+ python -m lidar_slam --no-model /working/d5aa3c33-48d8-4611-9c96-4486a3c9bf0a Lidar SLAM 0.0.14 ===================================================== The recording path: /working/d5aa3c33-48d8-4611-9c96-4486a3c9bf0a 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 0.00719347 Adjusted end_distance from 9.223372036854776e+18 to 204.37719347 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.00719347 meters SLAMing on 0.03719347 meters SLAMing on 0.06719347 meters SLAMing on 0.09719347 meters SLAMing on 0.12719347 meters SLAMing on 0.15719347 meters SLAMing on 0.18719347 meters Centerline goodness : 0.202786 Centerline is valid? [0, False] SLAMing on 0.21719347 meters Centerline goodness : 0.208703 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.11, Z:-0.02 [[ 0.99835962 0.05108962 -0.02584426 -0.01128212] [-0.05091748 0.99867636 0.00727592 -0.10877452] [ 0.02618177 -0.00594806 0.9996395 -0.01823677] [ 0. 0. 0. 1. ]] SLAMing on 0.24719347 meters Centerline goodness : 0.224510 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.16, Z:-0.03 [[ 0.99383518 0.09786742 -0.05209231 0.05874682] [-0.09710656 0.99512968 0.01694798 -0.16338657] [ 0.05349726 -0.011785 0.99849845 -0.02638667] [ 0. 0. 0. 1. ]] SLAMing on 0.27719347 meters Centerline goodness : 0.150980 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.19, Z:-0.02 [[ 0.99601238 0.05886655 -0.06703776 0.16022876] [-0.05830115 0.99824527 0.01036116 -0.18926984] [ 0.06753005 -0.00641147 0.99769664 -0.02482368] [ 0. 0. 0. 1. ]] SLAMing on 0.30719346999999997 meters Centerline goodness : 0.145944 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.19, Z:-0.03 [[ 0.99438689 0.06439293 -0.08395395 0.24287493] [-0.06383468 0.99791697 0.00931965 -0.19174805] [ 0.08437919 -0.00390816 0.99642605 -0.03151281] [ 0. 0. 0. 1. ]] SLAMing on 0.33719346999999994 meters Centerline goodness : 0.144049 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.22, Z:-0.03 [[ 0.99014315 0.09845339 -0.0996166 0.30040481] [-0.09807763 0.99514096 0.00867435 -0.22053571] [ 0.09998658 0.00118131 0.99498808 -0.0327562 ] [ 0. 0. 0. 1. ]] SLAMing on 0.36719346999999997 meters Centerline goodness : 0.140111 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.22, Z:-0.03 [[ 0.9872476 0.12531633 -0.09817332 0.35175594] [-0.12539692 0.9920921 0.00537348 -0.2217917 ] [ 0.09807036 0.00700568 0.99515482 -0.02842424] [ 0. 0. 0. 1. ]] SLAMing on 0.39719347 meters Centerline goodness : 0.158979 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.24, Z:-0.02 [[ 0.98928428 0.10918936 -0.09692417 0.38619297] [-0.1099564 0.99393303 -0.00259199 -0.24205826] [ 0.09605311 0.01322165 0.99528839 -0.02027075] [ 0. 0. 0. 1. ]] SLAMing on 0.42719346999999996 meters Centerline goodness : 0.162075 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.25, Z:-0.02 [[ 9.88312932e-01 1.11336980e-01 -1.04123127e-01 4.00711725e-01] [-1.12035311e-01 9.93703851e-01 -8.63990174e-04 -2.54755012e-01] [ 1.03371359e-01 1.25193596e-02 9.94564039e-01 -2.16702687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.45719346999999994 meters Centerline goodness : 0.336187 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.27, Z:-0.02 [[ 0.98856288 0.10765677 -0.10560988 0.40443338] [-0.10841149 0.9941051 -0.00141496 -0.26540663] [ 0.10483499 0.0128481 0.99440663 -0.024815 ] [ 0. 0. 0. 1. ]] SLAMing on 0.48719346999999996 meters Centerline goodness : 0.777315 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.25, Z:-0.02 [[ 0.98702933 0.12231662 -0.10397955 0.42528839] [-0.1226702 0.99244292 0.00301191 -0.25220729] [ 0.10356217 0.00978235 0.99457488 -0.02494105] [ 0. 0. 0. 1. ]] SLAMing on 0.51719347 meters Centerline goodness : 0.604950 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.25, Z:-0.02 [[ 0.98775177 0.11505437 -0.10539892 0.42374601] [-0.11631748 0.99319458 -0.00589591 -0.25071847] [ 0.10400328 0.01808344 0.99441254 -0.02042912] [ 0. 0. 0. 1. ]] SLAMing on 0.5471934700000001 meters Centerline goodness : 0.365311 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.25, Z:-0.02 [[ 0.9891077 0.10143172 -0.1066657 0.42777274] [-0.10219367 0.99476309 -0.0016877 -0.24825106] [ 0.10593591 0.01256988 0.99429351 -0.0236259 ] [ 0. 0. 0. 1. ]] SLAMing on 0.57719347 meters Centerline goodness : 0.692306 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.24, Z:-0.03 [[ 0.99047231 0.08959812 -0.10457907 0.42547927] [-0.08896386 0.99597713 0.01072335 -0.24338886] [ 0.10511915 -0.00131742 0.99445876 -0.02781711] [ 0. 0. 0. 1. ]] SLAMing on 0.60719347 meters Centerline goodness : 0.839723 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.24, Z:-0.02 [[ 0.99111513 0.07862722 -0.10727797 0.42733811] [-0.0792574 0.99685287 -0.00161671 -0.23722332] [ 0.10681324 0.01010492 0.99422775 -0.02426945] [ 0. 0. 0. 1. ]] SLAMing on 0.63719347 meters Centerline goodness : 0.143539 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.23, Z:-0.01 [[ 0.99181891 0.07812721 -0.10095243 0.43291548] [-0.07892557 0.99687276 -0.00393241 -0.23254067] [ 0.1003295 0.01186797 0.99488348 -0.01427457] [ 0. 0. 0. 1. ]] SLAMing on 0.66719347 meters Centerline goodness : 0.829173 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.23, Z:-0.01 [[ 0.99183932 0.0777829 -0.10101776 0.43270493] [-0.07861093 0.99689637 -0.00423617 -0.23153718] [ 0.10037473 0.0121427 0.9948756 -0.01378699] [ 0. 0. 0. 1. ]] SLAMing on 0.69719347 meters Centerline goodness : 0.856445 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.24, Z:-0.01 [[ 0.9926482 0.07637083 -0.09389915 0.43623494] [-0.07613333 0.9970789 0.00611436 -0.23996745] [ 0.09409182 0.00107945 0.99556294 -0.01397676] [ 0. 0. 0. 1. ]] SLAMing on 0.72719347 meters Centerline goodness : 0.835329 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.24, Z:-0.02 [[ 0.99183296 0.0836886 -0.09624758 0.4392485 ] [-0.08377483 0.99647973 0.00315177 -0.24334532] [ 0.09617252 0.0049371 0.99535244 -0.02281323] [ 0. 0. 0. 1. ]] SLAMing on 0.75719347 meters Centerline goodness : 0.828062 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.26, Z:-0.03 [[ 0.99011527 0.09321568 -0.10479789 0.45883255] [-0.09302935 0.99564099 0.00667547 -0.25837253] [ 0.10496333 0.0031398 0.99447114 -0.02814665] [ 0. 0. 0. 1. ]] SLAMing on 0.7871934700000001 meters Centerline goodness : 0.852106 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.27, Z:-0.03 [[ 9.89867963e-01 9.55096489e-02 -1.05068183e-01 4.62455596e-01] [-9.48931160e-02 9.95428197e-01 1.08628715e-02 -2.68776184e-01] [ 1.05625341e-01 -7.82561269e-04 9.94405689e-01 -3.21720021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.81719347 meters Centerline goodness : 0.723310 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.29, Z:-0.03 [[ 0.98893607 0.10214072 -0.1075766 0.46430111] [-0.10111119 0.99476211 0.01499594 -0.28578962] [ 0.10854482 -0.00395283 0.9940837 -0.0289672 ] [ 0. 0. 0. 1. ]] SLAMing on 0.84719347 meters Centerline goodness : 0.846013 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.32, Z:-0.03 [[ 0.98973924 0.08724583 -0.11315658 0.47134168] [-0.08542672 0.99612657 0.02083581 -0.32057949] [ 0.11453612 -0.01095543 0.99335867 -0.03271645] [ 0. 0. 0. 1. ]] SLAMing on 0.87719347 meters Centerline goodness : 0.161689 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.34, Z:-0.03 [[ 0.99070581 0.07656759 -0.11242512 0.46812981] [-0.07470906 0.99699137 0.02065842 -0.34060157] [ 0.11366864 -0.01206724 0.99344543 -0.03136406] [ 0. 0. 0. 1. ]] SLAMing on 0.90719347 meters Centerline goodness : 0.146001 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.36, Z:-0.03 [[ 0.98970007 0.08469012 -0.11541814 0.47100331] [-0.08248827 0.99630947 0.02373043 -0.36026288] [ 0.11700192 -0.01396537 0.99303349 -0.02778956] [ 0. 0. 0. 1. ]] SLAMing on 0.93719347 meters Centerline goodness : 0.146001 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.36, Z:-0.03 [[ 0.98970007 0.08469012 -0.11541814 0.47100331] [-0.08248827 0.99630947 0.02373043 -0.36026288] [ 0.11700192 -0.01396537 0.99303349 -0.02778956] [ 0. 0. 0. 1. ]] SLAMing on 0.96719347 meters Centerline goodness : 0.849547 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.37, Z:-0.03 [[ 9.87588247e-01 1.03065477e-01 -1.18519877e-01 4.80396898e-01] [-1.02229849e-01 9.94674214e-01 1.31250136e-02 -3.72176490e-01] [ 1.19241401e-01 -8.45840135e-04 9.92864932e-01 -2.53261902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.99719347 meters Centerline goodness : 0.852420 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.38, Z:-0.02 [[ 9.87218227e-01 1.04848359e-01 -1.20029140e-01 4.80213922e-01] [-1.04002181e-01 9.94488004e-01 1.33099880e-02 -3.78186184e-01] [ 1.20763070e-01 -6.56570442e-04 9.92681142e-01 -2.21074717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.02719347 meters Centerline goodness : 0.850250 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.39, Z:-0.02 [[ 9.87632094e-01 9.97999552e-02 -1.20924836e-01 4.80377995e-01] [-9.90992161e-02 9.95007471e-01 1.18101027e-02 -3.91076002e-01] [ 1.21499762e-01 3.19519922e-04 9.92591409e-01 -2.31738376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.05719347 meters Centerline goodness : 0.259238 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.40, Z:-0.02 [[ 0.98681426 0.10827827 -0.12030556 0.48848892] [-0.10809311 0.99410791 0.00808327 -0.39602379] [ 0.12047195 0.00502752 0.992704 -0.02102509] [ 0. 0. 0. 1. ]] SLAMing on 1.08719347 meters Centerline goodness : 0.184088 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.40, Z:-0.02 [[ 9.86062285e-01 1.15331848e-01 -1.19915534e-01 4.96497428e-01] [-1.16083822e-01 9.93239160e-01 7.19080562e-04 -3.98135937e-01] [ 1.19187737e-01 1.32111953e-02 9.92783837e-01 -1.70715418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.11719347 meters Centerline goodness : 0.806598 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.41, Z:-0.03 [[ 0.98925965 0.09363484 -0.11224018 0.48074547] [-0.0932745 0.99560441 0.00846893 -0.40990058] [ 0.1125398 0.00209118 0.99364502 -0.02596448] [ 0. 0. 0. 1. ]] SLAMing on 1.14719347 meters Centerline goodness : 0.607343 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.42, Z:-0.04 [[ 0.99056334 0.07983534 -0.11140278 0.47707 ] [-0.07845023 0.99677699 0.0167689 -0.41831026] [ 0.11238248 -0.00787108 0.99363385 -0.03857439] [ 0. 0. 0. 1. ]] SLAMing on 1.17719347 meters Centerline goodness : 0.482398 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.41, Z:-0.04 [[ 0.98744242 0.09959079 -0.12263418 0.49839275] [-0.09929993 0.99502127 0.00849675 -0.41402422] [ 0.12286982 0.00378752 0.99241557 -0.04369037] [ 0. 0. 0. 1. ]] SLAMing on 1.20719347 meters Centerline goodness : 0.145087 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.40, Z:-0.03 [[ 0.98335405 0.13557447 -0.12097259 0.51861981] [-0.13773555 0.99042207 -0.00964567 -0.39530688] [ 0.11850622 0.02614734 0.99260898 -0.0322163 ] [ 0. 0. 0. 1. ]] SLAMing on 1.23719347 meters Centerline goodness : 0.606717 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.39, Z:-0.03 [[ 0.98392087 0.14020639 -0.11064306 0.52192367] [-0.1422297 0.98977722 -0.01057167 -0.38965079] [ 0.10802976 0.02613842 0.99380398 -0.02860185] [ 0. 0. 0. 1. ]] SLAMing on 1.26719347 meters Centerline goodness : 0.839829 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.38, Z:-0.03 [[ 0.98257699 0.14179076 -0.12015757 0.52183001] [-0.1435879 0.98961695 -0.00638855 -0.38438517] [ 0.11800413 0.02353041 0.99273428 -0.03464971] [ 0. 0. 0. 1. ]] SLAMing on 1.29719347 meters Centerline goodness : 0.876002 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.38, Z:-0.02 [[ 0.98304278 0.1470829 -0.10951486 0.51795269] [-0.1488254 0.9888322 -0.00786587 -0.37817745] [ 0.10713489 0.02403108 0.99395403 -0.02028098] [ 0. 0. 0. 1. ]] SLAMing on 1.3271934699999999 meters Centerline goodness : 0.879890 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.37, Z:-0.01 [[ 0.98196806 0.15686236 -0.10551269 0.52947821] [-0.15842536 0.98734926 -0.00654623 -0.37278771] [ 0.10315102 0.02314408 0.99439641 -0.01273247] [ 0. 0. 0. 1. ]] SLAMing on 1.35719347 meters Centerline goodness : 0.889179 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.37, Z:-0.01 [[ 0.97946762 0.17152757 -0.10593148 0.53239375] [-0.17226856 0.9850476 0.00218391 -0.36684592] [ 0.10472215 0.0161096 0.99437103 -0.01171856] [ 0. 0. 0. 1. ]] SLAMing on 1.38719347 meters Centerline goodness : 0.894189 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.35, Z:-0.01 [[ 0.98136868 0.16478784 -0.09879518 0.5166493 ] [-0.16716852 0.98579414 -0.01626656 -0.35052224] [ 0.09471118 0.03247894 0.99497483 -0.0068802 ] [ 0. 0. 0. 1. ]] SLAMing on 1.41719347 meters Centerline goodness : 0.893461 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.34, Z:-0.01 [[ 0.98183987 0.16187477 -0.0989294 0.51739135] [-0.16452361 0.98618672 -0.01917625 -0.34373096] [ 0.09445871 0.03510423 0.99490967 -0.00697862] [ 0. 0. 0. 1. ]] SLAMing on 1.44719347 meters Centerline goodness : 0.888751 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.34, Z:-0.01 [[ 0.98418601 0.14656173 -0.09948646 0.51502758] [-0.14936983 0.98855089 -0.02134936 -0.33719554] [ 0.09521843 0.03587202 0.99480986 -0.01469269] [ 0. 0. 0. 1. ]] SLAMing on 1.47719347 meters Centerline goodness : 0.886984 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.32, Z:-0.02 [[ 0.98423783 0.14701456 -0.09829861 0.51969061] [-0.14961745 0.9885494 -0.01961366 -0.31577712] [ 0.09428954 0.03401169 0.99496366 -0.01706653] [ 0. 0. 0. 1. ]] SLAMing on 1.50719347 meters Centerline goodness : 0.885099 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.30, Z:-0.02 [[ 0.98270421 0.15035293 -0.10810381 0.52273178] [-0.15284144 0.98813586 -0.01506703 -0.30272865] [ 0.10455588 0.03132917 0.99402543 -0.0235878 ] [ 0. 0. 0. 1. ]] SLAMing on 1.53719347 meters Centerline goodness : 0.900926 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.27, Z:-0.01 [[ 0.98530237 0.15266345 -0.07663622 0.47878808] [-0.15560466 0.98723534 -0.03396417 -0.26681508] [ 0.0704729 0.04538993 0.99648047 -0.01400658] [ 0. 0. 0. 1. ]] SLAMing on 1.56719347 meters Centerline goodness : 0.904331 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.23, Z:-0.01 [[ 0.98605231 0.15131032 -0.06932547 0.46503111] [-0.15366663 0.98766755 -0.02998959 -0.23162856] [ 0.06393278 0.04022431 0.99714322 -0.0126542 ] [ 0. 0. 0. 1. ]] SLAMing on 1.59719347 meters Centerline goodness : 0.899204 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.21, Z:-0.02 [[ 0.98698181 0.14558607 -0.0683492 0.46347747] [-0.14729667 0.98887644 -0.02066592 -0.21249852] [ 0.06458024 0.0304645 0.9974474 -0.02286331] [ 0. 0. 0. 1. ]] SLAMing on 1.62719347 meters Centerline goodness : 0.896081 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.19, Z:-0.03 [[ 0.98658121 0.14750264 -0.07000353 0.47014251] [-0.14972499 0.98834211 -0.02760982 -0.19402669] [ 0.06511491 0.0377206 0.99716458 -0.03004602] [ 0. 0. 0. 1. ]] SLAMing on 1.65719347 meters Centerline goodness : 0.891638 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.18, Z:-0.04 [[ 0.98562958 0.14848091 -0.08054653 0.47527527] [-0.15078582 0.98829191 -0.02329685 -0.18406405] [ 0.07614435 0.03510734 0.99647856 -0.03821154] [ 0. 0. 0. 1. ]] SLAMing on 1.68719347 meters Centerline goodness : 0.878779 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.17, Z:-0.05 [[ 0.98451589 0.14770642 -0.09439956 0.47911252] [-0.14911992 0.98878627 -0.00805986 -0.17420006] [ 0.0921505 0.02201192 0.99550176 -0.05209015] [ 0. 0. 0. 1. ]] SLAMing on 1.71719347 meters Centerline goodness : 0.876581 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.17, Z:-0.05 [[ 0.98520415 0.14251815 -0.09519121 0.48007458] [-0.14432317 0.98945392 -0.01231887 -0.1746433 ] [ 0.09243166 0.0258749 0.99538278 -0.05293627] [ 0. 0. 0. 1. ]] SLAMing on 1.74719347 meters Centerline goodness : 0.885581 Centerline is valid? [False, False] Translation: X:0.34, Y:0.13, Z:0.06 [[ 0.98625467 0.06176428 -0.15325435 0.34231893] [-0.10203047 0.95720246 -0.270838 0.12731282] [ 0.12996733 0.28275186 0.95034724 0.0567361 ] [ 0. 0. 0. 1. ]] SLAMing on 1.77719347 meters Centerline goodness : 0.906084 Centerline is valid? [False, False] Translation: X:0.20, Y:0.29, Z:0.13 [[ 0.99051606 0.01687655 -0.13635661 0.20250336] [-0.06267177 0.93866732 -0.33908098 0.28508211] [ 0.12227097 0.34441087 0.93082274 0.13008797] [ 0. 0. 0. 1. ]] SLAMing on 1.8071934699999999 meters Centerline goodness : 0.909312 Centerline is valid? [False, False] Translation: X:0.25, Y:0.35, Z:0.14 [[ 0.99002426 0.01571 -0.14001845 0.24602572] [-0.0577215 0.95176748 -0.30134181 0.34908421] [ 0.12853093 0.30641778 0.9431797 0.13836231] [ 0. 0. 0. 1. ]] SLAMing on 1.8371934699999999 meters Centerline goodness : 0.913534 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.29, Z:0.12 [[ 0.99433251 0.00948581 -0.10589087 -0.01599067] [-0.04899795 0.92481313 -0.37725306 0.29279784] [ 0.09435071 0.38030342 0.92003655 0.11536397] [ 0. 0. 0. 1. ]] SLAMing on 1.86719347 meters Centerline goodness : 0.897596 Centerline is valid? [False, False] Translation: X:0.01, Y:0.33, Z:0.12 [[ 0.99348267 -0.00849886 -0.11366593 0.00825483] [-0.03158612 0.93763552 -0.34618196 0.3344771 ] [ 0.10951937 0.34751605 0.9312562 0.1191796 ] [ 0. 0. 0. 1. ]] SLAMing on 1.89719347 meters Centerline goodness : 0.907196 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.21, Z:0.05 [[ 9.92635709e-01 5.36048792e-02 -1.08631791e-01 -2.80386199e-04] [-8.17392906e-02 9.58233367e-01 -2.74057481e-01 2.08887206e-01] [ 8.94037882e-02 2.80918728e-01 9.55558282e-01 4.91338004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.92719347 meters Centerline goodness : 0.899358 Centerline is valid? [False, False] Translation: X:0.01, Y:0.16, Z:0.02 [[ 0.99144191 0.06581483 -0.11274458 0.01143917] [-0.09226527 0.96423255 -0.2484808 0.1557737 ] [ 0.09235827 0.25675669 0.96205299 0.02399216] [ 0. 0. 0. 1. ]] SLAMing on 1.95719347 meters Centerline goodness : 0.903282 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.22, Z:0.03 [[ 0.99236696 0.05401013 -0.11086356 -0.0160226 ] [-0.07815598 0.97084197 -0.22662194 0.21805866] [ 0.09539112 0.23355678 0.96765271 0.02684806] [ 0. 0. 0. 1. ]] SLAMing on 1.98719347 meters Centerline goodness : 0.898622 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.30, Z:0.03 [[ 0.99156464 -0.01565726 -0.12866395 -0.04512793] [-0.0126114 0.97631196 -0.21599981 0.29685872] [ 0.12899812 0.2158004 0.96787896 0.03030862] [ 0. 0. 0. 1. ]] SLAMing on 2.0171934699999996 meters Centerline goodness : 0.884079 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.33, Z:0.04 [[ 0.99081221 0.01014077 -0.13486415 -0.02108117] [-0.03634983 0.98046027 -0.19332963 0.32664787] [ 0.13026843 0.19645564 0.97182062 0.03832659] [ 0. 0. 0. 1. ]] SLAMing on 2.04719347 meters Centerline goodness : 0.879455 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.32, Z:0.02 [[ 0.98983427 0.01604948 -0.14131714 -0.03081808] [-0.03974735 0.98523832 -0.16651005 0.32204616] [ 0.13655866 0.17043434 0.97586058 0.02397958] [ 0. 0. 0. 1. ]] SLAMing on 2.0771934699999997 meters Centerline goodness : 0.887857 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.31, Z:0.02 [[ 0.98954824 0.03436641 -0.14004723 -0.03126839] [-0.05518981 0.9875006 -0.14763687 0.31151043] [ 0.13322298 0.15382298 0.97907616 0.01880448] [ 0. 0. 0. 1. ]] SLAMing on 2.10719347 meters Centerline goodness : 0.894025 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.30, Z:0.02 [[ 0.98923933 0.04457117 -0.13935191 -0.03227315] [-0.0639643 0.98837206 -0.13794649 0.30091632] [ 0.13158309 0.14537564 0.98058748 0.01750985] [ 0. 0. 0. 1. ]] SLAMing on 2.1371934699999997 meters Centerline goodness : 0.894049 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.28, Z:0.00 [[ 0.98875602 0.05073006 -0.1406698 -0.02736857] [-0.0684109 0.98993994 -0.12385015 0.27719577] [ 0.13297173 0.13208093 0.98227957 0.00435382] [ 0. 0. 0. 1. ]] SLAMing on 2.16719347 meters Centerline goodness : 0.891921 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.25, Z:-0.01 [[ 0.98917943 0.05110279 -0.13752296 -0.01999662] [-0.06571984 0.99241015 -0.1039375 0.2487463 ] [ 0.13116769 0.11185082 0.98503017 -0.00683288] [ 0. 0. 0. 1. ]] SLAMing on 2.1971934699999998 meters Centerline goodness : 0.893593 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.23, Z:-0.01 [[ 0.99019662 0.04848813 -0.13099449 -0.01254825] [-0.06114525 0.99365521 -0.09439585 0.22502671] [ 0.12558628 0.10148014 0.98687885 -0.01434296] [ 0. 0. 0. 1. ]] SLAMing on 2.2271934699999996 meters Centerline goodness : 0.890920 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.20, Z:-0.02 [[ 0.98969786 0.04944116 -0.13436414 -0.00562523] [-0.0606 0.99492944 -0.08026865 0.19588805] [ 0.12971426 0.08758418 0.98767567 -0.02413002] [ 0. 0. 0. 1. ]] SLAMing on 2.25719347 meters Centerline goodness : 0.888604 Centerline is valid? [False, False] Translation: X:0.00, Y:0.18, Z:-0.03 [[ 0.98924802 0.04946215 -0.13762938 0.00101321] [-0.05899625 0.99606887 -0.0660776 0.17930721] [ 0.13382 0.07348675 0.98827724 -0.02623688] [ 0. 0. 0. 1. ]] SLAMing on 2.2871934699999996 meters Centerline goodness : 0.889237 Centerline is valid? [False, False] Translation: X:0.01, Y:0.16, Z:-0.03 [[ 0.98974843 0.03996211 -0.13711704 0.00845116] [-0.04810033 0.99723982 -0.05656058 0.15751235] [ 0.13447829 0.06257612 0.98893873 -0.03093859] [ 0. 0. 0. 1. ]] SLAMing on 2.31719347 meters Centerline goodness : 0.889713 Centerline is valid? [False, False] Translation: X:0.02, Y:0.14, Z:-0.03 [[ 0.98956292 0.02799894 -0.14135516 0.01906165] [-0.03545194 0.9980954 -0.05048497 0.14353092] [ 0.13967241 0.05496937 0.98867082 -0.03308048] [ 0. 0. 0. 1. ]] SLAMing on 2.3471934699999997 meters Centerline goodness : 0.888054 Centerline is valid? [False, False] Translation: X:0.03, Y:0.14, Z:-0.03 [[ 0.99024599 0.02411027 -0.13722817 0.02614391] [-0.03021894 0.99863481 -0.04260663 0.14040547] [ 0.13601357 0.04633793 0.98962271 -0.03323264] [ 0. 0. 0. 1. ]] SLAMing on 2.37719347 meters Centerline goodness : 0.889672 Centerline is valid? [False, False] Translation: X:0.04, Y:0.14, Z:-0.03 [[ 0.98953789 0.02312142 -0.14240847 0.03598506] [-0.02875669 0.99887748 -0.03764081 0.14468666] [ 0.1413783 0.0413422 0.98909201 -0.031125 ] [ 0. 0. 0. 1. ]] SLAMing on 2.4071934699999997 meters Centerline goodness : 0.890292 Centerline is valid? [False, False] Translation: X:0.04, Y:0.15, Z:-0.03 [[ 0.9892763 0.03001199 -0.14293942 0.04105278] [-0.03499204 0.99886049 -0.03245436 0.15106316] [ 0.14180252 0.03710808 0.98919919 -0.03436253] [ 0. 0. 0. 1. ]] SLAMing on 2.4371934699999995 meters Centerline goodness : 0.890826 Centerline is valid? [False, False] Translation: X:0.04, Y:0.16, Z:-0.03 [[ 0.98915704 0.03904625 -0.14157594 0.03888478] [-0.0432396 0.99870886 -0.02666357 0.16442201] [ 0.14035203 0.03249615 0.98956824 -0.03342554] [ 0. 0. 0. 1. ]] SLAMing on 2.4671934699999998 meters Centerline goodness : 0.890642 Centerline is valid? [False, False] Translation: X:0.04, Y:0.18, Z:-0.03 [[ 0.98883969 0.04695518 -0.14139055 0.0381725 ] [-0.0504804 0.99849473 -0.02144785 0.17627396] [ 0.14017063 0.02834594 0.98972153 -0.03162587] [ 0. 0. 0. 1. ]] SLAMing on 2.4971934699999996 meters Centerline goodness : 0.894458 Centerline is valid? [False, False] Translation: X:0.04, Y:0.19, Z:-0.03 [[ 0.98864224 0.05370016 -0.14036671 0.0355604 ] [-0.05696101 0.99818956 -0.01931459 0.18869917] [ 0.13907539 0.02709065 0.98991117 -0.0274848 ] [ 0. 0. 0. 1. ]] SLAMing on 2.52719347 meters Centerline goodness : 0.895304 Centerline is valid? [False, False] Translation: X:0.03, Y:0.20, Z:-0.02 [[ 0.98833671 0.06095952 -0.139551 0.03325321] [-0.06373069 0.99784719 -0.01547175 0.19778699] [ 0.13830742 0.02418498 0.99009401 -0.0244554 ] [ 0. 0. 0. 1. ]] SLAMing on 2.5571934699999996 meters Centerline goodness : 0.895729 Centerline is valid? [False, False] Translation: X:0.03, Y:0.20, Z:-0.02 [[ 0.9880808 0.06535023 -0.13937604 0.03414042] [-0.06780186 0.99761528 -0.01290989 0.20322049] [ 0.13820001 0.02220597 0.99015537 -0.02473297] [ 0. 0. 0. 1. ]] SLAMing on 2.58719347 meters Centerline goodness : 0.896138 Centerline is valid? [False, False] Translation: X:0.04, Y:0.21, Z:-0.03 [[ 0.98802689 0.06560167 -0.13963981 0.03535673] [-0.0681129 0.99758928 -0.01327601 0.20546464] [ 0.13843225 0.02262832 0.99011336 -0.0252204 ] [ 0. 0. 0. 1. ]] SLAMing on 2.6171934699999997 meters Centerline goodness : 0.893037 Centerline is valid? [False, False] Translation: X:0.04, Y:0.21, Z:-0.03 [[ 0.98791811 0.06658541 -0.13994355 0.03800282] [-0.06907695 0.9975264 -0.01301718 0.20792351] [ 0.13873063 0.02252679 0.99007391 -0.02689442] [ 0. 0. 0. 1. ]] SLAMing on 2.6471934699999995 meters Centerline goodness : 0.891194 Centerline is valid? [False, False] Translation: X:0.04, Y:0.21, Z:-0.03 [[ 0.98787653 0.06722579 -0.13993092 0.03939402] [-0.06966926 0.99749017 -0.01263167 0.20823963] [ 0.13873055 0.02222741 0.99008069 -0.02818572] [ 0. 0. 0. 1. ]] SLAMing on 2.6771934699999997 meters Centerline goodness : 0.891585 Centerline is valid? [False, False] Translation: X:0.04, Y:0.21, Z:-0.03 [[ 0.98783491 0.06772645 -0.13998328 0.0399849 ] [-0.07008374 0.99746925 -0.01197366 0.20651834] [ 0.13881809 0.02163855 0.99008147 -0.02880512] [ 0. 0. 0. 1. ]] SLAMing on 2.7071934699999995 meters Centerline goodness : 0.892516 Centerline is valid? [False, False] Translation: X:0.05, Y:0.20, Z:-0.03 [[ 0.98901456 0.06402326 -0.13323372 0.04911219] [-0.06548993 0.99783107 -0.0066507 0.19836114] [ 0.13251894 0.01530311 0.99106233 -0.03055069] [ 0. 0. 0. 1. ]] SLAMing on 2.73719347 meters Centerline goodness : 0.894798 Centerline is valid? [False, False] Translation: X:0.06, Y:0.19, Z:-0.03 [[ 0.99026999 0.05651678 -0.12716601 0.0576971 ] [-0.05739095 0.9983466 -0.00321783 0.1858039 ] [ 0.1267739 0.0104847 0.99187623 -0.03209188] [ 0. 0. 0. 1. ]] SLAMing on 2.7671934699999996 meters Centerline goodness : 0.895328 Centerline is valid? [False, False] Translation: X:0.06, Y:0.18, Z:-0.03 [[ 0.99042742 0.05346718 -0.12725872 0.05838048] [-0.05448844 0.99850401 -0.00455491 0.17904675] [ 0.1268248 0.01144543 0.9918591 -0.03329419] [ 0. 0. 0. 1. ]] SLAMing on 2.79719347 meters Centerline goodness : 0.890269 Centerline is valid? [False, False] Translation: X:0.06, Y:0.16, Z:-0.04 [[ 9.90135182e-01 5.14858981e-02 -1.30313175e-01 6.36174140e-02] [-5.18752273e-02 9.98653491e-01 4.07358834e-04 1.64403405e-01] [ 1.30158680e-01 6.35668524e-03 9.91472799e-01 -3.73583319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8271934699999997 meters Centerline goodness : 0.890269 Centerline is valid? [False, False] Translation: X:0.06, Y:0.16, Z:-0.04 [[ 9.90135182e-01 5.14858981e-02 -1.30313175e-01 6.36174140e-02] [-5.18752273e-02 9.98653491e-01 4.07358834e-04 1.64403405e-01] [ 1.30158680e-01 6.35668524e-03 9.91472799e-01 -3.73583319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.85719347 meters Centerline goodness : 0.889609 Centerline is valid? [False, False] Translation: X:0.08, Y:0.15, Z:-0.04 [[ 0.99051836 0.04986201 -0.12801237 0.0801746 ] [-0.04916956 0.99875371 0.00856569 0.14952581] [ 0.12827993 -0.00219016 0.99173558 -0.04073565] [ 0. 0. 0. 1. ]] SLAMing on 2.8871934699999997 meters Centerline goodness : 0.886985 Centerline is valid? [False, False] Translation: X:0.08, Y:0.14, Z:-0.04 [[ 0.99051432 0.04793969 -0.12877565 0.08345507] [-0.04735461 0.9988492 0.00760312 0.14285266] [ 0.12899195 -0.00143288 0.99164461 -0.04284464] [ 0. 0. 0. 1. ]] SLAMing on 2.9171934699999995 meters Centerline goodness : 0.883305 Centerline is valid? [False, False] Translation: X:0.09, Y:0.13, Z:-0.05 [[ 0.99025338 0.0475687 -0.13090246 0.09152805] [-0.04702375 0.99886744 0.00725268 0.12845151] [ 0.1310992 -0.00102646 0.99136872 -0.04570186] [ 0. 0. 0. 1. ]] SLAMing on 2.9471934699999998 meters Centerline goodness : 0.885309 Centerline is valid? [False, False] Translation: X:0.10, Y:0.11, Z:-0.05 [[ 0.99136773 0.04288142 -0.1239 0.099568 ] [-0.04174631 0.99905921 0.01174441 0.11423688] [ 0.12428706 -0.00647067 0.99222521 -0.04615856] [ 0. 0. 0. 1. ]] SLAMing on 2.9771934699999996 meters Centerline goodness : 0.883540 Centerline is valid? [False, False] Translation: X:0.11, Y:0.11, Z:-0.05 [[ 0.99235952 0.03780257 -0.11744598 0.10879028] [-0.03611761 0.99921227 0.01644275 0.10799524] [ 0.11797504 -0.01207525 0.99294314 -0.04731895] [ 0. 0. 0. 1. ]] SLAMing on 3.00719347 meters Centerline goodness : 0.882122 Centerline is valid? [False, False] Translation: X:0.12, Y:0.10, Z:-0.05 [[ 0.99348037 0.02773426 -0.11057831 0.11627982] [-0.02589664 0.99950219 0.01802033 0.09698162] [ 0.11102304 -0.01503924 0.99370403 -0.04831558] [ 0. 0. 0. 1. ]] SLAMing on 3.0371934699999996 meters Centerline goodness : 0.885510 Centerline is valid? [False, False] Translation: X:0.13, Y:0.09, Z:-0.05 [[ 0.9944078 0.01963152 -0.10376771 0.12510903] [-0.01765473 0.9996454 0.01993455 0.08691795] [ 0.10412226 -0.01799108 0.99440177 -0.04948816] [ 0. 0. 0. 1. ]] SLAMing on 3.06719347 meters Centerline goodness : 0.885844 Centerline is valid? [False, False] Translation: X:0.13, Y:0.08, Z:-0.05 [[ 0.994371 0.01837541 -0.10434877 0.12743688] [-0.01656474 0.99969728 0.01819234 0.08493415] [ 0.10465147 -0.01636143 0.99437436 -0.05043107] [ 0. 0. 0. 1. ]] SLAMing on 3.0971934699999997 meters Centerline goodness : 0.889102 Centerline is valid? [False, False] Translation: X:0.13, Y:0.09, Z:-0.05 [[ 0.9942565 0.02304979 -0.10451186 0.12841104] [-0.02084641 0.99953782 0.02212633 0.08584354] [ 0.10497356 -0.01982056 0.99427747 -0.05099428] [ 0. 0. 0. 1. ]] SLAMing on 3.12719347 meters Centerline goodness : 0.885699 Centerline is valid? [False, False] Translation: X:0.13, Y:0.09, Z:-0.06 [[ 0.99383989 0.0355559 -0.10496689 0.12622088] [-0.03349732 0.99921159 0.02131051 0.09245552] [ 0.10564184 -0.01766312 0.99424736 -0.05676849] [ 0. 0. 0. 