerline is valid? [False, False] Translation: X:13.66, Y:0.61, Z:-0.31 [[ 0.99278159 0.09137471 -0.07768775 13.65604875] [-0.08835272 0.99522471 0.04149184 0.61126173] [ 0.08110807 -0.03432842 0.99611397 -0.3134091 ] [ 0. 0. 0. 1. ]] SLAMing on 173.658241008 meters Centerline goodness : 0.884314 Centerline is valid? [False, False] Translation: X:13.66, Y:0.61, Z:-0.31 [[ 0.9927527 0.09133409 -0.07810353 13.65753867] [-0.08831518 0.99523695 0.04127758 0.61230772] [ 0.08150157 -0.0340807 0.99609036 -0.31384709] [ 0. 0. 0. 1. ]] SLAMing on 173.688241008 meters Centerline goodness : 0.884019 Centerline is valid? [False, False] Translation: X:13.66, Y:0.62, Z:-0.32 [[ 0.99269499 0.09167594 -0.07843578 13.65887197] [-0.08871663 0.99523629 0.04042374 0.61536007] [ 0.08176802 -0.03316988 0.99609927 -0.31527605] [ 0. 0. 0. 1. ]] SLAMing on 173.718241008 meters Centerline goodness : 0.880947 Centerline is valid? [False, False] Translation: X:13.66, Y:0.62, Z:-0.32 [[ 0.9926319 0.0920906 -0.07874785 13.65978042] [-0.0891593 0.99521505 0.03997037 0.61713325] [ 0.08205194 -0.03265476 0.99609294 -0.31606997] [ 0. 0. 0. 1. ]] SLAMing on 173.748241008 meters Centerline goodness : 0.881494 Centerline is valid? [False, False] Translation: X:13.66, Y:0.62, Z:-0.32 [[ 0.99260617 0.09200385 -0.0791725 13.66140817] [-0.08913501 0.99525398 0.03904436 0.61929224] [ 0.08238897 -0.03169863 0.99609601 -0.31760132] [ 0. 0. 0. 1. ]] SLAMing on 173.778241008 meters Centerline goodness : 0.879854 Centerline is valid? [False, False] Translation: X:13.66, Y:0.62, Z:-0.32 [[ 0.99216545 0.09602851 -0.07991402 13.66420203] [-0.09273499 0.99471993 0.04395994 0.61846111] [ 0.08371347 -0.03620471 0.99583195 -0.31575477] [ 0. 0. 0. 1. ]] SLAMing on 173.808241008 meters Centerline goodness : 0.879043 Centerline is valid? [False, False] Translation: X:13.68, Y:0.62, Z:-0.32 [[ 0.99205177 0.09924695 -0.07735193 13.68330469] [-0.09671759 0.99466796 0.03579618 0.62110656] [ 0.08049215 -0.02803037 0.99636103 -0.32201259] [ 0. 0. 0. 1. ]] SLAMing on 173.838241008 meters Centerline goodness : 0.881508 Centerline is valid? [False, False] Translation: X:13.69, Y:0.62, Z:-0.31 [[ 0.99172455 0.10243816 -0.07738765 13.69272828] [-0.09898288 0.99396683 0.04724756 0.61659125] [ 0.08176071 -0.03919651 0.99588093 -0.31430365] [ 0. 0. 0. 1. ]] SLAMing on 173.868241008 meters Centerline goodness : 0.883848 Centerline is valid? [False, False] Translation: X:13.71, Y:0.62, Z:-0.32 [[ 0.99193106 0.10307327 -0.07381517 13.70906515] [-0.10062296 0.99426628 0.03618819 0.61938049] [ 0.07712197 -0.02846868 0.99661514 -0.32060207] [ 0. 0. 0. 1. ]] SLAMing on 173.898241008 meters Centerline goodness : 0.879246 Centerline is valid? [False, False] Translation: X:13.73, Y:0.62, Z:-0.32 [[ 0.99194409 0.10566851 -0.06986482 13.72984352] [-0.10359032 0.9940811 0.03273844 0.61890534] [ 0.07291072 -0.02523738 0.99701911 -0.32033652] [ 0. 0. 0. 1. ]] SLAMing on 173.92824100800001 meters Centerline goodness : 0.881716 Centerline is valid? [False, False] Translation: X:13.75, Y:0.62, Z:-0.33 [[ 0.99212346 0.10667404 -0.0656635 13.74501683] [-0.10541568 0.99417707 0.02234918 0.62117615] [ 0.06766522 -0.01525118 0.99759151 -0.32595477] [ 0. 0. 0. 1. ]] SLAMing on 173.95824100800002 meters Centerline goodness : 0.882407 Centerline is valid? [False, False] Translation: X:13.76, Y:0.62, Z:-0.33 [[ 9.92160583e-01 1.09094877e-01 -6.09564281e-02 1.37603732e+01] [-1.08400331e-01 9.94000147e-01 1.45971150e-02 6.21941557e-01] [ 6.21831690e-02 -7.87498511e-03 9.98033686e-01 -3.30206652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.98824100800002 meters Centerline goodness : 0.880753 Centerline is valid? [False, False] Translation: X:13.76, Y:0.62, Z:-0.33 [[ 9.92122345e-01 1.09141152e-01 -6.14935957e-02 1.37617151e+01] [-1.08440953e-01 9.93995363e-01 1.46211506e-02 6.22143702e-01] [ 6.27201182e-02 -7.83754612e-03 9.98000381e-01 -3.30217268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.018241008 meters Centerline goodness : 0.880753 Centerline is valid? [False, False] Translation: X:13.76, Y:0.62, Z:-0.33 [[ 9.92122345e-01 1.09141152e-01 -6.14935957e-02 1.37617151e+01] [-1.08440953e-01 9.93995363e-01 1.46211506e-02 6.22143702e-01] [ 6.27201182e-02 -7.83754612e-03 9.98000381e-01 -3.30217268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.048241008 meters Centerline goodness : 0.878911 Centerline is valid? [False, False] Translation: X:13.76, Y:0.62, Z:-0.33 [[ 9.92011405e-01 1.10097133e-01 -6.15791696e-02 1.37617575e+01] [-1.09410565e-01 9.93892005e-01 1.44225938e-02 6.23842829e-01] [ 6.27909306e-02 -7.56996580e-03 9.97997993e-01 -3.30900469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.078241008 meters Centerline goodness : 0.876312 Centerline is valid? [False, False] Translation: X:13.76, Y:0.63, Z:-0.33 [[ 9.91998139e-01 1.10088057e-01 -6.18086669e-02 1.37628226e+01] [-1.09430035e-01 9.93896712e-01 1.39424850e-02 6.25013722e-01] [ 6.29663319e-02 -7.06719460e-03 9.97990629e-01 -3.31872111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.108241008 meters Centerline goodness : 0.875824 Centerline is valid? [False, False] Translation: X:13.76, Y:0.62, Z:-0.33 [[ 9.91970736e-01 1.10192340e-01 -6.20621278e-02 1.37637349e+01] [-1.09536245e-01 9.93885790e-01 1.38869223e-02 6.24874725e-01] [ 6.32128994e-02 -6.97736812e-03 9.97975674e-01 -3.32408601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.138241008 meters Centerline goodness : 0.875185 Centerline is valid? [False, False] Translation: X:13.76, Y:0.62, Z:-0.33 [[ 9.91932114e-01 1.10309188e-01 -6.24705120e-02 1.37644056e+01] [-1.09634968e-01 9.93871479e-01 1.41300346e-02 6.23810928e-01] [ 6.36463328e-02 -7.16708253e-03 9.97946781e-01 -3.32059183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.168241008 meters Centerline goodness : 0.878260 Centerline is valid? [False, False] Translation: X:13.77, Y:0.62, Z:-0.33 [[ 9.91902006e-01 1.10442906e-01 -6.27118448e-02 1.37650280e+01] [-1.09731760e-01 9.93852772e-01 1.46836006e-02 6.21716428e-01] [ 6.39480403e-02 -7.68321175e-03 9.97923653e-01 -3.31560778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.198241008 meters Centerline goodness : 0.872810 Centerline is valid? [False, False] Translation: X:13.77, Y:0.62, Z:-0.33 [[ 9.91926636e-01 1.09931970e-01 -6.32179682e-02 1.37670946e+01] [-1.09245520e-01 9.93913007e-01 1.42249761e-02 6.22033300e-01] [ 6.43969406e-02 -7.20385288e-03 9.97898361e-01 -3.32644944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.228241008 meters Centerline goodness : 0.873664 Centerline is valid? [False, False] Translation: X:13.77, Y:0.62, Z:-0.33 [[ 9.91947083e-01 1.09430317e-01 -6.37651235e-02 1.37692657e+01] [-1.08758624e-01 9.93970696e-01 1.39218497e-02 6.21786638e-01] [ 6.49041366e-02 -6.87473116e-03 9.97867822e-01 -3.33653005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.258241008 meters Centerline goodness : 0.873750 Centerline is valid? [False, False] Translation: X:13.77, Y:0.62, Z:-0.33 [[ 9.91973251e-01 1.08786176e-01 -6.44564722e-02 1.37717995e+01] [-1.08135606e-01 9.94044382e-01 1.35076982e-02 6.21199876e-01] [ 6.55420449e-02 -6.42923564e-03 9.97829096e-01 -3.34816636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.288241008 meters Centerline goodness : 0.872150 Centerline is valid? [False, False] Translation: X:13.77, Y:0.62, Z:-0.34 [[ 9.92377398e-01 1.04361687e-01 -6.55418759e-02 1.37747089e+01] [-1.04003148e-01 9.94537431e-01 8.86807975e-03 6.21591403e-01] [ 6.61093367e-02 -1.98392047e-03 9.97810413e-01 -3.37294244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.318241008 meters Centerline goodness : 0.870073 Centerline is valid? [False, False] Translation: X:13.78, Y:0.62, Z:-0.34 [[ 9.92422600e-01 1.03366332e-01 -6.64287920e-02 1.37779457e+01] [-1.03021030e-01 9.94641896e-01 8.61202091e-03 6.19835824e-01] [ 6.69630526e-02 -1.70320162e-03 9.97754002e-01 -3.38250998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.348241008 meters Centerline goodness : 0.869864 Centerline is valid? [False, False] Translation: X:13.78, Y:0.62, Z:-0.34 [[ 9.92462268e-01 1.02362476e-01 -6.73837567e-02 1.37812970e+01] [-1.02026438e-01 9.94746064e-01 8.41864758e-03 6.17944195e-01] [ 6.78914804e-02 -1.48026536e-03 9.97691614e-01 -3.39087466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.378241008 meters Centerline goodness : 0.868985 Centerline is valid? [False, False] Translation: X:13.78, Y:0.62, Z:-0.34 [[ 9.92516906e-01 1.01283504e-01 -6.82044258e-02 1.37846562e+01] [-1.00973051e-01 9.94857054e-01 7.99286175e-03 6.16660235e-01] [ 6.86631991e-02 -1.04624146e-03 9.97639349e-01 -3.40420162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.408241008 meters Centerline goodness : 0.867246 Centerline is valid? [False, False] Translation: X:13.79, Y:0.62, Z:-0.34 [[ 9.92654034e-01 9.87216673e-02 -6.99428427e-02 1.37920000e+01] [-9.84086324e-02 9.95114608e-01 7.91571088e-03 6.15054215e-01] [ 7.03825967e-02 -9.74582830e-04 9.97519594e-01 -3.41268223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.438241008 meters Centerline goodness : 0.867394 Centerline is valid? [False, False] Translation: X:13.79, Y:0.61, Z:-0.34 [[ 9.92672444e-01 9.81292588e-02 -7.05128845e-02 1.37940382e+01] [-9.77951388e-02 9.95172920e-01 8.18349087e-03 6.12740089e-01] [ 7.09755530e-02 -1.22770857e-03 9.97477300e-01 -3.41420557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.468241008 meters Centerline goodness : 0.867132 Centerline is valid? [False, False] Translation: X:13.80, Y:0.61, Z:-0.34 [[ 9.92688885e-01 9.74373900e-02 -7.12371561e-02 1.37962661e+01] [-9.70754593e-02 9.95240441e-01 8.53348871e-03 6.09886085e-01] [ 7.17295795e-02 -1.55571975e-03 9.97422903e-01 -3.41239015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.498241008 meters Centerline goodness : 0.868541 Centerline is valid? [False, False] Translation: X:13.80, Y:0.61, Z:-0.34 [[ 9.92695910e-01 9.66134829e-02 -7.22541748e-02 1.37994158e+01] [-9.62247262e-02 9.95320288e-01 8.85025040e-03 6.07477632e-01] [ 7.27710996e-02 -1.83296918e-03 9.97346984e-01 -3.41175109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.528241008 meters Centerline goodness : 0.866702 Centerline is valid? [False, False] Translation: X:13.80, Y:0.61, Z:-0.34 [[ 9.92717824e-01 9.61099022e-02 -7.26237512e-02 1.38010821e+01] [-9.57133347e-02 9.95368890e-01 8.92921851e-03 6.06108243e-01] [ 7.31456089e-02 -1.91313297e-03 9.97319437e-01 -3.41608175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.558241008 meters Centerline goodness : 0.866644 Centerline is valid? [False, False] Translation: X:13.80, Y:0.61, Z:-0.34 [[ 9.92719521e-01 9.57591844e-02 -7.30625176e-02 1.38024490e+01] [-9.53373124e-02 9.95402066e-01 9.24795520e-03 6.05175827e-01] [ 7.36121576e-02 -2.21504159e-03 9.97284485e-01 -3.41075390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.588241008 meters Centerline goodness : 0.865583 Centerline is valid? [False, False] Translation: X:13.81, Y:0.60, Z:-0.34 [[ 9.92333661e-01 9.90733817e-02 -7.38807848e-02 1.38054524e+01] [-9.81937536e-02 9.95047320e-01 1.54537595e-02 6.00567654e-01] [ 7.50459331e-02 -8.08065411e-03 9.97147337e-01 -3.36923419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.618241008 meters Centerline goodness : 0.864914 Centerline is valid? [False, False] Translation: X:13.81, Y:0.60, Z:-0.34 [[ 9.92289008e-01 9.92762371e-02 -7.42075008e-02 1.38056879e+01] [-9.83648717e-02 9.95024251e-01 1.58458714e-02 5.99401372e-01] [ 7.54113814e-02 -8.42427268e-03 9.97116922e-01 -3.36133786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.648241008 meters Centerline goodness : 0.863956 Centerline is valid? [False, False] Translation: X:13.81, Y:0.60, Z:-0.33 [[ 9.91866300e-01 1.03181315e-01 -7.45309272e-02 1.38078169e+01] [-1.01894605e-01 9.94576148e-01 2.08752255e-02 5.96015588e-01] [ 7.62806157e-02 -1.31111333e-02 9.97000183e-01 -3.34848151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.67824100800001 meters Centerline goodness : 0.862146 Centerline is valid? [False, False] Translation: X:13.81, Y:0.60, Z:-0.34 [[ 9.91859465e-01 1.03101182e-01 -7.47325037e-02 1.38089331e+01] [-1.01852122e-01 9.94591451e-01 2.03467443e-02 5.96894879e-01] [ 7.64260827e-02 -1.25694469e-02 9.96996019e-01 -3.36121320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.70824100800002 meters Centerline goodness : 0.864387 Centerline is valid? [False, False] Translation: X:13.81, Y:0.60, Z:-0.34 [[ 9.91852740e-01 1.02842484e-01 -7.51768936e-02 1.38105315e+01] [-1.01623249e-01 9.94624348e-01 1.98776588e-02 5.97468963e-01] [ 7.68170366e-02 -1.20759902e-02 9.96972072e-01 -3.37082795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.73824100800002 meters Centerline goodness : 0.863300 Centerline is valid? [False, False] Translation: X:13.81, Y:0.60, Z:-0.34 [[ 9.91805563e-01 1.03116488e-01 -7.54235677e-02 1.38111473e+01] [-1.01881421e-01 9.94594402e-01 2.00537020e-02 5.96397853e-01] [ 7.70837255e-02 -1.22051130e-02 9.96949916e-01 -3.37321911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.768241008 meters Centerline goodness : 0.861313 Centerline is valid? [False, False] Translation: X:13.81, Y:0.60, Z:-0.34 [[ 9.91800124e-01 1.02834198e-01 -7.58791305e-02 1.38125422e+01] [-1.01609073e-01 9.94626474e-01 1.98437278e-02 5.96162949e-01] [ 7.75120058e-02 -1.19710035e-02 9.96919547e-01 -3.37743280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.798241008 meters Centerline goodness : 0.863283 Centerline is valid? [False, False] Translation: X:13.81, Y:0.60, Z:-0.34 [[ 9.91791942e-01 1.02617911e-01 -7.62778375e-02 1.38137704e+01] [-1.01385089e-01 9.94648748e-01 1.98729029e-02 5.95668605e-01] [ 7.79089713e-02 -1.19763496e-02 9.96888539e-01 -3.37830932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.828241008 meters Centerline goodness : 0.863250 Centerline is valid? [False, False] Translation: X:13.81, Y:0.59, Z:-0.34 [[ 9.91782632e-01 1.02441434e-01 -7.66352634e-02 1.38147217e+01] [-1.01190034e-01 9.94665092e-01 2.00482136e-02 5.94683053e-01] [ 7.82801891e-02 -1.21287451e-02 9.96857615e-01 -3.37565724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.858241008 meters Centerline goodness : 0.862805 Centerline is valid? [False, False] Translation: X:13.82, Y:0.59, Z:-0.34 [[ 9.91809277e-01 1.01650481e-01 -7.73403971e-02 1.38168548e+01] [-1.00316071e-01 9.94734872e-01 2.09575810e-02 5.91716805e-01] [ 7.90635382e-02 -1.30274385e-02 9.96784452e-01 -3.35943329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.888241008 meters Centerline goodness : 0.865018 Centerline is valid? [False, False] Translation: X:13.82, Y:0.59, Z:-0.34 [[ 9.91845191e-01 1.00774345e-01 -7.80233882e-02 1.38193526e+01] [-9.94326548e-02 9.94824692e-01 2.09040669e-02 5.90278261e-01] [ 7.97261868e-02 -1.29755256e-02 9.96732347e-01 -3.36210015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.918241008 meters Centerline goodness : 0.862953 Centerline is valid? [False, False] Translation: X:13.82, Y:0.59, Z:-0.34 [[ 9.91906443e-01 9.94766714e-02 -7.89050063e-02 1.38228888e+01] [-9.81291158e-02 9.94956605e-01 2.07853600e-02 5.88306357e-01] [ 8.05747156e-02 -1.28742540e-02 9.96665425e-01 -3.36668082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.948241008 meters Centerline goodness : 0.859033 Centerline is valid? [False, False] Translation: X:13.83, Y:0.59, Z:-0.34 [[ 9.91962618e-01 9.80259163e-02 -8.00067741e-02 1.38270395e+01] [-9.66388342e-02 9.95097146e-01 2.10381997e-02 5.85771344e-01] [ 8.16768014e-02 -1.31373463e-02 9.96572280e-01 -3.36565589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.978241008 meters Centerline goodness : 0.859183 Centerline is valid? [False, False] Translation: X:13.85, Y:0.58, Z:-0.33 [[ 0.99280491 0.0903202 -0.07861727 13.84961291] [-0.08840156 0.99570359 0.02755938 0.5807478 ] [ 0.08076867 -0.0204112 0.99652386 -0.33147809] [ 0. 0. 0. 1. ]] SLAMing on 175.008241008 meters Centerline goodness : 0.860279 Centerline is valid? [False, False] Translation: X:13.85, Y:0.58, Z:-0.33 [[ 0.99285513 0.08884211 -0.07966037 13.85381849] [-0.08684692 0.9958231 0.02817733 0.57910687] [ 0.08183097 -0.02105775 0.99642374 -0.3302369 ] [ 0. 0. 0. 1. ]] SLAMing on 175.038241008 meters Centerline goodness : 0.858926 Centerline is valid? [False, False] Translation: X:13.86, Y:0.58, Z:-0.33 [[ 0.99324736 0.08392118 -0.08010571 13.85542773] [-0.08231396 0.99633718 0.02316533 0.58042249] [ 0.08175636 -0.01641509 0.99651716 -0.33232563] [ 0. 0. 0. 1. ]] SLAMing on 175.068241008 meters Centerline goodness : 0.859511 Centerline is valid? [False, False] Translation: X:13.86, Y:0.58, Z:-0.33 [[ 9.93614150e-01 7.86622062e-02 -8.08899168e-02 1.38577129e+01] [-7.73551646e-02 9.96819249e-01 1.91719232e-02 5.78877331e-01] [ 8.21407319e-02 -1.27922414e-02 9.96538639e-01 -3.32826441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.098241008 meters Centerline goodness : 0.862441 Centerline is valid? [False, False] Translation: X:13.84, Y:0.58, Z:-0.34 [[ 0.99444866 0.07304914 -0.07573432 13.83888332] [-0.07161598 0.9972011 0.02147345 0.5815725 ] [ 0.07709097 -0.01593046 0.99689679 -0.33643737] [ 0. 0. 0. 1. ]] SLAMing on 175.128241008 meters Centerline goodness : 0.863356 Centerline is valid? [False, False] Translation: X:13.84, Y:0.58, Z:-0.33 [[ 0.99485439 0.07745837 -0.06530659 13.8408727 ] [-0.07581111 0.99674734 0.02733885 0.57683423] [ 0.06721179 -0.02224721 0.99749067 -0.33455188] [ 0. 0. 0. 1. ]] SLAMing on 175.158241008 meters Centerline goodness : 0.863657 Centerline is valid? [False, False] Translation: X:13.85, Y:0.58, Z:-0.34 [[ 0.99482196 0.07663018 -0.06676143 13.84575056] [-0.0750374 0.99684038 0.02605101 0.57638766] [ 0.06854678 -0.02090651 0.99742882 -0.33730953] [ 0. 0. 0. 1. ]] SLAMing on 175.188241008 meters Centerline goodness : 0.864564 Centerline is valid? [False, False] Translation: X:13.85, Y:0.58, Z:-0.34 [[ 0.99482632 0.076461 -0.06689027 13.84643047] [-0.07491001 0.99686677 0.02539942 0.5780836 ] [ 0.06862276 -0.02025726 0.997437 -0.33818534] [ 0. 0. 0. 1. ]] SLAMing on 175.218241008 meters Centerline goodness : 0.865613 Centerline is valid? [False, False] Translation: X:13.85, Y:0.57, Z:-0.34 [[ 0.99487398 0.08227391 -0.05879429 13.8538965 ] [-0.08087876 0.99639174 0.02573163 0.57435202] [ 0.06069919 -0.02084452 0.99793843 -0.33980328] [ 0. 0. 0. 1. ]] SLAMing on 175.248241008 meters Centerline goodness : 0.865606 Centerline is valid? [False, False] Translation: X:13.86, Y:0.57, Z:-0.34 [[ 0.99491306 0.08774242 -0.04949017 13.85988365] [-0.08649801 0.99589274 0.02675348 0.57151107] [ 0.05163432 -0.02233658 0.99841623 -0.34212491] [ 0. 0. 0. 1. ]] SLAMing on 175.278241008 meters Centerline goodness : 0.864479 Centerline is valid? [False, False] Translation: X:13.86, Y:0.57, Z:-0.34 [[ 0.99477714 0.08931416 -0.04941076 13.86034056] [-0.08801568 0.99572932 0.02786326 0.57241302] [ 0.05168832 -0.02336881 0.99838981 -0.34203135] [ 0. 0. 0. 1. ]] SLAMing on 175.308241008 meters Centerline goodness : 0.868313 Centerline is valid? [False, False] Translation: X:13.86, Y:0.57, Z:-0.34 [[ 0.99462725 0.09077713 -0.04976097 13.86259531] [-0.08947241 0.99559977 0.02785301 0.57329882] [ 0.05207043 -0.02325113 0.9983727 -0.34368799] [ 0. 0. 0. 1. ]] SLAMing on 175.338241008 meters Centerline goodness : 0.863521 Centerline is valid? [False, False] Translation: X:13.87, Y:0.57, Z:-0.34 [[ 0.9942539 0.09430898 -0.05064587 13.86541232] [-0.09299625 0.99528151 0.02768431 0.57490638] [ 0.05301777 -0.02281535 0.9983329 -0.34434875] [ 0. 0. 0. 1. ]] SLAMing on 175.368241008 meters Centerline goodness : 0.866244 Centerline is valid? [False, False] Translation: X:13.87, Y:0.58, Z:-0.34 [[ 0.99405816 0.09615267 -0.05102001 13.86611604] [-0.09483196 0.99510756 0.02770998 0.57592317] [ 0.05343479 -0.02270701 0.99831313 -0.34337448] [ 0. 0. 0. 1. ]] SLAMing on 175.398241008 meters Centerline goodness : 0.867237 Centerline is valid? [False, False] Translation: X:13.87, Y:0.58, Z:-0.34 [[ 0.99408218 0.09588542 -0.05105483 13.8666994 ] [-0.09461606 0.99515491 0.02673031 0.57839229] [ 0.05337051 -0.02174152 0.99833807 -0.3445049 ] [ 0. 0. 0. 1. ]] SLAMing on 175.42824100800001 meters Centerline goodness : 0.867106 Centerline is valid? [False, False] Translation: X:13.87, Y:0.58, Z:-0.35 [[ 0.99408087 0.09579561 -0.05124859 13.86760547] [-0.09456367 0.9951805 0.02595166 0.58084183] [ 0.05348766 -0.0209518 0.99834868 -0.3454439 ] [ 0. 0. 0. 1. ]] SLAMing on 175.45824100800002 meters Centerline goodness : 0.867702 Centerline is valid? [False, False] Translation: X:13.87, Y:0.58, Z:-0.34 [[ 0.99369319 0.0994326 -0.05183635 13.87031615] [-0.09797472 0.99473809 0.02995149 0.58155543] [ 0.05454174 -0.02468394 0.99820634 -0.34462708] [ 0. 0. 0. 1. ]] SLAMing on 175.48824100800002 meters Centerline goodness : 0.869650 Centerline is valid? [False, False] Translation: X:13.89, Y:0.58, Z:-0.35 [[ 0.99368139 0.10166063 -0.04756492 13.88658314] [-0.10075567 0.99468833 0.02105774 0.58476062] [ 0.04945302 -0.01613225 0.99864616 -0.35089358] [ 0. 0. 0. 1. ]] SLAMing on 175.518241008 meters Centerline goodness : 0.870960 Centerline is valid? [False, False] Translation: X:13.89, Y:0.58, Z:-0.35 [[ 0.99328289 0.10529438 -0.0479812 13.88892627] [-0.10417821 0.99423921 0.02520514 0.58410427] [ 0.05035875 -0.02003724 0.99853017 -0.35049073] [ 0. 0. 0. 1. ]] SLAMing on 175.548241008 meters Centerline goodness : 0.869525 Centerline is valid? [False, False] Translation: X:13.90, Y:0.59, Z:-0.36 [[ 9.93238440e-01 1.07423435e-01 -4.40182494e-02 1.39049213e+01] [-1.06824817e-01 9.94153264e-01 1.57399373e-02 5.87503088e-01] [ 4.54517244e-02 -1.09312694e-02 9.98906726e-01 -3.56756790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.578241008 meters Centerline goodness : 0.870112 Centerline is valid? [False, False] Translation: X:13.91, Y:0.59, Z:-0.36 [[ 9.93133751e-01 1.08265681e-01 -4.43158658e-02 1.39050809e+01] [-1.07692896e-01 9.94069201e-01 1.51216532e-02 5.90260031e-01] [ 4.56901934e-02 -1.02453203e-02 9.98903118e-01 -3.57687881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.608241008 meters Centerline goodness : 0.869113 Centerline is valid? [False, False] Translation: X:13.91, Y:0.59, Z:-0.36 [[ 9.93132724e-01 1.08177330e-01 -4.45539919e-02 1.39060721e+01] [-1.07624878e-01 9.94084010e-01 1.46241738e-02 5.91831317e-01] [ 4.58724150e-02 -9.72862758e-03 9.98899933e-01 -3.58418058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.638241008 meters Centerline goodness : 0.866691 Centerline is valid? [False, False] Translation: X:13.91, Y:0.59, Z:-0.36 [[ 9.93127286e-01 1.08146903e-01 -4.47486510e-02 1.39066946e+01] [-1.07603573e-01 9.94089812e-01 1.43845790e-02 5.92793121e-01] [ 4.60398257e-02 -9.47060320e-03 9.98894710e-01 -3.58607880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.668241008 meters Centerline goodness : 0.869436 Centerline is valid? [False, False] Translation: X:13.91, Y:0.59, Z:-0.36 [[ 9.93081027e-01 1.08646975e-01 -4.45635314e-02 1.39057300e+01] [-1.08086761e-01 9.94031280e-01 1.48008929e-02 5.91827502e-01] [ 4.59056164e-02 -9.88175818e-03 