1. ]] SLAMing on 3.1571934699999997 meters Centerline goodness : 0.886218 Centerline is valid? [False, False] Translation: X:0.13, Y:0.09, Z:-0.06 [[ 0.99366721 0.04000308 -0.10500107 0.12760361] [-0.03760351 0.99898657 0.02473464 0.09495937] [ 0.10588412 -0.02062959 0.99416446 -0.05791316] [ 0. 0. 0. 1. ]] SLAMing on 3.1871934699999995 meters Centerline goodness : 0.885025 Centerline is valid? [False, False] Translation: X:0.13, Y:0.10, Z:-0.06 [[ 0.99361285 0.04309835 -0.10428821 0.12512093] [-0.04052476 0.99882246 0.02667292 0.09900115] [ 0.10531496 -0.0222763 0.99418938 -0.05645931] [ 0. 0. 0. 1. ]] SLAMing on 3.2171934699999998 meters Centerline goodness : 0.889091 Centerline is valid? [False, False] Translation: X:0.12, Y:0.10, Z:-0.05 [[ 0.99391559 0.03726004 -0.10365079 0.12454966] [-0.03600665 0.99925435 0.01393806 0.10374864] [ 0.10409283 -0.01012113 0.99451609 -0.04865218] [ 0. 0. 0. 1. ]] SLAMing on 3.2471934699999996 meters Centerline goodness : 0.891192 Centerline is valid? [False, False] Translation: X:0.12, Y:0.11, Z:-0.05 [[ 0.99403177 0.0329103 -0.1040084 0.12494587] [-0.03210345 0.99944014 0.00942254 0.10598587] [ 0.10426026 -0.00602728 0.99453178 -0.04846668] [ 0. 0. 0. 1. ]] SLAMing on 3.27719347 meters Centerline goodness : 0.887855 Centerline is valid? [False, False] Translation: X:0.13, Y:0.11, Z:-0.05 [[ 0.99403087 0.03256949 -0.10412422 0.12506469] [-0.0318159 0.9994542 0.00889054 0.10733809] [ 0.10435695 -0.00552467 0.99452456 -0.04833918] [ 0. 0. 0. 1. ]] SLAMing on 3.3071934699999996 meters Centerline goodness : 0.891629 Centerline is valid? [False, False] Translation: X:0.13, Y:0.11, Z:-0.05 [[ 0.99388654 0.03686295 -0.10407053 0.12586089] [-0.03576651 0.99928346 0.01238273 0.10919613] [ 0.10445242 -0.00858479 0.99449283 -0.0490295 ] [ 0. 0. 0. 1. ]] SLAMing on 3.33719347 meters Centerline goodness : 0.888954 Centerline is valid? [False, False] Translation: X:0.13, Y:0.11, Z:-0.05 [[ 0.99376041 0.04011729 -0.10407141 0.12815698] [-0.03880198 0.99913977 0.01463325 0.11152123] [ 0.10456893 -0.01050377 0.99446217 -0.0510533 ] [ 0. 0. 0. 1. ]] SLAMing on 3.3671934699999997 meters Centerline goodness : 0.889845 Centerline is valid? [False, False] Translation: X:0.13, Y:0.11, Z:-0.05 [[ 0.99375723 0.04002687 -0.10413651 0.12858924] [-0.03874999 0.99914723 0.01425676 0.11268514] [ 0.10461835 -0.01013247 0.99446083 -0.05140075] [ 0. 0. 0. 1. ]] SLAMing on 3.3971934699999995 meters Centerline goodness : 0.885631 Centerline is valid? [False, False] Translation: X:0.13, Y:0.11, Z:-0.05 [[ 0.99382803 0.03677155 -0.10465994 0.1312381 ] [-0.03581185 0.99929763 0.01103478 0.11348614] [ 0.10499219 -0.00721861 0.99444685 -0.05329277] [ 0. 0. 0. 1. ]] SLAMing on 3.4271934699999997 meters Centerline goodness : 0.884883 Centerline is valid? [False, False] Translation: X:0.14, Y:0.11, Z:-0.05 [[ 0.99340394 0.02889843 -0.11096622 0.14168035] [-0.02791325 0.99955602 0.01042178 0.11103181] [ 0.11121813 -0.00725561 0.99376953 -0.05248753] [ 0. 0. 0. 1. ]] SLAMing on 3.4571934699999995 meters Centerline goodness : 0.884641 Centerline is valid? [False, False] Translation: X:0.15, Y:0.11, Z:-0.05 [[ 0.99416574 0.01661897 -0.10657529 0.14992417] [-0.01556324 0.99982131 0.01073008 0.10748238] [ 0.10673457 -0.00900883 0.99424674 -0.05332935] [ 0. 0. 0. 1. ]] SLAMing on 3.48719347 meters Centerline goodness : 0.882742 Centerline is valid? [False, False] Translation: X:0.16, Y:0.11, Z:-0.06 [[ 0.99482411 0.00944339 -0.10117216 0.1595365 ] [-0.00805163 0.99986738 0.01415596 0.1056141 ] [ 0.10129242 -0.01326809 0.99476822 -0.05516853] [ 0. 0. 0. 1. ]] SLAMing on 3.5171934699999996 meters Centerline goodness : 0.885573 Centerline is valid? [False, False] Translation: X:0.17, Y:0.10, Z:-0.06 [[ 9.95381447e-01 -8.65988840e-04 -9.59949244e-02 1.69709499e-01] [ 2.30590342e-03 9.99886479e-01 1.48899846e-02 1.03357668e-01] [ 9.59711324e-02 -1.50425695e-02 9.95270447e-01 -5.73309262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.54719347 meters Centerline goodness : 0.882502 Centerline is valid? [False, False] Translation: X:0.17, Y:0.10, Z:-0.06 [[ 0.99533443 -0.00479144 -0.09636608 0.17157276] [ 0.00590736 0.99991872 0.0112981 0.10370726] [ 0.09630411 -0.01181466 0.99528184 -0.05846297] [ 0. 0. 0. 1. ]] SLAMing on 3.5771934699999997 meters Centerline goodness : 0.884300 Centerline is valid? [False, False] Translation: X:0.17, Y:0.11, Z:-0.06 [[ 0.99526357 -0.00869754 -0.09682341 0.17389894] [ 0.00946895 0.99992696 0.00751048 0.10637108] [ 0.09675102 -0.00839172 0.99527324 -0.05984486] [ 0. 0. 0. 1. ]] SLAMing on 3.6071934699999995 meters Centerline goodness : 0.883377 Centerline is valid? [False, False] Translation: X:0.18, Y:0.11, Z:-0.06 [[ 0.99644828 -0.01046453 -0.08355427 0.17557938] [ 0.01109917 0.99991295 0.00713462 0.11151977] [ 0.08347234 -0.00803667 0.99647769 -0.06286158] [ 0. 0. 0. 1. ]] SLAMing on 3.6371934699999997 meters Centerline goodness : 0.883704 Centerline is valid? [False, False] Translation: X:0.18, Y:0.12, Z:-0.06 [[ 0.99643265 -0.01095934 -0.08367713 0.17568539] [ 0.01148983 0.99991681 0.00586082 0.11550714] [ 0.08360594 -0.00680135 0.99647568 -0.06265406] [ 0. 0. 0. 1. ]] SLAMing on 3.6671934699999995 meters Centerline goodness : 0.883201 Centerline is valid? [False, False] Translation: X:0.18, Y:0.12, Z:-0.06 [[ 0.99644341 -0.00957028 -0.08371945 0.17587458] [ 0.01007693 0.99993337 0.00563123 0.12497046] [ 0.08365998 -0.00645483 0.99647345 -0.06281093] [ 0. 0. 0. 1. ]] SLAMing on 3.6971934699999998 meters Centerline goodness : 0.883585 Centerline is valid? [False, False] Translation: X:0.18, Y:0.14, Z:-0.06 [[ 0.99650533 -0.00816477 -0.08312922 0.17503047] [ 0.00861538 0.99995007 0.00506333 0.13774622] [ 0.08308373 -0.00576182 0.99652591 -0.0631739 ] [ 0. 0. 0. 1. ]] SLAMing on 3.7271934699999996 meters Centerline goodness : 0.886018 Centerline is valid? [False, False] Translation: X:0.17, Y:0.15, Z:-0.06 [[ 0.99652415 -0.00553494 -0.08312025 0.17427271] [ 0.00606825 0.99996259 0.0061648 0.14520598] [ 0.08308302 -0.00664777 0.99652046 -0.06232903] [ 0. 0. 0. 1. ]] SLAMing on 3.75719347 meters Centerline goodness : 0.884639 Centerline is valid? [False, False] Translation: X:0.17, Y:0.16, Z:-0.06 [[ 9.96574480e-01 -5.20941342e-04 -8.26984601e-02 1.73451301e-01] [ 1.13754050e-03 9.99971906e-01 7.40905118e-03 1.61563081e-01] [ 8.26922771e-02 -7.47774417e-03 9.96547074e-01 -6.13471953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7871934699999996 meters Centerline goodness : 0.888717 Centerline is valid? [False, False] Translation: X:0.17, Y:0.18, Z:-0.06 [[ 0.99672992 -0.00166365 -0.08078801 0.16883448] [ 0.00213625 0.99998111 0.00576378 0.1770552 ] [ 0.08077689 -0.00591752 0.99671464 -0.06144264] [ 0. 0. 0. 1. ]] SLAMing on 3.81719347 meters Centerline goodness : 0.889261 Centerline is valid? [False, False] Translation: X:0.18, Y:0.18, Z:-0.06 [[ 0.9971221 -0.00616401 -0.07556144 0.17763674] [ 0.00705369 0.99990884 0.011513 0.18371692] [ 0.07548358 -0.01201285 0.99707468 -0.06364267] [ 0. 0. 0. 1. ]] SLAMing on 3.8471934699999997 meters Centerline goodness : 0.889980 Centerline is valid? [False, False] Translation: X:0.18, Y:0.20, Z:-0.07 [[ 0.99752767 -0.01837171 -0.06783085 0.18178133] [ 0.01913455 0.99976058 0.01061356 0.19676019] [ 0.06761962 -0.01188523 0.99764038 -0.065728 ] [ 0. 0. 0. 1. ]] SLAMing on 3.8771934699999995 meters Centerline goodness : 0.891998 Centerline is valid? [False, False] Translation: X:0.19, Y:0.21, Z:-0.07 [[ 0.99810474 -0.02433797 -0.05652075 0.18507611] [ 0.02452664 0.99969567 0.00264653 0.21179712] [ 0.05643913 -0.00402778 0.99839792 -0.06748503] [ 0. 0. 0. 1. ]] SLAMing on 3.9071934699999997 meters Centerline goodness : 0.893587 Centerline is valid? [False, False] Translation: X:0.19, Y:0.23, Z:-0.07 [[ 9.98121261e-01 -2.30330695e-02 -5.67752211e-02 1.85606060e-01] [ 2.30200420e-02 9.99734613e-01 -8.83545321e-04 2.28850434e-01] [ 5.67805044e-02 -4.25082605e-04 9.98386595e-01 -6.54488982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9371934699999995 meters Centerline goodness : 0.893888 Centerline is valid? [False, False] Translation: X:0.19, Y:0.24, Z:-0.07 [[ 9.98167207e-01 -1.99199898e-02 -5.71438617e-02 1.87156468e-01] [ 1.99826018e-02 9.99800190e-01 5.24435375e-04 2.37275918e-01] [ 5.71219970e-02 -1.66535723e-03 9.98365817e-01 -6.65159938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9671934699999998 meters Centerline goodness : 0.891229 Centerline is valid? [False, False] Translation: X:0.19, Y:0.26, Z:-0.07 [[ 9.98238129e-01 -1.30423137e-02 -5.78838049e-02 1.89200071e-01] [ 1.30922875e-02 9.99914175e-01 4.84180647e-04 2.57179476e-01] [ 5.78725222e-02 -1.24115900e-03 9.98323210e-01 -6.65526350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9971934699999996 meters Centerline goodness : 0.891776 Centerline is valid? [False, False] Translation: X:0.19, Y:0.27, Z:-0.06 [[ 9.98352676e-01 -8.58874245e-03 -5.67288987e-02 1.86348953e-01] [ 8.63581117e-03 9.99962540e-01 5.84613445e-04 2.74952052e-01] [ 5.67217525e-02 -1.07355045e-03 9.98389448e-01 -6.35388548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.027193469999999 meters Centerline goodness : 0.890797 Centerline is valid? [False, False] Translation: X:0.19, Y:0.28, Z:-0.06 [[ 9.98322902e-01 -8.35204717e-03 -5.72854890e-02 1.88201902e-01] [ 8.35328022e-03 9.99965087e-01 -2.17937055e-04 2.81675452e-01] [ 5.72853092e-02 -2.60950189e-04 9.98357814e-01 -6.44463086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.05719347 meters Centerline goodness : 0.883356 Centerline is valid? [False, False] Translation: X:0.22, Y:0.29, Z:-0.07 [[ 0.99837015 -0.01045301 -0.05610503 0.22085886] [ 0.01115335 0.99986357 0.01218411 0.28993514] [ 0.05597002 -0.01279001 0.99835053 -0.06945692] [ 0. 0. 0. 1. ]] SLAMing on 4.08719347 meters Centerline goodness : 0.879962 Centerline is valid? [False, False] Translation: X:0.24, Y:0.29, Z:-0.08 [[ 0.99881904 -0.00716418 -0.04805418 0.24491263] [ 0.00908313 0.99916501 0.03983431 0.29223199] [ 0.04772867 -0.04022375 0.99805011 -0.08027158] [ 0. 0. 0. 1. ]] SLAMing on 4.117193469999999 meters Centerline goodness : 0.877878 Centerline is valid? [False, False] Translation: X:0.25, Y:0.30, Z:-0.08 [[ 0.99879442 -0.00783136 -0.04846 0.24575781] [ 0.00968787 0.99922335 0.03819483 0.29767389] [ 0.04812325 -0.03861826 0.99809458 -0.08042938] [ 0. 0. 0. 1. ]] SLAMing on 4.1471934699999995 meters Centerline goodness : 0.869143 Centerline is valid? [False, False] Translation: X:0.25, Y:0.31, Z:-0.08 [[ 0.99879418 -0.00549744 -0.04878478 0.24883765] [ 0.00742467 0.99919546 0.03941201 0.30536886] [ 0.04852887 -0.03972669 0.99803143 -0.08359388] [ 0. 0. 0. 1. ]] SLAMing on 4.17719347 meters Centerline goodness : 0.865384 Centerline is valid? [False, False] Translation: X:0.26, Y:0.31, Z:-0.09 [[ 0.99874584 -0.00375025 -0.04992679 0.25552933] [ 0.00573564 0.99919589 0.03968225 0.31198225] [ 0.04973783 -0.03991885 0.99796424 -0.08913245] [ 0. 0. 0. 1. ]] SLAMing on 4.20719347 meters Centerline goodness : 0.865781 Centerline is valid? [False, False] Translation: X:0.26, Y:0.32, Z:-0.09 [[ 0.99872337 -0.0036672 -0.05038034 0.25771374] [ 0.00564709 0.99921493 0.0392128 0.31509208] [ 0.05019699 -0.03944724 0.99796001 -0.0908596 ] [ 0. 0. 0. 1. ]] SLAMing on 4.237193469999999 meters Centerline goodness : 0.861011 Centerline is valid? [False, False] Translation: X:0.26, Y:0.32, Z:-0.10 [[ 0.99913911 -0.01438765 -0.03891063 0.26040771] [ 0.01569693 0.99931361 0.03355479 0.32456721] [ 0.03840115 -0.03413668 0.99867915 -0.09783948] [ 0. 0. 0. 1. ]] SLAMing on 4.26719347 meters Centerline goodness : 0.862379 Centerline is valid? [False, False] Translation: X:0.26, Y:0.33, Z:-0.09 [[ 0.99902749 -0.0207658 -0.03889543 0.25792191] [ 0.02170457 0.9994794 0.02387121 0.33280496] [ 0.03837947 -0.0246922 0.99895811 -0.09126093] [ 0. 0. 0. 1. ]] SLAMing on 4.29719347 meters Centerline goodness : 0.862985 Centerline is valid? [False, False] Translation: X:0.26, Y:0.34, Z:-0.08 [[ 0.99882491 -0.02924598 -0.03864558 0.25753715] [ 0.02965218 0.99951046 0.00997955 0.34167098] [ 0.0383348 -0.01111374 0.99920315 -0.08381997] [ 0. 0. 0. 1. ]] SLAMing on 4.32719347 meters Centerline goodness : 0.864949 Centerline is valid? [False, False] Translation: X:0.26, Y:0.35, Z:-0.08 [[ 0.99867898 -0.03332903 -0.03910855 0.25858973] [ 0.03355036 0.99942444 0.00501668 0.34510576] [ 0.03891884 -0.00632215 0.99922237 -0.08327685] [ 0. 0. 0. 1. ]] SLAMing on 4.3571934699999995 meters Centerline goodness : 0.863590 Centerline is valid? [False, False] Translation: X:0.26, Y:0.35, Z:-0.08 [[ 9.98523818e-01 -3.78703224e-02 -3.89361571e-02 2.57861536e-01] [ 3.78178852e-02 9.99282478e-01 -2.08265358e-03 3.51942952e-01] [ 3.89870903e-02 6.07096087e-04 9.99239530e-01 -8.02247009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.38719347 meters Centerline goodness : 0.868626 Centerline is valid? [False, False] Translation: X:0.26, Y:0.36, Z:-0.08 [[ 9.99066379e-01 -3.52735329e-02 -2.49429014e-02 2.56582154e-01] [ 3.52659968e-02 9.99377686e-01 -7.42094814e-04 3.55738740e-01] [ 2.49535554e-02 -1.38234302e-04 9.99688602e-01 -8.05678881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.41719347 meters Centerline goodness : 0.872936 Centerline is valid? [False, False] Translation: X:0.26, Y:0.36, Z:-0.08 [[ 0.99904475 -0.03562458 -0.02530748 0.25604501] [ 0.03558551 0.99936465 -0.00199249 0.35897243] [ 0.02536238 0.00109 0.99967773 -0.0786114 ] [ 0. 0. 0. 1. ]] SLAMing on 4.447193469999999 meters Centerline goodness : 0.870907 Centerline is valid? [False, False] Translation: X:0.26, Y:0.36, Z:-0.08 [[ 0.99918128 -0.03097165 -0.0260294 0.25762938] [ 0.03102245 0.99951749 0.00155007 0.36295973] [ 0.02596883 -0.00235629 0.99965998 -0.07897321] [ 0. 0. 0. 1. ]] SLAMing on 4.47719347 meters Centerline goodness : 0.868465 Centerline is valid? [False, False] Translation: X:0.26, Y:0.37, Z:-0.08 [[ 0.99943334 -0.01860039 -0.02805382 0.25819243] [ 0.0184591 0.99981564 -0.00528696 0.36599799] [ 0.02814699 0.00476612 0.99959243 -0.0782564 ] [ 0. 0. 0. 1. ]] SLAMing on 4.50719347 meters Centerline goodness : 0.867704 Centerline is valid? [False, False] Translation: X:0.26, Y:0.37, Z:-0.08 [[ 9.99506995e-01 -1.19768328e-02 -2.90227748e-02 2.61998227e-01] [ 1.19683531e-02 9.99928268e-01 -4.65877181e-04 3.67262571e-01] [ 2.90262726e-02 1.18292687e-04 9.99578642e-01 -7.97623184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.53719347 meters Centerline goodness : 0.865941 Centerline is valid? [False, False] Translation: X:0.27, Y:0.37, Z:-0.08 [[ 9.99492222e-01 -1.03813705e-02 -3.01251589e-02 2.65656984e-01] [ 1.03988068e-02 9.99945842e-01 4.22179934e-04 3.67727854e-01] [ 3.01191445e-02 -7.35231267e-04 9.99546045e-01 -8.13752861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.567193469999999 meters Centerline goodness : 0.861588 Centerline is valid? [False, False] Translation: X:0.27, Y:0.37, Z:-0.08 [[ 0.99947789 -0.00747342 -0.03143399 0.27110301] [ 0.00756565 0.99996741 0.0028162 0.36582596] [ 0.03141192 -0.00305255 0.99950186 -0.08455034] [ 0. 0. 0. 1. ]] SLAMing on 4.59719347 meters Centerline goodness : 0.861300 Centerline is valid? [False, False] Translation: X:0.27, Y:0.36, Z:-0.08 [[ 9.99433405e-01 -1.09007091e-02 -3.18440564e-02 2.71653498e-01] [ 1.09129675e-02 9.99940429e-01 2.11169603e-04 3.59388803e-01] [ 3.18398575e-02 -5.58563109e-04 9.99492827e-01 -8.40095187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.62719347 meters Centerline goodness : 0.862298 Centerline is valid? [False, False] Translation: X:0.27, Y:0.36, Z:-0.08 [[ 0.99929808 -0.01861639 -0.03250799 0.27175242] [ 0.01839561 0.99980573 -0.00707777 0.35568383] [ 0.03263344 0.00647479 0.99944641 -0.08195291] [ 0. 0. 0. 1. ]] SLAMing on 4.657193469999999 meters Centerline goodness : 0.867566 Centerline is valid? [False, False] Translation: X:0.26, Y:0.34, Z:-0.08 [[ 0.99917901 -0.02887968 -0.02841258 0.26385493] [ 0.02864279 0.99955177 -0.00870958 0.33965971] [ 0.02865138 0.00788862 0.99955834 -0.0808577 ] [ 0. 0. 0. 1. ]] SLAMing on 4.6871934699999995 meters Centerline goodness : 0.871474 Centerline is valid? [False, False] Translation: X:0.26, Y:0.33, Z:-0.08 [[ 0.99870286 -0.04308292 -0.02713797 0.26023849] [ 0.04262517 0.99894262 -0.01722619 0.32797869] [ 0.02785142 0.01604708 0.99948326 -0.07607584] [ 0. 0. 0. 1. ]] SLAMing on 4.71719347 meters Centerline goodness : 0.869130 Centerline is valid? [False, False] Translation: X:0.26, Y:0.32, Z:-0.08 [[ 0.99852569 -0.04762401 -0.02604609 0.25836706] [ 0.0470906 0.99867563 -0.02072345 0.32196335] [ 0.02699853 0.01946637 0.99944592 -0.07510793] [ 0. 0. 0. 1. ]] SLAMing on 4.74719347 meters Centerline goodness : 0.875669 Centerline is valid? [False, False] Translation: X:0.24, Y:0.31, Z:-0.07 [[ 0.99842238 -0.04771905 -0.02959129 0.2437028 ] [ 0.04674674 0.99837065 -0.03272282 0.31024699] [ 0.03110458 0.0312879 0.99902631 -0.06651674] [ 0. 0. 0. 1. ]] SLAMing on 4.777193469999999 meters Centerline goodness : 0.875669 Centerline is valid? [False, False] Translation: X:0.24, Y:0.31, Z:-0.07 [[ 0.99842238 -0.04771905 -0.02959129 0.2437028 ] [ 0.04674674 0.99837065 -0.03272282 0.31024699] [ 0.03110458 0.0312879 0.99902631 -0.06651674] [ 0. 0. 0. 1. ]] SLAMing on 4.80719347 meters Centerline goodness : 0.877084 Centerline is valid? [False, False] Translation: X:0.22, Y:0.30, Z:-0.06 [[ 0.99861851 -0.04591503 -0.02555151 0.22287528] [ 0.04458711 0.9977376 -0.05031578 0.30206656] [ 0.02780395 0.049107 0.99840645 -0.05947972] [ 0. 0. 0. 1. ]] SLAMing on 4.83719347 meters Centerline goodness : 0.878414 Centerline is valid? [False, False] Translation: X:0.22, Y:0.30, Z:-0.06 [[ 0.99881534 -0.04133656 -0.02567499 0.22293149] [ 0.04015963 0.99818946 -0.04477733 0.296565 ] [ 0.02747944 0.04369319 0.998667 -0.06010534] [ 0. 0. 0. 1. ]] SLAMing on 4.867193469999999 meters Centerline goodness : 0.884806 Centerline is valid? [False, False] Translation: X:0.22, Y:0.29, Z:-0.06 [[ 0.99901815 -0.035879 -0.02598892 0.22276199] [ 0.03486858 0.99865618 -0.03834082 0.28934685] [ 0.02732962 0.03739698 0.9989267 -0.05981109] [ 0. 0. 0. 1. ]] SLAMing on 4.8971934699999995 meters Centerline goodness : 0.890867 Centerline is valid? [False, False] Translation: X:0.22, Y:0.28, Z:-0.06 [[ 0.99908654 -0.03417767 -0.02565114 0.22028787] [ 0.033254 0.99881232 -0.03561071 0.28162383] [ 0.02683777 0.03472518 0.99903648 -0.05774374] [ 0. 0. 0. 1. ]] SLAMing on 4.92719347 meters Centerline goodness : 0.893006 Centerline is valid? [False, False] Translation: X:0.23, Y:0.28, Z:-0.06 [[ 0.99916078 -0.03540102 -0.02060352 0.22871081] [ 0.034908 0.99910672 -0.0238158 0.27512729] [ 0.02142822 0.02307659 0.99950403 -0.06168844] [ 0. 0. 0. 1. ]] SLAMing on 4.95719347 meters Centerline goodness : 0.894808 Centerline is valid? [False, False] Translation: X:0.24, Y:0.26, Z:-0.07 [[ 0.9990735 -0.04002211 -0.01582314 0.23891231] [ 0.03979411 0.99910311 -0.01447056 0.2646526 ] [ 0.01638809 0.01382748 0.99977009 -0.0671486 ] [ 0. 0. 0. 1. ]] SLAMing on 4.987193469999999 meters Centerline goodness : 0.890381 Centerline is valid? [False, False] Translation: X:0.25, Y:0.26, Z:-0.08 [[ 0.99892246 -0.04403397 -0.01466047 0.25266604] [ 0.04400992 0.99902917 -0.00195908 0.25694474] [ 0.0147325 0.00131176 0.99989061 -0.07599216] [ 0. 0. 0. 1. ]] SLAMing on 5.01719347 meters Centerline goodness : 0.889215 Centerline is valid? [False, False] Translation: X:0.25, Y:0.25, Z:-0.08 [[ 9.98934246e-01 -4.37289560e-02 -1.47699368e-02 2.53638106e-01] [ 4.37215029e-02 9.99043415e-01 -8.27295003e-04 2.54181128e-01] [ 1.47919849e-02 1.80649475e-04 9.99890576e-01 -7.71806700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.04719347 meters Centerline goodness : 0.890722 Centerline is valid? [False, False] Translation: X:0.26, Y:0.25, Z:-0.08 [[ 0.99885018 -0.04707135 -0.00908928 0.26408473] [ 0.04713888 0.9988612 0.00736371 0.24902468] [ 0.00873231 -0.0077837 0.99993158 -0.08133243] [ 0. 0. 0. 1. ]] SLAMing on 5.077193469999999 meters Centerline goodness : 0.891324 Centerline is valid? [False, False] Translation: X:0.26, Y:0.25, Z:-0.08 [[ 0.99886023 -0.04686369 -0.00905774 0.26430056] [ 0.04693913 0.99886323 0.00830405 0.24573673] [ 0.00865828 -0.00871974 0.9999245 -0.08176402] [ 0. 0. 0. 1. ]] SLAMing on 5.1071934699999995 meters Centerline goodness : 0.890623 Centerline is valid? [False, False] Translation: X:0.27, Y:0.25, Z:-0.08 [[ 0.99889397 -0.04601091 -0.00968677 0.26745012] [ 0.04610002 0.99889459 0.00918582 0.24697502] [ 0.00925341 -0.00962222 0.99991089 -0.0846062 ] [ 0. 0. 0. 1. ]] SLAMing on 5.13719347 meters Centerline goodness : 0.888485 Centerline is valid? [False, False] Translation: X:0.27, Y:0.25, Z:-0.09 [[ 0.99905093 -0.04243495 -0.0098239 0.26761673] [ 0.04256086 0.99900951 0.01298347 0.24739767] [ 0.00926322 -0.01338927 0.99986745 -0.085119 ] [ 0. 0. 0. 1. ]] SLAMing on 5.16719347 meters Centerline goodness : 0.890531 Centerline is valid? [False, False] Translation: X:0.27, Y:0.25, Z:-0.08 [[ 0.99920837 -0.03858524 -0.00968592 0.26681993] [ 0.03873335 0.99912779 0.01560096 0.25170123] [ 0.00907551 -0.01596377 0.99983138 -0.08462158] [ 0. 0. 0. 1. ]] SLAMing on 5.197193469999999 meters Centerline goodness : 0.890601 Centerline is valid? [False, False] Translation: X:0.25, Y:0.26, Z:-0.09 [[ 0.99969756 -0.02432941 -0.00358807 0.25411421] [ 0.02435349 0.99968009 0.00682826 0.25828191] [ 0.00342079 -0.00691358 0.99997025 -0.08647058] [ 0. 0. 0. 1. ]] SLAMing on 5.22719347 meters Centerline goodness : 0.891350 Centerline is valid? [False, False] Translation: X:0.26, Y:0.26, Z:-0.09 [[ 0.99980285 -0.01939024 -0.00427435 0.25634606] [ 0.01943403 0.99975649 0.01045409 0.26240801] [ 0.0040706 -0.0105351 0.99993622 -0.08787969] [ 0. 0. 0. 1. ]] SLAMing on 5.25719347 meters Centerline goodness : 0.888511 Centerline is valid? [False, False] Translation: X:0.26, Y:0.27, Z:-0.09 [[ 0.99994015 -0.00800354 -0.00745891 0.25540623] [ 0.00803525 0.99995876 0.00423136 0.27129368] [ 0.00742473 -0.00429104 0.99996323 -0.08852107] [ 0. 0. 0. 1. ]] SLAMing on 5.287193469999999 meters Centerline goodness : 0.883118 Centerline is valid? [False, False] Translation: X:0.26, Y:0.28, Z:-0.09 [[ 0.9999456 -0.00686685 -0.00785107 0.25857897] [ 0.00690311 0.99996559 0.00460103 0.27636917] [ 0.00781921 -0.00465498 0.99995859 -0.09177324] [ 0. 0. 0. 1. ]] SLAMing on 5.317193469999999 meters Centerline goodness : 0.882134 Centerline is valid? [False, False] Translation: X:0.26, Y:0.28, Z:-0.09 [[ 0.99994453 -0.00695128 -0.00791288 0.25931748] [ 0.00698812 0.99996483 0.00463671 0.27681905] [ 0.00788037 -0.00469175 0.99995794 -0.09274949] [ 0. 0. 0. 1. ]] SLAMing on 5.34719347 meters Centerline goodness : 0.886099 Centerline is valid? [False, False] Translation: X:0.26, Y:0.27, Z:-0.09 [[ 9.99896717e-01 -1.23221178e-02 -7.39739201e-03 2.56659430e-01] [ 1.23228308e-02 9.99924070e-01 5.08241290e-05 2.74275305e-01] [ 7.39620407e-03 -1.41975690e-04 9.99972638e-01 -9.04482063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.37719347 meters Centerline goodness : 0.890162 Centerline is valid? [False, False] Translation: X:0.26, Y:0.27, Z:-0.09 [[ 9.99782674e-01 -2.08253728e-02 -9.53436192e-04 2.64510031e-01] [ 2.08278071e-02 9.99779648e-01 2.61867758e-03 2.67351459e-01] [ 8.98691164e-04 -2.63796646e-03 9.99996117e-01 -9.11559082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.407193469999999 meters Centerline goodness : 0.892870 Centerline is valid? [False, False] Translation: X:0.26, Y:0.26, Z:-0.09 [[ 9.99778222e-01 -2.10358893e-02 -9.98693298e-04 2.64101437e-01] [ 2.10393127e-02 9.99772343e-01 3.55098755e-03 2.63419134e-01] [ 9.23767758e-04 -3.57121184e-03 9.99993197e-01 -9.07089362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4371934699999995 meters Centerline goodness : 0.889874 Centerline is valid? [False, False] Translation: X:0.26, Y:0.26, Z:-0.09 [[ 9.99687031e-01 -2.50037170e-02 -8.08576206e-04 2.63220723e-01] [ 2.50042761e-02 9.99687107e-01 6.88949537e-04 2.59357699e-01] [ 7.91096909e-04 -7.08951780e-04 9.99999436e-01 -8.96060912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.46719347 meters Centerline goodness : 0.890530 Centerline is valid? [False, False] Translation: X:0.27, Y:0.25, Z:-0.09 [[ 0.99949514 -0.03141749 0.00473332 0.27380339] [ 0.03138607 0.99948573 0.006572 0.25344596] [-0.00493736 -0.00642012 0.9999672 -0.09407924] [ 0. 0. 0. 1. ]] SLAMing on 5.49719347 meters Centerline goodness : 0.891756 Centerline is valid? [False, False] Translation: X:0.27, Y:0.25, Z:-0.09 [[ 0.99948073 -0.03186209 0.004803 0.27343004] [ 0.03182581 0.99946567 0.00744999 0.24972228] [-0.00503781 -0.00729326 0.99996071 -0.09398747] [ 0. 0. 0. 1. ]] SLAMing on 5.527193469999999 meters Centerline goodness : 0.889623 Centerline is valid? [False, False] Translation: X:0.27, Y:0.25, Z:-0.09 [[ 0.99933539 -0.03612978 0.00483814 0.27315809] [ 0.03610881 0.99933838 0.00435415 0.24637217] [-0.00499226 -0.00417656 0.99997882 -0.09338638] [ 0. 0. 0. 1. ]] SLAMing on 5.55719347 meters Centerline goodness : 0.891936 Centerline is valid? [False, False] Translation: X:0.27, Y:0.24, Z:-0.09 [[ 0.999346 -0.03584895 0.00473541 0.27399276] [ 0.03582486 0.99934518 0.0050779 0.2439645 ] [-0.00491435 -0.00490493 0.9999759 -0.09434497] [ 0. 0. 0. 1. ]] SLAMing on 5.58719347 meters Centerline goodness : 0.890099 Centerline is valid? [False, False] Translation: X:0.28, Y:0.25, Z:-0.10 [[ 0.99950526 -0.03114971 0.00435202 0.27571264] [ 0.03110935 0.99947499 0.00905304 0.24573967] [-0.00463173 -0.00891318 0.99994955 -0.0959833 ] [ 0. 0. 0. 1. ]] SLAMing on 5.617193469999999 meters Centerline goodness : 0.889278 Centerline is valid? [False, False] Translation: X:0.28, Y:0.25, Z:-0.10 [[ 0.99962584 -0.02705235 0.00404261 0.27679224] [ 0.02699817 0.99955219 0.01290444 0.24668897] [-0.00438989 -0.01279047 0.99990856 -0.09704365] [ 0. 0. 0. 1. ]] SLAMing on 5.6471934699999995 meters Centerline goodness : 0.886243 Centerline is valid? [False, False] Translation: X:0.28, Y:0.25, Z:-0.10 [[ 0.99971784 -0.02353833 0.00319297 0.2807774 ] [ 0.02348529 0.99960026 0.01574021 0.24980682] [-0.00356219 -0.01566078 0.99987102 -0.10037209] [ 0. 0. 0. 1. ]] SLAMing on 5.67719347 meters Centerline goodness : 0.881423 Centerline is valid? [False, False] Translation: X:0.28, Y:0.25, Z:-0.10 [[ 0.99968576 -0.02492918 0.00263196 0.28324654] [ 0.02488886 0.99958687 0.01437481 0.2510314 ] [-0.00298923 -0.01430479 0.99989321 -0.10223729] [ 0. 0. 0. 1. ]] SLAMing on 5.70719347 meters Centerline goodness : 0.882658 Centerline is valid? [False, False] Translation: X:0.28, Y:0.25, Z:-0.10 [[ 0.99969295 -0.02468369 0.00217332 0.28478417] [ 0.02464872 0.99958562 0.01486728 0.25009282] [-0.00253939 -0.01480915 0.99988711 -0.10326071] [ 0. 0. 0. 1. ]] SLAMing on 5.737193469999999 meters Centerline goodness : 0.880027 Centerline is valid? [False, False] Translation: X:0.29, Y:0.25, Z:-0.10 [[ 0.99971076 -0.02399394 0.00163754 0.28677498] [ 0.02396524 0.99958894 0.0157361 0.24904639] [-0.00201444 -0.01569231 0.99987484 -0.1046449 ] [ 0. 0. 0. 1. ]] SLAMing on 5.76719347 meters Centerline goodness : 0.880205 Centerline is valid? [False, False] Translation: X:0.29, Y:0.25, Z:-0.10 [[ 0.99970961 -0.02405059 0.00150169 0.28613864] [ 0.02402476 0.99959362 0.01534325 0.25007562] [-0.00187009 -0.01530272 0.99988116 -0.10328062] [ 0. 0. 0. 1. ]] SLAMing on 5.79719347 meters Centerline goodness : 0.881757 Centerline is valid? [False, False] Translation: X:0.28, Y:0.25, Z:-0.10 [[ 0.99974618 -0.02244253 0.00197619 0.28458964] [ 0.02240633 0.99960856 0.01675331 0.25027943] [-0.0023514 -0.01670478 0.9998577 -0.1021345 ] [ 0. 0. 0. 1. ]] SLAMing on 5.827193469999999 meters Centerline goodness : 0.884328 Centerline is valid? [False, False] Translation: X:0.28, Y:0.25, Z:-0.10 [[ 0.99975447 -0.02209162 0.00172295 0.28481473] [ 0.02206046 0.99962231 0.0163882 0.2521796 ] [-0.00208434 -0.01634617 0.99986422 -0.10156653] [ 0. 0. 0. 1. ]] SLAMing on 5.8571934699999995 meters Centerline goodness : 0.883075 Centerline is valid? [False, False] Translation: X:0.28, Y:0.25, Z:-0.10 [[ 0.99974654 -0.02242666 0.00197296 0.283692 ] [ 0.02239271 0.99962417 0.01581403 0.25228619] [-0.00232687 -0.01576584 0.999873 -0.1006016 ] [ 0. 0. 0. 1. ]] SLAMing on 5.88719347 meters Centerline goodness : 0.882016 Centerline is valid? [False, False] Translation: X:0.28, Y:0.25, Z:-0.10 [[ 0.99963755 -0.02682721 0.00225329 0.2827781 ] [ 0.02679892 0.99957159 0.01176683 0.2511014 ] [-0.00256799 -0.01170218 0.99992823 -0.09974433] [ 0. 0. 0. 1. ]] SLAMing on 5.91719347 meters Centerline goodness : 0.883127 Centerline is valid? [False, False] Translation: X:0.28, Y:0.25, Z:-0.10 [[ 0.99961865 -0.02752078 0.00227008 0.28234475] [ 0.02749163 0.99954998 0.01200186 0.24873917] [-0.00259936 -0.01193487 0.9999254 -0.09940995] [ 0. 0. 0. 1. ]] SLAMing on 5.947193469999999 meters Centerline goodness : 0.880081 Centerline is valid? [False, False] Translation: X:0.28, Y:0.25, Z:-0.10 [[ 0.99946686 -0.03257933 0.00214194 0.28274903] [ 0.03256037 0.99943482 0.00835894 0.24694518] [-0.00241306 -0.00828474 0.99996277 -0.09993722] [ 0. 0. 0. 1. ]] SLAMing on 5.97719347 meters Centerline goodness : 0.875792 Centerline is valid? [False, False] Translation: X:0.29, Y:0.24, Z:-0.10 [[ 0.99932823 -0.03661427 0.00157389 0.28542312] [ 0.03660428 0.99931203 0.00596524 0.24298009] [-0.00179122 -0.00590363 0.99998097 -0.10279055] [ 0. 0. 0. 1. ]] SLAMing on 6.00719347 meters Centerline goodness : 0.873500 Centerline is valid? [False, False] Translation: X:0.29, Y:0.24, Z:-0.10 [[ 0.99933906 -0.03632473 0.00139655 0.28678541] [ 0.03631407 0.99931574 0.00702363 0.24013935] [-0.00165073 -0.00696827 0.99997436 -0.10432899] [ 0. 0. 0. 1. ]] SLAMing on 6.037193469999999 meters Centerline goodness : 0.876295 Centerline is valid? [False, False] Translation: X:0.29, Y:0.24, Z:-0.11 [[ 0.99935806 -0.03581146 0.00100358 0.28830336] [ 0.0358031 0.99933159 0.00738255 0.24149178] [-0.00126729 -0.00734188 0.99997224 -0.10541062] [ 0. 