9.98896904e-01 -3.57919398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.698241008 meters Centerline goodness : 0.869010 Centerline is valid? [False, False] Translation: X:13.91, Y:0.59, Z:-0.36 [[ 9.93093926e-01 1.08392665e-01 -4.48941548e-02 1.39068631e+01] [-1.07836323e-01 9.94060844e-01 1.46412626e-02 5.91598927e-01] [ 4.62145269e-02 -9.69892840e-03 9.98884452e-01 -3.58301878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.728241008 meters Centerline goodness : 0.868583 Centerline is valid? [False, False] Translation: X:13.91, Y:0.59, Z:-0.36 [[ 9.93111308e-01 1.08082245e-01 -4.52565761e-02 1.39083532e+01] [-1.07532956e-01 9.94097115e-01 1.44079339e-02 5.91640806e-01] [ 4.65466736e-02 -9.44210866e-03 9.98871490e-01 -3.59005299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.758241008 meters Centerline goodness : 0.869371 Centerline is valid? [False, False] Translation: X:13.91, Y:0.59, Z:-0.36 [[ 9.93127014e-01 1.07785129e-01 -4.56190742e-02 1.39095842e+01] [-1.07242648e-01 9.94131702e-01 1.41835923e-02 5.91626490e-01] [ 4.68801482e-02 -9.19379838e-03 9.98858211e-01 -3.59434879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.788241008 meters Centerline goodness : 0.866993 Centerline is valid? [False, False] Translation: X:13.91, Y:0.59, Z:-0.36 [[ 9.93436293e-01 1.04792827e-01 -4.58562336e-02 1.39088343e+01] [-1.04433131e-01 9.94479836e-01 1.01772772e-02 5.94027200e-01] [ 4.66696053e-02 -5.32156647e-03 9.98896205e-01 -3.60118941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.818241008 meters Centerline goodness : 0.868501 Centerline is valid? [False, False] Translation: X:13.91, Y:0.59, Z:-0.36 [[ 9.93425430e-01 1.04800409e-01 -4.60737331e-02 1.39096077e+01] [-1.04435513e-01 9.94478699e-01 1.02635466e-02 5.92961768e-01] [ 4.68949701e-02 -5.38433423e-03 9.98885314e-01 -3.60456302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.848241008 meters Centerline goodness : 0.866080 Centerline is valid? [False, False] Translation: X:13.91, Y:0.59, Z:-0.36 [[ 9.93436297e-01 1.04469338e-01 -4.65884155e-02 1.39113193e+01] [-1.04115390e-01 9.94515281e-01 9.96698762e-03 5.92854916e-01] [ 4.73741358e-02 -5.05099624e-03 9.98864445e-01 -3.61246169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.878241008 meters Centerline goodness : 0.867493 Centerline is valid? [False, False] Translation: X:13.91, Y:0.59, Z:-0.36 [[ 9.93454100e-01 1.04196937e-01 -4.68182609e-02 1.39126292e+01] [-1.03862411e-01 9.94546030e-01 9.52857464e-03 5.93059920e-01] [ 4.75557638e-02 -4.60354406e-03 9.98857976e-01 -3.62453117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.908241008 meters Centerline goodness : 0.870783 Centerline is valid? [False, False] Translation: X:13.91, Y:0.59, Z:-0.36 [[ 9.93465185e-01 1.04007925e-01 -4.70029449e-02 1.39137151e+01] [-1.03692713e-01 9.94567732e-01 9.10209640e-03 5.93388679e-01] [ 4.76943024e-02 -4.16875301e-03 9.98853280e-01 -3.63602316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.938241008 meters Centerline goodness : 0.868943 Centerline is valid? [False, False] Translation: X:13.91, Y:0.59, Z:-0.36 [[ 9.93485212e-01 1.03745558e-01 -4.71592319e-02 1.39147412e+01] [-1.03445307e-01 9.94596479e-01 8.76994962e-03 5.93510315e-01] [ 4.78142493e-02 -3.83441403e-03 9.98848885e-01 -3.64502586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.968241008 meters Centerline goodness : 0.868943 Centerline is valid? [False, False] Translation: X:13.91, Y:0.59, Z:-0.36 [[ 9.93485212e-01 1.03745558e-01 -4.71592319e-02 1.39147412e+01] [-1.03445307e-01 9.94596479e-01 8.76994962e-03 5.93510315e-01] [ 4.78142493e-02 -3.83441403e-03 9.98848885e-01 -3.64502586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.998241008 meters Centerline goodness : 0.869098 Centerline is valid? [False, False] Translation: X:13.92, Y:0.59, Z:-0.36 [[ 9.93492336e-01 1.03490113e-01 -4.75686298e-02 1.39155537e+01] [-1.03148727e-01 9.94619781e-01 9.58286734e-03 5.90816856e-01] [ 4.83044322e-02 -4.61386164e-03 9.98822003e-01 -3.63233153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.028241008 meters Centerline goodness : 0.869869 Centerline is valid? [False, False] Translation: X:13.92, Y:0.59, Z:-0.36 [[ 9.93517538e-01 1.03067680e-01 -4.79578378e-02 1.39168944e+01] [-1.02715884e-01 9.94662954e-01 9.74961897e-03 5.89558902e-01] [ 4.87067552e-02 -4.76038573e-03 9.98801777e-01 -3.63202486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.058241008 meters Centerline goodness : 0.870031 Centerline is valid? [False, False] Translation: X:13.92, Y:0.59, Z:-0.36 [[ 9.93543701e-01 1.02624385e-01 -4.83647480e-02 1.39184268e+01] [-1.02272153e-01 9.94709078e-01 9.70859461e-03 5.88763819e-01] [ 4.91051924e-02 -4.69954611e-03 9.98782556e-01 -3.63619021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.088241008 meters Centerline goodness : 0.870807 Centerline is valid? [False, False] Translation: X:13.92, Y:0.59, Z:-0.37 [[ 9.93616039e-01 1.01589003e-01 -4.90595649e-02 1.39215121e+01] [-1.01261028e-01 9.94817984e-01 9.13147027e-03 5.88025187e-01] [ 4.97329943e-02 -4.10535338e-03 9.98754112e-01 -3.65197963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.118241008 meters Centerline goodness : 0.869913 Centerline is valid? [False, False] Translation: X:13.92, Y:0.59, Z:-0.37 [[ 9.93644693e-01 1.00930374e-01 -4.98325589e-02 1.39239333e+01] [-1.00592321e-01 9.94884708e-01 9.25218601e-03 5.86723511e-01] [ 5.05114774e-02 -4.18061277e-03 9.98714731e-01 -3.65188611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.148241008 meters Centerline goodness : 0.870060 Centerline is valid? [False, False] Translation: X:13.92, Y:0.59, Z:-0.37 [[ 9.93980557e-01 9.73939453e-02 -5.01704318e-02 1.39235072e+01] [-9.72655233e-02 9.95245905e-01 5.00067969e-03 5.88415767e-01] [ 5.04189527e-02 -9.07250748e-05 9.98728152e-01 -3.65785400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.17824100800001 meters Centerline goodness : 0.869168 Centerline is valid? [False, False] Translation: X:13.93, Y:0.59, Z:-0.37 [[ 9.94020505e-01 9.65005396e-02 -5.10967792e-02 1.39263596e+01] [-9.63551407e-02 9.95332870e-01 5.30705440e-03 5.86692260e-01] [ 5.13704375e-02 -3.51883546e-04 9.98679605e-01 -3.65297726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.20824100800002 meters Centerline goodness : 0.869999 Centerline is valid? [False, False] Translation: X:13.93, Y:0.59, Z:-0.37 [[ 9.94044453e-01 9.59626492e-02 -5.16410192e-02 1.39282327e+01] [-9.58219637e-02 9.95384911e-01 5.19899918e-03 5.86119224e-01] [ 5.19016011e-02 -2.19692428e-04 9.98652179e-01 -3.65696392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.23824100800002 meters Centerline goodness : 0.871097 Centerline is valid? [False, False] Translation: X:13.93, Y:0.59, Z:-0.37 [[ 9.94078861e-01 9.52650649e-02 -5.22664897e-02 1.39305672e+01] [-9.51427567e-02 9.95451926e-01 4.82889190e-03 5.86027476e-01] [ 5.24888025e-02 1.72478549e-04 9.98621498e-01 -3.66553944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.268241008 meters Centerline goodness : 0.871229 Centerline is valid? [False, False] Translation: X:13.93, Y:0.59, Z:-0.37 [[ 9.94102456e-01 9.47573477e-02 -5.27385286e-02 1.39324585e+01] [-9.46443509e-02 9.95500328e-01 4.64155930e-03 5.85798364e-01] [ 5.29410443e-02 3.77218304e-04 9.98597568e-01 -3.67302556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.298241008 meters Centerline goodness : 0.870905 Centerline is valid? [False, False] Translation: X:13.94, Y:0.58, Z:-0.37 [[ 9.94154109e-01 9.34741475e-02 -5.40387955e-02 1.39421432e+01] [-9.32311487e-02 9.95619843e-01 7.00582718e-03 5.84420297e-01] [ 5.44569608e-02 -1.92677290e-03 9.98514260e-01 -3.68667579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.328241008 meters Centerline goodness : 0.868542 Centerline is valid? [False, False] Translation: X:13.94, Y:0.58, Z:-0.37 [[ 9.94181660e-01 9.28878211e-02 -5.45406323e-02 1.39440051e+01] [-9.26499671e-02 9.95674979e-01 6.87893097e-03 5.84023638e-01] [ 5.49437118e-02 -1.78571922e-03 9.98487857e-01 -3.69096298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.358241008 meters Centerline goodness : 0.869698 Centerline is valid? [False, False] Translation: X:13.95, Y:0.58, Z:-0.37 [[ 9.94196836e-01 9.22850466e-02 -5.52821996e-02 1.39461401e+01] [-9.20303010e-02 9.95730596e-01 7.14172739e-03 5.82855169e-01] [ 5.57052522e-02 -2.01264530e-03 9.98445228e-01 -3.68656790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.388241008 meters Centerline goodness : 0.869146 Centerline is valid? [False, False] Translation: X:13.95, Y:0.58, Z:-0.37 [[ 9.94184252e-01 9.20441176e-02 -5.59066447e-02 1.39473096e+01] [-9.17314602e-02 9.95750522e-01 8.13865502e-03 5.80872919e-01] [ 5.64181860e-02 -2.96292449e-03 9.98402829e-01 -3.66679224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.418241008 meters Centerline goodness : 0.869774 Centerline is valid? [False, False] Translation: X:13.95, Y:0.58, Z:-0.36 [[ 9.93989631e-01 9.33846360e-02 -5.71307619e-02 1.39542265e+01] [-9.26307368e-02 9.95576577e-01 1.57107033e-02 5.76049892e-01] [ 5.83451867e-02 -1.03242116e-02 9.98243082e-01 -3.59523399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.448241008 meters Centerline goodness : 0.867055 Centerline is valid? [False, False] Translation: X:13.96, Y:0.58, Z:-0.36 [[ 9.93997385e-01 9.31179724e-02 -5.74303138e-02 1.39551442e+01] [-9.23893463e-02 9.95606626e-01 1.52202131e-02 5.77262344e-01] [ 5.85952763e-02 -9.82290290e-03 9.98233492e-01 -3.59941641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.478241008 meters Centerline goodness : 0.865882 Centerline is valid? [False, False] Translation: X:13.96, Y:0.58, Z:-0.36 [[ 9.94007877e-01 9.27688259e-02 -5.78124951e-02 1.39565366e+01] [-9.20841895e-02 9.95647072e-01 1.44017330e-02 5.79616180e-01] [ 5.88968733e-02 -8.99181930e-03 9.98223575e-01 -3.60871386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.508241008 meters Centerline goodness : 0.861615 Centerline is valid? [False, False] Translation: X:13.96, Y:0.58, Z:-0.36 [[ 9.94002827e-01 9.28526051e-02 -5.77648126e-02 1.39566120e+01] [-9.22104002e-02 9.95645415e-01 1.36912415e-02 5.81979336e-01] [ 5.87845382e-02 -8.28261629e-03 9.98236333e-01 -3.61773512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.538241008 meters Centerline goodness : 0.863861 Centerline is valid? [False, False] Translation: X:13.96, Y:0.58, Z:-0.36 [[ 9.93627226e-01 9.63778033e-02 -5.84487403e-02 1.39591669e+01] [-9.54677295e-02 9.95266599e-01 1.81744428e-02 5.80756843e-01] [ 5.99236918e-02 -1.24786526e-02 9.98124959e-01 -3.60432633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.568241008 meters Centerline goodness : 0.859758 Centerline is valid? [False, False] Translation: X:13.98, Y:0.58, Z:-0.37 [[ 9.93550062e-01 9.93598240e-02 -5.46433784e-02 1.39770279e+01] [-9.89571017e-02 9.95041113e-01 1.00336998e-02 5.84522646e-01] [ 5.53693547e-02 -4.56163275e-03 9.98455520e-01 -3.66388546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.598241008 meters Centerline goodness : 0.856697 Centerline is valid? [False, False] Translation: X:13.98, Y:0.59, Z:-0.37 [[ 9.93512305e-01 9.97645615e-02 -5.45924094e-02 1.39762244e+01] [-9.93630953e-02 9.95000729e-01 1.00261852e-02 5.85750418e-01] [ 5.53197451e-02 -4.53666764e-03 9.98458384e-01 -3.65700716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.628241008 meters Centerline goodness : 0.855407 Centerline is valid? [False, False] Translation: X:13.99, Y:0.59, Z:-0.37 [[ 9.93582011e-01 1.01470617e-01 -4.99850092e-02 1.39919343e+01] [-1.01521686e-01 