0. 0. 1. ]] SLAMing on 6.067193469999999 meters Centerline goodness : 0.874641 Centerline is valid? [False, False] Translation: X:0.29, Y:0.25, Z:-0.10 [[ 9.99599333e-01 -2.82936119e-02 8.02981746e-04 2.87650980e-01] [ 2.82798778e-02 9.99505103e-01 1.37767038e-02 2.46298204e-01] [-1.19237706e-03 -1.37484757e-02 9.99904774e-01 -1.04607594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.09719347 meters Centerline goodness : 0.874658 Centerline is valid? [False, False] Translation: X:0.28, Y:0.26, Z:-0.11 [[ 0.99984467 -0.01692872 0.00490352 0.28187149] [ 0.01688404 0.99981681 0.00901565 0.25638855] [-0.00505524 -0.00893146 0.99994734 -0.10603206] [ 0. 0. 0. 1. ]] SLAMing on 6.12719347 meters Centerline goodness : 0.873759 Centerline is valid? [False, False] Translation: X:0.28, Y:0.26, Z:-0.11 [[ 0.99989749 -0.01345628 0.00489248 0.28191697] [ 0.01339916 0.99984379 0.01152627 0.26080612] [-0.00504681 -0.01145953 0.9999216 -0.10619238] [ 0. 0. 0. 1. ]] SLAMing on 6.157193469999999 meters Centerline goodness : 0.870714 Centerline is valid? [False, False] Translation: X:0.28, Y:0.27, Z:-0.11 [[ 0.99992881 -0.01088576 0.00488627 0.28270184] [ 0.01082414 0.99986372 0.01246507 0.26979019] [-0.00502129 -0.01241129 0.99991037 -0.10719882] [ 0. 0. 0. 1. ]] SLAMing on 6.1871934699999995 meters Centerline goodness : 0.867671 Centerline is valid? [False, False] Translation: X:0.28, Y:0.27, Z:-0.11 [[ 0.99992955 -0.01092484 0.0046422 0.28431367] [ 0.01086812 0.99986805 0.01207326 0.27262524] [-0.00477348 -0.01202196 0.99991634 -0.10886695] [ 0. 0. 0. 1. ]] SLAMing on 6.21719347 meters Centerline goodness : 0.861625 Centerline is valid? [False, False] Translation: X:0.30, Y:0.28, Z:-0.11 [[ 0.99981026 -0.01777618 0.00796572 0.29793984] [ 0.01764936 0.99972068 0.01571846 0.27753622] [-0.00824291 -0.01557488 0.99984473 -0.11454034] [ 0. 0. 0. 1. ]] SLAMing on 6.24719347 meters Centerline goodness : 0.859572 Centerline is valid? [False, False] Translation: X:0.33, Y:0.28, Z:-0.12 [[ 0.99949394 -0.0284658 0.01419743 0.33449493] [ 0.02794041 0.99896386 0.03592418 0.27741565] [-0.01520533 -0.03550932 0.99925366 -0.12049896] [ 0. 0. 0. 1. ]] SLAMing on 6.277193469999999 meters Centerline goodness : 0.859360 Centerline is valid? [False, False] Translation: X:0.35, Y:0.27, Z:-0.13 [[ 0.99925523 -0.03303088 0.01994834 0.3497123 ] [ 0.0317489 0.99760312 0.06148188 0.27404258] [-0.02193133 -0.06080275 0.99790883 -0.12538575] [ 0. 0. 0. 1. ]] SLAMing on 6.30719347 meters Centerline goodness : 0.856248 Centerline is valid? [False, False] Translation: X:0.35, Y:0.28, Z:-0.12 [[ 0.9990176 -0.03923946 0.0205939 0.34733582] [ 0.03806666 0.99778542 0.05454526 0.2800303 ] [-0.02268862 -0.05370774 0.99829891 -0.12360127] [ 0. 0. 0. 1. ]] SLAMing on 6.33719347 meters Centerline goodness : 0.855260 Centerline is valid? [False, False] Translation: X:0.35, Y:0.28, Z:-0.12 [[ 0.9989225 -0.04278918 0.01797017 0.35132172] [ 0.04174445 0.99761546 0.05496184 0.28450196] [-0.02027909 -0.05415246 0.99832673 -0.12201663] [ 0. 0. 0. 1. ]] SLAMing on 6.367193469999999 meters Centerline goodness : 0.850213 Centerline is valid? [False, False] Translation: X:0.35, Y:0.29, Z:-0.12 [[ 0.99904901 -0.04059293 0.01591525 0.35399757] [ 0.03961626 0.99755875 0.05750733 0.29180953] [-0.01821079 -0.05682214 0.99821822 -0.12176113] [ 0. 0. 0. 1. ]] SLAMing on 6.3971934699999995 meters Centerline goodness : 0.849204 Centerline is valid? [False, False] Translation: X:0.35, Y:0.30, Z:-0.12 [[ 0.99917787 -0.03744746 0.01553274 0.35405165] [ 0.0364712 0.99759279 0.05897858 0.29714311] [-0.01770395 -0.05836359 0.9981384 -0.12210471] [ 0. 0. 0. 1. ]] SLAMing on 6.42719347 meters Centerline goodness : 0.849310 Centerline is valid? [False, False] Translation: X:0.37, Y:0.31, Z:-0.12 [[ 0.99935373 -0.03101216 0.01817577 0.37369675] [ 0.03011608 0.99840959 0.04765836 0.31323981] [-0.01962485 -0.04708018 0.99869831 -0.12060098] [ 0. 0. 0. 1. ]] SLAMing on 6.45719347 meters Centerline goodness : 0.843936 Centerline is valid? [False, False] Translation: X:0.38, Y:0.32, Z:-0.12 [[ 0.99939757 -0.03006214 0.01734286 0.37612253] [ 0.02925037 0.99854505 0.04530112 0.32266789] [-0.01867947 -0.04476654 0.99882282 -0.12018687] [ 0. 0. 0. 1. ]] SLAMing on 6.487193469999999 meters Centerline goodness : 0.843460 Centerline is valid? [False, False] Translation: X:0.39, Y:0.34, Z:-0.12 [[ 0.99968862 -0.02241995 0.01095488 0.39040532] [ 0.02198539 0.99902454 0.03829629 0.34283074] [-0.01180279 -0.03804352 0.99920638 -0.11858537] [ 0. 0. 0. 1. ]] SLAMing on 6.51719347 meters Centerline goodness : 0.843632 Centerline is valid? [False, False] Translation: X:0.41, Y:0.36, Z:-0.12 [[ 0.99990759 -0.0094727 0.00975042 0.41289414] [ 0.00918143 0.99952273 0.02949602 0.36242202] [-0.01002517 -0.02940378 0.99951734 -0.11673599] [ 0. 0. 0. 1. ]] SLAMing on 6.54719347 meters Centerline goodness : 0.843714 Centerline is valid? [False, False] Translation: X:0.42, Y:0.38, Z:-0.11 [[ 9.99970720e-01 -1.07794055e-03 7.57610909e-03 4.23568313e-01] [ 8.88188959e-04 9.99686933e-01 2.50049373e-02 3.80878660e-01] [-7.60069110e-03 -2.49974761e-02 9.99658620e-01 -1.12280045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.577193469999999 meters Centerline goodness : 0.842397 Centerline is valid? [False, False] Translation: X:0.43, Y:0.39, Z:-0.11 [[ 9.99975681e-01 -9.22381629e-04 6.91279324e-03 4.25250614e-01] [ 7.59662503e-04 9.99723440e-01 2.35046097e-02 3.88241359e-01] [-6.93256165e-03 -2.34987867e-02 9.99699828e-01 -1.12284455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6071934699999995 meters Centerline goodness : 0.843553 Centerline is valid? [False, False] Translation: X:0.43, Y:0.40, Z:-0.11 [[ 0.99997525 -0.00188308 0.00677838 0.4253693 ] [ 0.00174087 0.99977952 0.02092581 0.39671191] [-0.00681629 -0.02091349 0.99975805 -0.11167723] [ 0. 0. 0. 1. ]] SLAMing on 6.63719347 meters Centerline goodness : 0.843553 Centerline is valid? [False, False] Translation: X:0.43, Y:0.40, Z:-0.11 [[ 0.99997525 -0.00188308 0.00677838 0.4253693 ] [ 0.00174087 0.99977952 0.02092581 0.39671191] [-0.00681629 -0.02091349 0.99975805 -0.11167723] [ 0. 0. 0. 1. ]] SLAMing on 6.66719347 meters Centerline goodness : 0.844148 Centerline is valid? [False, False] Translation: X:0.42, Y:0.40, Z:-0.11 [[ 0.99995082 -0.00719034 0.00683105 0.42402381] [ 0.00708814 0.99986434 0.01486839 0.40149534] [-0.00693703 -0.01481924 0.99986612 -0.10971447] [ 0. 0. 0. 1. ]] SLAMing on 6.697193469999999 meters Centerline goodness : 0.846134 Centerline is valid? [False, False] Translation: X:0.42, Y:0.40, Z:-0.11 [[ 0.99991453 -0.01137152 0.00645138 0.42431956] [ 0.01130558 0.9998844 0.01016695 0.40334671] [-0.00656624 -0.01009314 0.9999275 -0.10868444] [ 0. 0. 0. 1. ]] SLAMing on 6.72719347 meters Centerline goodness : 0.848777 Centerline is valid? [False, False] Translation: X:0.42, Y:0.40, Z:-0.11 [[ 0.99984414 -0.01638418 0.00657749 0.42257018] [ 0.01635191 0.99985415 0.00492956 0.4047024 ] [-0.0066573 -0.00482123 0.99996622 -0.10625848] [ 0. 0. 0. 1. ]] SLAMing on 6.75719347 meters Centerline goodness : 0.850536 Centerline is valid? [False, False] Translation: X:0.42, Y:0.40, Z:-0.10 [[ 0.99981488 -0.01773209 0.00746838 0.41908649] [ 0.01770376 0.99983589 0.00384256 0.40496017] [-0.00753529 -0.00370963 0.99996473 -0.10401641] [ 0. 0. 0. 1. ]] SLAMing on 6.787193469999999 meters Centerline goodness : 0.852955 Centerline is valid? [False, False] Translation: X:0.42, Y:0.40, Z:-0.10 [[ 0.99981742 -0.01763984 0.00734569 0.41921724] [ 0.01761112 0.99983709 0.00395511 0.40435152] [-0.00741426 -0.00382503 0.9999652 -0.10378803] [ 0. 0. 0. 1. ]] SLAMing on 6.817193469999999 meters Centerline goodness : 0.855749 Centerline is valid? [False, False] Translation: X:0.42, Y:0.40, Z:-0.10 [[ 9.99743487e-01 -2.14430769e-02 7.29072510e-03 4.18947793e-01] [ 2.14432410e-02 9.99770066e-01 5.56736037e-05 4.02909175e-01] [-7.29024253e-03 1.00677453e-04 9.99973421e-01 -1.02634111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.84719347 meters Centerline goodness : 0.854694 Centerline is valid? [False, False] Translation: X:0.42, Y:0.40, Z:-0.10 [[ 0.99963447 -0.02592712 0.00766242 0.41874132] [ 0.02594492 0.99966088 -0.00223212 0.3957604 ] [-0.00760195 0.00243011 0.99996815 -0.10446002] [ 0. 0. 0. 1. ]] SLAMing on 6.87719347 meters Centerline goodness : 0.853732 Centerline is valid? [False, False] Translation: X:0.42, Y:0.39, Z:-0.11 [[ 0.99949781 -0.0307136 0.00779734 0.41811759] [ 0.03073974 0.99952212 -0.00325557 0.38678489] [-0.00769363 0.00349362 0.9999643 -0.10674988] [ 0. 0. 0. 1. ]] SLAMing on 6.907193469999999 meters Centerline goodness : 0.852800 Centerline is valid? [False, False] Translation: X:0.42, Y:0.38, Z:-0.11 [[ 0.9995033 -0.03060249 0.00752566 0.41844924] [ 0.03061925 0.99952887 -0.00212116 0.38278471] [-0.0074572 0.00235054 0.99996943 -0.10682887] [ 0. 0. 0. 1. ]] SLAMing on 6.9371934699999995 meters Centerline goodness : 0.851721 Centerline is valid? [False, False] Translation: X:0.42, Y:0.38, Z:-0.11 [[ 9.99587583e-01 -2.77083856e-02 7.54379105e-03 4.17202434e-01] [ 2.77002805e-02 9.99615581e-01 1.17680200e-03 3.78174303e-01] [-7.57349836e-03 -9.67351541e-04 9.99970853e-01 -1.05163869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.96719347 meters Centerline goodness : 0.852161 Centerline is valid? [False, False] Translation: X:0.42, Y:0.38, Z:-0.10 [[ 0.9998872 -0.01475367 0.0028133 0.41984723] [ 0.01476696 0.99987963 -0.00476073 0.37740721] [-0.00274272 0.00480173 0.99998471 -0.10463681] [ 0. 0. 0. 1. ]] SLAMing on 6.997193469999999 meters Centerline goodness : 0.850822 Centerline is valid? [False, False] Translation: X:0.43, Y:0.38, Z:-0.11 [[ 9.99961017e-01 -8.77808375e-03 9.53826594e-04 4.28993751e-01] [ 8.77920591e-03 9.99960767e-01 -1.17873249e-03 3.78031635e-01] [-9.43442160e-04 1.18706038e-03 9.99998850e-01 -1.09195207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.027193469999999 meters Centerline goodness : 0.847408 Centerline is valid? [False, False] Translation: X:0.44, Y:0.38, Z:-0.11 [[ 0.99999265 0.00305452 -0.00231909 0.44309168] [-0.00304095 0.99997838 0.00583039 0.3808124 ] [ 0.00233685 -0.00582329 0.99998031 -0.11461386] [ 0. 0. 0. 1. ]] SLAMing on 7.05719347 meters Centerline goodness : 0.845110 Centerline is valid? [False, False] Translation: X:0.45, Y:0.38, Z:-0.12 [[ 0.99998125 0.00528771 -0.00308819 0.44745224] [-0.00526649 0.99996273 0.00684124 0.38324368] [ 0.00312425 -0.00682485 0.99997183 -0.1174892 ] [ 0. 0. 0. 1. ]] SLAMing on 7.08719347 meters Centerline goodness : 0.846389 Centerline is valid? [False, False] Translation: X:0.45, Y:0.38, Z:-0.12 [[ 0.99999145 0.0016239 -0.00380415 0.4490083 ] [-0.00161468 0.99999576 0.00242491 0.3849677 ] [ 0.00380808 -0.00241875 0.99998982 -0.11721089] [ 0. 0. 0. 1. ]] SLAMing on 7.117193469999999 meters Centerline goodness : 0.849536 Centerline is valid? [False, False] Translation: X:0.45, Y:0.38, Z:-0.12 [[ 0.99998599 -0.00340238 -0.00405499 0.44786456] [ 0.00339531 0.99999271 -0.0017487 0.38312477] [ 0.00406091 0.00173491 0.99999025 -0.11549234] [ 0. 0. 0. 1. ]] SLAMing on 7.1471934699999995 meters Centerline goodness : 0.847416 Centerline is valid? [False, False] Translation: X:0.44, Y:0.38, Z:-0.11 [[ 0.99994861 -0.0095069 -0.00352083 0.44381138] [ 0.00948277 0.99993186 -0.00680775 0.3805279 ] [ 0.00358531 0.00677401 0.99997063 -0.11179262] [ 0. 0. 0. 1. ]] SLAMing on 7.17719347 meters Centerline goodness : 0.850842 Centerline is valid? [False, False] Translation: X:0.44, Y:0.38, Z:-0.11 [[ 0.99994132 -0.01035804 -0.00317244 0.44201154] [ 0.01033611 0.99992311 -0.00685089 0.37817981] [ 0.00324316 0.0068177 0.9999715 -0.11074336] [ 0. 0. 0. 1. ]] SLAMing on 7.207193469999999 meters Centerline goodness : 0.854509 Centerline is valid? [False, False] Translation: X:0.44, Y:0.38, Z:-0.11 [[ 0.99993479 -0.01111757 -0.00261191 0.43954249] [ 0.01109869 0.99991296 -0.00713342 0.37681172] [ 0.00269099 0.00710396 0.99997115 -0.10905641] [ 0. 0. 0. 1. ]] SLAMing on 7.237193469999999 meters Centerline goodness : 0.853874 Centerline is valid? [False, False] Translation: X:0.44, Y:0.38, Z:-0.11 [[ 0.99994479 -0.01011469 -0.00284685 0.44010947] [ 0.01009406 0.99992333 -0.00717187 0.37826764] [ 0.00291917 0.00714273 0.99997023 -0.10824275] [ 0. 0. 0. 1. ]] SLAMing on 7.26719347 meters Centerline goodness : 0.857450 Centerline is valid? [False, False] Translation: X:0.44, Y:0.38, Z:-0.11 [[ 0.99997798 -0.00617411 -0.002435 0.43896372] [ 0.00616567 0.99997501 -0.00345846 0.37942954] [ 0.00245629 0.00344337 0.99999105 -0.10778322] [ 0. 0. 0. 1. ]] SLAMing on 7.29719347 meters Centerline goodness : 0.860153 Centerline is valid? [False, False] Translation: X:0.44, Y:0.38, Z:-0.11 [[ 0.99997459 -0.00683092 -0.00203815 0.43745871] [ 0.00682316 0.99996953 -0.00379185 0.37939064] [ 0.00206399 0.00377785 0.99999073 -0.10701752] [ 0. 0. 0. 1. ]] SLAMing on 7.327193469999999 meters Centerline goodness : 0.861588 Centerline is valid? [False, False] Translation: X:0.44, Y:0.38, Z:-0.11 [[ 0.99996879 -0.00774349 -0.00156643 0.43609826] [ 0.00773776 0.99996346 -0.00363267 0.37668206] [ 0.0015945 0.00362043 0.99999217 -0.10704962] [ 0. 0. 0. 1. ]] SLAMing on 7.3571934699999995 meters Centerline goodness : 0.859822 Centerline is valid? [False, False] Translation: X:0.43, Y:0.37, Z:-0.11 [[ 0.99984862 -0.0173458 -0.00136503 0.43442529] [ 0.01732849 0.9997801 -0.01180989 0.37407016] [ 0.00156959 0.01178444 0.99992933 -0.10585216] [ 0. 0. 0. 1. ]] SLAMing on 7.38719347 meters Centerline goodness : 0.856542 Centerline is valid? [False, False] Translation: X:0.43, Y:0.37, Z:-0.11 [[ 0.99982341 -0.01873638 -0.00144913 0.43453656] [ 0.01872306 0.99978672 -0.00871551 0.36822748] [ 0.00161212 0.00868684 0.99996097 -0.11065806] [ 0. 0. 0. 1. ]] SLAMing on 7.41719347 meters Centerline goodness : 0.852418 Centerline is valid? [False, False] Translation: X:0.44, Y:0.36, Z:-0.12 [[ 0.99963296 -0.02695592 -0.00270736 0.43773893] [ 0.0269239 0.99957428 -0.01124129 0.36046221] [ 0.00300923 0.01116427 0.99993315 -0.11809479] [ 0. 0. 0. 1. ]] SLAMing on 7.447193469999999 meters Centerline goodness : 0.849131 Centerline is valid? [False, False] Translation: X:0.44, Y:0.36, Z:-0.12 [[ 0.99951319 -0.03106848 -0.00285088 0.4384692 ] [ 0.03102548 0.99941977 -0.01405533 0.35630555] [ 0.00328591 0.01396003 0.99989715 -0.11906259] [ 0. 0. 0. 1. ]] SLAMing on 7.47719347 meters Centerline goodness : 0.849801 Centerline is valid? [False, False] Translation: X:0.44, Y:0.36, Z:-0.12 [[ 0.99966239 -0.02571878 -0.0036952 0.4413379 ] [ 0.02568459 0.99962942 -0.00901847 0.35638467] [ 0.00392577 0.00892052 0.99995251 -0.12082707] [ 0. 0. 0. 1. ]] SLAMing on 7.50719347 meters Centerline goodness : 0.849954 Centerline is valid? [False, False] Translation: X:0.45, Y:0.36, Z:-0.12 [[ 0.9997885 -0.02003881 -0.0046254 0.44506962] [ 0.02001929 0.99979065 -0.00422849 0.3585873 ] [ 0.00470917 0.00413499 0.99998036 -0.12319292] [ 0. 0. 0. 1. ]] SLAMing on 7.537193469999999 meters Centerline goodness : 0.851162 Centerline is valid? [False, False] Translation: X:0.46, Y:0.37, Z:-0.13 [[ 0.99999518 0.00130897 -0.00281411 0.46182719] [-0.00132475 0.99998336 -0.00561389 0.36820539] [ 0.00280671 0.00561759 0.99998028 -0.12532526] [ 0. 0. 0. 1. ]] SLAMing on 7.567193469999999 meters Centerline goodness : 0.852926 Centerline is valid? [False, False] Translation: X:0.46, Y:0.37, Z:-0.13 [[ 0.9999397 0.01054649 -0.0030599 0.46480852] [-0.01054024 0.99994235 0.00205114 0.37349737] [ 0.00308136 -0.00201876 0.99999321 -0.12763029] [ 0. 0. 0. 1. ]] SLAMing on 7.59719347 meters Centerline goodness : 0.851841 Centerline is valid? [False, False] Translation: X:0.48, Y:0.39, Z:-0.12 [[ 9.99720741e-01 2.25798517e-02 -6.97064422e-03 4.76971758e-01] [-2.25731096e-02 9.99744649e-01 1.04439066e-03 3.88698620e-01] [ 6.99244645e-03 -8.86749893e-04 9.99975159e-01 -1.24046785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.62719347 meters Centerline goodness : 0.854730 Centerline is valid? [False, False] Translation: X:0.50, Y:0.40, Z:-0.12 [[ 0.99979892 0.01865553 -0.0073547 0.49537429] [-0.01867495 0.99982228 -0.00258024 0.40075094] [ 0.00730526 0.00271707 0.99996962 -0.11948868] [ 0. 0. 0. 1. ]] SLAMing on 7.657193469999999 meters Centerline goodness : 0.855956 Centerline is valid? [False, False] Translation: X:0.50, Y:0.40, Z:-0.12 [[ 0.99992219 0.00908811 -0.00854485 0.50206049] [-0.00907533 0.99995764 0.00153297 0.40417378] [ 0.00855842 -0.0014553 0.99996232 -0.11821915] [ 0. 0. 0. 1. ]] SLAMing on 7.6871934699999995 meters Centerline goodness : 0.858034 Centerline is valid? [False, False] Translation: X:0.51, Y:0.40, Z:-0.12 [[ 0.99998218 -0.00575601 -0.00158628 0.50582377] [ 0.00575849 0.9999822 0.00155883 0.40263645] [ 0.00157728 -0.00156794 0.99999753 -0.12080462] [ 0. 0. 0. 1. ]] SLAMing on 7.71719347 meters Centerline goodness : 0.859584 Centerline is valid? [False, False] Translation: X:0.50, Y:0.40, Z:-0.12 [[ 9.99740772e-01 -2.18416487e-02 6.42891537e-03 5.04337030e-01] [ 2.18354918e-02 9.99761050e-01 1.02632634e-03 4.00912363e-01] [-6.44979584e-03 -8.85681759e-04 9.99978808e-01 -1.19493579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.747193469999999 meters Centerline goodness : 0.864821 Centerline is valid? [False, False] Translation: X:0.50, Y:0.40, Z:-0.12 [[ 0.99959634 -0.02756515 0.00687854 0.50102231] [ 0.02759502 0.99961 -0.00428551 0.40132313] [-0.00675773 0.00447359 0.99996716 -0.11621991] [ 0. 0. 0. 1. ]] SLAMing on 7.777193469999999 meters Centerline goodness : 0.867002 Centerline is valid? [False, False] Translation: X:0.50, Y:0.40, Z:-0.11 [[ 0.99950755 -0.03043038 0.00765843 0.49742269] [ 0.03047321 0.99952024 -0.00553876 0.40000039] [-0.00748621 0.0057694 0.99995533 -0.11489899] [ 0. 0. 0. 1. ]] SLAMing on 7.80719347 meters Centerline goodness : 0.864308 Centerline is valid? [False, False] Translation: X:0.49, Y:0.40, Z:-0.12 [[ 0.99970468 -0.01939611 0.01464016 0.4923616 ] [ 0.01946482 0.99980012 -0.00456556 0.40004352] [-0.01454868 0.00484918 0.9998824 -0.1235872 ] [ 0. 0. 0. 1. ]] SLAMing on 7.83719347 meters Centerline goodness : 0.866290 Centerline is valid? [False, False] Translation: X:0.51, Y:0.41, Z:-0.12 [[ 0.99996408 -0.00588393 0.00610084 0.51095077] [ 0.00589327 0.99998149 -0.00151352 0.40994451] [-0.00609182 0.00154942 0.99998024 -0.12388722] [ 0. 0. 0. 1. ]] SLAMing on 7.867193469999999 meters Centerline goodness : 0.863841 Centerline is valid? [False, False] Translation: X:0.52, Y:0.41, Z:-0.13 [[ 0.99998501 0.00114838 0.00535321 0.51597244] [-0.00116947 0.99999156 0.00393838 0.41479879] [-0.00534865 -0.00394458 0.99997792 -0.12747666] [ 0. 0. 0. 1. ]] SLAMing on 7.8971934699999995 meters Centerline goodness : 0.861215 Centerline is valid? [False, False] Translation: X:0.54, Y:0.43, Z:-0.13 [[ 0.99991288 0.01254225 -0.00411471 0.53631078] [-0.0125295 0.99991667 0.00310971 0.42570225] [ 0.00415337 -0.00305789 0.9999867 -0.12616563] [ 0. 0. 0. 1. ]] SLAMing on 7.92719347 meters Centerline goodness : 0.860492 Centerline is valid? [False, False] Translation: X:0.54, Y:0.43, Z:-0.13 [[ 0.99983113 0.01771281 -0.00489571 0.53983311] [-0.01768181 0.99982379 0.00630463 0.43150774] [ 0.00500652 -0.006217 0.99996814 -0.12734711] [ 0. 0. 0. 1. ]] SLAMing on 7.957193469999999 meters Centerline goodness : 0.859951 Centerline is valid? [False, False] Translation: X:0.54, Y:0.43, Z:-0.13 [[ 0.99982937 0.01773467 -0.00516818 0.54045346] [-0.01770516 0.999827 0.00569976 0.43347547] [ 0.00526837 -0.00560728 0.9999704 -0.12702029] [ 0. 0. 0. 1. ]] SLAMing on 7.987193469999999 meters Centerline goodness : 0.863460 Centerline is valid? [False, False] Translation: X:0.54, Y:0.44, Z:-0.13 [[ 9.99880300e-01 1.42879996e-02 -5.93623996e-03 5.42143714e-01] [-1.42823913e-02 9.99897515e-01 9.86083440e-04 4.36238544e-01] [ 5.94972075e-03 -9.01181704e-04 9.99981894e-01 -1.26210978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.01719347 meters Centerline goodness : 0.859984 Centerline is valid? [False, False] Translation: X:0.54, Y:0.43, Z:-0.13 [[ 0.99992164 0.01068066 -0.00653031 0.5435066 ] [-0.01069851 0.99993911 -0.00270461 0.43469815] [ 0.00650103 0.00277427 0.99997502 -0.12624747] [ 0. 0. 0. 1. ]] SLAMing on 8.04719347 meters Centerline goodness : 0.861674 Centerline is valid? [False, False] Translation: X:0.54, Y:0.43, Z:-0.13 [[ 0.99994671 0.0073335 -0.00726655 0.544935 ] [-0.00738101 0.99995142 -0.00653293 0.43423998] [ 0.00721829 0.00658622 0.99995226 -0.12567071] [ 0. 0. 0. 1. ]] SLAMing on 8.077193470000001 meters Centerline goodness : 0.860923 Centerline is valid? [False, False] Translation: X:0.54, Y:0.43, Z:-0.13 [[ 0.99994882 0.00716657 -0.00714072 0.5439979 ] [-0.00720706 0.999958 -0.00566097 0.42952269] [ 0.00709985 0.00571215 0.99995848 -0.12531545] [ 0. 0. 0. 1. ]] SLAMing on 8.10719347 meters Centerline goodness : 0.863913 Centerline is valid? [False, False] Translation: X:0.54, Y:0.42, Z:-0.12 [[ 0.99996707 0.0034103 -0.00736455 0.5427532 ] [-0.00347588 0.99995426 -0.00891071 0.42457322] [ 0.00733382 0.00893602 0.99993318 -0.12305685] [ 0. 0. 0. 1. ]] SLAMing on 8.13719347 meters Centerline goodness : 0.863086 Centerline is valid? [False, False] Translation: X:0.54, Y:0.42, Z:-0.12 [[ 9.99969971e-01 -1.12448937e-04 -7.74889390e-03 5.42919569e-01] [ 1.84549414e-05 9.99926441e-01 -1.21289928e-02 4.20954432e-01] [ 7.74968779e-03 1.21284855e-02 9.99896416e-01 -1.22086085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.16719347 meters Centerline goodness : 0.860094 Centerline is valid? [False, False] Translation: X:0.54, Y:0.41, Z:-0.12 [[ 0.99993795 -0.00753893 -0.00820155 0.5425953 ] [ 0.00739166 0.99981352 -0.01784075 0.41099366] [ 0.00833452 0.01777902 0.9998072 -0.1211336 ] [ 0. 0. 0. 1. ]] SLAMing on 8.19719347 meters Centerline goodness : 0.860357 Centerline is valid? [False, False] Translation: X:0.55, Y:0.40, Z:-0.13 [[ 0.99991307 -0.01247155 -0.00427965 0.55334089] [ 0.01243928 0.99989461 -0.00748568 0.40257101] [ 0.00437256 0.00743179 0.99996282 -0.12827616] [ 0. 0. 0. 1. ]] SLAMing on 8.22719347 meters Centerline goodness : 0.859041 Centerline is valid? [False, False] Translation: X:0.54, Y:0.39, Z:-0.13 [[ 9.99756512e-01 -2.20660823e-02 6.35402874e-05 5.41886477e-01] [ 2.20661325e-02 9.99744924e-01 -4.81384769e-03 3.87098133e-01] [ 4.26986796e-05 4.81407766e-03 9.99988411e-01 -1.29491864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.25719347 meters Centerline goodness : 0.858649 Centerline is valid? [False, False] Translation: X:0.54, Y:0.38, Z:-0.13 [[ 9.99748230e-01 -2.24382532e-02 4.17860978e-05 5.41243785e-01] [ 2.24382404e-02 9.99740188e-01 -4.01014430e-03 3.82433222e-01] [ 4.82053920e-05 4.01007227e-03 9.99991958e-01 -1.29088217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.28719347 meters Centerline goodness : 0.856325 Centerline is valid? [False, False] Translation: X:0.54, Y:0.38, Z:-0.13 [[ 9.99763659e-01 -2.17367112e-02 -3.76428117e-04 5.43088354e-01] [ 2.17358087e-02 9.99761205e-01 -2.25538990e-03 3.77381433e-01] [ 4.25362987e-04 2.24667489e-03 9.99997386e-01 -1.30902759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.317193470000001 meters Centerline goodness : 0.852540 Centerline is valid? [False, False] Translation: X:0.55, Y:0.37, Z:-0.13 [[ 0.99972086 -0.02359063 -0.00129574 0.54780198] [ 0.0235851 0.99971333 -0.00412387 0.37354269] [ 0.00139266 0.00409216 0.99999066 -0.1341339 ] [ 0. 0. 0. 1. ]] SLAMing on 8.34719347 meters Centerline goodness : 0.857020 Centerline is valid? [False, False] Translation: X:0.55, Y:0.37, Z:-0.13 [[ 0.99972678 -0.02333587 -0.00134531 0.54767735] [ 0.02333021 0.9997195 -0.00407727 0.37309118] [ 0.00144008 0.00404477 0.99999078 -0.13357585] [ 0. 0. 0. 1. ]] SLAMing on 8.37719347 meters Centerline goodness : 0.854924 Centerline is valid? [False, False] Translation: X:0.55, Y:0.37, Z:-0.13 [[ 0.99973584 -0.02289132 -0.00205993 0.54957564] [ 0.0228837 0.99973147 -0.00364956 0.37354276] [ 0.00214292 0.00360145 0.99999122 -0.13426521] [ 0. 0. 0. 1. ]] SLAMing on 8.407193470000001 meters Centerline goodness : 0.854380 Centerline is valid? [False, False] Translation: X:0.55, Y:0.37, Z:-0.14 [[ 0.99974021 -0.02265351 -0.00251629 0.55107066] [ 0.02264522 0.99973819 -0.00327821 0.37384732] [ 0.00258989 0.00322038 0.99999146 -0.13518738] [ 0. 0. 0. 1. ]] SLAMing on 8.43719347 meters Centerline goodness : 0.856927 Centerline is valid? [False, False] Translation: X:0.55, Y:0.38, Z:-0.13 [[ 0.99970703 -0.02413492 -0.00183113 0.54798467] [ 0.02412667 0.99969921 -0.00440406 0.37535445] [ 0.00193687 0.00435859 0.99998863 -0.13314144] [ 0. 0. 0. 1. ]] SLAMing on 8.46719347 meters Centerline goodness : 0.859932 Centerline is valid? [False, False] Translation: X:0.56, Y:0.37, Z:-0.13 [[ 0.99953674 -0.03002675 0.00496972 0.55691065] [ 0.03003375 0.99954799 -0.00134031 0.37334751] [-0.00492723 0.00148895 0.99998675 -0.13303562] [ 0. 0. 0. 1. ]] SLAMing on 8.497193470000001 meters Centerline goodness : 0.863296 Centerline is valid? [False, False] Translation: X:0.56, Y:0.37, Z:-0.13 [[ 0.99953491 -0.03009478 0.00492577 0.5568584 ] [ 0.03010086 0.99954619 -0.00116477 0.37256949] [-0.00488848 0.0013125 0.99998719 -0.13293561] [ 0. 0. 0. 1. ]] SLAMing on 8.52719347 meters Centerline goodness : 0.860594 Centerline is valid? [False, False] Translation: X:0.56, Y:0.37, Z:-0.13 [[ 9.99551619e-01 -2.96032805e-02 4.49524970e-03 5.58509032e-01] [ 2.96075728e-02 9.99561202e-01 -8.91295111e-04 3.74602314e-01] [-4.46689194e-03 1.02398890e-03 9.99989499e-01 -1.34004600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.55719347 meters Centerline goodness : 0.860594 Centerline is valid? [False, False] Translation: X:0.56, Y:0.37, Z:-0.13 [[ 9.99551619e-01 -2.96032805e-02 4.49524970e-03 5.58509032e-01] [ 2.96075728e-02 9.99561202e-01 -8.91295111e-04 3.74602314e-01] [-4.46689194e-03 1.02398890e-03 9.99989499e-01 -1.34004600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.58719347 meters Centerline goodness : 0.860233 Centerline is valid? [False, False] Translation: X:0.56, Y:0.38, Z:-0.14 [[ 9.99568814e-01 -2.90480454e-02 4.28922458e-03 5.59844483e-01] [ 2.90507990e-02 9.99577768e-01 -5.81066459e-04 3.75684757e-01] [-4.27053469e-03 7.05421313e-04 9.99990632e-01 -1.35111238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.61719347 meters Centerline goodness : 0.864805 Centerline is valid? [False, False] Translation: X:0.56, Y:0.38, Z:-0.14 [[ 0.99967705 -0.02493153 0.00492043 0.55915036] [ 0.02491969 0.99968645 0.0024536 0.38030397] [-0.00498006 -0.00233019 0.99998488 -0.13557313] [ 0. 0. 0. 1. ]] SLAMing on 8.647193470000001 meters Centerline goodness : 0.869557 Centerline is valid? [False, False] Translation: X:0.56, Y:0.39, Z:-0.13 [[ 9.99775039e-01 -2.04586989e-02 5.59585544e-03 5.58484274e-01] [ 2.04539838e-02 9.99790392e-01 8.98542307e-04 3.90769598e-01] [-5.61306551e-03 -7.83882633e-04 9.99983939e-01 -1.29479264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.67719347 meters Centerline goodness : 0.871856 Centerline is valid? [False, False] Translation: X:0.56, Y:0.39, Z:-0.13 [[ 0.99984194 -0.01682759 0.00573817 0.55847975] [ 0.01680377 0.9998501 0.00417364 0.39378036] [-0.00580754 -0.00407656 0.99997483 -0.1301425 ] [ 0. 0. 0. 1. ]] SLAMing on 8.70719347 meters Centerline goodness : 0.872057 Centerline is valid? [False, False] Translation: X:0.56, Y:0.40, Z:-0.13 [[ 0.99985683 -0.01597067 0.00559164 0.56063353] [ 0.01594741 0.9998641 0.00417966 0.40102601] [-0.00565763 -0.00408989 0.99997563 -0.13263557] [ 0. 0. 0. 1. ]] SLAMing on 8.737193470000001 meters Centerline goodness : 0.870852 Centerline is valid? [False, False] Translation: X:0.56, Y:0.41, Z:-0.13 [[ 9.99790706e-01 -1.97536609e-02 5.32333504e-03 5.61065015e-01] [ 1.97531613e-02 9.99804877e-01 1.46411762e-04 4.06864338e-01] [-5.32518851e-03 -4.12284230e-05 9.99985820e-01 -1.32789431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.76719347 meters Centerline goodness : 0.875888 Centerline is valid? [False, False] Translation: X:0.56, Y:0.41, Z:-0.13 [[ 0.9997422 -0.02190756 0.00596568 0.55848001] [ 0.02191434 0.99975928 -0.00107376 0.40872942] [-0.00594072 0.00120422 0.99998163 -0.13206415] [ 0. 0. 0. 1. ]] SLAMing on 8.79719347 meters Centerline goodness : 0.874511 Centerline is valid? [False, False] Translation: X:0.56, Y:0.41, Z:-0.13 [[ 0.99973929 -0.02213243 0.0056127 0.55941569] [ 0.02213917 0.99975425 -0.00114253 0.4101208 ] [-0.00558604 0.00126649 0.9999836 -0.132634 ] [ 0. 0. 0. 1. ]] SLAMing on 8.827193470000001 meters Centerline goodness : 0.869369 Centerline is valid? [False, False] Translation: X:0.57, Y:0.41, Z:-0.14 [[ 0.99980538 -0.01932228 0.00398106 0.56723287] [ 0.01931571 0.99981202 0.00168239 0.41223194] [-0.00401282 -0.00160516 0.99999066 -0.1392664 ] [ 0. 0. 0. 1. ]] SLAMing on 8.85719347 meters Centerline goodness : 0.867540 Centerline is valid? [False, False] Translation: X:0.57, Y:0.42, Z:-0.14 [[ 9.99927393e-01 -1.20423033e-02 -4.38145285e-04 5.67872168e-01] [ 1.20381456e-02 9.99891413e-01 -8.49974742e-03 4.16717267e-01] [ 5.40454245e-04 8.49385582e-03 9.99963781e-01 -1.39994079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.88719347 meters Centerline goodness : 0.868131 Centerline is valid? [False, False] Translation: X:0.57, Y:0.42, Z:-0.14 [[ 9.99975101e-01 -7.00607462e-03 -8.44461765e-04 5.70440663e-01] [ 7.00264719e-03 9.99967499e-01 -3.99554670e-03 4.17924344e-01] [ 8.72427417e-04 3.98953375e-03 9.99991661e-01 -1.42161939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.91719347 meters Centerline goodness : 0.865752 Centerline is valid? [False, False] Translation: X:0.58, Y:0.42, Z:-0.15 [[ 0.99999234 0.00363841 -0.00144003 0.5752663 ] [-0.00363204 0.99998373 0.00439827 0.42312894] [ 0.00145601 -0.00439301 0.99998929 -0.14532783] [ 0. 