9.94832161e-01 1.52270152e-03 5.87838359e-01] [ 4.98812042e-02 3.56163356e-03 9.98748807e-01 -3.69906654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.658241008 meters Centerline goodness : 0.858012 Centerline is valid? [False, False] Translation: X:13.99, Y:0.59, Z:-0.37 [[ 9.93547287e-01 1.01845933e-01 -4.99118704e-02 1.39911484e+01] [-1.01879988e-01 9.94794943e-01 1.86795865e-03 5.88639183e-01] [ 4.98423202e-02 3.22911553e-03 9.98751879e-01 -3.68715860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.688241008 meters Centerline goodness : 0.851081 Centerline is valid? [False, False] Translation: X:13.99, Y:0.59, Z:-0.37 [[ 9.93517782e-01 1.02189526e-01 -4.97967677e-02 1.39905212e+01] [-1.02230134e-01 9.94759258e-01 1.73748112e-03 5.90497060e-01] [ 4.97133481e-02 3.36451185e-03 9.98757860e-01 -3.68404672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.718241008 meters Centerline goodness : 0.851644 Centerline is valid? [False, False] Translation: X:13.99, Y:0.59, Z:-0.37 [[ 9.93519968e-01 1.02070337e-01 -4.99972051e-02 1.39911959e+01] [-1.02114706e-01 9.94771224e-01 1.67277221e-03 5.90938094e-01] [ 4.99065214e-02 3.44351733e-03 9.98747957e-01 -3.68460145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.748241008 meters Centerline goodness : 0.850498 Centerline is valid? [False, False] Translation: X:13.99, Y:0.59, Z:-0.37 [[ 9.93534423e-01 1.01754589e-01 -5.03522893e-02 1.39924570e+01] [-1.01818690e-01 9.94802127e-01 1.29701553e-03 5.91384203e-01] [ 5.02225418e-02 3.83817457e-03 9.98730677e-01 -3.69097901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.778241008 meters Centerline goodness : 0.846602 Centerline is valid? [False, False] Translation: X:13.99, Y:0.59, Z:-0.37 [[ 9.93572299e-01 1.01244493e-01 -5.06323971e-02 1.39941205e+01] [-1.01342548e-01 9.94851389e-01 6.33499402e-04 5.92919101e-01] [ 5.04358489e-02 4.50178868e-03 9.98717157e-01 -3.70423820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.808241008 meters Centerline goodness : 0.847714 Centerline is valid? [False, False] Translation: X:14.00, Y:0.59, Z:-0.37 [[ 9.93594719e-01 1.00759914e-01 -5.11563617e-02 1.39961696e+01] [-1.00882366e-01 9.94898343e-01 1.89331439e-04 5.93428685e-01] [ 5.09144565e-02 4.97265609e-03 9.98690638e-01 -3.71504280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.838241008 meters Centerline goodness : 0.843055 Centerline is valid? [False, False] Translation: X:14.00, Y:0.59, Z:-0.37 [[ 9.93631326e-01 1.00111889e-01 -5.17145760e-02 1.39985935e+01] [-1.00268311e-01 9.94960340e-01 -4.32672264e-04 5.94063065e-01] [ 5.14106365e-02 5.61524991e-03 9.98661812e-01 -3.72961409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.868241008 meters Centerline goodness : 0.840193 Centerline is valid? [False, False] Translation: X:14.00, Y:0.59, Z:-0.37 [[ 9.93673023e-01 9.91946600e-02 -5.26720377e-02 1.40022144e+01] [-9.93997603e-02 9.95046754e-01 -1.28219380e-03 5.94699129e-01] [ 5.22839534e-02 6.50966931e-03 9.98611042e-01 -3.74877199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.898241008 meters Centerline goodness : 0.842237 Centerline is valid? [False, False] Translation: X:14.01, Y:0.60, Z:-0.38 [[ 9.93693041e-01 9.85977609e-02 -5.34099430e-02 1.40050268e+01] [-9.88483210e-02 9.95100372e-01 -2.06366128e-03 5.95351466e-01] [ 5.29447818e-02 7.33012904e-03 9.98570538e-01 -3.76729043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.92824100800001 meters Centerline goodness : 0.839536 Centerline is valid? [False, False] Translation: X:14.01, Y:0.60, Z:-0.38 [[ 9.93688832e-01 9.85444492e-02 -5.35863537e-02 1.40056123e+01] [-9.87904817e-02 9.95106334e-01 -1.95558569e-03 5.95028271e-01] [ 5.31314079e-02 7.23706535e-03 9.98561304e-01 -3.76709773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.95824100800002 meters Centerline goodness : 0.839882 Centerline is valid? [False, False] Translation: X:14.01, Y:0.59, Z:-0.38 [[ 9.93691498e-01 9.83482826e-02 -5.38963951e-02 1.40066105e+01] [-9.85838828e-02 9.95127251e-01 -1.72386502e-03 5.94592686e-01] [ 5.34642323e-02 7.02630591e-03 9.98545045e-01 -3.76472599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.98824100800002 meters Centerline goodness : 0.837919 Centerline is valid? [False, False] Translation: X:14.01, Y:0.59, Z:-0.38 [[ 9.93695346e-01 9.80194050e-02 -5.44220123e-02 1.40082163e+01] [-9.82377856e-02 9.95162060e-01 -1.34573061e-03 5.93915587e-01] [ 5.40268142e-02 6.68354423e-03 9.98517117e-01 -3.75990289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.018241008 meters Centerline goodness : 0.835212 Centerline is valid? [False, False] Translation: X:14.01, Y:0.59, Z:-0.37 [[ 9.93702474e-01 9.78584477e-02 -5.45812954e-02 1.40080213e+01] [-9.80021637e-02 9.95186201e-01 4.36830583e-05 5.91125638e-01] [ 5.43228267e-02 5.30567708e-03 9.98509329e-01 -3.73269212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.048241008 meters Centerline goodness : 0.835345 Centerline is valid? [False, False] Translation: X:14.01, Y:0.59, Z:-0.37 [[ 9.93694823e-01 9.77818761e-02 -5.48571259e-02 1.40082498e+01] [-9.78702830e-02 9.95198595e-01 1.07902550e-03 5.89228662e-01] [ 5.46992437e-02 4.29666038e-03 9.98493631e-01 -3.71315851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.078241008 meters Centerline goodness : 0.834162 Centerline is valid? [False, False] Translation: X:14.01, Y:0.59, Z:-0.37 [[ 9.93701750e-01 9.76399456e-02 -5.49842986e-02 1.40085228e+01] [-9.76960493e-02 9.95214893e-01 1.67307446e-03 5.88183153e-01] [ 5.48845517e-02 3.70921173e-03 9.98485817e-01 -3.70300215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.108241008 meters Centerline goodness : 0.832336 Centerline is valid? [False, False] Translation: X:14.01, Y:0.59, Z:-0.37 [[ 9.93771027e-01 9.67384761e-02 -5.53246178e-02 1.40104881e+01] [-9.68143659e-02 9.95301590e-01 1.31310703e-03 5.88859182e-01] [ 5.51917080e-02 4.05129008e-03 9.98467557e-01 -3.70967204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.138241008 meters Centerline goodness : 0.832730 Centerline is valid? [False, False] Translation: X:14.01, Y:0.59, Z:-0.37 [[ 9.93502231e-01 9.90421008e-02 -5.60712026e-02 1.40146480e+01] [-9.88724600e-02 9.95083220e-01 5.79839634e-03 5.86177777e-01] [ 5.63697982e-02 -2.16821963e-04 9.98409935e-01 -3.69826592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.168241008 meters Centerline goodness : 0.831150 Centerline is valid? [False, False] Translation: X:14.02, Y:0.59, Z:-0.37 [[ 9.93497715e-01 9.89046535e-02 -5.63928978e-02 1.40154330e+01] [-9.87303925e-02 9.95096878e-01 5.87472117e-03 5.85631187e-01] [ 5.66974338e-02 -2.68829123e-04 9.98391371e-01 -3.69701424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.198241008 meters Centerline goodness : 0.833971 Centerline is valid? [False, False] Translation: X:14.02, Y:0.59, Z:-0.37 [[ 9.93494251e-01 9.86964754e-02 -5.68170579e-02 1.40165772e+01] [-9.85167435e-02 9.95117530e-01 5.96254924e-03 5.85237206e-01] [ 5.71281329e-02 -3.26326879e-04 9.98366801e-01 -3.69501659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.228241008 meters Centerline goodness : 0.835074 Centerline is valid? [False, False] Translation: X:14.02, Y:0.59, Z:-0.37 [[ 9.93507708e-01 9.83546763e-02 -5.71733503e-02 1.40179782e+01] [-9.81946444e-02 9.95151424e-01 5.60855735e-03 5.86203275e-01] [ 5.74477688e-02 4.19718476e-05 9.98348512e-01 -3.69995337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.258241008 meters Centerline goodness : 0.836231 Centerline is valid? [False, False] Translation: X:14.02, Y:0.59, Z:-0.37 [[ 9.93528206e-01 9.78543719e-02 -5.76734451e-02 1.40200402e+01] [-9.77357463e-02 9.95200433e-01 4.88080058e-03 5.88026952e-01] [ 5.78742452e-02 7.87544159e-04 9.98323571e-01 -3.71175701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.288241008 meters Centerline goodness : 0.835146 Centerline is valid? [False, False] Translation: X:14.02, Y:0.59, Z:-0.37 [[ 9.93545260e-01 9.75117658e-02 -5.79592260e-02 1.40214787e+01] [-9.74329667e-02 9.95233267e-01 4.19072104e-03 5.89748899e-01] [ 5.80915944e-02 1.48346831e-03 9.98310155e-01 -3.72397608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.318241008 meters Centerline goodness : 0.835387 Centerline is valid? [False, False] Translation: X:14.02, Y:0.59, Z:-0.37 [[ 9.93552344e-01 9.72075266e-02 -5.83475507e-02 1.40228888e+01] [-9.71539016e-02 9.95262261e-01 3.76187214e-03 5.90851004e-01] [ 5.84367975e-02 1.93107532e-03 9.98289242e-01 -3.73086570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.348241008 meters Centerline goodness : 0.839007 Centerline is valid? [False, False] Translation: X:14.02, Y:0.59, Z:-0.37 [[ 9.93554910e-01 9.67729645e-02 -5.90223153e-02 1.40244548e+01] [-9.67295162e-02 9.95304197e-01 3.59951778e-03 5.90932278e-01] [ 5.90934942e-02 2.13288145e-03 9.98250174e-01 -3.72855008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.378241008 meters Centerline goodness : 0.838199 Centerline is valid? [False, False] Translation: X:14.03, Y:0.59, Z:-0.37 [[ 9.93566130e-01 9.63060667e-02 -5.95943538e-02 1.40260539e+01] [-9.62566502e-02 9.95349648e-01 3.70609249e-03 5.90909266e-01] [ 5.96741383e-02 2.05410490e-03 9.98215797e-01 -3.72338871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.408241008 meters Centerline goodness : 0.840923 Centerline is valid? [False, False] Translation: X:14.03, Y:0.59, Z:-0.37 [[ 9.93568872e-01 9.60937301e-02 -5.98906690e-02 1.40268510e+01] [-9.60412759e-02 9.95370249e-01 3.76048392e-03 5.91164158e-01] [ 5.99747490e-02 2.01567650e-03 9.98197859e-01 -3.72040394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.438241008 meters Centerline goodness : 0.841428 Centerline is valid? [False, False] Translation: X:14.03, Y:0.59, Z:-0.37 [[ 9.93589977e-01 9.55759760e-02 -6.03671253e-02 1.40284990e+01] [-9.55357220e-02 9.95419639e-01 3.55934833e-03 5.91974641e-01] [ 6.04308102e-02 2.23068407e-03 9.98169896e-01 -3.72159531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.468241008 meters Centerline goodness : 0.841703 Centerline is valid? [False, False] Translation: X:14.03, Y:0.59, Z:-0.37 [[ 9.93593406e-01 9.55100584e-02 -6.04149925e-02 1.40287492e+01] [-9.54734697e-02 9.95425827e-01 3.49861567e-03 5.93061159e-01] [ 6.04727968e-02 2.29182749e-03 9.98167215e-01 -3.71996329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.498241008 meters Centerline goodness : 0.843632 Centerline is valid? [False, False] Translation: X:14.03, Y:0.59, Z:-0.37 [[ 9.93584193e-01 9.54887197e-02 -6.05999585e-02 1.40290413e+01] [-9.54424587e-02 9.95428205e-01 3.66413538e-03 5.94027199e-01] [ 6.06727915e-02 2.14318204e-03 9.98155408e-01 -3.71260752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.528241008 meters Centerline goodness : 0.844937 Centerline is valid? [False, False] Translation: X:14.03, Y:0.59, Z:-0.37 [[ 9.93561538e-01 9.54979694e-02 -6.09557889e-02 1.40290721e+01] [-9.54203599e-02 9.95428251e-01 4.18954613e-03 5.94635529e-01] [ 6.10772074e-02 1.65385142e-03 9.98131674e-01 -3.69187256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.558241008 meters Centerline goodness : 0.846269 Centerline is valid? [False, False] Translation: X:14.03, Y:0.59, Z:-0.37 [[ 9.93537868e-01 9.56363861e-02 -6.11243482e-02 1.40288913e+01] [-9.55363704e-02 9.95415480e-01 4.56344081e-03 5.94583573e-01] [ 6.12805534e-02 1.30564712e-03 9.98119727e-01 -3.68055942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.588241008 meters Centerline goodness : 0.845202 Centerline is valid? [False, False] Translation: X:14.03, Y:0.60, Z:-0.37 [[ 9.93514734e-01 9.56799754e-02 -6.14313973e-02 1.40293476e+01] [-9.55988967e-02 9.95410803e-01 4.26441031e-03 5.97005489e-01] [ 6.15574951e-02 1.63601933e-03 9.98102198e-01 -3.67681669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.618241008 meters Centerline goodness : 0.845337 Centerline is valid? [False, False] Translation: X:14.03, Y:0.60, Z:-0.37 [[ 9.93504139e-01 9.56911510e-02 -6.15851408e-02 1.40298554e+01] [-9.56239007e-02 9.95409316e-01 4.04516369e-03 5.98861771e-01] [ 6.16895092e-02 1.87012451e-03 9.98093636e-01 -3.67749477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.648241008 meters Centerline goodness : 0.844980 Centerline is valid? [False, False] Translation: X:14.03, Y:0.60, Z:-0.37 [[ 9.93478730e-01 9.60635917e-02 -6.14149838e-02 1.40290101e+01] [-9.59967495e-02 9.95373429e-01 4.04490860e-03 6.00148958e-01] [ 6.15194114e-02 1.87710815e-03 9.98104122e-01 -3.67279185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.67824100800001 meters Centerline goodness : 0.847239 Centerline is valid? [False, False] Translation: X:14.03, Y:0.60, Z:-0.37 [[ 9.93100219e-01 9.95103081e-02 -6.20455721e-02 1.40314864e+01] [-9.91601504e-02 9.95033409e-01 8.70511884e-03 5.98007411e-01] [ 6.26036661e-02 -2.49260718e-03 9.98035354e-01 -3.65739317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.70824100800002 meters Centerline goodness : 0.847488 Centerline is valid? [False, False] Translation: X:14.03, Y:0.60, Z:-0.37 [[ 9.93070152e-01 9.97747264e-02 -6.21021588e-02 1.40315038e+01] [-9.94527998e-02 9.95007986e-01 8.26126797e-03 6.00586574e-01] [ 6.26164097e-02 -2.02778507e-03 9.98035607e-01 -3.66045054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.73824100800002 meters Centerline goodness : 0.850639 Centerline is valid? [False, False] Translation: X:14.03, Y:0.60, Z:-0.37 [[ 9.93078214e-01 9.94808592e-02 -6.24437345e-02 1.40327459e+01] [-9.91863249e-02 9.95038254e-01 7.80674149e-03 6.02154710e-01] [ 6.29105260e-02 -1.55914035e-03 9.98017953e-01 -3.66524976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.768241008 meters Centerline goodness : 0.850766 Centerline is valid? [False, False] Translation: X:14.03, Y:0.60, Z:-0.37 [[ 9.93074154e-01 9.94612822e-02 -6.25394192e-02 1.40330425e+01] [-9.91749370e-02 9.95040422e-01 7.67403418e-03 6.03114570e-01] [ 6.29925194e-02 -1.41854204e-03 9.98012991e-01 -3.66538328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.798241008 meters Centerline goodness : 0.851110 Centerline is valid? [False, False] Translation: X:14.03, Y:0.60, Z:-0.37 [[ 9.93074003e-01 9.94302565e-02 -6.25911308e-02 1.40330514e+01] [-9.91433418e-02 9.95043517e-01 7.68091063e-03 6.03741525e-01] [ 6.30446138e-02 -1.42221880e-03 9.98009696e-01 -3.66162424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.828241008 meters Centerline goodness : 0.851110 Centerline is valid? [False, False] Translation: X:14.03, Y:0.60, Z:-0.37 [[ 9.93074003e-01 9.94302565e-02 -6.25911308e-02 1.40330514e+01] [-9.91433418e-02 9.95043517e-01 7.68091063e-03 6.03741525e-01] [ 6.30446138e-02 -1.42221880e-03 9.98009696e-01 -3.66162424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.858241008 meters Centerline goodness : 0.852969 Centerline is valid? [False, False] Translation: X:14.03, Y:0.60, Z:-0.36 [[ 9.93077077e-01 9.91222029e-02 -6.30294264e-02 1.40335654e+01] [-9.87803961e-02 9.95072749e-01 8.52389196e-03 6.02886502e-01] [ 6.35637715e-02 -2.23881000e-03 9.97975268e-01 -3.63801654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.888241008 meters Centerline goodness : 0.853871 Centerline is valid? [False, False] Translation: X:14.03, Y:0.60, Z:-0.36 [[ 9.93091989e-01 9.86856571e-02 -6.34778873e-02 1.40345779e+01] [-9.83286194e-02 9.95115690e-01 8.73188382e-03 6.01843436e-01] [ 6.40295533e-02 -2.42987085e-03 9.97945045e-01 -3.63084952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.918241008 meters Centerline goodness : 0.854520 Centerline is valid? [False, False] Translation: X:14.04, Y:0.60, Z:-0.36 [[ 9.93104600e-01 9.83035187e-02 -6.38723088e-02 1.40354803e+01] [-9.79348407e-02 9.95153164e-01 8.88517913e-03 6.01141005e-01] [ 6.44361746e-02 -2.56858788e-03 9.97918525e-01 -3.62459384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.948241008 meters Centerline goodness : 0.855213 Centerline is valid? [False, False] Translation: X:14.04, Y:0.60, Z:-0.36 [[ 9.93080999e-01 9.76699564e-02 -6.51974553e-02 1.40444317e+01] [-9.69999347e-02 9.95194556e-01 1.33719452e-02 6.00138946e-01] [ 6.61901899e-02 -6.95527584e-03 9.97782783e-01 -3.59728931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.978241008 meters Centerline goodness : 0.851737 Centerline is valid? [False, False] Translation: X:14.05, Y:0.60, Z:-0.36 [[ 9.93100785e-01 9.72859449e-02 -6.54696528e-02 1.40455468e+01] [-9.66230569e-02 9.95233195e-01 1.32239597e-02 6.00315051e-01] [ 6.64440771e-02 -6.80684680e-03 9.97766932e-01 -3.59944759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.008241008 meters Centerline goodness : 0.854937 Centerline is valid? [False, False] Translation: X:14.05, Y:0.60, Z:-0.36 [[ 9.93445429e-01 9.35185342e-02 -6.57302388e-02 1.40450453e+01] [-9.31368570e-02 9.95613948e-01 8.85394999e-03 6.02600255e-01] [ 6.62699510e-02 -2.67400829e-03 9.97798148e-01 -3.60416903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.038241008 meters Centerline goodness : 0.853195 Centerline is valid? [False, False] Translation: X:14.05, Y:0.60, Z:-0.36 [[ 9.93256887e-01 9.55774649e-02 -6.56178709e-02 1.40469933e+01] [-9.49160131e-02 9.95398664e-01 1.31320494e-02 5.99397135e-01] [ 6.65710689e-02 -6.81531177e-03 9.97758410e-01 -3.58613363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.068241008 meters Centerline goodness : 0.855958 Centerline is valid? [False, False] Translation: X:14.05, Y:0.60, Z:-0.36 [[ 9.93299971e-01 9.49461560e-02 -6.58816735e-02 1.40485374e+01] [-9.43317247e-02 9.95463814e-01 1.23822472e-02 6.01067853e-01] [ 6.67584688e-02 -6.08455389e-03 9.97750613e-01 -3.59666329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.098241008 meters Centerline goodness : 0.857855 Centerline is valid? [False, False] Translation: X:14.05, Y:0.60, Z:-0.36 [[ 9.92975484e-01 9.78668395e-02 -6.64963946e-02 1.40518282e+01] [-9.69797887e-02 9.95150447e-01 1.64471550e-02 5.99445872e-01] [ 6.77835479e-02 -9.88281543e-03 9.97651102e-01 -3.59286961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.128241008 meters Centerline goodness : 0.853999 Centerline is valid? [False, False] Translation: X:14.05, Y:0.60, Z:-0.36 [[ 9.92970531e-01 9.78210194e-02 -6.66376157e-02 1.40524579e+01] [-9.69484594e-02 9.95157354e-01 1.62122185e-02 6.00577165e-01] [ 6.79008091e-02 -9.63784103e-03 9.97645524e-01 -3.59589145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.158241008 meters Centerline goodness : 0.854501 Centerline is valid? [False, False] Translation: X:14.05, Y:0.60, Z:-0.36 [[ 9.92942694e-01 9.80581330e-02 -6.67038931e-02 1.40525430e+01] [-9.71841264e-02 9.95134050e-01 1.62317172e-02 6.01438953e-01] [ 6.79709672e-02 -9.63460543e-03 9.97640778e-01 -3.59275618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.188241008 meters Centerline goodness : 0.855566 Centerline is valid? [False, False] Translation: X:14.05, Y:0.60, Z:-0.36 [[ 9.92936579e-01 9.80133152e-02 -6.68606067e-02 1.40529340e+01] [-9.71499580e-02 9.95140300e-01 1.60520972e-02 6.01687639e-01] [ 6.81090034e-02 -9.44320939e-03 9.97633194e-01 -3.59418322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.218241008 meters Centerline goodness : 0.854504 Centerline is valid? [False, False] Translation: X:14.06, Y:0.60, Z:-0.36 [[ 9.92591738e-01 1.00950603e-01 -6.76063371e-02 1.40563251e+01] [-9.97842004e-02 9.94799511e-01 2.04217242e-02 6.00107564e-01] [ 6.93163364e-02 -1.35243905e-02 9.97503051e-01 -3.58223931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.248241008 meters Centerline goodness : 0.853550 Centerline is valid? [False, False] Translation: X:14.06, Y:0.60, Z:-0.36 [[ 0.99223458 0.10412169 -0.06803825 14.05917192] [-0.10262708 0.9944028 0.02511471 0.59863528] [ 0.07027241 -0.01793711 0.99736656 -0.35666278] [ 0. 0. 0. 1. ]] SLAMing on 178.278241008 meters Centerline goodness : 0.852482 Centerline is valid? [False, False] Translation: X:14.06, Y:0.60, Z:-0.36 [[ 0.99224221 0.10397456 -0.06815189 14.05983446] [-0.1025158 0.99442782 0.02457298 0.60006782] [ 0.0703271 -0.0173957 0.99737229 -0.35740029] [ 0. 0. 0. 1. ]] SLAMing on 178.308241008 meters Centerline goodness : 0.851094 Centerline is valid? [False, False] Translation: X:14.06, Y:0.60, Z:-0.36 [[ 0.99226047 0.10352552 -0.06856844 14.06099472] [-0.10208741 0.99448188 0.02416488 0.60100742] [ 0.07069175 -0.01697788 0.99735371 -0.35749319] [ 0. 0. 0. 1. ]] SLAMing on 178.338241008 meters Centerline goodness : 0.851340 Centerline is valid? [False, False] Translation: X:14.06, Y:0.60, Z:-0.36 [[ 0.99227878 0.10309943 -0.06894441 14.06202637] [-0.10166405 0.99452869 0.02402319 0.60073716] [ 0.07104397 -0.01682853 0.99733122 -0.35728798] [ 0. 0. 0. 1. ]] SLAMing on 178.368241008 meters Centerline goodness : 0.850372 Centerline is valid? [False, False] Translation: X:14.06, Y:0.60, Z:-0.35 [[ 0.99233728 0.10197442 -0.06977066 14.06463356] [-0.10038055 0.99460959 0.02599048 0.59786813] [ 0.07204493 -0.01878771 0.99722442 -0.3530001 ] [ 0. 0. 0. 1. ]] SLAMing on 178.398241008 meters Centerline goodness : 0.851047 Centerline is valid? [False, False] Translation: X:14.07, Y:0.60, Z:-0.35 [[ 0.99238514 0.10092378 -0.07061245 14.067475 ] [-0.09933421 0.99472268 0.02568081 0.59767605] [ 0.07283161 -0.01847103 0.99717319 -0.35336132] [ 0. 0. 0. 1. ]] SLAMing on 178.42824100800001 meters Centerline goodness : 0.852988 Centerline is valid? [False, False] Translation: X:14.08, Y:0.60, Z:-0.35 [[ 0.99232245 0.10094017 -0.071465 14.07515868] [-0.09897633 0.99462176 0.03051634 0.59592754] [ 0.07416097 -0.0232087 0.99697618 -0.35049127] [ 0. 0. 0. 1. ]] SLAMing on 178.45824100800002 meters Centerline goodness : 0.852993 Centerline is valid? [False, False] Translation: X:14.08, Y:0.60, Z:-0.35 [[ 0.99245831 0.09837211 -0.07313986 14.08198476] [-0.09638174 0.99488404 0.03027057 0.59654309] [ 0.07574346 -0.02299294 0.9968622 -0.35022452] [ 0. 0. 0. 1. ]] SLAMing on 178.48824100800002 meters Centerline goodness : 0.854818 Centerline is valid? [False, False] Translation: X:14.08, Y:0.60, Z:-0.35 [[ 0.99246891 0.0980274 -0.0734581 14.08304052] [-0.09603 0.99491852 0.03025523 0.59630852] [ 0.07605067 -0.0229732 0.99683927 -0.35012312] [ 0. 0. 0. 1. ]] SLAMing on 178.518241008 meters Centerline goodness : 0.855372 Centerline is valid? [False, False] Translation: X:14.08, Y:0.60, Z:-0.35 [[ 0.99248623 0.09748707 -0.07394157 14.08459849] [-0.09549368 0.99497666 0.03003997 0.59625313] [ 0.07649865 -0.0227533 0.99681003 -0.35041146] [ 0. 0. 0. 1. ]] SLAMing on 178.548241008 meters Centerline goodness : 0.855492 Centerline is valid? [False, False] Translation: X:14.09, Y:0.60, Z:-0.35 [[ 0.99295334 0.09216772 -0.07449006 14.08703107] [-0.09059771 0.99559362 0.02419516 0.60105479] [ 0.07639184 -0.01727603 0.99692819 -0.35353306] [ 0. 0. 0. 1. ]] SLAMing on 178.578241008 meters Centerline goodness : 0.853010 Centerline is valid? [False, False] Translation: X:14.06, Y:0.61, Z:-0.36 [[ 0.99395444 0.08562991 -0.0687175 14.05631307] [-0.08366941 0.99601364 0.03092333 0.60536326] [ 0.07109153 -0.02498683 0.99715678 -0.35670849] [ 0. 0. 0. 