0. 0. 1. ]] SLAMing on 8.94719347 meters Centerline goodness : 0.864560 Centerline is valid? [False, False] Translation: X:0.58, Y:0.43, Z:-0.15 [[ 0.99986054 0.01655336 -0.00220948 0.58194256] [-0.01651766 0.99974648 0.01530144 0.42922067] [ 0.00246221 -0.01526281 0.99988048 -0.15028455] [ 0. 0. 0. 1. ]] SLAMing on 8.97719347 meters Centerline goodness : 0.867571 Centerline is valid? [False, False] Translation: X:0.58, Y:0.43, Z:-0.15 [[ 0.99976343 0.02157883 -0.00272625 0.58463271] [-0.02152209 0.99958086 0.01936246 0.43130488] [ 0.00314293 -0.01929921 0.99980881 -0.15165983] [ 0. 0. 0. 1. ]] SLAMing on 9.00719347 meters Centerline goodness : 0.866762 Centerline is valid? [False, False] Translation: X:0.59, Y:0.43, Z:-0.15 [[ 0.99956741 0.02913951 -0.00398514 0.59072468] [-0.0290407 0.99931496 0.02294002 0.43395703] [ 0.00465088 -0.02281437 0.9997289 -0.15138907] [ 0. 0. 0. 1. ]] SLAMing on 9.03719347 meters Centerline goodness : 0.865576 Centerline is valid? [False, False] Translation: X:0.59, Y:0.44, Z:-0.14 [[ 0.99949261 0.03145538 -0.00500834 0.59380647] [-0.0313563 0.99933211 0.01876495 0.43764938] [ 0.00559525 -0.01859838 0.99981138 -0.14341296] [ 0. 0. 0. 1. ]] SLAMing on 9.067193470000001 meters Centerline goodness : 0.867785 Centerline is valid? [False, False] Translation: X:0.59, Y:0.44, Z:-0.13 [[ 0.9995673 0.02886272 -0.00566982 0.5948213 ] [-0.02880491 0.99953477 0.0100262 0.44151791] [ 0.00595656 -0.00985854 0.99993366 -0.13415881] [ 0. 0. 0. 1. ]] SLAMing on 9.09719347 meters Centerline goodness : 0.868565 Centerline is valid? [False, False] Translation: X:0.59, Y:0.44, Z:-0.13 [[ 0.99959185 0.02802216 -0.00555884 0.59111611] [-0.02796757 0.9995621 0.00966539 0.43528074] [ 0.00582725 -0.00950597 0.99993784 -0.12933592] [ 0. 0. 0. 1. ]] SLAMing on 9.12719347 meters Centerline goodness : 0.861775 Centerline is valid? [False, False] Translation: X:0.59, Y:0.42, Z:-0.13 [[ 0.99973502 0.02192097 -0.00702527 0.59392691] [-0.02189101 0.99975106 0.00431332 0.4238401 ] [ 0.00711807 -0.00415838 0.99996602 -0.12916685] [ 0. 0. 0. 1. ]] SLAMing on 9.157193470000001 meters Centerline goodness : 0.857905 Centerline is valid? [False, False] Translation: X:0.60, Y:0.42, Z:-0.13 [[ 0.99984263 0.01552455 -0.00858532 0.5966444 ] [-0.01554749 0.99987572 -0.00261138 0.41991161] [ 0.00854371 0.00274445 0.99995974 -0.12795806] [ 0. 0. 0. 1. ]] SLAMing on 9.18719347 meters Centerline goodness : 0.854709 Centerline is valid? [False, False] Translation: X:0.60, Y:0.41, Z:-0.13 [[ 0.99986137 0.01340536 -0.0098762 0.59907412] [-0.01344284 0.99990265 -0.00373808 0.40795676] [ 0.00982512 0.00387032 0.99994424 -0.12771391] [ 0. 0. 0. 1. ]] SLAMing on 9.21719347 meters Centerline goodness : 0.849004 Centerline is valid? [False, False] Translation: X:0.61, Y:0.40, Z:-0.13 [[ 0.99983899 0.01329212 -0.01205465 0.605324 ] [-0.01334062 0.9999032 -0.00395147 0.39520607] [ 0.01200096 0.00411165 0.99991953 -0.12881374] [ 0. 0. 0. 1. ]] SLAMing on 9.247193470000001 meters Centerline goodness : 0.847637 Centerline is valid? [False, False] Translation: X:0.61, Y:0.39, Z:-0.13 [[ 0.99984984 0.01108752 -0.01331812 0.6088592 ] [-0.01116942 0.99991907 -0.00609085 0.38871161] [ 0.01324951 0.00623869 0.99989276 -0.12968835] [ 0. 0. 0. 1. ]] SLAMing on 9.27719347 meters Centerline goodness : 0.844306 Centerline is valid? [False, False] Translation: X:0.61, Y:0.37, Z:-0.13 [[ 0.99987632 0.0054631 -0.01474773 0.61211147] [-0.00561955 0.99992815 -0.01058814 0.37368138] [ 0.01468882 0.01066971 0.99983518 -0.13008955] [ 0. 0. 0. 1. ]] SLAMing on 9.30719347 meters Centerline goodness : 0.847575 Centerline is valid? [False, False] Translation: X:0.61, Y:0.36, Z:-0.13 [[ 0.9998779 -0.00172945 -0.01553064 0.61098439] [ 0.00151275 0.9999015 -0.01395373 0.36013516] [ 0.01555325 0.01392853 0.99978202 -0.12868992] [ 0. 0. 0. 1. ]] SLAMing on 9.33719347 meters Centerline goodness : 0.851554 Centerline is valid? [False, False] Translation: X:0.61, Y:0.35, Z:-0.12 [[ 0.99981082 -0.01338284 -0.01411475 0.6056196 ] [ 0.01309684 0.9997109 -0.0201639 0.34623634] [ 0.01438052 0.01997522 0.99969705 -0.12289738] [ 0. 0. 0. 1. ]] SLAMing on 9.36719347 meters Centerline goodness : 0.855045 Centerline is valid? [False, False] Translation: X:0.60, Y:0.34, Z:-0.12 [[ 0.99973227 -0.01945457 -0.0125263 0.60192394] [ 0.01913531 0.99950125 -0.02512149 0.33828449] [ 0.01300878 0.02487507 0.99960592 -0.12081282] [ 0. 0. 0. 1. ]] SLAMing on 9.39719347 meters Centerline goodness : 0.866601 Centerline is valid? [False, False] Translation: X:0.60, Y:0.32, Z:-0.12 [[ 0.99950281 -0.02998927 -0.00973506 0.59570867] [ 0.02963765 0.99896688 -0.03444959 0.32380452] [ 0.01075812 0.03414394 0.99935902 -0.11758298] [ 0. 0. 0. 1. ]] SLAMing on 9.42719347 meters Centerline goodness : 0.876858 Centerline is valid? [False, False] Translation: X:0.59, Y:0.31, Z:-0.12 [[ 0.99940271 -0.03317033 -0.00969312 0.59347259] [ 0.03280997 0.99884046 -0.03523115 0.31242174] [ 0.01085051 0.03489208 0.99933218 -0.11523134] [ 0. 0. 0. 1. ]] SLAMing on 9.45719347 meters Centerline goodness : 0.884216 Centerline is valid? [False, False] Translation: X:0.59, Y:0.30, Z:-0.11 [[ 0.99944772 -0.03174344 -0.00982924 0.59282909] [ 0.03140842 0.99897668 -0.03254377 0.30363441] [ 0.01085223 0.03221707 0.99942198 -0.11424043] [ 0. 0. 0. 1. ]] SLAMing on 9.487193470000001 meters Centerline goodness : 0.884838 Centerline is valid? [False, False] Translation: X:0.59, Y:0.30, Z:-0.12 [[ 0.99958614 -0.02694639 -0.01007192 0.59433047] [ 0.02666959 0.99928835 -0.02667455 0.29764253] [ 0.01078353 0.02639489 0.99959343 -0.11640236] [ 0. 0. 0. 1. ]] SLAMing on 9.51719347 meters Centerline goodness : 0.884266 Centerline is valid? [False, False] Translation: X:0.60, Y:0.29, Z:-0.12 [[ 0.99973473 -0.02033343 -0.01081749 0.59790526] [ 0.02012294 0.99961267 -0.01922453 0.28962173] [ 0.0112042 0.01900175 0.99975667 -0.11963612] [ 0. 0. 0. 1. ]] SLAMing on 9.54719347 meters Centerline goodness : 0.888093 Centerline is valid? [False, False] Translation: X:0.60, Y:0.28, Z:-0.12 [[ 0.99981963 -0.01563422 -0.01078368 0.59724218] [ 0.01548498 0.99978505 -0.0137868 0.28437384] [ 0.01099691 0.01361733 0.99984681 -0.11922526] [ 0. 0. 0. 1. ]] SLAMing on 9.577193470000001 meters Centerline goodness : 0.888870 Centerline is valid? [False, False] Translation: X:0.60, Y:0.28, Z:-0.12 [[ 0.99982792 -0.0149535 -0.010978 0.59812456] [ 0.01481743 0.99981365 -0.01237374 0.2806142 ] [ 0.01116099 0.01220895 0.99986318 -0.12011709] [ 0. 0. 0. 1. ]] SLAMing on 9.60719347 meters Centerline goodness : 0.894181 Centerline is valid? [False, False] Translation: X:0.60, Y:0.27, Z:-0.12 [[ 0.99978238 -0.01770024 -0.01104101 0.59884268] [ 0.01754534 0.99974844 -0.01397211 0.27384071] [ 0.01128555 0.01377535 0.99984143 -0.1208603 ] [ 0. 0. 0. 1. ]] SLAMing on 9.63719347 meters Centerline goodness : 0.896088 Centerline is valid? [False, False] Translation: X:0.61, Y:0.27, Z:-0.12 [[ 0.99978516 -0.02015525 -0.00483677 0.60624511] [ 0.02013788 0.99979068 -0.00361364 0.26634318] [ 0.00490859 0.00351547 0.99998177 -0.12278245] [ 0. 0. 0. 1. ]] SLAMing on 9.66719347 meters Centerline goodness : 0.898171 Centerline is valid? [False, False] Translation: X:0.60, Y:0.26, Z:-0.12 [[ 9.99833862e-01 -1.76116027e-02 -4.69895991e-03 6.04247837e-01] [ 1.76113919e-02 9.99844904e-01 -8.62407581e-05 2.63018171e-01] [ 4.69974995e-03 3.47120592e-06 9.99988956e-01 -1.20988984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.69719347 meters Centerline goodness : 0.897818 Centerline is valid? [False, False] Translation: X:0.60, Y:0.26, Z:-0.12 [[ 0.99990645 -0.012852 -0.00468091 0.60438714] [ 0.01287757 0.99990209 0.00547582 0.25799025] [ 0.00461008 -0.00553559 0.99997405 -0.12146828] [ 0. 0. 0. 1. ]] SLAMing on 9.72719347 meters Centerline goodness : 0.895405 Centerline is valid? [False, False] Translation: X:0.60, Y:0.26, Z:-0.13 [[ 0.99999327 -0.00286574 -0.00229051 0.60137891] [ 0.00287208 0.99999204 0.00276795 0.25521358] [ 0.00228256 -0.00277451 0.99999355 -0.1281575 ] [ 0. 0. 0. 1. ]] SLAMing on 9.75719347 meters Centerline goodness : 0.898245 Centerline is valid? [False, False] Translation: X:0.60, Y:0.26, Z:-0.13 [[ 0.99999499 -0.00190268 -0.00253032 0.60243554] [ 0.00191059 0.99999329 0.00312526 0.25578636] [ 0.00252436 -0.00313008 0.99999192 -0.12868972] [ 0. 0. 0. 1. ]] SLAMing on 9.78719347 meters Centerline goodness : 0.896207 Centerline is valid? [False, False] Translation: X:0.61, Y:0.25, Z:-0.13 [[ 0.99999384 0.00126975 -0.00327218 0.6065962 ] [-0.00125039 0.99998174 0.00591199 0.25405917] [ 0.00327962 -0.00590786 0.99997717 -0.1318608 ] [ 0. 0. 0. 1. ]] SLAMing on 9.817193470000001 meters Centerline goodness : 0.895143 Centerline is valid? [False, False] Translation: X:0.61, Y:0.25, Z:-0.13 [[ 0.99998942 0.00255127 -0.00382758 0.60928839] [-0.00252146 0.99996663 0.00777108 0.25130794] [ 0.00384728 -0.00776135 0.99996248 -0.13417204] [ 0. 0. 0. 1. ]] SLAMing on 9.84719347 meters Centerline goodness : 0.894855 Centerline is valid? [False, False] Translation: X:0.61, Y:0.25, Z:-0.14 [[ 9.99989839e-01 -7.21609070e-05 -4.50749058e-03 6.12095297e-01] [ 9.70612248e-05 9.99984737e-01 5.52423406e-03 2.49306630e-01] [ 4.50702315e-03 -5.52461543e-03 9.99974582e-01 -1.36130773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.87719347 meters Centerline goodness : 0.895179 Centerline is valid? [False, False] Translation: X:0.61, Y:0.24, Z:-0.14 [[ 9.99963165e-01 -7.35770864e-03 -4.41969964e-03 6.11432764e-01] [ 7.35716526e-03 9.99972926e-01 -1.39192638e-04 2.41489955e-01] [ 4.42060412e-03 1.06671050e-04 9.99990223e-01 -1.35583825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.907193470000001 meters Centerline goodness : 0.894621 Centerline is valid? [False, False] Translation: X:0.62, Y:0.23, Z:-0.14 [[ 0.99986267 -0.01647488 0.00179565 0.62080703] [ 0.01646988 0.99986054 0.00276563 0.23069948] [-0.00184097 -0.00273567 0.99999456 -0.13836689] [ 0. 0. 0. 1. ]] SLAMing on 9.93719347 meters Centerline goodness : 0.897663 Centerline is valid? [False, False] Translation: X:0.62, Y:0.23, Z:-0.14 [[ 9.99796353e-01 -2.00551568e-02 2.24550749e-03 6.18728513e-01] [ 2.00540808e-02 9.99798771e-01 5.00651913e-04 2.25033320e-01] [-2.25509629e-03 -4.55518368e-04 9.99997354e-01 -1.36450823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.96719347 meters Centerline goodness : 0.899213 Centerline is valid? [False, False] Translation: X:0.62, Y:0.22, Z:-0.14 [[ 0.9998066 -0.01955047 0.00213308 0.6192155 ] [ 0.01954706 0.99980765 0.00160738 0.22219458] [-0.00216409 -0.00156537 0.99999643 -0.13689535] [ 0. 0. 0. 1. ]] SLAMing on 9.997193470000001 meters Centerline goodness : 0.898443 Centerline is valid? [False, False] Translation: X:0.62, Y:0.22, Z:-0.14 [[ 0.99983646 -0.01799686 0.00178131 0.6210335 ] [ 0.01798963 0.99983021 0.00399089 0.21631606] [-0.00185283 -0.0039582 0.99999045 -0.13850537] [ 0. 0. 0. 1. ]] SLAMing on 10.02719347 meters Centerline goodness : 0.894838 Centerline is valid? [False, False] Translation: X:0.63, Y:0.21, Z:-0.14 [[ 9.99857833e-01 -1.68465994e-02 7.10671457e-04 6.28331360e-01] [ 1.68427746e-02 9.99845232e-01 5.08255250e-03 2.11070541e-01] [-7.96185195e-04 -5.06986025e-03 9.99986831e-01 -1.44715286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.05719347 meters Centerline goodness : 0.894944 Centerline is valid? [False, False] Translation: X:0.63, Y:0.21, Z:-0.15 [[ 9.99880930e-01 -1.54311543e-02 7.78047975e-05 6.31250598e-01] [ 1.54302539e-02 9.99857278e-01 6.87977011e-03 2.08646934e-01] [-1.83956487e-04 -6.87775038e-03 9.99976331e-01 -1.47082330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.08719347 meters Centerline goodness : 0.894449 Centerline is valid? [False, False] Translation: X:0.63, Y:0.20, Z:-0.15 [[ 9.99941862e-01 -1.07812109e-02 -1.93931610e-04 6.32018704e-01] [ 1.07828007e-02 9.99862031e-01 1.26352608e-02 2.04198845e-01] [ 5.76814421e-05 -1.26366173e-02 9.99920153e-01 -1.47769688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.11719347 meters Centerline goodness : 0.895037 Centerline is valid? [False, False] Translation: X:0.63, Y:0.20, Z:-0.15 [[ 9.99917309e-01 -1.28381252e-02 -7.46795560e-04 6.33173805e-01] [ 1.28457909e-02 9.99852813e-01 1.13727033e-02 1.98617386e-01] [ 6.00681452e-04 -1.13813561e-02 9.99935050e-01 -1.47617419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.14719347 meters Centerline goodness : 0.893891 Centerline is valid? [False, False] Translation: X:0.64, Y:0.19, Z:-0.15 [[ 0.99988173 -0.01532798 -0.00125896 0.6353052 ] [ 0.01533913 0.99983825 0.00939109 0.19483966] [ 0.00111481 -0.00940929 0.99995511 -0.14891514] [ 0. 0. 0. 1. ]] SLAMing on 10.17719347 meters Centerline goodness : 0.894232 Centerline is valid? [False, False] Translation: X:0.64, Y:0.19, Z:-0.15 [[ 0.99985081 -0.01719139 -0.00167832 0.6373331 ] [ 0.01720612 0.99980967 0.00919597 0.18552029] [ 0.00151991 -0.00922347 0.99995631 -0.15038403] [ 0. 0. 0. 1. ]] SLAMing on 10.20719347 meters Centerline goodness : 0.892473 Centerline is valid? [False, False] Translation: X:0.64, Y:0.18, Z:-0.15 [[ 0.99981785 -0.01897222 -0.00207963 0.63774091] [ 0.01898983 0.99978096 0.00879901 0.17705219] [ 0.00191224 -0.0088369 0.99995913 -0.14970273] [ 0. 0. 0. 1. ]] SLAMing on 10.237193470000001 meters Centerline goodness : 0.893038 Centerline is valid? [False, False] Translation: X:0.64, Y:0.17, Z:-0.15 [[ 0.99983397 -0.01807477 -0.00230899 0.63836122] [ 0.01809815 0.99978062 0.01054337 0.17241791] [ 0.00211791 -0.01058341 0.99994175 -0.14990843] [ 0. 0. 0. 1. ]] SLAMing on 10.26719347 meters Centerline goodness : 0.894310 Centerline is valid? [False, False] Translation: X:0.64, Y:0.16, Z:-0.15 [[ 0.9998734 -0.01562095 -0.00302791 0.64072608] [ 0.01566159 0.99978076 0.01389797 0.16353069] [ 0.00281015 -0.01394363 0.99989883 -0.15088011] [ 0. 0. 0. 1. ]] SLAMing on 10.29719347 meters Centerline goodness : 0.892498 Centerline is valid? [False, False] Translation: X:0.64, Y:0.16, Z:-0.15 [[ 0.9999012 -0.0135855 -0.00360886 0.64248068] [ 0.01364346 0.99976993 0.01655127 0.15852645] [ 0.00338317 -0.01659887 0.99985651 -0.15157755] [ 0. 0. 0. 1. ]] SLAMing on 10.327193470000001 meters Centerline goodness : 0.893262 Centerline is valid? [False, False] Translation: X:0.64, Y:0.16, Z:-0.15 [[ 0.99990633 -0.01310385 -0.00395302 0.64302545] [ 0.01316972 0.99976664 0.01712368 0.1578318 ] [ 0.00372771 -0.01717413 0.99984556 -0.15138019] [ 0. 0. 0. 1. ]] SLAMing on 10.35719347 meters Centerline goodness : 0.891912 Centerline is valid? [False, False] Translation: X:0.64, Y:0.15, Z:-0.15 [[ 0.99985925 -0.01620918 -0.00432973 0.64384652] [ 0.01627213 0.99975624 0.01492256 0.15296755] [ 0.00408679 -0.01499091 0.99987928 -0.15125752] [ 0. 0. 0. 1. ]] SLAMing on 10.38719347 meters Centerline goodness : 0.891116 Centerline is valid? [False, False] Translation: X:0.66, Y:0.14, Z:-0.15 [[ 9.99655582e-01 -2.62313160e-02 7.96954196e-04 6.56532961e-01] [ 2.62158266e-02 9.99536159e-01 1.54982838e-02 1.43468258e-01] [-1.20312492e-03 -1.54720531e-02 9.99879577e-01 -1.54884285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.41719347 meters Centerline goodness : 0.893389 Centerline is valid? [False, False] Translation: X:0.67, Y:0.14, Z:-0.16 [[ 0.99926874 -0.03754734 0.00722379 0.66593938] [ 0.03742768 0.99917055 0.01604279 0.13920495] [-0.00782017 -0.01576069 0.99984521 -0.15772275] [ 0. 0. 0. 1. ]] SLAMing on 10.44719347 meters Centerline goodness : 0.893389 Centerline is valid? [False, False] Translation: X:0.67, Y:0.14, Z:-0.16 [[ 0.99926874 -0.03754734 0.00722379 0.66593938] [ 0.03742768 0.99917055 0.01604279 0.13920495] [-0.00782017 -0.01576069 0.99984521 -0.15772275] [ 0. 0. 0. 1. ]] SLAMing on 10.47719347 meters Centerline goodness : 0.894667 Centerline is valid? [False, False] Translation: X:0.67, Y:0.14, Z:-0.16 [[ 0.9991011 -0.04177261 0.00721349 0.66579134] [ 0.04168405 0.99905854 0.01201998 0.13917911] [-0.0077088 -0.01170849 0.99990174 -0.15688058] [ 0. 0. 0. 1. ]] SLAMing on 10.50719347 meters Centerline goodness : 0.892622 Centerline is valid? [False, False] Translation: X:0.68, Y:0.14, Z:-0.16 [[ 0.998769 -0.04796059 0.0126596 0.67746292] [ 0.04775112 0.99872527 0.01636035 0.1363117 ] [-0.01342811 -0.0157357 0.99978601 -0.16067962] [ 0. 0. 0. 1. ]] SLAMing on 10.53719347 meters Centerline goodness : 0.892162 Centerline is valid? [False, False] Translation: X:0.68, Y:0.14, Z:-0.16 [[ 0.99874941 -0.04833789 0.01276982 0.67776197] [ 0.04813082 0.99871202 0.0160536 0.13657205] [-0.01352937 -0.0154189 0.99978958 -0.16141252] [ 0. 0. 0. 1. ]] SLAMing on 10.56719347 meters Centerline goodness : 0.892876 Centerline is valid? [False, False] Translation: X:0.68, Y:0.14, Z:-0.16 [[ 0.99880434 -0.04733339 0.01222468 0.6801934 ] [ 0.04713104 0.99875503 0.01634196 0.13921054] [-0.01298298 -0.01574626 0.99979173 -0.16341123] [ 0. 0. 0. 1. ]] SLAMing on 10.59719347 meters Centerline goodness : 0.892314 Centerline is valid? [False, False] Translation: X:0.67, Y:0.15, Z:-0.17 [[ 0.99916868 -0.03701858 0.01707576 0.67217159] [ 0.03680713 0.99924376 0.01253531 0.14794739] [-0.01752688 -0.01189638 0.99977562 -0.16600817] [ 0. 0. 0. 1. ]] SLAMing on 10.62719347 meters Centerline goodness : 0.892537 Centerline is valid? [False, False] Translation: X:0.67, Y:0.16, Z:-0.16 [[ 0.99948218 -0.02531521 0.01986222 0.66819937] [ 0.02495666 0.99952473 0.01809642 0.15987295] [-0.02031089 -0.01759135 0.99963894 -0.16396992] [ 0. 0. 0. 1. ]] SLAMing on 10.657193470000001 meters Centerline goodness : 0.891318 Centerline is valid? [False, False] Translation: X:0.67, Y:0.17, Z:-0.16 [[ 0.99957602 -0.02139294 0.0197514 0.66838877] [ 0.0209827 0.99956452 0.02074847 0.16606915] [-0.02018667 -0.02032524 0.99958961 -0.16416645] [ 0. 0. 0. 1. ]] SLAMing on 10.68719347 meters Centerline goodness : 0.892602 Centerline is valid? [False, False] Translation: X:0.67, Y:0.17, Z:-0.17 [[ 0.99969734 -0.01524754 0.01930668 0.67033788] [ 0.01475171 0.99956421 0.0255691 0.17460374] [-0.01968813 -0.02527655 0.99948661 -0.16613648] [ 0. 0. 0. 1. ]] SLAMing on 10.71719347 meters Centerline goodness : 0.890123 Centerline is valid? [False, False] Translation: X:0.67, Y:0.18, Z:-0.17 [[ 0.99964713 -0.01859931 0.01896541 0.67213936] [ 0.01820194 0.99961557 0.02091407 0.1799897 ] [-0.0193471 -0.02056148 0.99960138 -0.16747176] [ 0. 0. 0. 1. ]] SLAMing on 10.747193470000001 meters Centerline goodness : 0.887997 Centerline is valid? [False, False] Translation: X:0.68, Y:0.18, Z:-0.17 [[ 0.99959227 -0.02183429 0.0184002 0.67507802] [ 0.02152007 0.99962207 0.01710551 0.18151487] [-0.01876673 -0.01670256 0.99968437 -0.16984821] [ 0. 0. 0. 1. ]] SLAMing on 10.77719347 meters Centerline goodness : 0.885728 Centerline is valid? [False, False] Translation: X:0.68, Y:0.18, Z:-0.17 [[ 0.99950253 -0.02638291 0.01728126 0.68113545] [ 0.02616989 0.99958012 0.01243883 0.18286477] [-0.01760218 -0.01198039 0.99977329 -0.17493908] [ 0. 0. 0. 1. ]] SLAMing on 10.80719347 meters Centerline goodness : 0.881961 Centerline is valid? [False, False] Translation: X:0.68, Y:0.18, Z:-0.18 [[ 0.99938456 -0.03073041 0.01691587 0.68234429] [ 0.03058172 0.99949193 0.00897968 0.18123359] [-0.01718322 -0.00845683 0.99981659 -0.17555502] [ 0. 0. 0. 1. ]] SLAMing on 10.83719347 meters Centerline goodness : 0.882888 Centerline is valid? [False, False] Translation: X:0.68, Y:0.18, Z:-0.18 [[ 0.99929412 -0.03381323 0.01636844 0.68487632] [ 0.03371371 0.99941156 0.00631819 0.17992847] [-0.01657244 -0.00576189 0.99984607 -0.17729422] [ 0. 0. 0. 1. ]] SLAMing on 10.86719347 meters Centerline goodness : 0.880818 Centerline is valid? [False, False] Translation: X:0.69, Y:0.18, Z:-0.18 [[ 0.99920448 -0.03674665 0.01549488 0.68856973] [ 0.03667787 0.99931609 0.00470007 0.17533545] [-0.015657 -0.00412802 0.9998689 -0.18027689] [ 0. 0. 0. 1. ]] SLAMing on 10.89719347 meters Centerline goodness : 0.880467 Centerline is valid? [False, False] Translation: X:0.69, Y:0.17, Z:-0.18 [[ 0.99935842 -0.03241544 0.01523146 0.68826841] [ 0.03227393 0.99943442 0.00944675 0.17202201] [-0.01552906 -0.00894911 0.99983937 -0.17940465] [ 0. 0. 0. 1. ]] SLAMing on 10.92719347 meters Centerline goodness : 0.881305 Centerline is valid? [False, False] Translation: X:0.69, Y:0.17, Z:-0.18 [[ 0.99947864 -0.0285502 0.01507776 0.68698492] [ 0.02835491 0.99951324 0.01301103 0.17283838] [-0.01544189 -0.01257672 0.99980167 -0.17741313] [ 0. 0. 0. 1. ]] SLAMing on 10.95719347 meters Centerline goodness : 0.881507 Centerline is valid? [False, False] Translation: X:0.67, Y:0.18, Z:-0.17 [[ 0.99955724 -0.01869021 0.02315158 0.67472524] [ 0.0183997 0.99975007 0.01269809 0.17757399] [-0.02338313 -0.01226649 0.99965132 -0.17439378] [ 0. 0. 0. 1. ]] SLAMing on 10.987193470000001 meters Centerline goodness : 0.880235 Centerline is valid? [False, False] Translation: X:0.68, Y:0.18, Z:-0.17 [[ 0.99963901 -0.01386686 0.02301231 0.67540454] [ 0.01349189 0.99977497 0.01637001 0.18019187] [-0.02323413 -0.01605362 0.99960115 -0.17480007] [ 0. 0. 0. 1. ]] SLAMing on 11.01719347 meters Centerline goodness : 0.879420 Centerline is valid? [False, False] Translation: X:0.67, Y:0.18, Z:-0.17 [[ 0.99965883 -0.01148892 0.02345677 0.67292513] [ 0.01105583 0.99976754 0.01851018 0.18285994] [-0.02366398 -0.01824454 0.99955348 -0.17270278] [ 0. 0. 0. 1. ]] SLAMing on 11.04719347 meters Centerline goodness : 0.879923 Centerline is valid? [False, False] Translation: X:0.67, Y:0.18, Z:-0.17 [[ 0.99963485 -0.01429713 0.0229293 0.67490277] [ 0.01394892 0.99978603 0.01527472 0.18362197] [-0.02314278 -0.01494931 0.99962039 -0.17379001] [ 0. 0. 0. 1. ]] SLAMing on 11.077193470000001 meters Centerline goodness : 0.879193 Centerline is valid? [False, False] Translation: X:0.68, Y:0.18, Z:-0.18 [[ 0.99952279 -0.02125893 0.02241086 0.67787312] [ 0.02106597 0.99973926 0.00881123 0.18061846] [-0.02259233 -0.00833492 0.99971002 -0.17626974] [ 0. 0. 0. 1. ]] SLAMing on 11.10719347 meters Centerline goodness : 0.876997 Centerline is valid? [False, False] Translation: X:0.68, Y:0.18, Z:-0.18 [[ 0.99943564 -0.02548026 0.02188985 0.67956016] [ 0.02535013 0.9996594 0.00620194 0.17603908] [-0.02204042 -0.00564353 0.99974115 -0.17754497] [ 0. 0. 0. 1. ]] SLAMing on 11.13719347 meters Centerline goodness : 0.877867 Centerline is valid? [False, False] Translation: X:0.68, Y:0.17, Z:-0.18 [[ 0.99945244 -0.02508375 0.0215782 0.68048754] [ 0.0249314 0.99966251 0.00730065 0.17306203] [-0.02175404 -0.00675868 0.99974051 -0.17804568] [ 0. 0. 0. 1. ]] SLAMing on 11.16719347 meters Centerline goodness : 0.878044 Centerline is valid? [False, False] Translation: X:0.68, Y:0.17, Z:-0.18 [[ 0.99951786 -0.02293647 0.02092739 0.68240483] [ 0.02274344 0.99969699 0.00941574 0.17035622] [-0.02113702 -0.00893524 0.99973666 -0.17872483] [ 0. 0. 0. 1. ]] SLAMing on 11.19719347 meters Centerline goodness : 0.878734 Centerline is valid? [False, False] Translation: X:0.68, Y:0.17, Z:-0.18 [[ 0.99959939 -0.00967226 0.02659887 0.68038786] [ 0.00943921 0.99991608 0.00887303 0.16839102] [-0.02668246 -0.0086184 0.99960681 -0.1776677 ] [ 0. 0. 0. 1. ]] SLAMing on 11.22719347 meters Centerline goodness : 0.878997 Centerline is valid? [False, False] Translation: X:0.68, Y:0.17, Z:-0.18 [[ 0.99962962 -0.00748112 0.02616577 0.68230723] [ 0.00721518 0.9999215 0.01024336 0.16883011] [-0.02624035 -0.01005077 0.99960514 -0.17880939] [ 0. 0. 0. 1. ]] SLAMing on 11.25719347 meters Centerline goodness : 0.880173 Centerline is valid? [False, False] Translation: X:0.68, Y:0.17, Z:-0.17 [[ 0.99972362 0.00292446 0.0233266 0.67825299] [-0.00298331 0.99999245 0.00248827 0.1691428 ] [-0.02331914 -0.00255718 0.9997248 -0.17444012] [ 0. 0. 0. 1. ]] SLAMing on 11.28719347 meters Centerline goodness : 0.881180 Centerline is valid? [False, False] Translation: X:0.68, Y:0.17, Z:-0.18 [[ 0.99972596 0.00537475 0.02278407 0.68135199] [-0.00547631 0.99997534 0.0043974 0.16935593] [-0.02275987 -0.00452097 0.99973074 -0.17697381] [ 0. 0. 0. 1. ]] SLAMing on 11.31719347 meters Centerline goodness : 0.877375 Centerline is valid? [False, False] Translation: X:0.68, Y:0.17, Z:-0.18 [[ 0.99973047 0.00603731 0.02241752 0.68330378] [-0.0061574 0.99996704 0.00529189 0.16809989] [-0.02238483 -0.00542849 0.99973469 -0.17877489] [ 0. 0. 0. 1. ]] SLAMing on 11.34719347 meters Centerline goodness : 0.876230 Centerline is valid? [False, False] Translation: X:0.69, Y:0.16, Z:-0.18 [[ 0.99977143 0.00231069 0.02125431 0.68947009] [-0.0023498 0.99999559 0.00181541 0.16423396] [-0.02125003 -0.00186494 0.99977245 -0.18411649] [ 0. 0. 0. 1. ]] SLAMing on 11.37719347 meters Centerline goodness : 0.875922 Centerline is valid? [False, False] Translation: X:0.69, Y:0.16, Z:-0.19 [[ 0.9997735 -0.0044033 0.02082227 0.69165936] [ 0.00448058 0.99998324 -0.00366638 0.15741851] [-0.02080578 0.00375885 0.99977647 -0.18615725] [ 0. 0. 0. 1. ]] SLAMing on 11.407193470000001 meters Centerline goodness : 0.877032 Centerline is valid? [False, False] Translation: X:0.69, Y:0.15, Z:-0.19 [[ 0.99975488 -0.00807507 0.02061504 0.69167644] [ 0.00820713 0.99994629 -0.00632937 0.15336349] [-0.02056283 0.00649701 0.99976745 -0.18551407] [ 0. 0. 0. 1. ]] SLAMing on 11.43719347 meters Centerline goodness : 0.877890 Centerline is valid? [False, False] Translation: X:0.70, Y:0.14, Z:-0.18 [[ 0.99968342 -0.01659815 0.01890933 0.696766 ] [ 0.01656485 0.99986096 0.00191652 0.14051304] [-0.01893851 -0.00160269 0.99981937 -0.18286527] [ 0. 0. 0. 1. ]] SLAMing on 11.46719347 meters Centerline goodness : 0.878279 Centerline is valid? [False, False] Translation: X:0.71, Y:0.13, Z:-0.18 [[ 0.99950248 -0.0213474 0.02321824 0.71050412] [ 0.02117732 0.99974725 0.00754647 0.12755345] [-0.02337347 -0.00705102 0.99970194 -0.18481447] [ 0. 0. 0. 1. ]] SLAMing on 11.497193470000001 meters Centerline goodness : 0.877990 Centerline is valid? [False, False] Translation: X:0.71, Y:0.12, Z:-0.19 [[ 0.9994738 -0.0231216 0.02274914 0.71233981] [ 0.02295828 0.99970893 0.0074146 0.11644357] [-0.02291396 -0.00688842 0.99971371 -0.1855695 ] [ 0. 0. 0. 1. ]] SLAMing on 11.52719347 meters Centerline goodness : 0.877814 Centerline is valid? [False, False] Translation: X:0.71, Y:0.11, Z:-0.19 [[ 0.9995105 -0.02181259 0.02242697 0.71391291] [ 0.02160016 0.99971991 0.00967111 0.11078883] [-0.02263164 -0.00918195 0.99970171 -0.18686418] [ 0. 0. 0. 1. ]] SLAMing on 11.55719347 meters Centerline goodness : 0.876354 Centerline is valid? [False, False] Translation: X:0.71, Y:0.11, Z:-0.19 [[ 0.99953534 -0.02086862 0.02221719 0.71467393] [ 0.02062332 0.99972443 0.01121379 0.10668821] [-0.02244508 -0.01075039 0.99969028 -0.18729057] [ 0. 0. 0. 1. ]] SLAMing on 11.58719347 meters Centerline goodness : 0.876931 Centerline is valid? [False, False] Translation: X:0.72, Y:0.10, Z:-0.19 [[ 0.99955053 -0.02131869 0.02107745 0.71810311] [ 0.02108048 0.9997121 0.01146013 0.09701019] [-0.02131569 -0.01101066 0.99971216 -0.188416 ] [ 0. 0. 0. 1. ]] SLAMing on 11.61719347 meters Centerline goodness : 0.875135 Centerline is valid? [False, False] Translation: X:0.72, Y:0.09, Z:-0.19 [[ 0.99950916 -0.02358749 0.02061706 0.72046512] [ 0.02339848 0.99968239 0.00936129 0.09416582] [-0.02083132 -0.00887429 0.99974362 -0.19014889] [ 0. 0. 0. 1. ]] SLAMing on 11.64719347 meters Centerline goodness : 0.877304 Centerline is valid? [False, False] Translation: X:0.72, Y:0.09, Z:-0.19 [[ 0.99941992 -0.02695294 0.02081728 0.72041345] [ 0.0268124 0.99961597 0.00700097 0.08986334] [-0.02099799 -0.00643875 0.99975878 -0.19006343] [ 0. 0. 0. 1. ]] SLAMing on 11.67719347 meters Centerline goodness : 0.875982 Centerline is valid? [False, False] Translation: X:0.72, Y:0.09, Z:-0.19 [[ 0.99932701 -0.03038885 0.02054386 0.72163189] [ 0.03030364 0.99953085 0.00444651 0.0862774 ] [-0.02066935 -0.00382096 0.99977906 -0.19066749] [ 0. 0. 0. 1. ]] SLAMing on 11.70719347 meters Centerline goodness : 0.875208 Centerline is valid? [False, False] Translation: X:0.72, Y:0.08, Z:-0.19 [[ 0.9992486 -0.03314839 0.02008556 0.72408685] [ 0.03311283 0.99944941 0.00210056 0.08296835] [-0.02014413 -0.0014339 0.99979606 -0.19247567] [ 0. 0. 0. 1. ]] SLAMing on 11.737193470000001 meters Centerline goodness : 0.876296 Centerline is valid? [False, False] Translation: X:0.74, Y:0.07, Z:-0.20 [[ 0.99901217 -0.03824194 0.02263259 0.74219634] [ 0.03813346 0.9992591 0.00520568 0.07468867] [-0.02281489 -0.00433748 0.9997303 -0.19714389] [ 0. 0. 0. 1. ]] SLAMing on 11.76719347 meters Centerline goodness : 0.878754 Centerline is valid? [False, False] Translation: X:0.74, Y:0.07, Z:-0.20 [[ 0.99897975 -0.03920859 0.02240851 0.74241938] [ 0.03909617 0.99922068 0.00543331 0.07338242] [-0.02260408 -0.00455168 0.99973413 -0.19705164] [ 0. 0. 0. 1. ]] SLAMing on 11.79719347 meters Centerline goodness : 0.878120 Centerline is valid? [False, False] Translation: X:0.74, Y:0.07, Z:-0.20 [[ 0.99909181 -0.03635667 0.02222052 0.74256439] [ 0.03614902 0.99929956 0.00967663 0.07146875] [-0.02255677 -0.00886459 0.99970626 -0.19696947] [ 0. 0. 0. 1. ]] SLAMing on 11.827193470000001 meters Centerline goodness : 0.877265 Centerline is valid? [False, False] Translation: X:0.74, Y:0.07, Z:-0.20 [[ 0.99896003 -0.0397967 0.02225042 0.74300661] [ 0.03967378 0.99919504 0.00593881 0.0711856 ] [-0.02246886 -0.00504987 0.99973479 -0.19705103] [ 0. 0. 0. 1. ]] SLAMing on 11.85719347 meters Centerline goodness : 0.877159 Centerline is valid? [False, False] Translation: X:0.74, Y:0.07, Z:-0.20 [[ 0.99908495 -0.03662875 0.02208175 0.74376666] [ 0.03641499 0.99928666 0.01000602 0.06882995] [-0.02243251 -0.00919275 0.99970609 -0.19807141] [ 0. 0. 0. 1. ]] SLAMing on 11.88719347 meters Centerline goodness : 0.875255 Centerline is valid? [False, False] Translation: X:0.75, Y:0.07, Z:-0.20 [[ 0.99920713 -0.03370963 0.02118431 0.7486407 ] [ 0.03344542 0.99935979 0.01270525 0.07071796] [-0.02159903 -0.01198665 0.99969485 -0.20274004] [ 0. 