1. ]] SLAMing on 178.608241008 meters Centerline goodness : 0.853766 Centerline is valid? [False, False] Translation: X:14.04, Y:0.61, Z:-0.35 [[ 0.99407324 0.08165242 -0.0717724 14.03765188] [-0.07929173 0.99623149 0.03515164 0.60678039] [ 0.07437214 -0.02925234 0.99680143 -0.35429382] [ 0. 0. 0. 1. ]] SLAMing on 178.638241008 meters Centerline goodness : 0.855131 Centerline is valid? [False, False] Translation: X:14.04, Y:0.61, Z:-0.36 [[ 0.99443063 0.07699451 -0.07196925 14.03801612] [-0.07500681 0.99673379 0.02992891 0.60956616] [ 0.07403854 -0.02436404 0.99695772 -0.35591509] [ 0. 0. 0. 1. ]] SLAMing on 178.668241008 meters Centerline goodness : 0.856603 Centerline is valid? [False, False] Translation: X:14.04, Y:0.61, Z:-0.36 [[ 0.99479469 0.0719314 -0.07217612 14.03888836] [-0.07031733 0.99721973 0.02466338 0.61394118] [ 0.07374952 -0.01945977 0.99708692 -0.35720325] [ 0. 0. 0. 1. ]] SLAMing on 178.698241008 meters Centerline goodness : 0.855894 Centerline is valid? [False, False] Translation: X:14.04, Y:0.62, Z:-0.36 [[ 0.99507836 0.06861785 -0.07148886 14.03815109] [-0.0672658 0.9975108 0.02115447 0.61801151] [ 0.07276248 -0.0162416 0.99721704 -0.35819844] [ 0. 0. 0. 1. ]] SLAMing on 178.728241008 meters Centerline goodness : 0.856665 Centerline is valid? [False, False] Translation: X:14.04, Y:0.62, Z:-0.36 [[ 0.99509247 0.0679566 -0.07192265 14.0395876 ] [-0.06663458 0.99756423 0.02062635 0.61913458] [ 0.07314916 -0.01573259 0.99719691 -0.35848248] [ 0. 0. 0. 1. ]] SLAMing on 178.758241008 meters Centerline goodness : 0.859802 Centerline is valid? [False, False] Translation: X:14.04, Y:0.62, Z:-0.36 [[ 0.99550603 0.07217827 -0.06130288 14.0417811 ] [-0.07082735 0.99720141 0.02393384 0.6164842 ] [ 0.06285882 -0.01948436 0.99783221 -0.35761204] [ 0. 0. 0. 1. ]] SLAMing on 178.788241008 meters Centerline goodness : 0.859103 Centerline is valid? [False, False] Translation: X:14.04, Y:0.62, Z:-0.36 [[ 0.99552644 0.07151654 -0.06174534 14.04321722] [-0.07023755 0.99727324 0.02264448 0.62011362] [ 0.06319643 -0.01820634 0.99783503 -0.35859808] [ 0. 0. 0. 1. ]] SLAMing on 178.818241008 meters Centerline goodness : 0.858762 Centerline is valid? [False, False] Translation: X:14.05, Y:0.62, Z:-0.36 [[ 0.99573189 0.07717975 -0.05060925 14.0461109 ] [-0.07588373 0.99674966 0.02705134 0.61771751] [ 0.05253257 -0.02309546 0.99835211 -0.35991998] [ 0. 0. 0. 1. ]] SLAMing on 178.848241008 meters Centerline goodness : 0.859135 Centerline is valid? [False, False] Translation: X:14.05, Y:0.62, Z:-0.36 [[ 0.99564223 0.07840056 -0.05049654 14.04699316] [-0.07706797 0.99663763 0.02782021 0.61908912] [ 0.05250788 -0.02380731 0.99833668 -0.36089715] [ 0. 0. 0. 1. ]] SLAMing on 178.878241008 meters Centerline goodness : 0.857772 Centerline is valid? [False, False] Translation: X:14.05, Y:0.62, Z:-0.36 [[ 0.99535605 0.08219794 -0.05009815 14.04602163] [-0.08076587 0.99628235 0.02997243 0.62234297] [ 0.05237558 -0.02578701 0.99829446 -0.35932642] [ 0. 0. 0. 1. ]] SLAMing on 178.908241008 meters Centerline goodness : 0.859235 Centerline is valid? [False, False] Translation: X:14.05, Y:0.62, Z:-0.36 [[ 0.99511386 0.08461623 -0.05087731 14.04811392] [-0.08318816 0.99609523 0.02956388 0.62345456] [ 0.05318023 -0.02518704 0.99826724 -0.35940638] [ 0. 0. 0. 1. ]] SLAMing on 178.938241008 meters Centerline goodness : 0.860536 Centerline is valid? [False, False] Translation: X:14.05, Y:0.63, Z:-0.36 [[ 0.99488525 0.08693081 -0.05144298 14.049714 ] [-0.08549902 0.99590404 0.02941183 0.62507148] [ 0.05378907 -0.02486307 0.99824274 -0.35928011] [ 0. 0. 0. 1. ]] SLAMing on 178.968241008 meters Centerline goodness : 0.859428 Centerline is valid? [False, False] Translation: X:14.05, Y:0.63, Z:-0.36 [[ 0.99465695 0.08940205 -0.05162195 14.05055413] [-0.08797142 0.99569036 0.02935528 0.62698936] [ 0.0540239 -0.02465718 0.99823516 -0.35905826] [ 0. 0. 0. 1. ]] SLAMing on 178.998241008 meters Centerline goodness : 0.860955 Centerline is valid? [False, False] Translation: X:14.05, Y:0.63, Z:-0.36 [[ 0.99428541 0.09297191 -0.05246669 14.05317985] [-0.09152457 0.99537018 0.02935049 0.63144048] [ 0.05495255 -0.02438077 0.99819126 -0.3593982 ] [ 0. 0. 0. 1. ]] SLAMing on 179.028241008 meters Centerline goodness : 0.861305 Centerline is valid? [False, False] Translation: X:14.05, Y:0.63, Z:-0.36 [[ 0.99405872 0.09546106 -0.05229204 14.05251985] [-0.09397085 0.99511507 0.03025686 0.63340158] [ 0.05492495 -0.02516317 0.99817336 -0.35806142] [ 0. 0. 0. 1. ]] SLAMing on 179.058241008 meters Centerline goodness : 0.863982 Centerline is valid? [False, False] Translation: X:14.06, Y:0.64, Z:-0.36 [[ 0.99384317 0.09717842 -0.05321759 14.05516713] [-0.09573637 0.99498381 0.02901327 0.63515955] [ 0.05577011 -0.02373978 0.99816137 -0.35855521] [ 0. 0. 0. 1. ]] SLAMing on 179.088241008 meters Centerline goodness : 0.864930 Centerline is valid? [False, False] Translation: X:14.05, Y:0.64, Z:-0.36 [[ 0.99362031 0.09964164 -0.05282252 14.05407174] [-0.09812913 0.99470621 0.03049953 0.63708365] [ 0.05558192 -0.02512153 0.99813805 -0.35685995] [ 0. 0. 0. 1. ]] SLAMing on 179.118241008 meters Centerline goodness : 0.866856 Centerline is valid? [False, False] Translation: X:14.06, Y:0.64, Z:-0.36 [[ 0.993311 0.10192795 -0.05425814 14.05791305] [-0.10050158 0.99453134 0.02840515 0.64048257] [ 0.0568567 -0.02276212 0.99812284 -0.35759207] [ 0. 0. 0. 1. ]] SLAMing on 179.148241008 meters Centerline goodness : 0.865447 Centerline is valid? [False, False] Translation: X:14.06, Y:0.64, Z:-0.36 [[ 0.9932351 0.10264575 -0.05429449 14.0585815 ] [-0.10125712 0.99447337 0.02774379 0.64211377] [ 0.05684221 -0.0220584 0.99813946 -0.35773198] [ 0. 0. 0. 1. ]] SLAMing on 179.17824100800001 meters Centerline goodness : 0.869091 Centerline is valid? [False, False] Translation: X:14.06, Y:0.64, Z:-0.36 [[ 0.99317577 0.10328074 -0.05417549 14.05815069] [-0.10188855 0.99440544 0.0278667 0.6438901 ] [ 0.05675049 -0.02215667 0.99814251 -0.35684414] [ 0. 0. 0. 1. ]] SLAMing on 179.20824100800002 meters Centerline goodness : 0.868830 Centerline is valid? [False, False] Translation: X:14.06, Y:0.65, Z:-0.36 [[ 0.99317556 0.10400081 -0.05278391 14.05666648] [-0.10255388 0.99429214 0.02942524 0.64784083] [ 0.05554287 -0.02381123 0.99817234 -0.35755491] [ 0. 0. 0. 1. ]] SLAMing on 179.23824100800002 meters Centerline goodness : 0.864807 Centerline is valid? [False, False] Translation: X:14.06, Y:0.65, Z:-0.36 [[ 0.99314918 0.10423243 -0.05282333 14.05715519] [-0.10280475 0.99427676 0.02906735 0.64916212] [ 0.05555077 -0.02343773 0.99818074 -0.35768322] [ 0. 0. 0. 1. ]] SLAMing on 179.268241008 meters Centerline goodness : 0.867421 Centerline is valid? [False, False] Translation: X:14.06, Y:0.65, Z:-0.36 [[ 0.9931969 0.10374501 -0.05288572 14.05661892] [-0.10235106 0.99434214 0.02842494 0.64991145] [ 0.05553545 -0.02281865 0.99819593 -0.35664481] [ 0. 0. 0. 1. ]] SLAMing on 179.298241008 meters Centerline goodness : 0.869446 Centerline is valid? [False, False] Translation: X:14.06, Y:0.65, Z:-0.36 [[ 0.99332381 0.10257452 -0.05278515 14.05579524] [-0.10124147 0.99448603 0.02734421 0.6502857 ] [ 0.05529891 -0.02181761 0.99823145 -0.35593579] [ 0. 0. 0. 1. ]] SLAMing on 179.328241008 meters Centerline goodness : 0.869012 Centerline is valid? [False, False] Translation: X:14.05, Y:0.65, Z:-0.36 [[ 0.99370243 0.09962108 -0.05129446 14.0536934 ] [-0.09822987 0.99474199 0.0289702 0.65255216] [ 0.0539108 -0.02374911 0.99826329 -0.35705096] [ 0. 0. 0. 1. ]] SLAMing on 179.358241008 meters Centerline goodness : 0.870903 Centerline is valid? [False, False] Translation: X:14.05, Y:0.65, Z:-0.36 [[ 0.99385197 0.09888388 -0.04980193 14.052353 ] [-0.097384 0.99474194 0.03169893 0.65372272] [ 0.05267458 -0.02665414 0.99825595 -0.35865187] [ 0. 0. 0. 1. ]] SLAMing on 179.388241008 meters Centerline goodness : 0.874443 Centerline is valid? [False, False] Translation: X:14.05, Y:0.65, Z:-0.36 [[ 0.99393559 0.09852985 -0.04882524 14.05147884] [-0.09690088 0.99468958 0.03468236 0.65471356] [ 0.0519832 -0.02974082 0.998205 -0.35966559] [ 0. 0. 0. 1. ]] SLAMing on 179.418241008 meters Centerline goodness : 0.873936 Centerline is valid? [False, False] Translation: X:14.05, Y:0.66, Z:-0.36 [[ 0.99402985 0.09820409 -0.04754583 14.05000886] [-0.09652316 0.99466308 0.03645057 0.65637538] [ 0.05087168 -0.03164368 0.99820376 -0.36057604] [ 0. 0. 0. 1. ]] SLAMing on 179.448241008 meters Centerline goodness : 0.874769 Centerline is valid? [False, False] Translation: X:14.05, Y:0.66, Z:-0.36 [[ 0.99446006 0.09466331 -0.04569507 14.04644743] [-0.09306569 0.99501209 0.03591255 0.66005954] [ 0.04886675 -0.03146096 0.9983097 -0.36055039] [ 0. 0. 0. 1. ]] SLAMing on 179.478241008 meters Centerline goodness : 0.877718 Centerline is valid? [False, False] Translation: X:14.04, Y:0.66, Z:-0.36 [[ 0.99477985 0.09156554 -0.04504222 14.04458235] [-0.09004735 0.9953343 0.03465704 0.66241527] [ 0.04800546 -0.03042019 0.99838374 -0.35986586] [ 0. 0. 0. 1. ]] SLAMing on 179.508241008 meters Centerline goodness : 0.877584 Centerline is valid? [False, False] Translation: X:14.04, Y:0.67, Z:-0.36 [[ 0.99517538 0.08798377 -0.04341443 14.0416651 ] [-0.08655366 0.99567392 0.03379227 0.66505764] [ 0.04619979 -0.02987156 0.99848549 -0.36041106] [ 0. 0. 0. 1. ]] SLAMing on 179.538241008 meters Centerline goodness : 0.881514 Centerline is valid? [False, False] Translation: X:14.04, Y:0.67, Z:-0.36 [[ 0.9955475 0.08438149 -0.04201123 14.03925143] [-0.08302053 0.99599625 0.03315209 0.66782314] [ 0.04464045 -0.02951669 0.99856697 -0.36095894] [ 0. 0. 0. 1. ]] SLAMing on 179.568241008 meters Centerline goodness : 0.884906 Centerline is valid? [False, False] Translation: X:14.02, Y:0.68, Z:-0.36 [[ 0.99634575 0.0794118 -0.0314469 14.02114369] [-0.07807438 0.9960754 0.04169148 0.67612769] [ 0.03463428 -0.03908393 0.99863553 -0.35548324] [ 0. 0. 0. 1. ]] SLAMing on 179.598241008 meters Centerline goodness : 0.887179 Centerline is valid? [False, False] Translation: X:14.02, Y:0.68, Z:-0.36 [[ 0.99654871 0.07744862 -0.02987267 14.01837257] [-0.07616089 0.99620746 0.04207381 0.68097455] [ 0.03301793 -0.03965347 0.99866782 -0.35554015] [ 0. 0. 0. 1. ]] SLAMing on 179.628241008 meters Centerline goodness : 0.891950 Centerline is valid? [False, False] Translation: X:14.02, Y:0.69, Z:-0.35 [[ 0.99666175 0.07642427 -0.02871745 14.01583461] [-0.07520155 0.996305 0.0414859 0.68679979] [ 0.03178186 -0.03918781 0.9987263 -0.35460818] [ 0. 0. 0. 1. ]] SLAMing on 179.658241008 meters Centerline goodness : 0.892329 Centerline is valid? [False, False] Translation: X:14.01, Y:0.69, Z:-0.35 [[ 0.99668329 0.0767414 -0.0270774 14.01249942] [-0.07555203 0.99623533 0.04250962 0.6926954 ] [ 0.03023771 -0.04032287 0.99872907 -0.3533895 ] [ 0. 0. 0. 1. ]] SLAMing on 179.688241008 meters Centerline goodness : 0.902825 Centerline is valid? [False, False] Translation: X:14.00, Y:0.71, Z:-0.35 [[ 0.99657949 0.07934229 -0.02311127 14.0049695 ] [-0.07821737 0.99587103 0.04607538 0.70674695] [ 0.02667157 -0.04411008 0.99867058 -0.35123899] [ 0. 0. 0. 1. ]] SLAMing on 179.718241008 meters Centerline goodness : 0.905298 Centerline is valid? [False, False] Translation: X:14.00, Y:0.72, Z:-0.34 [[ 0.99650735 0.07606897 -0.03444715 14.00241075] [-0.07432283 0.99600925 0.04941343 0.7174318 ] [ 0.03806851 -0.04668064 0.9981842 -0.3440034 ] [ 0. 0. 0. 1. ]] SLAMing on 179.748241008 meters Centerline goodness : 0.908994 Centerline is valid? [False, False] Translation: X:14.00, Y:0.73, Z:-0.35 [[ 0.99655536 0.07523435 -0.03488849 14.00412981] [-0.07356375 0.99618605 0.04692261 0.72699918] [ 0.03828561 -0.04419445 0.99828907 -0.34564669] [ 0. 0. 0. 