0. 0. 1. ]] SLAMing on 11.91719347 meters Centerline goodness : 0.875637 Centerline is valid? [False, False] Translation: X:0.75, Y:0.07, Z:-0.20 [[ 0.99933966 -0.02967654 0.02096554 0.74931085] [ 0.02933876 0.9994376 0.01623947 0.07258517] [-0.02143568 -0.01561365 0.9996483 -0.20340502] [ 0. 0. 0. 1. ]] SLAMing on 11.94719347 meters Centerline goodness : 0.878308 Centerline is valid? [False, False] Translation: X:0.75, Y:0.07, Z:-0.20 [[ 0.99944742 -0.02595525 0.02076477 0.74920853] [ 0.02554566 0.99947848 0.01975334 0.07368153] [-0.02126664 -0.01921197 0.99958923 -0.20300523] [ 0. 0. 0. 1. ]] SLAMing on 11.97719347 meters Centerline goodness : 0.880071 Centerline is valid? [False, False] Translation: X:0.75, Y:0.08, Z:-0.20 [[ 0.99952657 -0.02245863 0.0210298 0.74698195] [ 0.02200433 0.99952471 0.02159078 0.07964519] [-0.0215047 -0.02111781 0.99954569 -0.20029916] [ 0. 0. 0. 1. ]] SLAMing on 12.00719347 meters Centerline goodness : 0.881089 Centerline is valid? [False, False] Translation: X:0.75, Y:0.08, Z:-0.20 [[ 0.99953142 -0.02205968 0.02122067 0.74621019] [ 0.02162975 0.99956033 0.02028063 0.08448536] [-0.02165872 -0.01981213 0.9995691 -0.19917368] [ 0. 0. 0. 1. ]] SLAMing on 12.03719347 meters Centerline goodness : 0.881506 Centerline is valid? [False, False] Translation: X:0.75, Y:0.09, Z:-0.20 [[ 0.99952816 -0.0222244 0.02120228 0.74617957] [ 0.02181457 0.9995744 0.01936878 0.08637525] [-0.02162372 -0.01889712 0.99958757 -0.19901737] [ 0. 0. 0. 1. ]] SLAMing on 12.06719347 meters Centerline goodness : 0.883411 Centerline is valid? [False, False] Translation: X:0.75, Y:0.09, Z:-0.20 [[ 0.99952424 -0.02245706 0.02114178 0.74651164] [ 0.02205645 0.99957627 0.01899476 0.08705026] [-0.02155939 -0.01851941 0.99959603 -0.19933119] [ 0. 0. 0. 1. ]] SLAMing on 12.09719347 meters Centerline goodness : 0.878252 Centerline is valid? [False, False] Translation: X:0.75, Y:0.09, Z:-0.20 [[ 0.99949608 -0.02413207 0.02062098 0.74917968] [ 0.02377648 0.99956728 0.01731851 0.08881026] [-0.02102998 -0.01681949 0.99963736 -0.20165555] [ 0. 0. 0. 1. ]] SLAMing on 12.12719347 meters Centerline goodness : 0.876108 Centerline is valid? [False, False] Translation: X:0.75, Y:0.09, Z:-0.21 [[ 0.99946191 -0.0260912 0.01987798 0.75403031] [ 0.02578763 0.99954916 0.01537798 0.08893444] [-0.02027025 -0.0148571 0.99968414 -0.20621861] [ 0. 0. 0. 1. ]] SLAMing on 12.157193470000001 meters Centerline goodness : 0.875582 Centerline is valid? [False, False] Translation: X:0.76, Y:0.09, Z:-0.21 [[ 0.99940688 -0.02859234 0.01919272 0.75742687] [ 0.028345 0.99951317 0.01303797 0.08703726] [-0.01955616 -0.01248622 0.99973079 -0.20882838] [ 0. 0. 0. 1. ]] SLAMing on 12.18719347 meters Centerline goodness : 0.875929 Centerline is valid? [False, False] Translation: X:0.76, Y:0.09, Z:-0.21 [[ 0.99941131 -0.02850477 0.01909219 0.75787405] [ 0.02824764 0.99950837 0.01360488 0.08512925] [-0.01947061 -0.01305756 0.99972516 -0.2091543 ] [ 0. 0. 0. 1. ]] SLAMing on 12.21719347 meters Centerline goodness : 0.877456 Centerline is valid? [False, False] Translation: X:0.76, Y:0.09, Z:-0.21 [[ 0.99931083 -0.03188581 0.01900443 0.75767762] [ 0.03169796 0.99944641 0.01010494 0.08549371] [-0.01931612 -0.00949558 0.99976833 -0.2081368 ] [ 0. 0. 0. 1. ]] SLAMing on 12.247193470000001 meters Centerline goodness : 0.877481 Centerline is valid? [False, False] Translation: X:0.76, Y:0.08, Z:-0.21 [[ 0.99927108 -0.03312883 0.01896819 0.75738856] [ 0.03294346 0.99940716 0.01000332 0.08486766] [-0.01928835 -0.00937115 0.99977004 -0.20752417] [ 0. 0. 0. 1. ]] SLAMing on 12.27719347 meters Centerline goodness : 0.875269 Centerline is valid? [False, False] Translation: X:0.76, Y:0.08, Z:-0.21 [[ 0.99923776 -0.03411513 0.01897522 0.75731339] [ 0.03393293 0.99937565 0.00984235 0.08346546] [-0.01929915 -0.00919097 0.99977151 -0.20724909] [ 0. 0. 0. 1. ]] SLAMing on 12.30719347 meters Centerline goodness : 0.877535 Centerline is valid? [False, False] Translation: X:0.77, Y:0.08, Z:-0.21 [[ 0.99886593 -0.04073408 0.02464929 0.76902331] [ 0.04042321 0.99909832 0.01298157 0.08165983] [-0.02515585 -0.01197044 0.99961187 -0.21139228] [ 0. 0. 0. 1. ]] SLAMing on 12.33719347 meters Centerline goodness : 0.881673 Centerline is valid? [False, False] Translation: X:0.77, Y:0.09, Z:-0.21 [[ 0.99890291 -0.03947982 0.02518585 0.76643377] [ 0.03913483 0.9991352 0.01404701 0.08562592] [-0.02571865 -0.01304595 0.99958409 -0.20931879] [ 0. 0. 0. 1. ]] SLAMing on 12.36719347 meters Centerline goodness : 0.881673 Centerline is valid? [False, False] Translation: X:0.77, Y:0.09, Z:-0.21 [[ 0.99890435 -0.03938177 0.0252819 0.76634024] [ 0.03903896 0.99914083 0.01391297 0.08597781] [-0.0258081 -0.01291075 0.99958354 -0.20929239] [ 0. 0. 0. 1. ]] SLAMing on 12.39719347 meters Centerline goodness : 0.882399 Centerline is valid? [False, False] Translation: X:0.77, Y:0.09, Z:-0.21 [[ 0.99900929 -0.03657169 0.02535639 0.76537033] [ 0.03617042 0.99921582 0.01610756 0.09036416] [-0.02592559 -0.01517445 0.9995487 -0.20854995] [ 0. 0. 0. 1. ]] SLAMing on 12.42719347 meters Centerline goodness : 0.882673 Centerline is valid? [False, False] Translation: X:0.77, Y:0.10, Z:-0.21 [[ 0.9992077 -0.03080052 0.02520524 0.76583183] [ 0.03030781 0.99934642 0.01970193 0.10273866] [-0.02579559 -0.0189224 0.99948813 -0.20940397] [ 0. 0. 0. 1. ]] SLAMing on 12.45719347 meters Centerline goodness : 0.877954 Centerline is valid? [False, False] Translation: X:0.78, Y:0.12, Z:-0.21 [[ 0.999409 -0.02866139 0.01897812 0.77762865] [ 0.02843921 0.99952498 0.01187552 0.11783195] [-0.01930947 -0.01132878 0.99974937 -0.21332187] [ 0. 0. 0. 1. ]] SLAMing on 12.487193470000001 meters Centerline goodness : 0.877042 Centerline is valid? [False, False] Translation: X:0.78, Y:0.12, Z:-0.22 [[ 0.99940148 -0.02909497 0.01871276 0.78029732] [ 0.02890934 0.99953085 0.01011534 0.12407943] [-0.01899828 -0.00956832 0.99977373 -0.21614323] [ 0. 0. 0. 1. ]] SLAMing on 12.51719347 meters Centerline goodness : 0.878625 Centerline is valid? [False, False] Translation: X:0.78, Y:0.14, Z:-0.22 [[ 0.99940266 -0.02909024 0.018657 0.78066219] [ 0.02892714 0.99954142 0.00895339 0.13780789] [-0.0189089 -0.00840835 0.99978585 -0.21710795] [ 0. 0. 0. 1. ]] SLAMing on 12.54719347 meters Centerline goodness : 0.875863 Centerline is valid? [False, False] Translation: X:0.78, Y:0.15, Z:-0.22 [[ 0.99931179 -0.0319899 0.01877729 0.77924683] [ 0.03188733 0.99947501 0.00573658 0.15002241] [-0.01895094 -0.00513387 0.99980723 -0.21643686] [ 0. 0. 0. 1. ]] SLAMing on 12.577193470000001 meters Centerline goodness : 0.878175 Centerline is valid? [False, False] Translation: X:0.78, Y:0.15, Z:-0.22 [[ 0.9992801 -0.03301499 0.01868951 0.77918949] [ 0.03294225 0.99944849 0.00418682 0.15401613] [-0.01881743 -0.00356813 0.99981657 -0.21613655] [ 0. 0. 0. 1. ]] SLAMing on 12.60719347 meters Centerline goodness : 0.879170 Centerline is valid? [False, False] Translation: X:0.78, Y:0.16, Z:-0.22 [[ 9.99173689e-01 -3.59222345e-02 1.90140133e-02 7.77747088e-01] [ 3.59221264e-02 9.99354532e-01 3.47334959e-04 1.63095510e-01] [-1.90142174e-02 3.35975838e-04 9.99819157e-01 -2.15081283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.63719347 meters Centerline goodness : 0.884668 Centerline is valid? [False, False] Translation: X:0.77, Y:0.17, Z:-0.21 [[ 9.99118689e-01 -3.67206181e-02 2.03332417e-02 7.72993594e-01] [ 3.67402088e-02 9.99324676e-01 -5.90628789e-04 1.74633013e-01] [-2.02978219e-02 1.33715581e-03 9.99793084e-01 -2.13092453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.66719347 meters Centerline goodness : 0.883340 Centerline is valid? [False, False] Translation: X:0.77, Y:0.18, Z:-0.21 [[ 9.99211643e-01 -3.40958274e-02 2.03363342e-02 7.72433837e-01] [ 3.40772883e-02 9.99418409e-01 1.25756608e-03 1.80113847e-01] [-2.03673845e-02 -5.63567544e-04 9.99792404e-01 -2.12750829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.69719347 meters Centerline goodness : 0.883097 Centerline is valid? [False, False] Translation: X:0.77, Y:0.19, Z:-0.21 [[ 0.99933752 -0.0306847 0.01956942 0.77433363] [ 0.03064883 0.99952794 0.00213052 0.19440917] [-0.01962556 -0.00152933 0.99980623 -0.21346175] [ 0. 0. 0. 1. ]] SLAMing on 12.72719347 meters Centerline goodness : 0.884258 Centerline is valid? [False, False] Translation: X:0.78, Y:0.21, Z:-0.22 [[ 0.99954174 -0.02541676 0.0164408 0.78049568] [ 0.02544105 0.99967552 -0.00126979 0.21261254] [-0.0164032 0.00168748 0.99986403 -0.21555865] [ 0. 0. 0. 1. ]] SLAMing on 12.75719347 meters Centerline goodness : 0.886914 Centerline is valid? [False, False] Translation: X:0.78, Y:0.23, Z:-0.22 [[ 0.99973101 -0.01704042 0.01573301 0.7826454 ] [ 0.01709685 0.99984786 -0.00345885 0.23257652] [-0.01567167 0.0037269 0.99987025 -0.21534693] [ 0. 0. 0. 1. ]] SLAMing on 12.78719347 meters Centerline goodness : 0.885964 Centerline is valid? [False, False] Translation: X:0.77, Y:0.24, Z:-0.21 [[ 0.99989379 -0.00752883 0.01247865 0.77465326] [ 0.00764702 0.9999261 -0.00945099 0.24232676] [-0.01240658 0.00954541 0.99987747 -0.2115174 ] [ 0. 0. 0. 1. ]] SLAMing on 12.81719347 meters Centerline goodness : 0.889028 Centerline is valid? [False, False] Translation: X:0.76, Y:0.26, Z:-0.20 [[ 0.99996608 0.00426682 0.00704533 0.76272688] [-0.00418434 0.99992302 -0.01168084 0.26423166] [-0.00709463 0.01165096 0.99990696 -0.20295399] [ 0. 0. 0. 1. ]] SLAMing on 12.84719347 meters Centerline goodness : 0.883699 Centerline is valid? [False, False] Translation: X:0.77, Y:0.28, Z:-0.20 [[ 0.99991532 0.01147217 0.00614362 0.76650502] [-0.01141886 0.99989745 -0.00864344 0.2796166 ] [-0.00624215 0.00857256 0.99994377 -0.20414323] [ 0. 0. 0. 1. ]] SLAMing on 12.87719347 meters Centerline goodness : 0.881167 Centerline is valid? [False, False] Translation: X:0.77, Y:0.28, Z:-0.21 [[ 0.99986843 0.0150899 0.0059505 0.76838209] [-0.01505386 0.99986835 -0.00605562 0.28456073] [-0.0060411 0.00596524 0.99996396 -0.20574589] [ 0. 0. 0. 1. ]] SLAMing on 12.907193470000001 meters Centerline goodness : 0.878725 Centerline is valid? [False, False] Translation: X:0.79, Y:0.30, Z:-0.21 [[ 9.99805565e-01 1.94144870e-02 3.45112091e-03 7.87457192e-01] [-1.94174436e-02 9.99811123e-01 8.25254150e-04 2.95951893e-01] [-3.43444718e-03 -8.92105637e-04 9.99993704e-01 -2.07157580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.93719347 meters Centerline goodness : 0.872047 Centerline is valid? [False, False] Translation: X:0.81, Y:0.31, Z:-0.21 [[ 9.99676101e-01 2.54220559e-02 1.18863404e-03 8.08949928e-01] [-2.54317777e-02 9.99635677e-01 9.04085380e-03 3.06268852e-01] [-9.58363904e-04 -9.06815455e-03 9.99958424e-01 -2.08553890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.96719347 meters Centerline goodness : 0.867701 Centerline is valid? [False, False] Translation: X:0.81, Y:0.31, Z:-0.21 [[ 9.99545825e-01 3.01215870e-02 9.12759366e-04 8.11237895e-01] [-3.01307276e-02 9.99465988e-01 1.26442787e-02 3.10080480e-01] [-5.31406200e-04 -1.26660381e-02 9.99919641e-01 -2.10261756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.997193470000001 meters Centerline goodness : 0.867371 Centerline is valid? [False, False] Translation: X:0.81, Y:0.31, Z:-0.21 [[ 9.99538688e-01 3.03661556e-02 5.55111829e-04 8.12209008e-01] [-3.03706799e-02 9.99463561e-01 1.22561098e-02 3.11810010e-01] [-1.82643109e-04 -1.22673150e-02 9.99924737e-01 -2.10437340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.02719347 meters Centerline goodness : 0.866238 Centerline is valid? [False, False] Translation: X:0.81, Y:0.31, Z:-0.21 [[ 9.99522947e-01 3.08843160e-02 1.93822862e-04 8.13419292e-01] [-3.08844269e-02 9.99451558e-01 1.19471799e-02 3.14107204e-01] [ 1.75263918e-04 -1.19474666e-02 9.99928611e-01 -2.10726127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.05719347 meters Centerline goodness : 0.869001 Centerline is valid? [False, False] Translation: X:0.81, Y:0.32, Z:-0.21 [[ 9.99617380e-01 2.76600405e-02 -1.26128589e-04 8.13842220e-01] [-2.76582238e-02 9.99587187e-01 7.77674953e-03 3.16153028e-01] [ 3.41181729e-04 -7.77028550e-03 9.99969753e-01 -2.09930002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.08719347 meters Centerline goodness : 0.874167 Centerline is valid? [False, False] Translation: X:0.81, Y:0.31, Z:-0.21 [[ 9.99728013e-01 2.33185265e-02 -3.81918889e-04 8.11850442e-01] [-2.33170843e-02 9.99722257e-01 3.42383659e-03 3.14576002e-01] [ 4.61651638e-04 -3.41400012e-03 9.99994066e-01 -2.06633350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.11719347 meters Centerline goodness : 0.879241 Centerline is valid? [False, False] Translation: X:0.81, Y:0.31, Z:-0.20 [[ 9.99896410e-01 1.43840285e-02 -5.19482669e-04 8.10512716e-01] [-1.43862729e-02 9.99885877e-01 -4.61179967e-03 3.06673431e-01] [ 4.53087127e-04 4.61879535e-03 9.99989231e-01 -2.04937667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.14719347 meters Centerline goodness : 0.882926 Centerline is valid? [False, False] Translation: X:0.81, Y:0.30, Z:-0.21 [[ 9.99940749e-01 1.08478081e-02 -9.07650561e-04 8.11573802e-01] [-1.08538051e-02 9.99917385e-01 -6.88604845e-03 3.00985404e-01] [ 8.32877043e-04 6.89549191e-03 9.99975879e-01 -2.05886724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.17719347 meters Centerline goodness : 0.883369 Centerline is valid? [False, False] Translation: X:0.82, Y:0.29, Z:-0.21 [[ 9.99990432e-01 6.00351635e-04 -4.33302410e-03 8.18342168e-01] [-6.00435010e-04 9.99999820e-01 -1.79410237e-05 2.90591898e-01] [ 4.33301255e-03 2.05425514e-05 9.99990612e-01 -2.05850222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.20719347 meters Centerline goodness : 0.886393 Centerline is valid? [False, False] Translation: X:0.83, Y:0.28, Z:-0.21 [[ 9.99979010e-01 -6.42667231e-03 8.23110269e-04 8.29215141e-01] [ 6.42253654e-03 9.99967211e-01 4.93234304e-03 2.80939061e-01] [-8.54781833e-04 -4.92695306e-03 9.99987497e-01 -2.08811556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.23719347 meters Centerline goodness : 0.885062 Centerline is valid? [False, False] Translation: X:0.83, Y:0.27, Z:-0.21 [[ 9.99960554e-01 -8.87721228e-03 2.92727355e-04 8.31219599e-01] [ 8.87595730e-03 9.99952443e-01 4.04101609e-03 2.70371996e-01] [-3.28586391e-04 -4.03825846e-03 9.99991792e-01 -2.10031178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.26719347 meters Centerline goodness : 0.885739 Centerline is valid? [False, False] Translation: X:0.83, Y:0.27, Z:-0.21 [[ 9.99936035e-01 -1.13020830e-02 -4.35420582e-04 8.34069747e-01] [ 1.13030127e-02 9.99933709e-01 2.19527439e-03 2.66100199e-01] [ 4.10580544e-04 -2.20005553e-03 9.99997496e-01 -2.11826755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.29719347 meters Centerline goodness : 0.883326 Centerline is valid? [False, False] Translation: X:0.85, Y:0.25, Z:-0.22 [[ 9.99878471e-01 -1.55718382e-02 7.49242751e-04 8.51789321e-01] [ 1.55623557e-02 9.99814712e-01 1.13294106e-02 2.53952733e-01] [-9.25523674e-04 -1.13163737e-02 9.99935539e-01 -2.19641232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.327193470000001 meters Centerline goodness : 0.883879 Centerline is valid? [False, False] Translation: X:0.85, Y:0.25, Z:-0.22 [[ 9.99833316e-01 -1.82563009e-02 2.19662568e-04 8.53747960e-01] [ 1.82534438e-02 9.99789529e-01 9.36530363e-03 2.49875956e-01] [-3.90592137e-04 -9.35973298e-03 9.99956120e-01 -2.20648964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.35719347 meters Centerline goodness : 0.882143 Centerline is valid? [False, False] Translation: X:0.87, Y:0.24, Z:-0.22 [[ 0.99978406 -0.02045987 0.00363558 0.86958633] [ 0.02039416 0.99964273 0.01727666 0.23838415] [-0.00398776 -0.01719878 0.99984414 -0.22340202] [ 0. 0. 0. 1. ]] SLAMing on 13.38719347 meters Centerline goodness : 0.881164 Centerline is valid? [False, False] Translation: X:0.87, Y:0.23, Z:-0.22 [[ 0.99974868 -0.02223617 0.00285286 0.87035268] [ 0.02218679 0.99962087 0.01630502 0.23099462] [-0.00321434 -0.01623762 0.99986299 -0.22195795] [ 0. 0. 0. 1. ]] SLAMing on 13.41719347 meters Centerline goodness : 0.879922 Centerline is valid? [False, False] Translation: X:0.87, Y:0.23, Z:-0.22 [[ 0.99969994 -0.02438744 0.00229812 0.87250876] [ 0.02435298 0.99960554 0.01398944 0.22854276] [-0.00263838 -0.01392927 0.9998995 -0.22279298] [ 0. 0. 0. 1. ]] SLAMing on 13.44719347 meters Centerline goodness : 0.880068 Centerline is valid? [False, False] Translation: X:0.87, Y:0.22, Z:-0.22 [[ 0.99973842 -0.02278574 0.00197625 0.87328514] [ 0.02275082 0.99961014 0.01618545 0.22249231] [-0.00234428 -0.01613625 0.99986705 -0.22277038] [ 0. 0. 0. 1. ]] SLAMing on 13.47719347 meters Centerline goodness : 0.879002 Centerline is valid? [False, False] Translation: X:0.87, Y:0.22, Z:-0.22 [[ 0.99976127 -0.02179027 0.0016094 0.87291306] [ 0.0217584 0.99960656 0.01770008 0.21732348] [-0.00199445 -0.01766084 0.99984205 -0.22108131] [ 0. 0. 0. 1. ]] SLAMing on 13.50719347 meters Centerline goodness : 0.877973 Centerline is valid? [False, False] Translation: X:0.87, Y:0.21, Z:-0.22 [[ 0.999777 -0.02107466 0.00134392 0.87376036] [ 0.02104521 0.99959656 0.01907385 0.21376046] [-0.00174536 -0.01904131 0.99981717 -0.22152083] [ 0. 0. 0. 1. ]] SLAMing on 13.53719347 meters Centerline goodness : 0.878148 Centerline is valid? [False, False] Translation: X:0.88, Y:0.21, Z:-0.22 [[ 9.99729611e-01 -2.32441762e-02 6.43189715e-04 8.76558195e-01] [ 2.32291628e-02 9.99573543e-01 1.76957162e-02 2.09093108e-01] [-1.05423777e-03 -1.76759907e-02 9.99843212e-01 -2.23098222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.56719347 meters Centerline goodness : 0.877224 Centerline is valid? [False, False] Translation: X:0.88, Y:0.20, Z:-0.22 [[ 9.99674900e-01 -2.54966060e-02 -1.32367150e-04 8.79666190e-01] [ 2.54953623e-02 9.99541270e-01 1.63473307e-02 2.04144982e-01] [-2.84495020e-04 -1.63453909e-02 9.99866365e-01 -2.24991981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.59719347 meters Centerline goodness : 0.875605 Centerline is valid? [False, False] Translation: X:0.88, Y:0.20, Z:-0.23 [[ 9.99558142e-01 -2.97070478e-02 -1.00588771e-03 8.84714644e-01] [ 2.97171885e-02 9.99482549e-01 1.23094398e-02 1.98641018e-01] [ 6.39690093e-04 -1.23338929e-02 9.99923730e-01 -2.28338110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.62719347 meters Centerline goodness : 0.875252 Centerline is valid? [False, False] Translation: X:0.89, Y:0.19, Z:-0.23 [[ 9.99577694e-01 -2.90317660e-02 -1.26092870e-03 8.85763608e-01] [ 2.90464154e-02 9.99482843e-01 1.37968365e-02 1.94724833e-01] [ 8.59730072e-04 -1.38276355e-02 9.99904024e-01 -2.29104546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.657193470000001 meters Centerline goodness : 0.875427 Centerline is valid? [False, False] Translation: X:0.88, Y:0.19, Z:-0.23 [[ 9.99588456e-01 -2.86582588e-02 -1.27401151e-03 8.84631149e-01] [ 2.86741738e-02 9.99476017e-01 1.50160837e-02 1.89819691e-01] [ 8.43009132e-04 -1.50464352e-02 9.99886441e-01 -2.27364439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.68719347 meters Centerline goodness : 0.876598 Centerline is valid? [False, False] Translation: X:0.89, Y:0.19, Z:-0.23 [[ 0.9995301 -0.03060245 -0.00175108 0.88633231] [ 0.03062316 0.99944158 0.0133697 0.18670092] [ 0.00134095 -0.01341704 0.99990909 -0.22775236] [ 0. 0. 0. 1. ]] SLAMing on 13.71719347 meters Centerline goodness : 0.875192 Centerline is valid? [False, False] Translation: X:0.89, Y:0.18, Z:-0.23 [[ 0.99954118 -0.03022516 -0.00196915 0.8871138 ] [ 0.03025042 0.99943876 0.01439044 0.18426433] [ 0.00153309 -0.0144434 0.99989451 -0.22824228] [ 0. 0. 0. 1. ]] SLAMing on 13.747193470000001 meters Centerline goodness : 0.875751 Centerline is valid? [False, False] Translation: X:0.89, Y:0.18, Z:-0.23 [[ 0.99945819 -0.03283017 -0.00234859 0.88973608] [ 0.03285666 0.99938433 0.01230455 0.18137794] [ 0.00194318 -0.01237505 0.99992154 -0.23034129] [ 0. 0. 0. 1. ]] SLAMing on 13.77719347 meters Centerline goodness : 0.873695 Centerline is valid? [False, False] Translation: X:0.89, Y:0.18, Z:-0.23 [[ 0.99939836 -0.03456539 -0.00285675 0.89293461] [ 0.03459301 0.99934879 0.01026283 0.18126113] [ 0.00250015 -0.01035548 0.99994326 -0.23274815] [ 0. 0. 0. 1. ]] SLAMing on 13.80719347 meters Centerline goodness : 0.873272 Centerline is valid? [False, False] Translation: X:0.90, Y:0.18, Z:-0.24 [[ 0.99946818 -0.03243724 -0.0033436 0.89586817] [ 0.03247424 0.99940432 0.0116804 0.18220695] [ 0.00296273 -0.01178277 0.99992619 -0.23519523] [ 0. 0. 0. 1. ]] SLAMing on 13.83719347 meters Centerline goodness : 0.874838 Centerline is valid? [False, False] Translation: X:0.90, Y:0.18, Z:-0.24 [[ 0.99960256 -0.02791743 -0.00391538 0.89672879] [ 0.02797396 0.99949285 0.01521515 0.18459559] [ 0.00348863 -0.01531863 0.99987658 -0.23504131] [ 0. 0. 0. 1. ]] SLAMing on 13.86719347 meters Centerline goodness : 0.873872 Centerline is valid? [False, False] Translation: X:0.90, Y:0.19, Z:-0.24 [[ 0.99963054 -0.02678616 -0.00461309 0.89921449] [ 0.02685584 0.99951491 0.01577058 0.18601695] [ 0.00418841 -0.01588864 0.99986499 -0.23651976] [ 0. 0. 0. 1. ]] SLAMing on 13.89719347 meters Centerline goodness : 0.872482 Centerline is valid? [False, False] Translation: X:0.90, Y:0.19, Z:-0.24 [[ 0.99963396 -0.02660608 -0.00490517 0.90035608] [ 0.02668062 0.99951888 0.01581594 0.18723034] [ 0.00448201 -0.01594102 0.99986289 -0.23731547] [ 0. 0. 0. 1. ]] SLAMing on 13.92719347 meters Centerline goodness : 0.873890 Centerline is valid? [False, False] Translation: X:0.90, Y:0.19, Z:-0.24 [[ 0.99951244 -0.03080531 -0.00509082 0.90109982] [ 0.03086503 0.99945029 0.01210223 0.18596797] [ 0.0047152 -0.01225346 0.99991381 -0.23757282] [ 0. 0. 0. 1. ]] SLAMing on 13.95719347 meters Centerline goodness : 0.873346 Centerline is valid? [False, False] Translation: X:0.90, Y:0.18, Z:-0.24 [[ 0.99939395 -0.03439202 -0.00537795 0.90241742] [ 0.03443831 0.99936838 0.00876587 0.18451086] [ 0.00507307 -0.00894577 0.99994712 -0.23820126] [ 0. 0. 0. 1. ]] SLAMing on 13.98719347 meters Centerline goodness : 0.873068 Centerline is valid? [False, False] Translation: X:0.90, Y:0.18, Z:-0.24 [[ 0.99924704 -0.03844316 -0.00524156 0.90249913] [ 0.03847384 0.99924229 0.00588359 0.18011773] [ 0.00501141 -0.00608083 0.99996895 -0.23808588] [ 0. 0. 0. 1. ]] SLAMing on 14.01719347 meters Centerline goodness : 0.875615 Centerline is valid? [False, False] Translation: X:0.91, Y:0.18, Z:-0.24 [[ 0.99913548 -0.04154754 0.00144775 0.91136128] [ 0.04152611 0.99905832 0.01257207 0.17758151] [-0.00196872 -0.01250109 0.99991992 -0.23919118] [ 0. 0. 0. 1. ]] SLAMing on 14.04719347 meters Centerline goodness : 0.875980 Centerline is valid? [False, False] Translation: X:0.91, Y:0.18, Z:-0.24 [[ 9.99177733e-01 -4.05343578e-02 9.07366314e-04 9.12286443e-01] [ 4.05184362e-02 9.99087541e-01 1.35034272e-02 1.76859283e-01] [-1.45389113e-03 -1.34555587e-02 9.99908413e-01 -2.38832423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.077193470000001 meters Centerline goodness : 0.875901 Centerline is valid? [False, False] Translation: X:0.91, Y:0.18, Z:-0.24 [[ 9.99208828e-01 -3.97651748e-02 6.70124025e-04 9.13202507e-01] [ 3.97517123e-02 9.99109215e-01 1.41625785e-02 1.76044417e-01] [-1.23270450e-03 -1.41247349e-02 9.99899481e-01 -2.39376335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.10719347 meters Centerline goodness : 0.874119 Centerline is valid? [False, False] Translation: X:0.92, Y:0.17, Z:-0.24 [[ 9.99281784e-01 -3.78933241e-02 1.12977583e-04 9.15638367e-01] [ 3.78868620e-02 9.99158262e-01 1.57274721e-02 1.74538945e-01] [-7.08848683e-04 -1.57118960e-02 9.99876309e-01 -2.41070161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.13719347 meters Centerline goodness : 0.874522 Centerline is valid? [False, False] Translation: X:0.92, Y:0.17, Z:-0.24 [[ 9.99349836e-01 -3.60502619e-02 -5.32337284e-04 9.18280438e-01] [ 3.60540892e-02 9.99202786e-01 1.71433447e-02 1.73458685e-01] [-8.61091688e-05 -1.71513917e-02 9.99852900e-01 -2.42746745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.16719347 meters Centerline goodness : 0.876195 Centerline is valid? [False, False] Translation: X:0.92, Y:0.17, Z:-0.24 [[ 9.99363636e-01 -3.56576844e-02 -9.22940393e-04 9.19311692e-01] [ 3.56683849e-02 9.99210174e-01 1.75155417e-02 1.73238744e-01] [ 2.97647772e-04 -1.75373153e-02 9.99846165e-01 -2.43140006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.19719347 meters Centerline goodness : 0.876060 Centerline is valid? [False, False] Translation: X:0.92, Y:0.17, Z:-0.24 [[ 9.99364182e-01 -3.56333829e-02 -1.22245376e-03 9.19943016e-01] [ 3.56496638e-02 9.99201076e-01 1.80640989e-02 1.71924648e-01] [ 5.77792155e-04 -1.80961935e-02 9.99836084e-01 -2.43217811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.22719347 meters Centerline goodness : 0.873907 Centerline is valid? [False, False] Translation: X:0.92, Y:0.17, Z:-0.24 [[ 0.99925083 -0.03866344 -0.00170821 0.922155 ] [ 0.03868509 0.99913436 0.01529708 0.17075301] [ 0.00111529 -0.01535171 0.99988153 -0.24446961] [ 0. 0. 0. 1. ]] SLAMing on 14.25719347 meters Centerline goodness : 0.874366 Centerline is valid? [False, False] Translation: X:0.92, Y:0.17, Z:-0.25 [[ 0.99926451 -0.03829024 -0.00207462 0.92352526] [ 0.03831874 0.99913577 0.01610536 0.16880567] [ 0.00145615 -0.01617301 0.99986815 -0.24539148] [ 0. 0. 0. 1. ]] SLAMing on 14.28719347 meters Centerline goodness : 0.874366 Centerline is valid? [False, False] Translation: X:0.92, Y:0.17, Z:-0.25 [[ 0.99926451 -0.03829024 -0.00207462 0.92352526] [ 0.03831874 0.99913577 0.01610536 0.16880567] [ 0.00145615 -0.01617301 0.99986815 -0.24539148] [ 0. 0. 0. 1. ]] SLAMing on 14.31719347 meters Centerline goodness : 0.874606 Centerline is valid? [False, False] Translation: X:0.92, Y:0.17, Z:-0.25 [[ 0.99928696 -0.03768265 -0.00236239 0.92470042] [ 0.03771666 0.99915148 0.01654588 0.16782334] [ 0.00173689 -0.01662318 0.99986032 -0.24609853] [ 0. 0. 0. 1. ]] SLAMing on 14.34719347 meters Centerline goodness : 0.877526 Centerline is valid? [False, False] Translation: X:0.92, Y:0.17, Z:-0.24 [[ 0.99930146 -0.03728366 -0.00255524 0.92440978] [ 0.03732014 0.99917301 0.01614004 0.16976951] [ 0.00195137 -0.01622413 0.99986648 -0.24492765] [ 0. 0. 0. 1. ]] SLAMing on 14.37719347 meters Centerline goodness : 0.880366 Centerline is valid? [False, False] Translation: X:0.92, Y:0.17, Z:-0.24 [[ 0.99942158 -0.0339443 -0.00207166 0.92085556] [ 0.03397653 0.99925564 0.01826914 0.17296051] [ 0.00144999 -0.01832896 0.99983096 -0.24097252] [ 0. 0. 0. 1. ]] SLAMing on 14.40719347 meters Centerline goodness : 0.878457 Centerline is valid? [False, False] Translation: X:0.92, Y:0.17, Z:-0.24 [[ 0.99943408 -0.03354452 -0.00250723 0.92257145] [ 0.03358506 0.99926646 0.01840093 0.17366523] [ 0.00188814 -0.01847472 0.99982754 -0.24221078] [ 0. 0. 0. 1. ]] SLAMing on 14.43719347 meters Centerline goodness : 0.878684 Centerline is valid? [False, False] Translation: X:0.92, Y:0.17, Z:-0.24 [[ 0.99915317 -0.04106914 -0.00250566 0.92405204] [ 0.04109419 0.99909541 0.01093742 0.17426702] [ 0.0020542 -0.01103113 0.99993705 -0.24325129] [ 0. 0. 0. 1. ]] SLAMing on 14.46719347 meters Centerline goodness : 0.877546 Centerline is valid? [False, False] Translation: X:0.92, Y:0.17, Z:-0.24 [[ 0.99909398 -0.04248246 -0.00254089 0.92413229] [ 0.04250746 0.99903818 0.01076256 0.17149229] [ 0.00208122 -0.01086081 0.99993885 -0.24329441] [ 0. 0. 0. 1. ]] SLAMing on 14.497193470000001 meters Centerline goodness : 0.877240 Centerline is valid? [False, False] Translation: X:0.94, Y:0.17, Z:-0.25 [[ 0.99851177 -0.05448097 0.0024645 0.93646771] [ 0.05445247 0.99846178 0.01044061 0.16667999] [-0.00302952 -0.01029088 0.99994246 -0.24726097] [ 0. 0. 0. 1. ]] SLAMing on 14.52719347 meters Centerline goodness : 0.879227 Centerline is valid? [False, False] Translation: X:0.95, Y:0.16, Z:-0.25 [[ 0.99816575 -0.06015362 0.00683144 0.94907658] [ 0.06003677 0.99806493 0.01618586 0.16407293] [-0.00779186 -0.01574603 0.99984566 -0.25203957] [ 0. 0. 0. 1. ]] SLAMing on 14.55719347 meters Centerline goodness : 0.877063 Centerline is valid? [False, False] Translation: X:0.98, Y:0.16, Z:-0.26 [[ 0.99742329 -0.07095806 0.01057056 0.97770449] [ 0.07040617 0.99647162 0.04568669 0.15674479] [-0.0137751 -0.04482474 0.99889989 -0.25753967] [ 0. 0. 0. 1. ]] SLAMing on 14.58719347 meters Centerline goodness : 0.875369 Centerline is valid? [False, False] Translation: X:0.98, Y:0.16, Z:-0.26 [[ 0.99739998 -0.07130206 0.01045414 0.97837145] [ 0.07075647 0.99645149 0.04558445 0.15585836] [-0.01366731 -0.04472623 0.99890579 -0.25803436] [ 0. 0. 0. 1. ]] SLAMing on 14.61719347 meters Centerline goodness : 0.873079 Centerline is valid? [False, False] Translation: X:0.98, Y:0.16, Z:-0.26 [[ 0.99745619 -0.07029255 0.01183691 0.97651383] [ 0.06971749 0.99661859 0.04348389 0.15695751] [-0.01485347 -0.04254803 0.998984 -0.25997165] [ 0. 0. 0. 1. ]] SLAMing on 14.64719347 meters Centerline goodness : 0.873429 Centerline is valid? [False, False] Translation: X:0.98, Y:0.16, Z:-0.26 [[ 0.99754239 -0.0691413 0.0113428 0.97831627] [ 0.06859475 0.99671617 0.04303068 0.15954322] [-0.01428074 -0.04214687 0.99900936 -0.26223634] [ 0. 0. 0. 1. ]] SLAMing on 14.67719347 meters Centerline goodness : 0.873070 Centerline is valid? [False, False] Translation: X:0.98, Y:0.16, Z:-0.26 [[ 0.99820881 -0.05978281 0.00227947 0.97591997] [ 0.05965293 0.99749237 0.03808541 0.16485463] [-0.00455061 -0.03788122 0.99927189 -0.25790412] [ 0. 0. 0. 1. ]] SLAMing on 14.70719347 meters Centerline goodness : 0.872018 Centerline is valid? [False, False] Translation: X:0.97, Y:0.17, Z:-0.26 [[ 0.99878455 -0.04907706 0.00456841 0.97463585] [ 0.04891759 0.99834714 0.03016719 0.17378732] [-0.00604138 -0.02990705 0.99953443 -0.25791747] [ 0. 0. 0. 1. ]] SLAMing on 14.73719347 meters Centerline goodness : 0.873864 Centerline is valid? [False, False] Translation: X:0.98, Y:0.18, Z:-0.26 [[ 0.99897484 -0.04507528 0.00418309 0.97513592] [ 0.04491345 0.998447 0.03296013 0.17793388] [-0.00566228 -0.03273847 0.99944791 -0.2580409 ] [ 0. 0. 0. 1. ]] SLAMing on 14.76719347 meters Centerline goodness : 0.873757 Centerline is valid? [False, False] Translation: X:0.97, Y:0.19, Z:-0.26 [[ 0.99939195 -0.0336811 0.00901748 0.96758142] [ 0.03342342 0.99906713 0.02734499 0.18817872] [-0.00993007 -0.02702697 0.99958538 -0.2571977 ] [ 0. 0. 0. 1. ]] SLAMing on 14.79719347 meters Centerline goodness : 0.876271 Centerline is valid? [False, False] Translation: X:0.96, Y:0.20, Z:-0.25 [[ 0.99959612 -0.02653251 0.01017956 0.96432526] [ 0.02622309 0.99922331 0.0294129 0.19862002] [-0.01095206 -0.02913408 0.99951551 -0.25157737] [ 0. 0. 0. 1. ]] SLAMing on 14.827193470000001 meters Centerline goodness : 0.873693 Centerline is valid? [False, False] Translation: X:0.96, Y:0.20, Z:-0.25 [[ 0.99959592 -0.026502 0.01027831 0.96381962] [ 0.02620452 0.9992624 0.02807096 0.20438498] [-0.01101466 -0.02779028 0.99955309 -0.2509513 ] [ 0. 0. 0. 1. ]] SLAMing on 14.85719347 meters Centerline goodness : 0.872756 Centerline is valid? [False, False] Translation: X:0.96, Y:0.21, Z:-0.25 [[ 0.9997089 -0.02244247 0.00885752 0.96142364] [ 0.02228505 0.99959869 0.01748792 0.21201768] [-0.00924643 -0.01728543 0.99980784 -0.25426958] [ 0. 0. 0. 1. ]] SLAMing on 14.88719347 meters Centerline goodness : 0.869114 Centerline is valid? [False, False] Translation: X:0.96, Y:0.22, Z:-0.26 [[ 0.99980495 -0.01848044 0.00696646 0.95940359] [ 0.01842843 0.99980237 0.00745752 0.21646225] [-0.00710291 -0.00732768 0.99994793 -0.25847281] [ 0. 0. 0. 1. ]] SLAMing on 14.91719347 meters Centerline goodness : 0.870058 Centerline is valid? [False, False] Translation: X:0.96, Y:0.22, Z:-0.26 [[ 0.99982074 -0.01780071 0.00645122 0.96133173] [ 0.01774954 0.99981122 0.00790393 0.21705838] [-0.0065907 -0.00778801 0.99994795 -0.25975671] [ 0. 0. 0. 1. ]] SLAMing on 14.94719347 meters Centerline goodness : 0.869551 Centerline is valid? [False, False] Translation: X:0.96, Y:0.22, Z:-0.26 [[ 0.99982041 -0.01791335 0.00618488 0.96152347] [ 0.01786192 0.99980624 0.00827268 0.21515253] [-0.00633187 -0.00816072 0.99994665 -0.25935583] [ 0. 0. 0. 1. ]] SLAMing on 14.97719347 meters Centerline goodness : 0.870372 Centerline is valid? [False, False] Translation: X:0.96, Y:0.21, Z:-0.25 [[ 0.99973576 -0.02196717 0.00677104 0.95712882] [ 0.02192991 0.99974422 0.00553003 0.21208046] [-0.00689079 -0.00538008 0.99996179 -0.25463165] [ 0. 0. 0. 1. ]] SLAMing on 15.00719347 meters Centerline goodness : 0.869347 Centerline is valid? [False, False] Translation: X:0.95, Y:0.21, Z:-0.25 [[ 0.99967766 -0.02421868 0.0076181 0.95340974] [ 0.02418088 0.99969502 0.00501524 0.21006511] [-0.00773724 -0.00482941 0.99995841 -0.25105505] [ 0. 0. 0. 1. ]] SLAMing on 15.03719347 meters Centerline goodness : 0.868226 Centerline is valid? [False, False] Translation: X:0.95, Y:0.21, Z:-0.25 [[ 0.99968479 -0.0239881 0.00740823 0.9544312 ] [ 0.02394366 0.99969512 0.00603135 0.20709767] [-0.00755065 -0.00585207 0.99995437 -0.25202378] [ 0. 0. 0. 1. ]] SLAMing on 15.06719347 meters Centerline goodness : 0.867293 Centerline is valid? [False, False] Translation: X:0.96, Y:0.20, Z:-0.26 [[ 0.9996472 -0.02571733 0.00664061 0.95908945] [ 0.0256866 0.99965912 0.00467282 0.20221047] [-0.00675852 -0.0045006 0.99996703 -0.25609281] [ 0. 0. 0. 1. ]] SLAMing on 15.09719347 meters Centerline goodness : 0.867366 Centerline is valid? [False, False] Translation: X:0.96, Y:0.20, Z:-0.26 [[ 0.99967217 -0.02480788 0.00633378 0.96107851] [ 0.02476992 0.99967515 0.00600371 0.19995745] [-0.00648067 -0.00584485 0.99996192 -0.25805827] [ 0. 0. 0. 1. ]] SLAMing on 15.12719347 meters Centerline goodness : 0.866146 Centerline is valid? [False, False] Translation: X:0.96, Y:0.20, Z:-0.26 [[ 0.99970448 -0.0236429 0.00565404 0.96431066] [ 0.02359916 0.99969199 0.00768205 0.19787373] [-0.00583392 -0.00754634 0.99995451 -0.26094917] [ 0. 0. 0. 1. ]] SLAMing on 15.15719347 meters Centerline goodness : 0.866245 Centerline is valid? [False, False] Translation: X:0.97, Y:0.20, Z:-0.26 [[ 0.9997318 -0.0225658 0.00520647 0.96647909] [ 0.02251963 0.99970801 0.00876177 0.19756703] [-0.00540266 -0.00864218 0.99994806 -0.26266169] [ 0. 0. 0. 1. ]] SLAMing on 15.18719347 meters Centerline goodness : 0.865837 Centerline is valid? [False, False] Translation: X:0.97, Y:0.20, Z:-0.26 [[ 0.99973622 -0.02240177 0.00506425 0.96634126] [ 0.02235687 0.9997117 0.008757 0.19808916] [-0.00525896 -0.00864147 0.99994883 -0.26191037] [ 0. 0. 0. 1. ]] SLAMing on 15.21719347 meters Centerline goodness : 0.866788 Centerline is valid? [False, False] Translation: X:0.96, Y:0.20, Z:-0.26 [[ 0.99978992 -0.01975582 0.00546111 0.96349873] [ 0.01969127 0.99973844 0.01163174 0.19830697] [-0.00568947 -0.01152176 0.99991744 -0.25882516] [ 0. 0. 0. 1. ]] SLAMing on 15.247193470000001 meters Centerline goodness : 0.865490 Centerline is valid? [False, False] Translation: X:0.96, Y:0.20, Z:-0.26 [[ 0.99979962 -0.01934932 0.00513125 0.96472869] [ 0.01928679 0.99974236 0.01196806 0.19837189] [-0.00536151 -0.0118667 0.99991521 -0.25962094] [ 0. 0. 0. 1. ]] SLAMing on 15.27719347 meters Centerline goodness : 0.864044 Centerline is valid? [False, False] Translation: X:0.97, Y:0.20, Z:-0.26 [[ 0.99982622 -0.01810417 0.00444711 0.9678386 ] [ 0.0180438 0.99974928 0.01325914 0.19676931] [-0.00468604 -0.01317659 0.9999022 -0.26203198] [ 0. 0. 0. 1. ]] SLAMing on 15.30719347 meters Centerline goodness : 0.865504 Centerline is valid? [False, False] Translation: X:0.97, Y:0.19, Z:-0.26 [[ 0.99984931 -0.01691121 0.00392077 0.97008067] [ 0.0168515 0.99974858 0.01479229 0.19393832] [-0.00416994 -0.01472399 0.9998829 -0.26371196] [ 0. 0. 0. 1. ]] SLAMing on 15.33719347 meters Centerline goodness : 0.861454 Centerline is valid? [False, False] Translation: X:0.97, Y:0.19, Z:-0.26 [[ 0.99986256 -0.01619574 0.00354337 0.97134663] [ 0.01613851 0.99974768 0.01562439 0.1926223 ] [-0.00379553 -0.01556505 0.99987165 -0.2644411 ] [ 0. 0. 0. 1. ]] SLAMing on 15.36719347 meters Centerline goodness : 0.862286 Centerline is valid? [False, False] Translation: X:0.97, Y:0.19, Z:-0.27 [[ 0.99989377 -0.01428732 0.0028862 0.97407721] [ 0.01423387 0.99974094 0.01776108 0.18986207] [-0.00313921 -0.01771811 0.99983809 -0.26631103] [ 0. 0. 0. 1. ]] SLAMing on 15.39719347 meters Centerline goodness : 0.863584 Centerline is valid? [False, False] Translation: X:0.97, Y:0.19, Z:-0.27 [[ 0.99991147 -0.01308866 0.00239381 0.97488906] [ 0.01304108 0.99973606 0.01891411 0.18867969] [-0.00264073 -0.01888121 0.99981825 -0.26586436] [ 0. 0. 0. 1. ]] SLAMing on 15.42719347 meters Centerline goodness : 0.864562 Centerline is valid? [False, False] Translation: X:0.98, Y:0.19, Z:-0.27 [[ 0.99991899 -0.01254047 0.00218054 0.9751719 ] [ 0.01249558 0.99973167 0.01950518 0.1870705 ] [-0.00242456 -0.01947635 0.99980738 -0.26555891] [ 0. 0. 0. 1. ]] SLAMing on 15.45719347 meters Centerline goodness : 0.865488 Centerline is valid? [False, False] Translation: X:0.98, Y:0.18, Z:-0.27 [[ 0.99992284 -0.0123816 0.00100187 0.97932144] [ 0.01236018 0.99974073 0.0191232 0.17996531] [-0.00123839 -0.01910934 0.99981663 -0.26700875] [ 0. 0. 0. 1. ]] SLAMing on 15.48719347 meters Centerline goodness : 0.868182 Centerline is valid? [False, False] Translation: X:0.98, Y:0.17, Z:-0.27 [[ 9.99900231e-01 -1.40981797e-02 8.77691362e-04 9.79522689e-01] [ 1.40798003e-02 9.99733981e-01 1.82681719e-02 1.72670397e-01] [-1.13500585e-03 -1.82539916e-02 9.99832738e-01 -2.66417767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.51719347 meters Centerline goodness : 0.868845 Centerline is valid? [False, False] Translation: X:0.98, Y:0.17, Z:-0.26 [[ 0.99985366 -0.01705695 0.0013133 0.97665351] [ 0.01703209 0.99970942 0.01705805 0.16558163] [-0.00160388 -0.01703319 0.99985364 -0.26308643] [ 0. 0. 0. 1. ]] SLAMing on 15.54719347 meters Centerline goodness : 0.868996 Centerline is valid? [False, False] Translation: X:0.98, Y:0.16, Z:-0.26 [[ 0.99980025 -0.01994976 0.00120921 0.9769225 ] [ 0.01992986 0.99969344 0.01469126 0.16180873] [-0.00150193 -0.01466422 0.99989135 -0.26267421] [ 0. 0. 0. 1. ]] SLAMing on 15.577193470000001 meters Centerline goodness : 0.869056 Centerline is valid? [False, False] Translation: X:0.98, Y:0.15, Z:-0.26 [[ 9.99772376e-01 -2.13239490e-02 6.96012940e-04 9.79157327e-01] [ 2.13120650e-02 9.99674037e-01 1.40576122e-02 1.51661189e-01] [-9.95549871e-04 -1.40395789e-02 9.99900945e-01 -2.63445035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.60719347 meters Centerline goodness : 0.867642 Centerline is valid? [False, False] Translation: X:0.99, Y:0.14, Z:-0.27 [[ 0.999818 -0.01892435 -0.00241578 0.98916194] [ 0.01895666 0.99972034 0.01413826 0.14302178] [ 0.00214755 -0.01418149 0.99989713 -0.26584183] [ 0. 0. 0. 1. ]] SLAMing on 15.63719347 meters Centerline goodness : 0.866256 Centerline is valid? [False, False] Translation: X:0.99, Y:0.14, Z:-0.27 [[ 0.99984262 -0.01749642 -0.00293303 0.99176432] [ 0.01754138 0.99971689 0.01607636 0.13928812] [ 0.00265092 -0.01612528 0.99986647 -0.26794674] [ 0. 0. 0. 1. ]] SLAMing on 15.66719347 meters Centerline goodness : 0.864814 Centerline is valid? [False, False] Translation: X:0.99, Y:0.14, Z:-0.27 [[ 0.99985387 -0.01680157 -0.00315478 0.9926845 ] [ 0.01685315 0.99971163 0.01710655 0.13680524] [ 0.00286645 -0.01715722 0.9998487 -0.26856547] [ 0. 0. 0. 1. ]] SLAMing on 15.69719347 meters Centerline goodness : 0.863938 Centerline is valid? [False, False] Translation: X:0.99, Y:0.13, Z:-0.27 [[ 0.99981781 -0.01867266 -0.00395876 0.99495979] [ 0.01873375 0.99969649 0.01599942 0.13153609] [ 0.00365881 -0.01607067 0.99986416 -0.26912619] [ 0. 0. 0. 1. ]] SLAMing on 15.72719347 meters Centerline goodness : 0.864142 Centerline is valid? [False, False] Translation: X:1.00, Y:0.12, Z:-0.27 [[ 0.9996858 -0.02468206 -0.004371 0.99578341] [ 0.02473279 0.99962256 0.01195904 0.11935322] [ 0.00407417 -0.01206339 0.99991893 -0.26837286] [ 0. 0. 0. 1. ]] SLAMing on 15.75719347 meters Centerline goodness : 0.861275 Centerline is valid? [False, False] Translation: X:1.00, Y:0.11, Z:-0.27 [[ 0.99954562 -0.02974284 -0.00489 0.99811187] [ 0.02978681 0.99951412 0.00917976 0.10699222] [ 0.00461459 -0.00932125 0.99994591 -0.26929537] [ 0. 0. 0. 1. ]] SLAMing on 15.78719347 meters Centerline goodness : 0.862254 Centerline is valid? [False, False] Translation: X:1.00, Y:0.10, Z:-0.27 [[ 0.99957705 -0.02861211 -0.00520359 0.99949939] [ 0.02867138 0.99952047 0.01169529 0.10059966] [ 0.00486647 -0.01183953 0.99991807 -0.27025804] [ 0. 0. 0. 1. ]] SLAMing on 15.81719347 meters Centerline goodness : 0.861605 Centerline is valid? [False, False] Translation: X:1.00, Y:0.09, Z:-0.27 [[ 0.99960965 -0.02738633 -0.00552664 1.00056854] [ 0.02746137 0.99952494 0.0139914 0.09468783] [ 0.00514084 -0.01413771 0.99988684 -0.27073558] [ 0. 0. 0. 1. ]] SLAMing on 15.84719347 meters Centerline goodness : 0.859575 Centerline is valid? [False, False] Translation: X:1.00, Y:0.08, Z:-0.27 [[ 0.99971718 -0.02271068 -0.00705649 1.00447942] [ 0.02283931 0.99956394 0.01871603 0.08226977] [ 0.00662836 -0.0188719 0.99979994 -0.27085402] [ 0. 0. 0. 1. ]] SLAMing on 15.87719347 meters Centerline goodness : 0.859121 Centerline is valid? [False, False] Translation: X:1.02, Y:0.07, Z:-0.27 [[ 0.99976967 -0.01873474 -0.01046973 1.0152376 ] [ 0.01893461 0.99963387 0.01932878 0.06748982] [ 0.01010378 -0.01952257 0.99975836 -0.27156184] [ 0. 0. 0. 1. ]] SLAMing on 15.90719347 meters Centerline goodness : 0.859527 Centerline is valid? [False, False] Translation: X:1.02, Y:0.05, Z:-0.27 [[ 0.99969747 -0.02159225 -0.01177892 1.01745261] [ 0.02179112 0.99961758 0.01702491 0.05213111] [ 0.01140681 -0.01727644 0.99978568 -0.26960268] [ 0. 0. 0. 1. ]] SLAMing on 15.93719347 meters Centerline goodness : 0.860911 Centerline is valid? [False, False] Translation: X:1.02, Y:0.04, Z:-0.27 [[ 0.99964588 -0.02386023 -0.01178181 1.01744708] [ 0.02405159 0.99957657 0.01637677 0.04435296] [ 0.01138607 -0.01665435 0.99979647 -0.26902552] [ 0. 0. 0. 1. ]] SLAMing on 15.96719347 meters Centerline goodness : 0.858741 Centerline is valid? [False, False] Translation: X:1.03, Y:0.03, Z:-0.27 [[ 0.99960156 -0.02715674 -0.00769647 1.03320881] [ 0.02732317 0.99937533 0.02241396 0.0257887 ] [ 0.00708297 -0.02261532 0.99971915 -0.27119203] [ 0. 0. 0. 1. ]] SLAMing on 15.997193470000001 meters Centerline goodness : 0.856053 Centerline is valid? [False, False] Translation: X:1.05, Y:0.01, Z:-0.28 [[ 0.99949717 -0.03124811 -0.0053815 1.05276949] [ 0.03138558 0.99912341 0.02770111 0.00535479] [ 0.00451118 -0.02785608 0.99960176 -0.27569428] [ 0. 0. 0. 1. ]] SLAMing on 16.02719347 meters Centerline goodness : 0.856478 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.00, Z:-0.28 [[ 0.99931893 -0.03647502 -0.00559032 1.05512961] [ 0.03659805 0.99904747 0.02376395 -0.00161171] [ 0.0047182 -0.02395236 0.99970197 -0.27701622] [ 0. 0. 0. 1. ]] SLAMing on 16.05719347 meters Centerline goodness : 0.856278 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.02, Z:-0.28 [[ 0.99927281 -0.03738995 -0.00747244 1.06106215] [ 0.03757841 0.99893127 0.02691044 -0.01650956] [ 0.00645827 -0.02717167 0.99960992 -0.27853724] [ 0. 0. 0. 1. ]] SLAMing on 16.08719347 meters Centerline goodness : 0.854831 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.02, Z:-0.28 [[ 0.99930723 -0.03639343 -0.00778301 1.06261245] [ 0.03660643 0.9989018 0.02924322 -0.02194928] [ 0.0067102 -0.02950787 0.99954202 -0.27928326] [ 0. 0. 0. 1. ]] SLAMing on 16.11719347 meters Centerline goodness : 0.853925 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.03, Z:-0.28 [[ 0.99945955 -0.03080699 -0.01146912 1.07047179] [ 0.03117371 0.99895904 0.03330213 -0.03152806] [ 0.01043124 -0.03364167 0.99937952 -0.278335 ] [ 0. 0. 0. 1. ]] SLAMing on 16.14719347 meters Centerline goodness : 0.854121 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.04, Z:-0.28 [[ 0.99963309 -0.02646247 -0.00578133 1.06924047] [ 0.02659477 0.99935455 0.02414948 -0.03734964] [ 0.00513854 -0.02429437 0.99969164 -0.27524895] [ 0. 0. 0. 1. ]] SLAMing on 16.17719347 meters Centerline goodness : 0.854121 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.04, Z:-0.28 [[ 0.99963309 -0.02646247 -0.00578133 1.06924047] [ 0.02659477 0.99935455 0.02414948 -0.03734964] [ 0.00513854 -0.02429437 0.99969164 -0.27524895] [ 0. 0. 0. 1. ]] SLAMing on 16.20719347 meters Centerline goodness : 0.855263 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.04, Z:-0.27 [[ 0.99960251 -0.02761683 -0.0056687 1.06781663] [ 0.02774877 0.99930991 0.02469211 -0.04304875] [ 0.00498287 -0.02483959 0.99967903 -0.2725883 ] [ 0. 0. 0. 1. ]] SLAMing on 16.23719347 meters Centerline goodness : 0.855752 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.06, Z:-0.27 [[ 0.99940601 -0.03435649 -0.00269387 1.07571702] [ 0.03436971 0.99939656 0.00502445 -0.0551639 ] [ 0.00251962 -0.00511406 0.99998375 -0.26735479] [ 0. 0. 0. 1. ]] SLAMing on 16.26719347 meters Centerline goodness : 0.856468 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.07, Z:-0.27 [[ 0.99898013 -0.0449461 -0.00430606 1.09020446] [ 0.04501738 0.99882034 0.01820336 -0.07167973] [ 0.00348281 -0.01837864 0.99982503 -0.26686955] [ 0. 0. 0. 1. ]] SLAMing on 16.29719347 meters Centerline goodness : 0.853642 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.08, Z:-0.27 [[ 0.99860047 -0.05262751 -0.00523962 1.09504282] [ 0.05269529 0.99851569 0.01377064 -0.08438589] [ 0.00450713 -0.01402747 0.99989145 -0.27015141] [ 0. 0. 0. 1. ]] SLAMing on 16.32719347 meters Centerline goodness : 0.853512 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.09, Z:-0.27 [[ 0.99843836 -0.05562545 -0.00516182 1.09611815] [ 0.05568525 0.99837296 0.01227154 -0.0919774 ] [ 0.00447082 -0.01253982 0.99991138 -0.27101932] [ 0. 0. 0. 1. ]] SLAMing on 16.35719347 meters Centerline goodness : 0.851846 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.10, Z:-0.27 [[ 0.99817394 -0.06015316 -0.00551277 1.10021019] [ 0.06020146 0.99814513 0.00906036 -0.10450771] [ 0.00495753 -0.00937569 0.99994376 -0.2736048 ] [ 0. 0. 0. 1. ]] SLAMing on 16.38719347 meters Centerline goodness : 0.854254 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.11, Z:-0.27 [[ 0.99822278 -0.05933877 -0.00549386 1.10016736] [ 0.05939852 0.9981688 0.01143974 -0.11153863] [ 0.00480498 -0.01174573 0.99991947 -0.2731505 ] [ 0. 0. 0. 1. ]] SLAMing on 16.41719347 meters Centerline goodness : 0.853905 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.11, Z:-0.27 [[ 0.99824755 -0.05889419 -0.00577086 1.10053036] [ 0.05896263 0.99818182 0.01250888 -0.11434833] [ 0.00502366 -0.01282723 0.99990511 -0.27275643] [ 0. 0. 0. 1. ]] SLAMing on 16.44719347 meters Centerline goodness : 0.855339 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.12, Z:-0.27 [[ 0.99810737 -0.06118054 -0.00621469 1.10288131] [ 0.06124548 0.99806365 0.01086007 -0.11944167] [ 0.00553823 -0.01122014 0.99992172 -0.27402714] [ 0. 0. 0. 1. ]] SLAMing on 16.47719347 meters Centerline goodness : 0.853841 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.12, Z:-0.28 [[ 0.99794467 -0.06372406 -0.00675908 1.10584306] [ 0.06378091 0.99792722 0.00855875 -0.12147135] [ 0.00619968 -0.00897226 0.99994053 -0.27593355] [ 0. 0. 0. 1. ]] SLAMing on 16.50719347 meters Centerline goodness : 0.855455 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.12, Z:-0.28 [[ 0.99753731 -0.0698218 -0.00665127 1.10849241] [ 0.06984645 0.99755144 0.00354814 -0.12449899] [ 0.00638724 -0.00400397 0.99997159 -0.27839395] [ 0. 0. 0. 1. ]] SLAMing on 16.537193470000002 meters Centerline goodness : 0.854701 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.12, Z:-0.28 [[ 9.97093019e-01 -7.58952115e-02 -6.74006738e-03 1.11088270e+00] [ 7.58873050e-02 9.97115388e-01 -1.42153359e-03 -1.24416298e-01] [ 6.82851249e-03 9.05915672e-04 9.99976275e-01 -2.80274617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.56719347 meters Centerline goodness : 0.857353 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.12, Z:-0.28 [[ 0.99687748 -0.07892247 -0.00255432 1.12732564] [ 0.07890987 0.99687065 -0.00470552 -0.12004279] [ 0.0029177 0.00448926 0.99998567 -0.27971629] [ 0. 0. 0. 1. ]] SLAMing on 16.59719347 meters Centerline goodness : 0.857870 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.12, Z:-0.28 [[ 0.99696942 -0.07770631 0.003703 1.13590042] [ 0.07775 0.9968794 -0.01365247 -0.11602614] [-0.00263057 0.01389901 0.99989994 -0.28165917] [ 0. 0. 0. 1. ]] SLAMing on 16.62719347 meters Centerline goodness : 0.860183 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.11, Z:-0.28 [[ 0.99755726 -0.0695776 0.00620201 1.15414564] [ 0.06971335 0.99724536 -0.02533243 -0.10765726] [-0.00442236 0.02570291 0.99965984 -0.28090298] [ 0. 0. 0. 1. ]] SLAMing on 16.65719347 meters Centerline goodness : 0.859020 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.10, Z:-0.28 [[ 0.99781693 -0.06577807 0.00588378 1.15475579] [ 0.06589682 0.99756147 -0.02299382 -0.10243939] [-0.00435694 0.02333134 0.99971829 -0.28165583] [ 0. 0. 0. 1. ]] SLAMing on 16.68719347 meters Centerline goodness : 0.858016 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.09, Z:-0.28 [[ 9.98548744e-01 -5.38400263e-02 1.28742305e-03 1.16169029e+00] [ 5.38552457e-02 9.98320435e-01 -2.13523260e-02 -8.57084663e-02] [-1.35650946e-04 2.13906728e-02 9.99771184e-01 -2.84456253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.71719347 meters Centerline goodness : 0.855528 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.07, Z:-0.29 [[ 9.99216844e-01 -3.95669049e-02 3.97282218e-04 1.16413556e+00] [ 3.95688860e-02 9.99174397e-01 -9.21015347e-03 -7.43794371e-02] [-3.25369546e-05 9.21866050e-03 9.99957507e-01 -2.87244086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.74719347 meters Centerline goodness : 0.857725 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.06, Z:-0.29 [[ 9.99566368e-01 -2.94461152e-02 -3.97994118e-05 1.16397346e+00] [ 2.94459719e-02 9.99564272e-01 -2.04973604e-03 -6.13384394e-02] [ 1.00138834e-04 2.04767528e-03 9.99997898e-01 -2.86883308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.77719347 meters Centerline goodness : 0.858469 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.06, Z:-0.29 [[ 9.99668046e-01 -2.57570477e-02 -6.10142665e-04 1.16473634e+00] [ 2.57571731e-02 9.99668209e-01 1.98491638e-04 -5.59285407e-02] [ 6.04827666e-04 -2.14141299e-04 9.99999794e-01 -2.86969028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.80719347 meters Centerline goodness : 0.857997 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.05, Z:-0.29 [[ 0.99979541 -0.01976118 -0.00431778 1.16327487] [ 0.01970886 0.99973563 -0.01184221 -0.04696163] [ 0.00455065 0.01175469 0.99992056 -0.28640145] [ 0. 0. 0. 1. ]] SLAMing on 16.83719347 meters Centerline goodness : 0.858488 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.04, Z:-0.29 [[ 0.99984417 -0.01695695 -0.00490843 1.16547245] [ 0.01691011 0.99981251 -0.00943324 -0.04444397] [ 0.00506747 0.00934877 0.99994346 -0.28817535] [ 0. 0. 0. 1. ]] SLAMing on 16.86719347 meters Centerline goodness : 0.857939 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.05, Z:-0.29 [[ 0.99989476 -0.01354825 -0.00518746 1.16605611] [ 0.01352092 0.99989472 -0.00526707 -0.04549723] [ 0.00525827 0.00519638 0.99997267 -0.2882237 ] [ 0. 0. 0. 1. ]] SLAMing on 16.89719347 meters Centerline goodness : 0.857765 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.05, Z:-0.29 [[ 0.99989495 -0.01354775 -0.00515307 1.16585245] [ 0.01352528 0.99989898 -0.00437047 -0.0477251 ] [ 0.00521176 0.00430032 0.99997717 -0.28788292] [ 0. 0. 0. 1. ]] SLAMing on 16.92719347 meters Centerline goodness : 0.857259 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.05, Z:-0.28 [[ 0.99981346 -0.0188521 -0.00420131 1.16222845] [ 0.01881514 0.9997854 -0.00866914 -0.05294795] [ 0.00436384 0.00858847 0.9999536 -0.28465113] [ 0. 0. 0. 1. ]] SLAMing on 16.95719347 meters Centerline goodness : 0.857388 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.06, Z:-0.28 [[ 9.99798663e-01 -2.00291852e-02 -1.21035440e-03 1.16926158e+00] [ 2.00317996e-02 9.99796949e-01 2.18789936e-03 -5.88991706e-02] [ 1.16628679e-03 -2.21170444e-03 9.99996874e-01 -2.83753197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.98719347 meters Centerline goodness : 0.858351 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.07, Z:-0.28 [[ 9.99763797e-01 -2.17180531e-02 -8.22698347e-04 1.16775778e+00] [ 2.17192737e-02 9.99762976e-01 1.50501168e-03 -6.56357950e-02] [ 7.89817424e-04 -1.52252460e-03 9.99998529e-01 -2.82231173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.01719347 meters Centerline goodness : 0.857950 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.07, Z:-0.28 [[ 9.99778599e-01 -2.10245306e-02 -8.49641501e-04 1.16768124e+00] [ 2.10269457e-02 9.99774583e-01 2.94125522e-03 -6.96207302e-02] [ 7.87611467e-04 -2.95846939e-03 9.99995314e-01 -2.81953670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.04719347 meters Centerline goodness : 0.860121 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.08, Z:-0.28 [[ 9.99817265e-01 -1.91067892e-02 -6.05317410e-04 1.16706627e+00] [ 1.91103369e-02 9.99796062e-01 6.52917457e-03 -7.98016139e-02] [ 4.80442401e-04 -6.53954928e-03 9.99978502e-01 -2.81497567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.07719347 meters Centerline goodness : 0.858456 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.09, Z:-0.28 [[ 9.99824317e-01 -1.87029927e-02 -1.23793336e-03 1.17031600e+00] [ 1.87126440e-02 9.99790389e-01 8.30751353e-03 -8.77629351e-02] [ 1.08229851e-03 -8.32921905e-03 9.99964726e-01 -2.83827188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.10719347 meters Centerline goodness : 0.857388 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.10, Z:-0.29 [[ 0.99978068 -0.0208995 -0.00133919 1.1723273 ] [ 0.02090939 0.9997505 0.00785669 -0.09711345] [ 0.00117466 -0.00788297 0.99996824 -0.28575438] [ 0. 0. 0. 1. ]] SLAMing on 17.13719347 meters Centerline goodness : 0.856858 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.10, Z:-0.29 [[ 0.99973896 -0.0227661 -0.00192849 1.17523214] [ 0.02277839 0.9997187 0.0066086 -0.10203833] [ 0.0017775 -0.0066508 0.9999763 -0.28779052] [ 0. 0. 0. 1. ]] SLAMing on 17.16719347 meters Centerline goodness : 0.855563 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.11, Z:-0.29 [[ 0.9996461 -0.02647462 -0.00260074 1.17968875] [ 0.0264847 0.99964153 0.00392178 -0.11235702] [ 0.00249598 -0.00398927 0.99998893 -0.29122045] [ 0. 0. 0. 1. ]] SLAMing on 17.19719347 meters Centerline goodness : 0.854046 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.12, Z:-0.29 [[ 9.99478800e-01 -3.21569472e-02 -2.83879302e-03 1.18117357e+00] [ 3.21574726e-02 9.99482805e-01 1.39620646e-04 -1.23675743e-01] [ 2.83283504e-03 -2.30836285e-04 9.99995961e-01 -2.91676201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.22719347 meters Centerline goodness : 0.855265 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.13, Z:-0.29 [[ 0.99937796 -0.03514754 -0.00288723 1.18163021] [ 0.03514276 0.99938088 -0.00168836 -0.12926091] [ 0.00294478 0.00158585 0.99999441 -0.29166465] [ 0. 0. 0. 1. ]] SLAMing on 17.25719347 meters Centerline goodness : 0.856967 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.14, Z:-0.29 [[ 9.99238019e-01 -3.89750382e-02 -2.08030404e-03 1.18050444e+00] [ 3.89775197e-02 9.99239408e-01 1.16590789e-03 -1.42001675e-01] [ 2.03328048e-03 -1.24610458e-03 9.99997156e-01 -2.88482184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.287193470000002 meters Centerline goodness : 0.858267 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.15, Z:-0.29 [[ 9.99091906e-01 -4.25409417e-02 -2.37302683e-03 1.18120644e+00] [ 4.25389615e-02 9.99094422e-01 -8.78777491e-04 -1.47831194e-01] [ 2.40826189e-03 7.77033382e-04 9.99996798e-01 -2.87961006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.31719347 meters Centerline goodness : 0.858283 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.16, Z:-0.29 [[ 0.99868625 -0.05120099 -0.0020583 1.18051895] [ 0.05118424 0.99866105 -0.00750151 -0.1605453 ] [ 0.00243963 0.00738631 0.99996974 -0.28624923] [ 0. 0. 0. 1. ]] SLAMing on 17.34719347 meters Centerline goodness : 0.860959 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.17, Z:-0.29 [[ 0.99857693 -0.05330523 -0.00163139 1.18000532] [ 0.05329098 0.99854859 -0.00779646 -0.17318104] [ 0.00204462 0.00769842 0.99996828 -0.285673 ] [ 0. 0. 0. 1. ]] SLAMing on 17.37719347 meters Centerline goodness : 0.860468 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.18, Z:-0.29 [[ 0.99854339 -0.05391574 -0.00204772 1.18200111] [ 0.0538985 0.99851671 -0.0077031 -0.17661272] [ 0.00246 0.00758151 0.99996823 -0.28695042] [ 0. 0. 0. 1. ]] SLAMing on 17.40719347 meters Centerline goodness : 0.858293 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.18, Z:-0.29 [[ 0.99860462 -0.05273051 -0.00288329 1.18646162] [ 0.05271491 0.99859583 -0.00524408 -0.1825585 ] [ 0.00315576 0.00508477 0.99998209 -0.29051149] [ 0. 0. 0. 1. ]] SLAMing on 17.43719347 meters Centerline goodness : 0.858881 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.19, Z:-0.30 [[ 0.99852319 -0.05418638 -0.00390805 1.19251788] [ 0.05416347 0.99851554 -0.00574711 -0.18868364] [ 0.00421366 0.00552695 0.99997585 -0.29522848] [ 0. 0. 0. 1. ]] SLAMing on 17.46719347 meters Centerline goodness : 0.858506 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.19, Z:-0.30 [[ 0.99845681 -0.05534244 -0.00460562 1.19574931] [ 0.05531348 0.99844982 -0.00619466 -0.19198084] [ 0.00494131 0.00593034 0.99997021 -0.29731507] [ 0. 0. 0. 1. ]] SLAMing on 17.49719347 meters Centerline goodness : 0.859362 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.20, Z:-0.30 [[ 0.99809057 -0.06156855 -0.00495236 1.19914588] [ 0.06150886 0.99804124 -0.01141692 -0.19617732] [ 0.00564558 0.01109051 0.99992256 -0.29968518] [ 0. 0. 0. 1. ]] SLAMing on 17.52719347 meters Centerline goodness : 0.858959 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.20, Z:-0.30 [[ 0.99775253 -0.06682374 -0.00494707 1.20026658] [ 0.06674089 0.9976522 -0.01535378 -0.19877296] [ 0.00596145 0.0149891 0.99986989 -0.30005657] [ 0. 0. 0. 1. ]] SLAMing on 17.55719347 meters Centerline goodness : 0.859052 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.20, Z:-0.30 [[ 0.99764899 -0.0683143 -0.00544512 1.20257729] [ 0.06821732 0.99753642 -0.01635477 -0.19931214] [ 0.00654897 0.01594487 0.99985143 -0.30143949] [ 0. 0. 0. 1. ]] SLAMing on 17.58719347 meters Centerline goodness : 0.860069 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.20, Z:-0.30 [[ 0.99759378 -0.06910252 -0.00561195 1.20329976] [ 0.06900043 0.99747675 -0.01670539 -0.19966695] [ 0.00675217 0.01627797 0.99984471 -0.30174883] [ 0. 0. 0. 1. ]] SLAMing on 17.61719347 meters Centerline goodness : 0.861563 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.19, Z:-0.30 [[ 9.97885841e-01 -6.49706463e-02 1.63219449e-03 1.21251799e+00] [ 6.49906829e-02 9.97658713e-01 -2.12909445e-02 -1.94497831e-01] [-2.45086626e-04 2.13520095e-02 9.99771990e-01 -3.04334838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.64719347 meters Centerline goodness : 0.863036 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.19, Z:-0.30 [[ 0.99862114 -0.05225701 0.00500151 1.23109652] [ 0.05237324 0.99826423 -0.0269365 -0.18591343] [-0.0035852 0.0271613 0.99962463 -0.3030882 ] [ 0. 0. 0. 1. ]] SLAMing on 17.67719347 meters Centerline goodness : 0.861525 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.18, Z:-0.30 [[ 0.99904957 -0.04340075 0.00404007 1.25589083] [ 0.04350519 0.99857422 -0.03093246 -0.18059714] [-0.00269182 0.03107882 0.99951331 -0.30239805] [ 0. 0. 0. 