1. ]] SLAMing on 179.778241008 meters Centerline goodness : 0.908994 Centerline is valid? [False, False] Translation: X:14.00, Y:0.73, Z:-0.35 [[ 0.99655536 0.07523435 -0.03488849 14.00412981] [-0.07356375 0.99618605 0.04692261 0.72699918] [ 0.03828561 -0.04419445 0.99828907 -0.34564669] [ 0. 0. 0. 1. ]] SLAMing on 179.808241008 meters Centerline goodness : 0.909081 Centerline is valid? [False, False] Translation: X:14.01, Y:0.74, Z:-0.35 [[ 0.99659226 0.07455138 -0.03529806 14.00571733] [-0.0729477 0.99633226 0.04472874 0.73665796] [ 0.03850319 -0.0420014 0.99837537 -0.34694733] [ 0. 0. 0. 1. ]] SLAMing on 179.838241008 meters Centerline goodness : 0.914436 Centerline is valid? [False, False] Translation: X:14.01, Y:0.75, Z:-0.35 [[ 0.99641816 0.07651179 -0.03601095 14.00861366] [-0.07487713 0.99618848 0.04474279 0.75383959] [ 0.03929705 -0.04188613 0.99834928 -0.34768194] [ 0. 0. 0. 1. ]] SLAMing on 179.868241008 meters Centerline goodness : 0.916015 Centerline is valid? [False, False] Translation: X:14.01, Y:0.76, Z:-0.35 [[ 0.99646044 0.07582694 -0.03628868 14.00937888] [-0.07427589 0.99633867 0.04233611 0.76326246] [ 0.03936603 -0.03949088 0.99844418 -0.34838955] [ 0. 0. 0. 1. ]] SLAMing on 179.898241008 meters Centerline goodness : 0.918388 Centerline is valid? [False, False] Translation: X:14.01, Y:0.77, Z:-0.35 [[ 0.99649591 0.0752121 -0.03659295 14.01009389] [-0.07373496 0.99646856 0.04016913 0.77162025] [ 0.03948493 -0.0373302 0.99852261 -0.34881943] [ 0. 0. 0. 1. ]] SLAMing on 179.92824100800001 meters Centerline goodness : 0.918222 Centerline is valid? [False, False] Translation: X:14.01, Y:0.78, Z:-0.35 [[ 0.99653734 0.07448102 -0.03695819 14.01107555] [-0.07308207 0.996607 0.03786145 0.78021212] [ 0.03965275 -0.03502936 0.99859932 -0.34946011] [ 0. 0. 0. 1. ]] SLAMing on 179.95824100800002 meters Centerline goodness : 0.920640 Centerline is valid? [False, False] Translation: X:14.01, Y:0.80, Z:-0.35 [[ 0.99632696 0.07705112 -0.03735915 14.01314493] [-0.07563896 0.99641679 0.03784615 0.79854638] [ 0.04014138 -0.03488133 0.99858498 -0.35010057] [ 0. 0. 0. 1. ]] SLAMing on 179.98824100800002 meters Centerline goodness : 0.921898 Centerline is valid? [False, False] Translation: X:14.02, Y:0.81, Z:-0.35 [[ 0.99611373 0.07944668 -0.03802193 14.01631453] [-0.07797065 0.99619852 0.03884686 0.80731124] [ 0.04096365 -0.0357313 0.99852153 -0.35172429] [ 0. 0. 0. 1. ]] SLAMing on 180.018241008 meters Centerline goodness : 0.922399 Centerline is valid? [False, False] Translation: X:14.02, Y:0.82, Z:-0.35 [[ 0.99588239 0.0820442 -0.03856189 14.01912889] [-0.08050054 0.99595114 0.04001231 0.81571166] [ 0.04168853 -0.0367433 0.9984548 -0.35317862] [ 0. 0. 0. 1. ]] SLAMing on 180.048241008 meters Centerline goodness : 0.922712 Centerline is valid? [False, False] Translation: X:14.02, Y:0.83, Z:-0.35 [[ 0.99552164 0.08638686 -0.03839238 14.02009615] [-0.08481129 0.99555594 0.04093196 0.83328232] [ 0.04175775 -0.03749254 0.99842406 -0.35421616] [ 0. 0. 0. 1. ]] SLAMing on 180.078241008 meters Centerline goodness : 0.922258 Centerline is valid? [False, False] Translation: X:14.04, Y:0.84, Z:-0.36 [[ 0.99552638 0.08790122 -0.03464971 14.03623825] [-0.08682599 0.99572836 0.03140496 0.84229212] [ 0.03726224 -0.02825597 0.99890596 -0.35903538] [ 0. 0. 0. 1. ]] SLAMing on 180.108241008 meters Centerline goodness : 0.920937 Centerline is valid? [False, False] Translation: X:14.04, Y:0.85, Z:-0.36 [[ 0.99527901 0.09060291 -0.03479669 14.03719861] [-0.08945904 0.99543918 0.03313474 0.84924263] [ 0.03764009 -0.02986543 0.99884497 -0.35878246] [ 0. 0. 0. 1. ]] SLAMing on 180.138241008 meters Centerline goodness : 0.919584 Centerline is valid? [False, False] Translation: X:14.05, Y:0.87, Z:-0.36 [[ 0.99507635 0.09462513 -0.0294812 14.05264086] [-0.09387509 0.9952479 0.02586675 0.86786886] [ 0.03178875 -0.02297184 0.99923059 -0.36392315] [ 0. 0. 0. 1. ]] SLAMing on 180.168241008 meters Centerline goodness : 0.920037 Centerline is valid? [False, False] Translation: X:14.07, Y:0.88, Z:-0.37 [[ 0.99496615 0.09693193 -0.02542756 14.06864578] [-0.09651473 0.99518372 0.01715425 0.87716785] [ 0.02696789 -0.01461377 0.99952947 -0.36861712] [ 0. 0. 0. 1. ]] SLAMing on 180.198241008 meters Centerline goodness : 0.918698 Centerline is valid? [False, False] Translation: X:14.07, Y:0.88, Z:-0.37 [[ 0.99466952 0.09988855 -0.02558951 14.06992873] [-0.09942556 0.99486793 0.01877114 0.88466223] [ 0.02733321 -0.01612683 0.99949628 -0.36857544] [ 0. 0. 0. 1. ]] SLAMing on 180.228241008 meters Centerline goodness : 0.915138 Centerline is valid? [False, False] Translation: X:14.07, Y:0.89, Z:-0.37 [[ 0.99434745 0.10297067 -0.0258879 14.07176691] [-0.10246362 0.99453147 0.02020778 0.89294252] [ 0.02782714 -0.01744099 0.99946059 -0.36898405] [ 0. 0. 0. 1. ]] SLAMing on 180.258241008 meters Centerline goodness : 0.915978 Centerline is valid? [False, False] Translation: X:14.07, Y:0.90, Z:-0.37 [[ 0.99401561 0.10608819 -0.02604343 14.07358503] [-0.10554362 0.99418295 0.0214664 0.90217254] [ 0.02816927 -0.01858922 0.9994303 -0.36969351] [ 0. 0. 0. 1. ]] SLAMing on 180.288241008 meters Centerline goodness : 0.913825 Centerline is valid? [False, False] Translation: X:14.08, Y:0.92, Z:-0.37 [[ 9.93344309e-01 1.11280631e-01 -2.97271729e-02 1.40824711e+01] [-1.10916766e-01 9.93736284e-01 1.36260193e-02 9.23531210e-01] [ 3.10572824e-02 -1.02380869e-02 9.99465170e-01 -3.73187357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.318241008 meters Centerline goodness : 0.911344 Centerline is valid? [False, False] Translation: X:14.08, Y:0.94, Z:-0.37 [[ 9.93319865e-01 1.07724783e-01 -4.13644454e-02 1.40805629e+01] [-1.07580550e-01 9.94180011e-01 5.70363724e-03 9.37967280e-01] [ 4.17381278e-02 -1.21552637e-03 9.99127845e-01 -3.70841368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.348241008 meters Centerline goodness : 0.909259 Centerline is valid? [False, False] Translation: X:14.08, Y:0.95, Z:-0.37 [[ 9.93267485e-01 1.03031919e-01 -5.29540117e-02 1.40772375e+01] [-1.03239531e-01 9.94655808e-01 -1.19297011e-03 9.51626852e-01] [ 5.25481013e-02 6.65188577e-03 9.98596239e-01 -3.67672280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.378241008 meters Centerline goodness : 0.910917 Centerline is valid? [False, False] Translation: X:14.08, Y:0.96, Z:-0.37 [[ 9.93341060e-01 1.01946766e-01 -5.36693100e-02 1.40798941e+01] [-1.02354890e-01 9.94735856e-01 -4.90432183e-03 9.59745275e-01] [ 5.28868073e-02 1.03649806e-02 9.98546720e-01 -3.67896365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.408241008 meters Centerline goodness : 0.909276 Centerline is valid? [False, False] Translation: X:14.10, Y:0.99, Z:-0.38 [[ 0.99326648 0.09722707 -0.06299678 14.101689 ] [-0.10052754 0.99359922 -0.05152473 0.98682636] [ 0.05758395 0.05751069 0.9966828 -0.37734224] [ 0. 0. 0. 1. ]] SLAMing on 180.438241008 meters Centerline goodness : 0.907861 Centerline is valid? [False, False] Translation: X:14.10, Y:0.99, Z:-0.38 [[ 0.99331851 0.09737678 -0.06193632 14.10113828] [-0.10056661 0.99364014 -0.05065196 0.99351873] [ 0.05661009 0.05654225 0.996794 -0.37827482] [ 0. 0. 0. 1. ]] SLAMing on 180.468241008 meters Centerline goodness : 0.906510 Centerline is valid? [False, False] Translation: X:14.10, Y:1.00, Z:-0.38 [[ 0.99329765 0.09835958 -0.06070558 14.0996443 ] [-0.10139481 0.99363284 -0.04912099 0.99982949] [ 0.05548754 0.05494699 0.99694632 -0.37837584] [ 0. 0. 0. 1. ]] SLAMing on 180.498241008 meters Centerline goodness : 0.905234 Centerline is valid? [False, False] Translation: X:14.10, Y:1.01, Z:-0.38 [[ 0.99340825 0.09706308 -0.0609821 14.10154679] [-0.10029523 0.99357786 -0.0523823 1.0078527 ] [ 0.05550608 0.05815322 0.9967634 -0.37851053] [ 0. 0. 0. 1. ]] SLAMing on 180.528241008 meters Centerline goodness : 0.904835 Centerline is valid? [False, False] Translation: X:14.10, Y:1.01, Z:-0.38 [[ 0.99339512 0.09816307 -0.05941503 14.09912384] [-0.10121941 0.9935653 -0.05081964 1.01457727] [ 0.0540441 0.05649793 0.99693892 -0.3782613 ] [ 0. 0. 0. 1. ]] SLAMing on 180.558241008 meters Centerline goodness : 0.905183 Centerline is valid? [False, False] Translation: X:14.10, Y:1.03, Z:-0.38 [[ 0.99374003 0.09545066 -0.0580511 14.10008544] [-0.09845908 0.99381394 -0.05137764 1.03149457] [ 0.05278796 0.05677167 0.99699068 -0.37998504] [ 0. 0. 0. 1. ]] SLAMing on 180.588241008 meters Centerline goodness : 0.905912 Centerline is valid? [False, False] Translation: X:14.10, Y:1.04, Z:-0.38 [[ 0.9939225 0.09431323 -0.05677208 14.09936477] [-0.09725131 0.99393043 -0.05142454 1.0396889 ] [ 0.05157749 0.05663317 0.99706191 -0.38137439] [ 0. 0. 0. 1. ]] SLAMing on 180.618241008 meters Centerline goodness : 0.904322 Centerline is valid? [False, False] Translation: X:14.10, Y:1.05, Z:-0.38 [[ 0.99396528 0.0946487 -0.05544949 14.09792578] [-0.09745735 0.99396543 -0.05034659 1.04707859] [ 0.05034963 0.05544672 0.99719134 -0.38178268] [ 0. 0. 0. 1. ]] SLAMing on 180.648241008 meters Centerline goodness : 0.903678 Centerline is valid? [False, False] Translation: X:14.10, Y:1.06, Z:-0.38 [[ 0.99418125 0.09310186 -0.05418202 14.0979042 ] [-0.09592208 0.99402917 -0.05200926 1.06152674] [ 0.04901635 0.05690389 0.99717568 -0.38260768] [ 0. 0. 0. 1. ]] SLAMing on 180.67824100800001 meters Centerline goodness : 0.905436 Centerline is valid? [False, False] Translation: X:14.10, Y:1.07, Z:-0.38 [[ 0.99425164 0.09300821 -0.05303907 14.09665578] [-0.09578266 0.99402143 -0.0524126 1.06952082] [ 0.04784717 0.05719154 0.99721601 -0.3823992 ] [ 0. 0. 0. 1. ]] SLAMing on 180.70824100800002 meters Centerline goodness : 0.905716 Centerline is valid? [False, False] Translation: X:14.10, Y:1.08, Z:-0.38 [[ 0.99419245 0.09404049 -0.05232368 14.0965903 ] [-0.09678332 0.99391371 -0.05261688 1.07844557] [ 0.0470571 0.05737537 0.99724305 -0.38202839] [ 0. 0. 0. 1. ]] SLAMing on 180.73824100800002 meters Centerline goodness : 0.904264 Centerline is valid? [False, False] Translation: X:14.10, Y:1.09, Z:-0.38 [[ 0.99408541 0.09545135 -0.05180004 14.09767313] [-0.09818192 0.99375566 -0.05300938 1.08883211] [ 0.04641677 0.05778168 0.9972496 -0.3821549 ] [ 0. 0. 0. 1. ]] SLAMing on 180.76824100800002 meters Centerline goodness : 0.902577 Centerline is valid? [False, False] Translation: X:14.11, Y:1.11, Z:-0.38 [[ 0.99375672 0.09800221 -0.05332125 14.10559859] [-0.10069516 0.99363973 -0.05040404 1.11077328] [ 0.04804241 0.05545855 0.99730451 -0.37998942] [ 0. 0. 0. 1. ]] SLAMing on 180.798241008 meters Centerline goodness : 0.902721 Centerline is valid? [False, False] Translation: X:14.11, Y:1.12, Z:-0.38 [[ 0.99354387 0.10009227 -0.05340517 14.10781665] [-0.10281614 0.99339441 -0.0509547 1.12124448] [ 0.04795222 0.05611665 0.99727203 -0.37965884] [ 0. 0. 0. 1. ]] SLAMing on 180.828241008 meters Centerline goodness : 0.900610 Centerline is valid? [False, False] Translation: X:14.11, Y:1.13, Z:-0.38 [[ 0.99332532 0.1022773 -0.05333065 14.10917465] [-0.10502216 0.9931361 -0.05148808 1.13148968] [ 0.04769853 0.05674532 0.99724862 -0.37857702] [ 0. 0. 0. 1. ]] SLAMing on 180.858241008 meters Centerline goodness : 0.901620 Centerline is valid? [False, False] Translation: X:14.11, Y:1.14, Z:-0.38 [[ 0.9931041 0.10433042 -0.05347337 14.11080711] [-0.1071341 0.99285451 -0.05255672 1.14251653] [ 0.04760801 0.05792312 0.99718523 -0.37705316] [ 0. 0. 0. 1. ]] SLAMing on 180.888241008 meters Centerline goodness : 0.900810 Centerline is valid? [False, False] Translation: X:14.11, Y:1.15, Z:-0.38 [[ 0.99262997 0.10943648 -0.05205187 14.10942924] [-0.11200002 0.99249047 -0.04917988 1.15200535] [ 0.04627892 0.05464724 0.99743268 -0.37545656] [ 0. 