1. ]] SLAMing on 17.70719347 meters Centerline goodness : 0.858870 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.17, Z:-0.30 [[ 0.9995892 -0.02854029 0.00262337 1.29342031] [ 0.02862585 0.99869251 -0.04235366 -0.1671656 ] [-0.00141116 0.04241136 0.99909924 -0.3046474 ] [ 0. 0. 0. 1. ]] SLAMing on 17.73719347 meters Centerline goodness : 0.860157 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.15, Z:-0.30 [[ 0.99988158 -0.01306951 0.00812482 1.30648476] [ 0.01363992 0.99711693 -0.07464432 -0.14890322] [-0.00712583 0.0747463 0.99717712 -0.30456223] [ 0. 0. 0. 1. ]] SLAMing on 17.76719347 meters Centerline goodness : 0.861914 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.15, Z:-0.30 [[ 0.99994816 -0.0062291 0.0080551 1.30492295] [ 0.00676393 0.99765088 -0.06816868 -0.14679807] [-0.00761154 0.06821963 0.99764129 -0.30245069] [ 0. 0. 0. 1. ]] SLAMing on 17.79719347 meters Centerline goodness : 0.862266 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.15, Z:-0.30 [[ 0.99995827 0.00302881 0.00861915 1.30194347] [-0.00251215 0.99823493 -0.05933562 -0.14614803] [-0.00878366 0.0593115 0.99820088 -0.29929021] [ 0. 0. 0. 1. ]] SLAMing on 17.82719347 meters Centerline goodness : 0.866105 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.15, Z:-0.30 [[ 0.99995651 0.00259393 0.00895877 1.2809818 ] [-0.00221987 0.99913548 -0.0415135 -0.14953075] [-0.00905871 0.04149181 0.99909778 -0.29744177] [ 0. 0. 0. 1. ]] SLAMing on 17.85719347 meters Centerline goodness : 0.865474 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.15, Z:-0.30 [[ 0.9999698 0.00528324 0.00569973 1.27535815] [-0.00513057 0.9996363 -0.0264752 -0.1534533 ] [-0.00583753 0.02644516 0.99963322 -0.29886289] [ 0. 0. 0. 1. ]] SLAMing on 17.88719347 meters Centerline goodness : 0.864964 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.16, Z:-0.30 [[ 0.99996236 0.00689999 0.00525937 1.27833809] [-0.00677333 0.99969542 -0.02373167 -0.15886941] [-0.00542152 0.02369515 0.99970453 -0.3017248 ] [ 0. 0. 0. 1. ]] SLAMing on 17.91719347 meters Centerline goodness : 0.866763 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.16, Z:-0.30 [[ 0.99995911 0.00740594 0.00519001 1.27848029] [-0.00728846 0.99972475 -0.02230011 -0.16355101] [-0.00535374 0.02226137 0.99973785 -0.30175337] [ 0. 0. 0. 1. ]] SLAMing on 17.94719347 meters Centerline goodness : 0.867332 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.17, Z:-0.30 [[ 9.99982864e-01 5.83700506e-03 4.47901525e-04 1.26981825e+00] [-5.83136872e-03 9.99914616e-01 -1.16942535e-02 -1.74950719e-01] [-5.16122699e-04 1.16914412e-02 9.99931520e-01 -2.99683258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.97719347 meters Centerline goodness : 0.867640 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.18, Z:-0.30 [[ 9.99980488e-01 6.23480706e-03 3.87663646e-04 1.27007738e+00] [-6.23054816e-03 9.99928998e-01 -1.01577335e-02 -1.79824420e-01] [-4.50967630e-04 1.01551200e-02 9.99948334e-01 -2.99766267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.00719347 meters Centerline goodness : 0.868481 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.19, Z:-0.30 [[ 9.99995821e-01 2.77582014e-03 -8.07972192e-04 1.27421558e+00] [-2.78341222e-03 9.99950504e-01 -9.55210323e-03 -1.91737854e-01] [ 7.81417279e-04 9.55431223e-03 9.99954051e-01 -3.03037748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.03719347 meters Centerline goodness : 0.869966 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.20, Z:-0.30 [[ 9.99995251e-01 2.94781265e-03 -8.99023545e-04 1.27455100e+00] [-2.95506131e-03 9.99962251e-01 -8.17098260e-03 -1.96170258e-01] [ 8.74903081e-04 8.17360047e-03 9.99966213e-01 -3.03159783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.06719347 meters Centerline goodness : 0.869966 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.20, Z:-0.30 [[ 9.99995251e-01 2.94781265e-03 -8.99023545e-04 1.27455100e+00] [-2.95506131e-03 9.99962251e-01 -8.17098260e-03 -1.96170258e-01] [ 8.74903081e-04 8.17360047e-03 9.99966213e-01 -3.03159783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.09719347 meters Centerline goodness : 0.866956 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.20, Z:-0.30 [[ 0.99999613 -0.00228017 -0.00159585 1.27684057] [ 0.00226038 0.99992184 -0.01229614 -0.20452375] [ 0.00162377 0.01229248 0.99992313 -0.30436551] [ 0. 0. 0. 1. ]] SLAMing on 18.12719347 meters Centerline goodness : 0.866705 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.21, Z:-0.30 [[ 0.99998325 -0.00549074 -0.00183019 1.27780797] [ 0.00546346 0.99987865 -0.01458868 -0.21005606] [ 0.00191007 0.01457844 0.9998919 -0.30494582] [ 0. 0. 0. 1. ]] SLAMing on 18.15719347 meters Centerline goodness : 0.867665 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.22, Z:-0.31 [[ 0.99985482 -0.01694329 -0.00180705 1.27853775] [ 0.01691563 0.99975383 -0.01435788 -0.22308382] [ 0.00204987 0.01432523 0.99989529 -0.31130244] [ 0. 0. 0. 1. ]] SLAMing on 18.18719347 meters Centerline goodness : 0.868656 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.23, Z:-0.31 [[ 0.99976835 -0.02143928 0.00190013 1.29011145] [ 0.02145459 0.99973416 -0.0084446 -0.22755781] [-0.00171857 0.00848341 0.99996254 -0.31448728] [ 0. 0. 0. 1. ]] SLAMing on 18.21719347 meters Centerline goodness : 0.867997 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.23, Z:-0.31 [[ 0.99967345 -0.02549345 0.00175477 1.29082088] [ 0.02551195 0.99960858 -0.01148203 -0.23098893] [-0.00146137 0.01152305 0.99993254 -0.31474071] [ 0. 0. 0. 1. ]] SLAMing on 18.24719347 meters Centerline goodness : 0.871146 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.24, Z:-0.31 [[ 0.99945123 -0.0330599 0.00206856 1.28952572] [ 0.03309084 0.99930208 -0.01733086 -0.23748393] [-0.00149416 0.0173898 0.99984767 -0.31282091] [ 0. 0. 0. 1. ]] SLAMing on 18.27719347 meters Centerline goodness : 0.869743 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.24, Z:-0.31 [[ 9.99316539e-01 -3.69123039e-02 1.98386134e-03 1.29016410e+00] [ 3.69449378e-02 9.99112368e-01 -2.02372901e-02 -2.41880017e-01] [-1.23509539e-03 2.02967523e-02 9.99793237e-01 -3.12965244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.30719347 meters Centerline goodness : 0.869017 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.24, Z:-0.31 [[ 9.99315317e-01 -3.69579102e-02 1.73512000e-03 1.29120714e+00] [ 3.69850412e-02 9.99119871e-01 -1.97886495e-02 -2.43805899e-01] [-1.00224574e-03 1.98392740e-02 9.99802680e-01 -3.13707890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.33719347 meters Centerline goodness : 0.869535 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.24, Z:-0.32 [[ 9.99256457e-01 -3.85377888e-02 1.17147698e-03 1.29450077e+00] [ 3.85538599e-02 9.99038118e-01 -2.08911323e-02 -2.44379640e-01] [-3.65252109e-04 2.09207638e-02 9.99781070e-01 -3.16446823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.36719347 meters Centerline goodness : 0.868615 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.24, Z:-0.32 [[ 9.99163929e-01 -4.08710509e-02 9.99773604e-04 1.29661122e+00] [ 4.08831983e-02 9.98911218e-01 -2.24709508e-02 -2.44371052e-01] [-8.02736938e-05 2.24930375e-02 9.99746996e-01 -3.18285701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.39719347 meters Centerline goodness : 0.868142 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.24, Z:-0.32 [[ 9.99139801e-01 -4.14571021e-02 9.83691870e-04 1.29657672e+00] [ 4.14687482e-02 9.98882922e-01 -2.26550533e-02 -2.44557436e-01] [-4.33801545e-05 2.26763579e-02 9.99742857e-01 -3.18040420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.42719347 meters Centerline goodness : 0.867170 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.24, Z:-0.32 [[ 0.99908457 -0.04234755 0.00605805 1.31126351] [ 0.04248569 0.99878783 -0.02485638 -0.24070995] [-0.0049981 0.025091 0.99967268 -0.31649061] [ 0. 0. 0. 1. ]] SLAMing on 18.45719347 meters Centerline goodness : 0.866823 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.23, Z:-0.31 [[ 0.9991246 -0.04128335 0.00676174 1.30765588] [ 0.04143852 0.99883592 -0.02469128 -0.2345425 ] [-0.00573453 0.02494987 0.99967226 -0.31300875] [ 0. 0. 0. 1. ]] SLAMing on 18.48719347 meters Centerline goodness : 0.867300 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.23, Z:-0.31 [[ 0.99918339 -0.03882557 0.01118628 1.32252601] [ 0.03910734 0.998892 -0.02617988 -0.23023209] [-0.01015744 0.02659597 0.99959466 -0.31224087] [ 0. 0. 0. 1. ]] SLAMing on 18.51719347 meters Centerline goodness : 0.868286 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.22, Z:-0.31 [[ 0.99939551 -0.03151125 0.01468546 1.33856185] [ 0.03188839 0.99914807 -0.02619657 -0.21778805] [-0.01384746 0.02664903 0.99954894 -0.31464532] [ 0. 0. 0. 1. ]] SLAMing on 18.54719347 meters Centerline goodness : 0.864901 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.20, Z:-0.32 [[ 0.99963212 -0.0228501 0.0146118 1.35851355] [ 0.02325642 0.99932974 -0.02827023 -0.20003087] [-0.01395603 0.02859965 0.99949352 -0.31990397] [ 0. 0. 0. 1. ]] SLAMing on 18.57719347 meters Centerline goodness : 0.865351 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.18, Z:-0.32 [[ 0.99973636 -0.00926722 0.02100786 1.39611729] [ 0.01012965 0.99909441 -0.04132489 -0.17805569] [-0.02060587 0.0415268 0.99892488 -0.32269945] [ 0. 0. 0. 1. ]] SLAMing on 18.60719347 meters Centerline goodness : 0.864953 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.17, Z:-0.32 [[ 0.99968532 -0.00362977 0.02482111 1.41156338] [ 0.00468732 0.99907771 -0.04268213 -0.16656748] [-0.02464329 0.04278504 0.99878033 -0.32349244] [ 0. 0. 0. 1. ]] SLAMing on 18.63719347 meters Centerline goodness : 0.864513 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.14, Z:-0.32 [[ 0.99960482 0.00892246 0.02665698 1.40838756] [-0.00697957 0.99737236 -0.07210869 -0.14145413] [-0.02723032 0.07189414 0.99704049 -0.31741387] [ 0. 0. 0. 1. ]] SLAMing on 18.66719347 meters Centerline goodness : 0.864974 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.14, Z:-0.32 [[ 0.99955079 0.01467641 0.02613076 1.410138 ] [-0.01288834 0.99764763 -0.06732828 -0.13617374] [-0.02705743 0.06696125 0.99738863 -0.31781092] [ 0. 0. 0. 1. ]] SLAMing on 18.69719347 meters Centerline goodness : 0.866798 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.13, Z:-0.32 [[ 0.99949047 0.01823587 0.02619639 1.41033033] [-0.0164938 0.99773307 -0.06524319 -0.13074145] [-0.02732677 0.06477787 0.99752548 -0.31791294] [ 0. 0. 0. 1. ]] SLAMing on 18.72719347 meters Centerline goodness : 0.862727 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.12, Z:-0.32 [[ 0.99933836 0.02511743 0.0263052 1.41232868] [-0.02351708 0.99795277 -0.05947443 -0.12405001] [-0.02774519 0.05881646 0.99788317 -0.31978927] [ 0. 0. 0. 1. ]] SLAMing on 18.75719347 meters Centerline goodness : 0.860351 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.12, Z:-0.33 [[ 0.99929177 0.02474138 0.0283519 1.4080729 ] [-0.02328409 0.99844624 -0.05062566 -0.12336787] [-0.0295604 0.04992966 0.99831519 -0.32582525] [ 0. 0. 0. 1. ]] SLAMing on 18.78719347 meters Centerline goodness : 0.860854 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.12, Z:-0.33 [[ 0.99934309 0.02319786 0.02784322 1.40427136] [-0.02205374 0.99892727 -0.04071794 -0.12415045] [-0.02875792 0.04007714 0.99878266 -0.33144765] [ 0. 0. 0. 1. ]] SLAMing on 18.81719347 meters Centerline goodness : 0.856997 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.12, Z:-0.33 [[ 0.99934888 0.02308984 0.02772509 1.40627485] [-0.02195885 0.99894119 -0.0404266 -0.12409475] [-0.02862918 0.03979147 0.99879778 -0.3338682 ] [ 0. 0. 0. 1. ]] SLAMing on 18.84719347 meters Centerline goodness : 0.856485 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.13, Z:-0.34 [[ 0.99924621 0.02419675 0.03035677 1.40239588] [-0.02309291 0.9990777 -0.03620024 -0.12643448] [-0.0312047 0.03547193 0.99888338 -0.33512079] [ 0. 0. 0. 1. ]] SLAMing on 18.87719347 meters Centerline goodness : 0.860459 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.13, Z:-0.33 [[ 0.99921351 0.0250916 0.03070477 1.4002636 ] [-0.02404472 0.99913248 -0.03400197 -0.13304903] [-0.0315313 0.03323694 0.99894999 -0.33294393] [ 0. 0. 0. 1. ]] SLAMing on 18.90719347 meters Centerline goodness : 0.860658 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.14, Z:-0.33 [[ 0.99918883 0.02587758 0.03085498 1.39920528] [-0.02487539 0.99916428 -0.03243375 -0.13703139] [-0.0316685 0.03163991 0.99899751 -0.33186266] [ 0. 0. 0. 1. ]] SLAMing on 18.93719347 meters Centerline goodness : 0.863613 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.14, Z:-0.33 [[ 0.99916813 0.02647779 0.03101566 1.39848335] [-0.02550982 0.99918758 -0.0311998 -0.14004476] [-0.03181657 0.03038264 0.99903183 -0.33132923] [ 0. 0. 0. 1. ]] SLAMing on 18.96719347 meters Centerline goodness : 0.863954 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.14, Z:-0.33 [[ 0.99905396 0.02979711 0.03167505 1.39723112] [-0.02896623 0.99923238 -0.0263745 -0.14425837] [-0.03243662 0.02543204 0.99915018 -0.33110183] [ 0. 0. 0. 1. ]] SLAMing on 18.99719347 meters Centerline goodness : 0.864617 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.15, Z:-0.33 [[ 0.99889823 0.03398676 0.03236102 1.39659723] [-0.03335314 0.99924505 -0.01992222 -0.15068416] [-0.03301368 0.01882093 0.99927767 -0.33184222] [ 0. 0. 0. 1. ]] SLAMing on 19.02719347 meters Centerline goodness : 0.865949 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.15, Z:-0.33 [[ 0.99888732 0.03448366 0.03217137 1.39753346] [-0.03390166 0.99925459 -0.01846436 -0.15432496] [-0.03278411 0.01735316 0.9993118 -0.33292508] [ 0. 0. 0. 1. ]] SLAMing on 19.05719347 meters Centerline goodness : 0.863267 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.17, Z:-0.33 [[ 0.9992364 0.03032766 0.02463422 1.39161546] [-0.03002966 0.99947236 -0.01237797 -0.16510746] [-0.02499661 0.01162876 0.9996199 -0.33140899] [ 0. 0. 0. 1. ]] SLAMing on 19.08719347 meters Centerline goodness : 0.864508 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.17, Z:-0.33 [[ 0.99932508 0.02755221 0.02429518 1.3932355 ] [-0.02721961 0.99953261 -0.01391619 -0.16994244] [-0.02466724 0.01324549 0.99960797 -0.33353383] [ 0. 0. 0. 1. ]] SLAMing on 19.11719347 meters Centerline goodness : 0.862897 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.18, Z:-0.34 [[ 0.99948694 0.02139425 0.02383581 1.39547182] [-0.02098322 0.99962905 -0.01736298 -0.17879104] [-0.02419844 0.01685392 0.9995651 -0.33711142] [ 0. 0. 0. 1. ]] SLAMing on 19.14719347 meters Centerline goodness : 0.864701 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.18, Z:-0.34 [[ 0.99955721 0.01814767 0.02358064 1.39648362] [-0.0176863 0.99965088 -0.01962923 -0.18207737] [-0.02392863 0.01920348 0.99952921 -0.33855048] [ 0. 0. 0. 1. ]] SLAMing on 19.17719347 meters Centerline goodness : 0.864707 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.19, Z:-0.34 [[ 0.99955847 0.01802071 0.02362474 1.39654977] [-0.01758808 0.9996761 -0.01839417 -0.1866498 ] [-0.02394857 0.01797053 0.99955166 -0.33865906] [ 0. 0. 0. 1. ]] SLAMing on 19.20719347 meters Centerline goodness : 0.866497 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.19, Z:-0.34 [[ 0.99959381 0.01623369 0.02342395 1.39745569] [-0.01578892 0.99969386 -0.01904958 -0.19357262] [-0.02372603 0.01867201 0.99954411 -0.33945079] [ 0. 0. 0. 1. ]] SLAMing on 19.23719347 meters Centerline goodness : 0.864311 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.20, Z:-0.34 [[ 0.99960928 0.01574829 0.02309304 1.39933997] [-0.01530495 0.99969754 -0.01925073 -0.19691173] [-0.02338922 0.01888977 0.99954796 -0.34099721] [ 0. 0. 0. 1. ]] SLAMing on 19.26719347 meters Centerline goodness : 0.865442 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.20, Z:-0.34 [[ 0.99959663 0.01670429 0.02296849 1.39976816] [-0.01629171 0.99970463 -0.01803412 -0.2000587 ] [-0.02326295 0.01765265 0.99957352 -0.34124883] [ 0. 0. 0. 1. ]] SLAMing on 19.29719347 meters Centerline goodness : 0.866209 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.20, Z:-0.34 [[ 0.99946157 0.0197923 0.0261694 1.39053142] [-0.01919416 0.99955318 -0.02291335 -0.20208008] [-0.02661121 0.02239872 0.99939489 -0.34411135] [ 0. 0. 0. 1. ]] SLAMing on 19.32719347 meters Centerline goodness : 0.865861 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.21, Z:-0.34 [[ 0.9993075 0.02596269 0.02665438 1.3897138 ] [-0.02553802 0.99954337 -0.0161513 -0.20800648] [-0.02706154 0.01545941 0.99951422 -0.34400436] [ 0. 0. 0. 1. ]] SLAMing on 19.35719347 meters Centerline goodness : 0.868089 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.21, Z:-0.34 [[ 0.999154 0.03198889 0.02584566 1.39114536] [-0.03176087 0.99945329 -0.00918519 -0.21371899] [-0.02612535 0.00835654 0.99962375 -0.34399363] [ 0. 0. 0. 1. ]] SLAMing on 19.38719347 meters Centerline goodness : 0.867130 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.22, Z:-0.34 [[ 0.99913029 0.03304024 0.02543615 1.39156588] [-0.03286563 0.99943347 -0.00725254 -0.21734595] [-0.02566137 0.00641025 0.99965014 -0.34382044] [ 0. 0. 0. 1. ]] SLAMing on 19.41719347 meters Centerline goodness : 0.868404 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.22, Z:-0.34 [[ 0.9992377 0.03040072 0.02449105 1.39281244] [-0.03015646 0.99949231 -0.01028156 -0.22016246] [-0.02479119 0.00953516 0.99964718 -0.34338035] [ 0. 0. 0. 1. ]] SLAMing on 19.44719347 meters Centerline goodness : 0.869980 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.23, Z:-0.34 [[ 0.99923384 0.03059546 0.02440601 1.39228583] [-0.03041419 0.99950722 -0.0077644 -0.22761959] [-0.02463154 0.00701616 0.99967198 -0.3431059 ] [ 0. 0. 0. 1. ]] SLAMing on 19.47719347 meters Centerline goodness : 0.868537 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.24, Z:-0.34 [[ 0.9994129 0.02402049 0.02443098 1.39079843] [-0.02387072 0.99969454 -0.00640365 -0.2449158 ] [-0.02457733 0.00581671 0.99968101 -0.3399657 ] [ 0. 0. 0. 1. ]] SLAMing on 19.50719347 meters Centerline goodness : 0.870060 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.25, Z:-0.34 [[ 0.99947971 0.02100849 0.02447359 1.39007767] [-0.02082373 0.99975289 -0.00777966 -0.25300078] [-0.02463098 0.00726598 0.99967021 -0.33915304] [ 0. 0. 0. 1. ]] SLAMing on 19.53719347 meters Centerline goodness : 0.870374 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.27, Z:-0.34 [[ 0.99958552 0.01548161 0.02427143 1.39046467] [-0.01525586 0.99983888 -0.00945892 -0.26831284] [-0.02441396 0.00908472 0.99966066 -0.33850932] [ 0. 0. 0. 1. ]] SLAMing on 19.56719347 meters Centerline goodness : 0.870009 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.27, Z:-0.34 [[ 0.99962844 0.0133235 0.02377968 1.392343 ] [-0.01307512 0.99985865 -0.01056985 -0.27443755] [-0.02391715 0.010255 0.99966135 -0.33987563] [ 0. 0. 0. 1. ]] SLAMing on 19.59719347 meters Centerline goodness : 0.868535 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.28, Z:-0.34 [[ 0.99964478 0.01345291 0.02300709 1.39560433] [-0.01324306 0.99986953 -0.00924949 -0.28110562] [-0.02312852 0.00894152 0.99969251 -0.34225541] [ 0. 0. 0. 1. ]] SLAMing on 19.62719347 meters Centerline goodness : 0.872396 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.29, Z:-0.35 [[ 0.99964493 0.01440763 0.02241519 1.39868409] [-0.01424813 0.99987214 -0.00725902 -0.29325489] [-0.02251691 0.00693706 0.99972239 -0.34500416] [ 0. 0. 0. 1. ]] SLAMing on 19.65719347 meters Centerline goodness : 0.872313 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.30, Z:-0.35 [[ 0.99947151 0.01730476 0.02751815 1.41109683] [-0.0169196 0.99975647 -0.01416806 -0.29583884] [-0.02775662 0.01369498 0.99952089 -0.35032964] [ 0. 0. 0. 1. ]] SLAMing on 19.68719347 meters Centerline goodness : 0.873437 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.30, Z:-0.35 [[ 0.9994474 0.01846195 0.02764135 1.41063728] [-0.01812182 0.99975758 -0.01250545 -0.29983022] [-0.02786553 0.01199763 0.99953968 -0.34999428] [ 0. 0. 0. 1. ]] SLAMing on 19.71719347 meters Centerline goodness : 0.876177 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.31, Z:-0.35 [[ 0.99935882 0.02128769 0.02878844 1.40601294] [-0.0210082 0.99972953 -0.00997637 -0.31185504] [-0.02899303 0.00936518 0.99953574 -0.34782299] [ 0. 0. 0. 1. ]] SLAMing on 19.74719347 meters Centerline goodness : 0.877914 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.32, Z:-0.34 [[ 0.99943628 0.02383499 0.02364362 1.4137748 ] [-0.02352386 0.99963412 -0.01335098 -0.31946112] [-0.02395319 0.01278726 0.9996313 -0.34475122] [ 0. 0. 0. 1. ]] SLAMing on 19.77719347 meters Centerline goodness : 0.879684 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.33, Z:-0.34 [[ 0.99958356 0.02150822 0.01923825 1.40227485] [-0.02142037 0.99975922 -0.00476087 -0.32901686] [-0.01933601 0.00434679 0.99980359 -0.3416597 ] [ 0. 0. 0. 1. ]] SLAMing on 19.80719347 meters Centerline goodness : 0.882698 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.34, Z:-0.34 [[ 0.99963224 0.01924365 0.01910694 1.40315666] [-0.01913554 0.99979993 -0.00582479 -0.33586395] [-0.0192152 0.00545702 0.99980048 -0.34254237] [ 0. 0. 0. 1. ]] SLAMing on 19.83719347 meters Centerline goodness : 0.883259 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.35, Z:-0.34 [[ 9.99702855e-01 1.59799802e-02 1.84076728e-02 1.40549310e+00] [-1.59728043e-02 9.99872283e-01 -5.36800514e-04 -3.53465339e-01] [-1.84138999e-02 2.42618851e-04 9.99830420e-01 -3.40872507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.86719347 meters Centerline goodness : 0.887453 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.36, Z:-0.34 [[ 0.999762 0.01236006 0.01797702 1.40709925] [-0.01231217 0.99992036 -0.0027722 -0.36141904] [-0.01800985 0.0025502 0.99983456 -0.34194654] [ 0. 0. 0. 1. ]] SLAMing on 19.89719347 meters Centerline goodness : 0.888039 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.37, Z:-0.34 [[ 0.99980502 0.00912634 0.0175109 1.40883429] [-0.00905182 0.99994966 -0.00433005 -0.37105326] [-0.01754954 0.0041707 0.9998373 -0.34300019] [ 0. 0. 0. 1. ]] SLAMing on 19.92719347 meters Centerline goodness : 0.894075 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.39, Z:-0.34 [[ 0.99984248 0.00472357 0.01710884 1.41063211] [-0.00463606 0.99997599 -0.00515066 -0.39009411] [-0.01713276 0.00507053 0.99984037 -0.34361679] [ 0. 0. 0. 1. ]] SLAMing on 19.95719347 meters Centerline goodness : 0.897583 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.40, Z:-0.35 [[ 0.99986255 0.00272886 0.01635339 1.41423049] [-0.00263242 0.99997904 -0.00591562 -0.39741412] [-0.01636919 0.00587175 0.99984877 -0.34639146] [ 0. 0. 0. 1. ]] SLAMing on 19.98719347 meters Centerline goodness : 0.897583 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.40, Z:-0.35 [[ 0.99986217 0.00270333 0.01638061 1.41420521] [-0.00260676 0.99997912 -0.00591379 -0.39741895] [-0.01639626 0.00587027 0.99984834 -0.34639616] [ 0. 0. 0. 1. ]] SLAMing on 20.01719347 meters Centerline goodness : 0.895417 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.40, Z:-0.35 [[ 0.99987797 0.00180856 0.01551676 1.41815999] [-0.00171975 0.99998208 -0.00573459 -0.40405186] [-0.01552686 0.00570721 0.99986316 -0.34935644] [ 0. 0. 0. 1. ]] SLAMing on 20.04719347 meters Centerline goodness : 0.894362 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.41, Z:-0.35 [[ 9.99891819e-01 6.72055658e-04 1.46935006e-02 1.42152518e+00] [-5.84728161e-04 9.99982147e-01 -5.94676231e-03 -4.10230051e-01] [-1.46972348e-02 5.93752728e-03 9.99874361e-01 -3.51813729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.07719347 meters Centerline goodness : 0.898287 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.42, Z:-0.35 [[ 9.99889390e-01 5.50181730e-05 1.48729506e-02 1.42100289e+00] [ 8.91317478e-06 9.99990762e-01 -4.29839750e-03 -4.23960352e-01] [-1.48730497e-02 4.29805462e-03 9.99880152e-01 -3.50917166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.10719347 meters Centerline goodness : 0.900171 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.43, Z:-0.35 [[ 0.99988694 -0.00273215 0.01478685 1.42104854] [ 0.00282449 0.99997662 -0.0062276 -0.42967381] [-0.01476949 0.00626866 0.99987127 -0.35064029] [ 0. 0. 0. 1. ]] SLAMing on 20.13719347 meters Centerline goodness : 0.903713 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.44, Z:-0.35 [[ 0.99987704 -0.00554815 0.01466709 1.42120343] [ 0.00566741 0.99995111 -0.00810238 -0.43553853] [-0.01462142 0.00818451 0.9998596 -0.35036171] [ 0. 0. 0. 1. ]] SLAMing on 20.16719347 meters Centerline goodness : 0.905994 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.45, Z:-0.35 [[ 0.99987259 -0.00833815 0.01361159 1.42398593] [ 0.00844561 0.99993348 -0.00785575 -0.44936175] [-0.01354518 0.00796971 0.9998765 -0.35014994] [ 0. 0. 0. 1. ]] SLAMing on 20.19719347 meters Centerline goodness : 0.908380 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.46, Z:-0.35 [[ 0.99984983 -0.01131365 0.01312671 1.42653742] [ 0.01144079 0.99988798 -0.00965094 -0.45567336] [-0.01301605 0.00979967 0.99986727 -0.35191982] [ 0. 0. 0. 1. ]] SLAMing on 20.22719347 meters Centerline goodness : 0.908998 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.46, Z:-0.35 [[ 0.99981838 -0.01400758 0.01292297 1.42833788] [ 0.01415093 0.9998386 -0.01106902 -0.46197398] [-0.01276584 0.01124988 0.99985523 -0.35324785] [ 0. 0. 0. 1. ]] SLAMing on 20.25719347 meters Centerline goodness : 0.903311 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.48, Z:-0.35 [[ 0.99976358 -0.01751463 0.01288523 1.44892969] [ 0.01766017 0.99978053 -0.01126945 -0.47782338] [-0.01268502 0.01149434 0.99985347 -0.35238909] [ 0. 0. 0. 1. ]] SLAMing on 20.28719347 meters Centerline goodness : 0.904197 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.48, Z:-0.35 [[ 0.99968748 -0.02167223 0.01246015 1.45068275] [ 0.02184291 0.99966714 -0.01372911 -0.48465345] [-0.01215846 0.01399699 0.99982811 -0.35289255] [ 0. 0. 0. 1. ]] SLAMing on 20.31719347 meters Centerline goodness : 0.900785 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.49, Z:-0.35 [[ 0.99959038 -0.02598557 0.01199219 1.45277638] [ 0.02618063 0.9995226 -0.01640579 -0.49094622] [-0.01156016 0.01671303 0.9997935 -0.35368517] [ 0. 0. 0. 1. ]] SLAMing on 20.34719347 meters Centerline goodness : 0.898047 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.50, Z:-0.36 [[ 0.99948123 -0.03014593 0.01133534 1.45594123] [ 0.03036108 0.99935239 -0.01931347 -0.49611498] [-0.01074578 0.0196476 0.99974922 -0.35570471] [ 0. 0. 0. 1. ]] SLAMing on 20.37719347 meters Centerline goodness : 0.895804 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.51, Z:-0.36 [[ 0.99934836 -0.03458713 0.01032409 1.45877697] [ 0.03479737 0.99917518 -0.02093106 -0.50621424] [-0.00959163 0.02127667 0.99972761 -0.35534928] [ 0. 0. 0. 1. ]] SLAMing on 20.40719347 meters Centerline goodness : 0.895629 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.51, Z:-0.35 [[ 0.99934457 -0.03483981 0.00982909 1.45974061] [ 0.03503285 0.99918193 -0.02020321 -0.51020884] [-0.00911717 0.02053431 0.99974758 -0.35478171] [ 0. 0. 0. 1. ]] SLAMing on 20.43719347 meters Centerline goodness : 0.897748 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.51, Z:-0.36 [[ 0.99938901 -0.03254609 0.01274169 1.4760097 ] [ 0.03287788 0.9991011 -0.02675874 -0.51077331] [-0.01185935 0.02716131 0.99956071 -0.35889994] [ 0. 0. 0. 1. ]] SLAMing on 20.46719347 meters Centerline goodness : 0.896203 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.51, Z:-0.36 [[ 0.99950946 -0.02884448 0.01219979 1.47701589] [ 0.0291116 0.99932702 -0.02231656 -0.51246414] [-0.01154787 0.02266077 0.99967652 -0.35874813] [ 0. 0. 0. 1. ]] SLAMing on 20.49719347 meters Centerline goodness : 0.898625 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.51, Z:-0.36 [[ 0.99951619 -0.02870508 0.01197485 1.47736207] [ 0.02896847 0.99932852 -0.02243515 -0.51148314] [-0.01132281 0.02277118 0.99967658 -0.35868929] [ 0. 0. 0. 1. ]] SLAMing on 20.52719347 meters Centerline goodness : 0.902126 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.51, Z:-0.36 [[ 0.99964054 -0.02408859 0.01177022 1.47617312] [ 0.02429479 0.9995481 -0.01770168 -0.51229399] [-0.01133849 0.01798128 0.99977403 -0.35654327] [ 0. 0. 0. 1. ]] SLAMing on 20.55719347 meters Centerline goodness : 0.905742 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.51, Z:-0.36 [[ 0.9996391 -0.02419967 0.0116638 1.47663642] [ 0.02441179 0.99953263 -0.01840085 -0.51020915] [-0.01121306 0.01867894 0.99976265 -0.35716552] [ 0. 0. 0. 1. ]] SLAMing on 20.58719347 meters Centerline goodness : 0.905478 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.51, Z:-0.36 [[ 0.9997014 -0.02202523 0.01058341 1.4801573 ] [ 0.02219322 0.99962522 -0.01602736 -0.50868988] [-0.01022644 0.01625745 0.99981554 -0.35909681] [ 0. 0. 0. 1. ]] SLAMing on 20.61719347 meters Centerline goodness : 0.905440 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.51, Z:-0.36 [[ 0.99976529 -0.01937063 0.00970234 1.48295953] [ 0.01949615 0.99972523 -0.01301391 -0.5071443 ] [-0.00944759 0.01320002 0.99986824 -0.36045733] [ 0. 0. 0. 1. ]] SLAMing on 20.64719347 meters Centerline goodness : 0.907748 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.50, Z:-0.36 [[ 0.99979541 -0.01855349 0.00805652 1.48754254] [ 0.01863908 0.99976922 -0.01068115 -0.50414574] [-0.00785649 0.01082913 0.9999105 -0.36085958] [ 0. 0. 0. 1. ]] SLAMing on 20.67719347 meters Centerline goodness : 0.911289 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.50, Z:-0.36 [[ 0.99978826 -0.01907024 0.00773002 1.48775643] [ 0.01915269 0.99975893 -0.01073583 -0.50397666] [-0.00752343 0.01088161 0.99991249 -0.35986427] [ 0. 0. 0. 1. ]] SLAMing on 20.70719347 meters Centerline goodness : 0.913373 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.50, Z:-0.36 [[ 0.99977466 -0.0199047 0.00737764 1.48827066] [ 0.01998565 0.99973903 -0.01106547 -0.50311203] [-0.00715546 0.01121043 0.99991156 -0.35912289] [ 0. 0. 0. 