0. 0. 1. ]] SLAMing on 180.918241008 meters Centerline goodness : 0.901323 Centerline is valid? [False, False] Translation: X:14.11, Y:1.18, Z:-0.37 [[ 0.99224418 0.11302495 -0.05173825 14.11076945] [-0.11569251 0.99193124 -0.05184269 1.17902257] [ 0.04546127 0.05742633 0.99731414 -0.37086497] [ 0. 0. 0. 1. ]] SLAMing on 180.948241008 meters Centerline goodness : 0.900608 Centerline is valid? [False, False] Translation: X:14.11, Y:1.19, Z:-0.37 [[ 0.99198131 0.11535668 -0.0516325 14.11180011] [-0.11804984 0.99161576 -0.05255875 1.19096319] [ 0.04513659 0.05823251 0.99728214 -0.36887434] [ 0. 0. 0. 1. ]] SLAMing on 180.978241008 meters Centerline goodness : 0.904018 Centerline is valid? [False, False] Translation: X:14.11, Y:1.20, Z:-0.37 [[ 0.99173548 0.11721238 -0.05217266 14.11392081] [-0.11997771 0.991336 -0.05346295 1.20277848] [ 0.04545412 0.05928066 0.99720596 -0.36664472] [ 0. 0. 0. 1. ]] SLAMing on 181.008241008 meters Centerline goodness : 0.903724 Centerline is valid? [False, False] Translation: X:14.12, Y:1.21, Z:-0.37 [[ 0.99198055 0.11829273 -0.04451309 14.11645291] [-0.12010032 0.99193977 -0.04039075 1.209017 ] [ 0.03937637 0.04541287 0.99819195 -0.3663247 ] [ 0. 0. 0. 1. ]] SLAMing on 181.038241008 meters Centerline goodness : 0.903432 Centerline is valid? [False, False] Translation: X:14.11, Y:1.23, Z:-0.37 [[ 0.99181386 0.12093089 -0.04099984 14.11219795] [-0.12248841 0.99174699 -0.03787481 1.23255998] [ 0.03608123 0.04258676 0.99844104 -0.36597195] [ 0. 0. 0. 1. ]] SLAMing on 181.068241008 meters Centerline goodness : 0.901647 Centerline is valid? [False, False] Translation: X:14.11, Y:1.24, Z:-0.37 [[ 0.99127268 0.12556928 -0.04013517 14.11304826] [-0.1269789 0.9912969 -0.03473937 1.24272519] [ 0.03542367 0.03953251 0.99859018 -0.36578862] [ 0. 0. 0. 1. ]] SLAMing on 181.098241008 meters Centerline goodness : 0.904320 Centerline is valid? [False, False] Translation: X:14.11, Y:1.25, Z:-0.37 [[ 0.99063406 0.1307109 -0.03948176 14.1148018 ] [-0.13196733 0.99076649 -0.03108664 1.25296713] [ 0.03505384 0.03600579 0.99873661 -0.36611193] [ 0. 0. 0. 1. ]] SLAMing on 181.128241008 meters Centerline goodness : 0.904814 Centerline is valid? [False, False] Translation: X:14.11, Y:1.28, Z:-0.37 [[ 0.99015046 0.13514021 -0.03659483 14.11449754] [-0.13612832 0.99035001 -0.02599867 1.27639866] [ 0.03272822 0.03072419 0.99899194 -0.3680195 ] [ 0. 0. 0. 1. ]] SLAMing on 181.158241008 meters Centerline goodness : 0.903639 Centerline is valid? [False, False] Translation: X:14.12, Y:1.29, Z:-0.37 [[ 0.98979411 0.13769905 -0.03669582 14.11645536] [-0.13864763 0.99003407 -0.02468543 1.28556418] [ 0.03293095 0.02952128 0.99902154 -0.36768907] [ 0. 0. 0. 1. ]] SLAMing on 181.188241008 meters Centerline goodness : 0.903608 Centerline is valid? [False, False] Translation: X:14.12, Y:1.29, Z:-0.37 [[ 0.98950936 0.13976373 -0.03656956 14.11814729] [-0.14068888 0.98976121 -0.02407041 1.29446578] [ 0.03283097 0.02896282 0.99904118 -0.36791954] [ 0. 0. 0. 1. ]] SLAMing on 181.218241008 meters Centerline goodness : 0.904062 Centerline is valid? [False, False] Translation: X:14.12, Y:1.30, Z:-0.37 [[ 0.98924086 0.141666 -0.03651389 14.11981445] [-0.14257416 0.98950305 -0.02358671 1.30372678] [ 0.03278917 0.02853887 0.99905475 -0.36788901] [ 0. 0. 0. 1. ]] SLAMing on 181.248241008 meters Centerline goodness : 0.905534 Centerline is valid? [False, False] Translation: X:14.12, Y:1.33, Z:-0.37 [[ 0.98929016 0.1420712 -0.03347766 14.11596204] [-0.14283522 0.98950977 -0.02164539 1.32693856] [ 0.03005128 0.02619536 0.99920505 -0.36818204] [ 0. 0. 0. 1. ]] SLAMing on 181.278241008 meters Centerline goodness : 0.906772 Centerline is valid? [False, False] Translation: X:14.12, Y:1.34, Z:-0.37 [[ 0.98905442 0.14375727 -0.03324472 14.11633645] [-0.14450654 0.98927363 -0.02134347 1.33679191] [ 0.02981984 0.02591393 0.99921932 -0.36700432] [ 0. 0. 0. 1. ]] SLAMing on 181.308241008 meters Centerline goodness : 0.907726 Centerline is valid? [False, False] Translation: X:14.12, Y:1.35, Z:-0.37 [[ 0.98878793 0.14564801 -0.03294051 14.11646908] [-0.14637768 0.98900728 -0.02093276 1.34585206] [ 0.02952959 0.02551982 0.99923808 -0.36568782] [ 0. 0. 0. 1. ]] SLAMing on 181.338241008 meters Centerline goodness : 0.907805 Centerline is valid? [False, False] Translation: X:14.12, Y:1.36, Z:-0.36 [[ 0.98852906 0.14746574 -0.03262146 14.11679574] [-0.14817652 0.98874736 -0.02055205 1.35512832] [ 0.02922366 0.02515004 0.99925645 -0.36465172] [ 0. 0. 0. 1. ]] SLAMing on 181.368241008 meters Centerline goodness : 0.911891 Centerline is valid? [False, False] Translation: X:14.11, Y:1.38, Z:-0.36 [[ 0.9884395 0.14872208 -0.02948058 14.11127567] [-0.14929692 0.98862208 -0.01835235 1.377496 ] [ 0.02641575 0.02254155 0.99939686 -0.36342734] [ 0. 0. 0. 1. ]] SLAMing on 181.398241008 meters Centerline goodness : 0.909721 Centerline is valid? [False, False] Translation: X:14.11, Y:1.39, Z:-0.36 [[ 0.98814529 0.15072365 -0.02917659 14.11211518] [-0.15128051 0.98832856 -0.01791274 1.38733563] [ 0.02613618 0.02211424 0.99941376 -0.36274878] [ 0. 0. 0. 1. ]] SLAMing on 181.42824100800001 meters Centerline goodness : 0.911034 Centerline is valid? [False, False] Translation: X:14.11, Y:1.40, Z:-0.36 [[ 0.98781771 0.1529363 -0.02875171 14.11298021] [-0.15346465 0.98800522 -0.01715472 1.39612869] [ 0.02578326 0.02135811 0.99943937 -0.36259078] [ 0. 0. 0. 1. ]] SLAMing on 181.45824100800002 meters Centerline goodness : 0.909042 Centerline is valid? [False, False] Translation: X:14.12, Y:1.41, Z:-0.36 [[ 0.9870581 0.15801083 -0.02736558 14.11513875] [-0.15844501 0.98726154 -0.01448578 1.4127018 ] [ 0.02472808 0.01863425 0.99952053 -0.36400888] [ 0. 0. 0. 1. ]] SLAMing on 181.48824100800002 meters Centerline goodness : 0.909514 Centerline is valid? [False, False] Translation: X:14.12, Y:1.42, Z:-0.36 [[ 9.86611745e-01 1.60813541e-01 -2.71342749e-02 1.41171071e+01] [-1.61216741e-01 9.86828367e-01 -1.33767020e-02 1.42144840e+00] [ 2.46257174e-02 1.75721107e-02 9.99542293e-01 -3.64330890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.51824100800002 meters Centerline goodness : 0.907361 Centerline is valid? [False, False] Translation: X:14.12, Y:1.43, Z:-0.36 [[ 9.86145113e-01 1.63665475e-01 -2.70449407e-02 1.41195736e+01] [-1.64036018e-01 9.86380284e-01 -1.20880027e-02 1.42994430e+00] [ 2.46982076e-02 1.63568691e-02 9.99561129e-01 -3.64888774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.548241008 meters Centerline goodness : 0.905378 Centerline is valid? [False, False] Translation: X:14.12, Y:1.44, Z:-0.37 [[ 9.85689530e-01 1.66395826e-01 -2.69922107e-02 1.41221834e+01] [-1.66731587e-01 9.85944368e-01 -1.06901952e-02 1.43728427e+00] [ 2.48340142e-02 1.50376676e-02 9.99578481e-01 -3.65759039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.578241008 meters Centerline goodness : 0.904374 Centerline is valid? [False, False] Translation: X:14.12, Y:1.44, Z:-0.37 [[ 9.85246680e-01 1.69021508e-01 -2.68460309e-02 1.41244740e+01] [-1.69316581e-01 9.85519603e-01 -9.11083002e-03 1.44321747e+00] [ 2.49173634e-02 1.35218932e-02 9.99598061e-01 -3.66753415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.608241008 meters Centerline goodness : 0.901833 Centerline is valid? [False, False] Translation: X:14.13, Y:1.45, Z:-0.37 [[ 9.84860717e-01 1.71217365e-01 -2.70921033e-02 1.41286681e+01] [-1.71506596e-01 9.85144366e-01 -8.72158392e-03 1.45443922e+00] [ 2.51963463e-02 1.32360198e-02 9.99594894e-01 -3.68150884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.638241008 meters Centerline goodness : 0.901833 Centerline is valid? [False, False] Translation: X:14.13, Y:1.45, Z:-0.37 [[ 9.84860717e-01 1.71217365e-01 -2.70921033e-02 1.41286681e+01] [-1.71506596e-01 9.85144366e-01 -8.72158392e-03 1.45443922e+00] [ 2.51963463e-02 1.32360198e-02 9.99594894e-01 -3.68150884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.668241008 meters Centerline goodness : 0.901179 Centerline is valid? [False, False] Translation: X:14.13, Y:1.46, Z:-0.37 [[ 9.84964373e-01 1.70536643e-01 -2.76122757e-02 1.41305317e+01] [-1.70875940e-01 9.85237491e-01 -1.04163499e-02 1.46004224e+00] [ 2.54282799e-02 1.49780071e-02 9.99564436e-01 -3.68368419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.698241008 meters Centerline goodness : 0.900462 Centerline is valid? [False, False] Translation: X:14.13, Y:1.47, Z:-0.37 [[ 9.85098452e-01 1.69683798e-01 -2.80793171e-02 1.41319718e+01] [-1.70074826e-01 9.85356107e-01 -1.21612846e-02 1.46549007e+00] [ 2.56045536e-02 1.67556475e-02 9.99531718e-01 -3.68310052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.728241008 meters Centerline goodness : 0.901612 Centerline is valid? [False, False] Translation: X:14.13, Y:1.47, Z:-0.37 [[ 9.85229752e-01 1.68863103e-01 -2.84180791e-02 1.41329999e+01] [-1.69303259e-01 9.85466653e-01 -1.38521446e-02 1.47077675e+00] [ 2.56659531e-02 1.84588184e-02 9.99500141e-01 -3.68059805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.758241008 meters Centerline goodness : 0.899542 Centerline is valid? [False, False] Translation: X:14.13, Y:1.48, Z:-0.37 [[ 0.98543933 0.16757245 -0.02878884 14.1342297 ] [-0.1680837 0.98563715 -0.01634868 1.47914971] [ 0.02563576 0.02094956 0.99945181 -0.36732955] [ 0. 0. 0. 1. ]] SLAMing on 181.788241008 meters Centerline goodness : 0.898999 Centerline is valid? [False, False] Translation: X:14.13, Y:1.48, Z:-0.37 [[ 0.98553613 0.16695474 -0.02906277 14.13497183] [-0.16750282 0.98571526 -0.01755645 1.48253709] [ 0.02571649 0.02217061 0.9994234 -0.36711279] [ 0. 0. 0. 1. ]] SLAMing on 181.818241008 meters Centerline goodness : 0.895762 Centerline is valid? [False, False] Translation: X:14.14, Y:1.49, Z:-0.37 [[ 0.98562796 0.16639114 -0.02918082 14.13544124] [-0.16696999 0.98578552 -0.01865296 1.48551522] [ 0.02566234 0.0232572 0.99940009 -0.36701047] [ 0. 0. 0. 1. ]] SLAMing on 181.848241008 meters Centerline goodness : 0.878804 Centerline is valid? [False, False] Translation: X:14.14, Y:1.49, Z:-0.37 [[ 0.9858121 0.16527515 -0.02930246 14.13682271] [-0.16590822 0.98592469 -0.02066302 1.4916977 ] [ 0.02547494 0.02523138 0.999357 -0.36739502] [ 0. 0. 0. 1. ]] SLAMing on 181.878241008 meters Centerline goodness : 0.910120 Centerline is valid? [False, False] Translation: X:14.14, Y:1.49, Z:-0.37 [[ 0.98589576 0.16471977 -0.02961329 14.13840858] [-0.1653839 0.98599341 -0.02156737 1.49442128] [ 0.02564593 0.02616074 0.99932873 -0.36821619] [ 0. 0. 0. 1. ]] SLAMing on 181.908241008 meters Centerline goodness : 0.911063 Centerline is valid? [False, False] Translation: X:14.14, Y:1.50, Z:-0.37 [[ 0.98598428 0.16414506 -0.02985632 14.13988918] [-0.16483411 0.98606947 -0.02228729 1.49638418] [ 0.02578206 0.02689626 0.9993057 -0.36922421] [ 0. 0. 0. 1. ]] SLAMing on 181.938241008 meters Centerline goodness : 0.247318 Centerline is valid? [False, False] Translation: X:14.14, Y:1.50, Z:-0.37 [[ 0.98610376 0.16339417 -0.03002879 14.1409233 ] [-0.16411209 0.98616827 -0.02322435 1.49851552] [ 0.02581872 0.02782971 0.99927919 -0.36978188] [ 0. 0. 0. 1. ]] SLAMing on 181.968241008 meters Centerline goodness : 0.248317 Centerline is valid? [False, False] Translation: X:14.14, Y:1.50, Z:-0.37 [[ 0.9864884 0.16097031 -0.03048287 14.14353552] [-0.16176567 0.98649426 -0.02570877 1.50262443] [ 0.02593283 0.03029248 0.99920461 -0.37127368] [ 0. 0. 0. 1. ]] Total time of SLAM: 10207.76 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%| | 0/6066 [00:00