1. ]] SLAMing on 20.73719347 meters Centerline goodness : 0.914913 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.50, Z:-0.36 [[ 0.9997084 -0.02348305 0.00562625 1.49426757] [ 0.02355833 0.99962846 -0.01370933 -0.49728349] [-0.00530223 0.01383787 0.99989019 -0.36127873] [ 0. 0. 0. 1. ]] SLAMing on 20.76719347 meters Centerline goodness : 0.914826 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.50, Z:-0.36 [[ 0.9997463 -0.02205855 0.00455616 1.49866173] [ 0.0221105 0.99968725 -0.01168444 -0.49549677] [-0.00429699 0.01178222 0.99992135 -0.3639558 ] [ 0. 0. 0. 1. ]] SLAMing on 20.79719347 meters Centerline goodness : 0.915405 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.49, Z:-0.36 [[ 0.99980309 -0.01944882 0.00393966 1.50053618] [ 0.01948301 0.99977117 -0.00883334 -0.49386967] [-0.00376696 0.00890835 0.99995322 -0.36466941] [ 0. 0. 0. 1. ]] SLAMing on 20.82719347 meters Centerline goodness : 0.916135 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.49, Z:-0.36 [[ 0.99986058 -0.01637059 0.00328964 1.50179886] [ 0.01638977 0.99984831 -0.00589264 -0.4913576 ] [-0.00319268 0.00594574 0.99997723 -0.36458049] [ 0. 0. 0. 1. ]] SLAMing on 20.85719347 meters Centerline goodness : 0.917988 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.49, Z:-0.36 [[ 0.999911 -0.0130598 0.00272806 1.50264453] [ 0.01306872 0.99990923 -0.00327625 -0.48712819] [-0.00268502 0.00331161 0.99999091 -0.3643245 ] [ 0. 0. 0. 1. ]] SLAMing on 20.88719347 meters Centerline goodness : 0.920499 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.47, Z:-0.37 [[ 0.99996787 -0.0049908 0.00627336 1.51738724] [ 0.00504057 0.99995574 -0.00794406 -0.47020263] [-0.00623343 0.00797542 0.99994877 -0.36937793] [ 0. 0. 0. 1. ]] SLAMing on 20.91719347 meters Centerline goodness : 0.917662 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.46, Z:-0.37 [[ 9.99947082e-01 5.10560630e-04 1.02748267e-02 1.53243234e+00] [-3.81761412e-04 9.99921380e-01 -1.25334746e-02 -4.60272444e-01] [-1.02804180e-02 1.25288888e-02 9.99868661e-01 -3.72874403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.94719347 meters Centerline goodness : 0.916357 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.45, Z:-0.37 [[ 0.99993399 0.00458182 0.0105367 1.53127171] [-0.00447481 0.9999384 -0.01015724 -0.4521618 ] [-0.01058259 0.01010942 0.9998929 -0.37164401] [ 0. 0. 0. 1. ]] SLAMing on 20.97719347 meters Centerline goodness : 0.917307 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.43, Z:-0.37 [[ 0.99978577 0.01534711 0.01388805 1.55444734] [-0.01502677 0.99962519 -0.02288376 -0.43390902] [-0.01423404 0.02267017 0.99964166 -0.3733287 ] [ 0. 0. 0. 1. ]] SLAMing on 21.00719347 meters Centerline goodness : 0.916002 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.43, Z:-0.37 [[ 0.99973684 0.01835211 0.01376393 1.5548516 ] [-0.01805887 0.99961352 -0.0211349 -0.42748937] [-0.01414648 0.02088078 0.99968188 -0.37317223] [ 0. 0. 0. 1. ]] SLAMing on 21.03719347 meters Centerline goodness : 0.914757 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.42, Z:-0.37 [[ 0.99968165 0.02132553 0.01348414 1.55599532] [-0.02106538 0.99959469 -0.01914957 -0.42140867] [-0.01388705 0.01885943 0.9997257 -0.37360801] [ 0. 0. 0. 1. ]] SLAMing on 21.06719347 meters Centerline goodness : 0.912785 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.41, Z:-0.38 [[ 0.99967986 0.02222223 0.01209732 1.56176242] [-0.02198592 0.99957142 -0.01932863 -0.4077512 ] [-0.01252166 0.01905647 0.99974 -0.37631935] [ 0. 0. 0. 1. ]] SLAMing on 21.09719347 meters Centerline goodness : 0.909207 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.40, Z:-0.38 [[ 0.99964843 0.02397134 0.01133057 1.56512469] [-0.02376769 0.9995594 -0.01777923 -0.40392401] [-0.01175177 0.01750368 0.99977773 -0.37842537] [ 0. 0. 0. 1. ]] SLAMing on 21.127193469999998 meters Centerline goodness : 0.908786 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.40, Z:-0.38 [[ 0.99960712 0.02588721 0.01074552 1.56790341] [-0.02571436 0.9995425 -0.01592388 -0.4007249 ] [-0.01115283 0.01564131 0.99981546 -0.38018274] [ 0. 0. 0. 1. ]] SLAMing on 21.15719347 meters Centerline goodness : 0.908607 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.39, Z:-0.38 [[ 0.99956738 0.02756534 0.01025727 1.56968619] [-0.02740997 0.99951185 -0.01499188 -0.39342081] [-0.01066552 0.01470424 0.999835 -0.38061573] [ 0. 0. 0. 1. ]] SLAMing on 21.18719347 meters Centerline goodness : 0.907949 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.39, Z:-0.38 [[ 0.99948646 0.03047571 0.00990185 1.57080926] [-0.03035404 0.99946457 -0.01221478 -0.39103644] [-0.0102688 0.01190794 0.99987637 -0.380635 ] [ 0. 0. 0. 1. ]] SLAMing on 21.21719347 meters Centerline goodness : 0.907466 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.39, Z:-0.38 [[ 0.99936924 0.03411666 0.00985814 1.5705567 ] [-0.0340178 0.99937092 -0.01002727 -0.38540291] [-0.01019404 0.00968559 0.99990113 -0.3794647 ] [ 0. 0. 0. 1. ]] SLAMing on 21.24719347 meters Centerline goodness : 0.910944 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.38, Z:-0.38 [[ 0.99937072 0.03407553 0.00984992 1.5705975 ] [-0.03396581 0.99936135 -0.01110048 -0.38213706] [-0.01022188 0.01075894 0.99988987 -0.37933041] [ 0. 0. 0. 1. ]] SLAMing on 21.27719347 meters Centerline goodness : 0.910927 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.38, Z:-0.38 [[ 0.99926003 0.03720101 0.00977163 1.57110781] [-0.0371254 0.9992801 -0.00780895 -0.3811945 ] [-0.01005509 0.00744039 0.99992176 -0.37900042] [ 0. 0. 0. 1. ]] SLAMing on 21.30719347 meters Centerline goodness : 0.916604 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.38, Z:-0.38 [[ 0.99930654 0.03594323 0.00972248 1.57137332] [-0.03585128 0.99931224 -0.00947241 -0.376439 ] [-0.01005626 0.00911728 0.99990787 -0.37882161] [ 0. 0. 0. 1. ]] SLAMing on 21.33719347 meters Centerline goodness : 0.915521 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.38, Z:-0.38 [[ 0.99938553 0.03384231 0.00912435 1.57416162] [-0.03373992 0.99936844 -0.01115056 -0.37551851] [-0.00949595 0.01083585 0.9998962 -0.38087718] [ 0. 0. 0. 1. ]] SLAMing on 21.36719347 meters Centerline goodness : 0.913887 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.38, Z:-0.38 [[ 0.99952089 0.02981816 0.00829904 1.5781971 ] [-0.02969369 0.99945041 -0.01473677 -0.37564343] [-0.0087339 0.01448328 0.99985697 -0.38408456] [ 0. 0. 0. 1. ]] SLAMing on 21.39719347 meters Centerline goodness : 0.915441 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.38, Z:-0.39 [[ 0.99980044 0.01887573 0.00654151 1.57998741] [-0.01881271 0.99977727 -0.00956539 -0.37660969] [-0.0067206 0.00944042 0.99993285 -0.3865699 ] [ 0. 0. 0. 1. ]] SLAMing on 21.42719347 meters Centerline goodness : 0.913723 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.38, Z:-0.39 [[ 0.99999069 0.00303231 0.00306861 1.58293116] [-0.00300934 0.99996761 -0.00746452 -0.37855364] [-0.00309114 0.00745522 0.99996743 -0.38873102] [ 0. 0. 0. 1. ]] SLAMing on 21.45719347 meters Centerline goodness : 0.915390 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.38, Z:-0.39 [[ 9.99997452e-01 6.04806567e-05 2.25658148e-03 1.58699113e+00] [-3.82754191e-05 9.99951596e-01 -9.83895675e-03 -3.78593126e-01] [-2.25706732e-03 9.83884531e-03 9.99949050e-01 -3.91706760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.48719347 meters Centerline goodness : 0.916665 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.38, Z:-0.39 [[ 9.99997719e-01 -1.53932115e-03 1.48065075e-03 1.59011423e+00] [ 1.55590054e-03 9.99935369e-01 -1.12621595e-02 -3.77572412e-01] [-1.46321898e-03 1.12644375e-02 9.99935484e-01 -3.93777600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.51719347 meters Centerline goodness : 0.913665 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.38, Z:-0.40 [[ 9.99999555e-01 -5.04390845e-04 7.97742145e-04 1.59361832e+00] [ 5.12411435e-04 9.99949003e-01 -1.00860713e-02 -3.76464652e-01] [-7.92614141e-04 1.00864756e-02 9.99948816e-01 -3.96262901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.54719347 meters Centerline goodness : 0.914474 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.37, Z:-0.40 [[ 0.99997943 0.00518472 0.00377678 1.61047681] [-0.00512719 0.99987304 -0.01508677 -0.36852421] [-0.00385452 0.0150671 0.99987906 -0.4018504 ] [ 0. 0. 0. 1. ]] SLAMing on 21.57719347 meters Centerline goodness : 0.915703 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.36, Z:-0.40 [[ 0.99995556 0.00878662 0.00341546 1.6115682 ] [-0.0087433 0.99988368 -0.01249702 -0.36441409] [-0.00352487 0.0124666 0.99991608 -0.40226918] [ 0. 0. 0. 1. ]] SLAMing on 21.60719347 meters Centerline goodness : 0.913704 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.36, Z:-0.41 [[ 0.99988974 0.01321317 0.00677686 1.62770319] [-0.01309446 0.99976509 -0.01727112 -0.35731205] [-0.00700348 0.01718048 0.99982788 -0.40549036] [ 0. 0. 0. 1. ]] SLAMing on 21.63719347 meters Centerline goodness : 0.914756 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.34, Z:-0.41 [[ 0.99961989 0.02518798 0.01120918 1.65754431] [-0.02492324 0.999421 -0.02316245 -0.34294064] [-0.01178611 0.02287428 0.99966887 -0.40867236] [ 0. 0. 0. 1. ]] SLAMing on 21.66719347 meters Centerline goodness : 0.913753 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.34, Z:-0.41 [[ 0.99945917 0.03000399 0.01345826 1.67666053] [-0.02964957 0.99922724 -0.02580371 -0.33509726] [-0.01422208 0.02539073 0.99957643 -0.41202585] [ 0. 0. 0. 1. ]] SLAMing on 21.69719347 meters Centerline goodness : 0.913013 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.33, Z:-0.41 [[ 0.99932255 0.03458438 0.01258459 1.68104993] [-0.03431023 0.99918242 -0.0213846 -0.33061347] [-0.01331387 0.02093834 0.99969212 -0.41458135] [ 0. 0. 0. 1. ]] SLAMing on 21.72719347 meters Centerline goodness : 0.906791 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.32, Z:-0.42 [[ 0.99927198 0.03568866 0.01348463 1.70251185] [-0.03529777 0.99897913 -0.02819169 -0.32167452] [-0.01447699 0.02769519 0.99951158 -0.41926906] [ 0. 0. 0. 1. ]] SLAMing on 21.75719347 meters Centerline goodness : 0.908829 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.32, Z:-0.42 [[ 0.999288 0.03528454 0.01336025 1.70274485] [-0.03488847 0.99897614 -0.0288005 -0.32005205] [-0.01436279 0.02831388 0.99949589 -0.41905982] [ 0. 0. 0. 1. ]] SLAMing on 21.78719347 meters Centerline goodness : 0.909744 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.32, Z:-0.42 [[ 0.99930399 0.03479952 0.01343628 1.70250982] [-0.03439647 0.99898319 -0.02914548 -0.31889074] [-0.01443687 0.02866304 0.99948487 -0.41839612] [ 0. 0. 0. 1. ]] SLAMing on 21.81719347 meters Centerline goodness : 0.912016 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.32, Z:-0.41 [[ 0.99946888 0.03005717 0.01259038 1.7075742 ] [-0.02972834 0.99923173 -0.02553757 -0.31843606] [-0.01334829 0.02514972 0.99959458 -0.41233877] [ 0. 0. 0. 1. ]] SLAMing on 21.84719347 meters Centerline goodness : 0.913152 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.32, Z:-0.41 [[ 0.99952367 0.02840822 0.01205833 1.70914742] [-0.02808351 0.99925971 -0.02629369 -0.31922167] [-0.01279636 0.02594252 0.99958153 -0.41282688] [ 0. 0. 0. 1. ]] SLAMing on 21.877193469999998 meters Centerline goodness : 0.913152 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.32, Z:-0.41 [[ 0.99952367 0.02840822 0.01205833 1.70914742] [-0.02808351 0.99925971 -0.02629369 -0.31922167] [-0.01279636 0.02594252 0.99958153 -0.41282688] [ 0. 0. 0. 1. ]] SLAMing on 21.90719347 meters Centerline goodness : 0.913666 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.32, Z:-0.41 [[ 0.99973103 0.02036201 0.01110209 1.70606359] [-0.02017402 0.9996555 -0.01678972 -0.32103529] [-0.01144014 0.01656123 0.9997974 -0.41059424] [ 0. 0. 0. 1. ]] SLAMing on 21.93719347 meters Centerline goodness : 0.914137 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.32, Z:-0.41 [[ 0.99987175 0.01198424 0.01062375 1.72102627] [-0.01186114 0.99986265 -0.01157589 -0.32280316] [-0.01076102 0.01144839 0.99987656 -0.40797953] [ 0. 0. 0. 1. ]] SLAMing on 21.96719347 meters Centerline goodness : 0.915337 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.32, Z:-0.41 [[ 0.99987787 0.01165511 0.0104116 1.72176267] [-0.01152869 0.99986008 -0.01212078 -0.3217532 ] [-0.01055142 0.01199926 0.99987233 -0.40832108] [ 0. 0. 0. 1. ]] SLAMing on 21.99719347 meters Centerline goodness : 0.915014 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.32, Z:-0.41 [[ 0.99987778 0.01174004 0.0103241 1.72234612] [-0.0116067 0.99984966 -0.01288211 -0.31916452] [-0.01047378 0.01276071 0.99986372 -0.40882393] [ 0. 0. 0. 1. ]] SLAMing on 22.02719347 meters Centerline goodness : 0.915654 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.32, Z:-0.41 [[ 0.99982769 0.01549268 0.01022602 1.72293872] [-0.0153953 0.99983604 -0.00953332 -0.31752421] [-0.01037204 0.00937425 0.99990227 -0.40910889] [ 0. 0. 0. 1. ]] SLAMing on 22.05719347 meters Centerline goodness : 0.916864 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.31, Z:-0.41 [[ 0.99951484 0.02769796 0.01424488 1.75309121] [-0.02750158 0.99952647 -0.01380212 -0.30862579] [-0.01462043 0.01340367 0.99980327 -0.41269066] [ 0. 0. 0. 1. ]] SLAMing on 22.08719347 meters Centerline goodness : 0.915815 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.30, Z:-0.41 [[ 0.99927351 0.03516418 0.0146944 1.77412766] [-0.03473471 0.99898939 -0.02852533 -0.30177664] [-0.01568262 0.0279942 0.99948506 -0.41428943] [ 0. 0. 0. 1. ]] SLAMing on 22.11719347 meters Centerline goodness : 0.915145 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.30, Z:-0.42 [[ 0.99911191 0.03865291 0.01677329 1.79269978] [-0.03810808 0.99877167 -0.03166913 -0.29804721] [-0.01797679 0.0310018 0.99935766 -0.41668999] [ 0. 0. 0. 1. ]] SLAMing on 22.14719347 meters Centerline goodness : 0.914005 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.29, Z:-0.42 [[ 0.99905887 0.03823016 0.02048961 1.80739271] [-0.0373189 0.99837136 -0.04314996 -0.29351628] [-0.02210587 0.0423447 0.99885848 -0.42167623] [ 0. 0. 0. 1. ]] SLAMing on 22.17719347 meters Centerline goodness : 0.914360 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.29, Z:-0.42 [[ 0.99902395 0.0373973 0.02350709 1.80434455] [-0.03640923 0.99848972 -0.04114183 -0.29366181] [-0.02501018 0.0402458 0.99887675 -0.42399029] [ 0. 0. 0. 1. ]] SLAMing on 22.20719347 meters Centerline goodness : 0.912707 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.29, Z:-0.42 [[ 0.99905607 0.03685857 0.02298736 1.80601182] [-0.03588468 0.99849681 -0.04142955 -0.29363226] [-0.02447984 0.04056555 0.99887696 -0.42491447] [ 0. 0. 0. 1. ]] SLAMing on 22.23719347 meters Centerline goodness : 0.908738 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.29, Z:-0.43 [[ 0.99906961 0.03714298 0.021916 1.81144147] [-0.03622593 0.99850822 -0.0408537 -0.29392443] [-0.02340073 0.04002176 0.99892475 -0.42952144] [ 0. 0. 0. 1. ]] SLAMing on 22.26719347 meters Centerline goodness : 0.906370 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.29, Z:-0.43 [[ 0.99896402 0.04015043 0.02142047 1.81405467] [-0.03932924 0.99852347 -0.03747129 -0.29434402] [-0.02289333 0.03659002 0.9990681 -0.43143096] [ 0. 0. 0. 1. ]] SLAMing on 22.29719347 meters Centerline goodness : 0.906802 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.29, Z:-0.43 [[ 0.99885129 0.04319277 0.02074807 1.81683967] [-0.04246583 0.99850951 -0.03428441 -0.29420584] [-0.02219798 0.03336394 0.99919673 -0.43307645] [ 0. 0. 0. 1. ]] SLAMing on 22.32719347 meters Centerline goodness : 0.903891 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.29, Z:-0.43 [[ 0.99884359 0.04348493 0.02050692 1.81763107] [-0.04276192 0.99849056 -0.0344676 -0.29320267] [-0.02197479 0.03355082 0.9991954 -0.43344528] [ 0. 0. 0. 1. ]] SLAMing on 22.35719347 meters Centerline goodness : 0.907230 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.30, Z:-0.43 [[ 0.99881672 0.0447564 0.0190268 1.81781671] [-0.04406109 0.99839739 -0.03551428 -0.29715169] [-0.0205858 0.03463391 0.99918803 -0.42911834] [ 0. 0. 0. 1. ]] SLAMing on 22.38719347 meters Centerline goodness : 0.907206 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.30, Z:-0.43 [[ 0.99884531 0.04412603 0.01899866 1.81722407] [-0.04344175 0.99844138 -0.03503748 -0.29985157] [-0.02051511 0.03417169 0.9992054 -0.42859094] [ 0. 0. 0. 1. ]] SLAMing on 22.41719347 meters Centerline goodness : 0.907688 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.30, Z:-0.43 [[ 0.99891559 0.042778 0.01837622 1.81931743] [-0.04211122 0.99849066 -0.03525682 -0.30175997] [-0.0198567 0.03444474 0.99920932 -0.42980284] [ 0. 0. 0. 1. ]] SLAMing on 22.44719347 meters Centerline goodness : 0.906464 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.31, Z:-0.43 [[ 0.9991758 0.03435346 0.02162298 1.81894525] [-0.03377339 0.99907432 -0.02664311 -0.30833392] [-0.02251825 0.02589087 0.99941112 -0.42806525] [ 0. 0. 0. 1. ]] SLAMing on 22.47719347 meters Centerline goodness : 0.907819 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.31, Z:-0.43 [[ 0.99928842 0.03108062 0.02136942 1.81903003] [-0.03045721 0.99911807 -0.02890412 -0.31228477] [-0.02224894 0.0282327 0.99935374 -0.42766993] [ 0. 0. 0. 1. ]] SLAMing on 22.50719347 meters Centerline goodness : 0.908040 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.32, Z:-0.43 [[ 0.999401 0.02734384 0.02121198 1.8191259 ] [-0.0266616 0.99913842 -0.03180524 -0.31607373] [-0.02206338 0.03122065 0.99926897 -0.42762679] [ 0. 0. 0. 1. ]] SLAMing on 22.53719347 meters Centerline goodness : 0.906878 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.32, Z:-0.43 [[ 0.99953409 0.01964581 0.02335917 1.81686145] [-0.01915738 0.99959691 -0.02095259 -0.32237002] [-0.02376139 0.02049533 0.99950755 -0.42700161] [ 0. 0. 0. 1. ]] SLAMing on 22.56719347 meters Centerline goodness : 0.910135 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.33, Z:-0.43 [[ 0.9996852 0.00790102 0.02381335 1.81784388] [-0.00760884 0.99989497 -0.01233522 -0.3306303 ] [-0.02390831 0.01215014 0.99964032 -0.42763244] [ 0. 0. 0. 1. ]] SLAMing on 22.59719347 meters Centerline goodness : 0.909450 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.33, Z:-0.43 [[ 0.99971828 0.0046832 0.02326878 1.82066983] [-0.00433985 0.99988129 -0.0147844 -0.33328091] [-0.02333525 0.01467925 0.99961992 -0.42995487] [ 0. 0. 0. 1. ]] SLAMing on 22.627193469999998 meters Centerline goodness : 0.907039 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.34, Z:-0.43 [[ 9.99745536e-01 1.33573069e-03 2.25184222e-02 1.82466385e+00] [-9.43528223e-04 9.99847840e-01 -1.74185970e-02 -3.35296959e-01] [-2.25382623e-02 1.73929178e-02 9.99594674e-01 -4.33251000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.65719347 meters Centerline goodness : 0.908769 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.34, Z:-0.43 [[ 0.99981397 -0.00755913 0.01774472 1.83819363] [ 0.00790228 0.99978157 -0.01934856 -0.33745473] [-0.01759459 0.01948518 0.99965532 -0.4348498 ] [ 0. 0. 0. 1. ]] SLAMing on 22.68719347 meters Centerline goodness : 0.908650 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.34, Z:-0.44 [[ 0.99981203 -0.00918217 0.01707611 1.84079443] [ 0.00952857 0.99974819 -0.02031645 -0.33848774] [-0.01688526 0.02047534 0.99964776 -0.43639606] [ 0. 0. 0. 1. ]] SLAMing on 22.71719347 meters Centerline goodness : 0.907305 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.34, Z:-0.44 [[ 0.99985485 -0.00893906 0.01450406 1.86172142] [ 0.00927929 0.9996793 -0.0235624 -0.33892145] [-0.01428878 0.02369357 0.99961715 -0.43710052] [ 0. 0. 0. 1. ]] SLAMing on 22.74719347 meters Centerline goodness : 0.906481 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.33, Z:-0.44 [[ 0.99987691 -0.00713356 0.01397422 1.86370591] [ 0.00744264 0.99972601 -0.02219243 -0.33444988] [-0.01381208 0.0222937 0.99965605 -0.43808307] [ 0. 0. 0. 1. ]] SLAMing on 22.77719347 meters Centerline goodness : 0.908626 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.33, Z:-0.44 [[ 0.99989734 -0.00408225 0.01373515 1.86424484] [ 0.00434827 0.99980246 -0.01939414 -0.33218144] [-0.01365327 0.01945187 0.99971757 -0.43793494] [ 0. 0. 0. 1. ]] SLAMing on 22.80719347 meters Centerline goodness : 0.908520 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.33, Z:-0.44 [[ 9.99849761e-01 -9.40715177e-04 1.73080813e-02 1.88087158e+00] [ 1.33095623e-03 9.99744851e-01 -2.25490687e-02 -3.27046779e-01] [-1.72824529e-02 2.25687173e-02 9.99595903e-01 -4.39067540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.83719347 meters Centerline goodness : 0.906929 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.31, Z:-0.44 [[ 0.99977395 0.00688959 0.02011448 1.89911862] [-0.00641195 0.9996982 -0.02371482 -0.31236052] [-0.02027179 0.02358048 0.99951639 -0.44289533] [ 0. 0. 0. 1. ]] SLAMing on 22.86719347 meters Centerline goodness : 0.905538 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.30, Z:-0.45 [[ 0.99967205 0.01270952 0.02223215 1.9187649 ] [-0.01215901 0.99962037 -0.02472394 -0.30481238] [-0.02253794 0.02444551 0.99944708 -0.44634586] [ 0. 0. 0. 1. ]] SLAMing on 22.89719347 meters Centerline goodness : 0.905281 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.30, Z:-0.45 [[ 0.99955537 0.01715846 0.02438557 1.93848104] [-0.01648282 0.99948197 -0.02764237 -0.29691808] [-0.02484724 0.02722814 0.99932039 -0.45035432] [ 0. 0. 0. 1. ]] SLAMing on 22.92719347 meters Centerline goodness : 0.903450 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.28, Z:-0.45 [[ 0.99952081 0.02056494 0.02313514 1.97325665] [-0.01979402 0.99925694 -0.03307225 -0.28299808] [-0.02379808 0.03259847 0.99918516 -0.45181719] [ 0. 0. 0. 1. ]] SLAMing on 22.95719347 meters Centerline goodness : 0.904760 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.28, Z:-0.45 [[ 0.99954622 0.01952202 0.02294019 1.97378511] [-0.01871522 0.99921649 -0.03487333 -0.27738493] [-0.02360301 0.03442818 0.99912842 -0.45167864] [ 0. 0. 0. 1. ]] SLAMing on 22.98719347 meters Centerline goodness : 0.903918 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.27, Z:-0.45 [[ 0.99964852 0.01316512 0.0230112 1.99062607] [-0.01256768 0.99958508 -0.02591752 -0.2734837 ] [-0.02334285 0.02561921 0.9993992 -0.44904566] [ 0. 0. 0. 1. ]] SLAMing on 23.01719347 meters Centerline goodness : 0.904754 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.27, Z:-0.44 [[ 9.99746058e-01 1.84331901e-03 2.24593127e-02 2.00521515e+00] [-1.32037525e-03 9.99728190e-01 -2.32766709e-02 -2.66243326e-01] [-2.24961144e-02 2.32411053e-02 9.99476751e-01 -4.44815858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.04719347 meters Centerline goodness : 0.905349 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.26, Z:-0.45 [[ 9.99766504e-01 -9.15683527e-04 2.15893358e-02 2.00860522e+00] [ 1.47802367e-03 9.99659664e-01 -2.60455754e-02 -2.61784209e-01] [-2.15581387e-02 2.60714034e-02 9.99427600e-01 -4.46858815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.07719347 meters Centerline goodness : 0.904348 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.26, Z:-0.45 [[ 0.99977817 -0.00307585 0.02083621 2.01196841] [ 0.00367264 0.99958234 -0.02866452 -0.25626517] [-0.02073934 0.02873468 0.9993719 -0.44924584] [ 0. 0. 0. 1. ]] SLAMing on 23.10719347 meters Centerline goodness : 0.903425 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.25, Z:-0.45 [[ 0.9997913 -0.00373239 0.02008564 2.01619985] [ 0.00432402 0.99955564 -0.02949294 -0.2518226 ] [-0.01996663 0.02957363 0.99936316 -0.45264073] [ 0. 0. 0. 1. ]] SLAMing on 23.13719347 meters Centerline goodness : 0.902221 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.24, Z:-0.45 [[ 0.99979231 -0.00626956 0.01939135 2.0191983 ] [ 0.00691434 0.99941934 -0.03336434 -0.24265579] [-0.01917091 0.03349149 0.99925512 -0.45457863] [ 0. 0. 0. 1. ]] SLAMing on 23.16719347 meters Centerline goodness : 0.900845 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.24, Z:-0.46 [[ 0.99981261 -0.00439913 0.0188518 2.02112283] [ 0.00499567 0.99948449 -0.03171429 -0.23852243] [-0.01870257 0.03180253 0.99931917 -0.45546015] [ 0. 0. 0. 1. ]] SLAMing on 23.19719347 meters Centerline goodness : 0.899654 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.23, Z:-0.46 [[ 9.99828368e-01 -1.99834237e-03 1.84185201e-02 2.02264663e+00] [ 2.55222409e-03 9.99543703e-01 -3.00977225e-02 -2.32348391e-01] [-1.83499702e-02 3.01395649e-02 9.99377249e-01 -4.56083254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.22719347 meters Centerline goodness : 0.898277 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.22, Z:-0.46 [[ 0.99983734 0.00330121 0.01773139 2.0247792 ] [-0.00284831 0.99967058 -0.02550739 -0.22475707] [-0.01780975 0.02545274 0.99951737 -0.45666695] [ 0. 0. 0. 1. ]] SLAMing on 23.25719347 meters Centerline goodness : 0.896735 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.20, Z:-0.46 [[ 0.99969324 0.0162042 0.01873087 2.06352589] [-0.0153902 0.9989645 -0.04281434 -0.19944435] [-0.01940524 0.04251293 0.99890745 -0.45858781] [ 0. 0. 0. 1. ]] SLAMing on 23.28719347 meters Centerline goodness : 0.893008 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.19, Z:-0.46 [[ 0.99956253 0.02268011 0.01898316 2.09982474] [-0.0217937 0.99871899 -0.04566638 -0.18948358] [-0.01999456 0.04523269 0.99877636 -0.45923076] [ 0. 0. 0. 1. ]] SLAMing on 23.31719347 meters Centerline goodness : 0.891825 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.17, Z:-0.46 [[ 0.99926534 0.03366195 0.01832083 2.10098579] [-0.03286011 0.99855867 -0.04243567 -0.17362469] [-0.01972289 0.04180247 0.99893121 -0.45658874] [ 0. 0. 0. 1. ]] SLAMing on 23.34719347 meters Centerline goodness : 0.890605 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.17, Z:-0.46 [[ 0.99901891 0.040385 0.0181733 2.10227159] [-0.03968688 0.99851716 -0.03726179 -0.16764021] [-0.01965116 0.03650399 0.99914028 -0.4562808 ] [ 0. 0. 0. 1. ]] SLAMing on 23.377193469999998 meters Centerline goodness : 0.892023 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.16, Z:-0.46 [[ 0.99876678 0.04636465 0.01775506 2.10486697] [-0.04576031 0.99840551 -0.03305189 -0.15919318] [-0.01925919 0.03219865 0.99929592 -0.45690681] [ 0. 0. 0. 1. ]] SLAMing on 23.40719347 meters Centerline goodness : 0.886609 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.14, Z:-0.46 [[ 0.99834363 0.05563599 0.01465058 2.11395248] [-0.05525816 0.99815803 -0.02504175 -0.14068318] [-0.01601681 0.0241907 0.99957905 -0.45691966] [ 0. 0. 0. 1. ]] SLAMing on 23.43719347 meters Centerline goodness : 0.885446 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.13, Z:-0.46 [[ 0.99809853 0.06005104 0.01389933 2.11753788] [-0.05974784 0.99798648 -0.02128825 -0.13458493] [-0.01514972 0.02041731 0.99967676 -0.45843617] [ 0. 0. 0. 1. ]] SLAMing on 23.46719347 meters Centerline goodness : 0.886197 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.13, Z:-0.46 [[ 0.9979442 0.0626567 0.01347263 2.11863488] [-0.06238902 0.99786242 -0.01944747 -0.12962858] [-0.01466235 0.01856695 0.9997201 -0.45800471] [ 0. 0. 0. 1. ]] SLAMing on 23.49719347 meters Centerline goodness : 0.886157 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.12, Z:-0.45 [[ 0.99792379 0.06287651 0.01395178 2.11561025] [-0.06257888 0.99782258 -0.02083244 -0.1206583 ] [-0.01523127 0.0199161 0.99968563 -0.45427874] [ 0. 0. 0. 1. ]] SLAMing on 23.52719347 meters Centerline goodness : 0.885900 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.12, Z:-0.45 [[ 0.99813987 0.0590801 0.01504436 2.13191921] [-0.05895372 0.99822272 -0.00871015 -0.11914933] [-0.01553221 0.00780703 0.99984889 -0.45326074] [ 0. 0. 0. 1. ]] SLAMing on 23.55719347 meters Centerline goodness : 0.889205 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.12, Z:-0.45 [[ 0.99820199 0.05810782 0.01470621 2.1326559 ] [-0.05796308 0.99826779 -0.01008456 -0.11564492] [-0.01526673 0.00921401 0.999841 -0.45310465] [ 0. 0. 0. 1. ]] SLAMing on 23.58719347 meters Centerline goodness : 0.889869 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.11, Z:-0.45 [[ 9.98649223e-01 4.99912619e-02 1.41634523e-02 2.14775162e+00] [-4.99698533e-02 9.98748992e-01 -1.86164069e-03 -1.09586809e-01] [-1.42387995e-02 1.15138040e-03 9.99897960e-01 -4.49912303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.61719347 meters Centerline goodness : 0.890795 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.11, Z:-0.45 [[ 0.9988147 0.04595185 0.01605054 2.15418759] [-0.04604923 0.99892262 0.00575111 -0.10929477] [-0.01576897 -0.00648341 0.99985464 -0.44679623] [ 0. 0. 0. 1. ]] SLAMing on 23.64719347 meters Centerline goodness : 0.891844 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.11, Z:-0.45 [[ 0.99890312 0.0440337 0.01592443 2.15409942] [-0.0441064 0.99901783 0.00424332 -0.10831023] [-0.01572194 -0.00494104 0.99986419 -0.44632381] [ 0. 0. 0. 1. ]] SLAMing on 23.67719347 meters Centerline goodness : 0.889677 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.11, Z:-0.45 [[ 0.99915258 0.03781003 0.01626443 2.13827794] [-0.03805489 0.99916279 0.01501835 -0.10731339] [-0.01568297 -0.01562457 0.99975493 -0.4477885 ] [ 0. 0. 0. 1. ]] SLAMing on 23.70719347 meters Centerline goodness : 0.891508 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.11, Z:-0.45 [[ 0.99918708 0.03511094 0.01980935 2.13288316] [-0.03547357 0.99920375 0.01826181 -0.10560816] [-0.01915239 -0.01894967 0.99963698 -0.45222195] [ 0. 0. 0. 1. ]] SLAMing on 23.73719347 meters Centerline goodness : 0.892203 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.09, Z:-0.45 [[ 0.99940293 0.03309182 0.0099356 2.12720315] [-0.0332086 0.99937844 0.01182883 -0.09489903] [-0.00953799 -0.01215172 0.99988067 -0.44997076] [ 0. 0. 0. 1. ]] SLAMing on 23.76719347 meters Centerline goodness : 0.893311 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.09, Z:-0.45 [[ 0.99941855 0.03269757 0.00966615 2.12797379] [-0.03279594 0.99941002 0.01019968 -0.08950728] [-0.00932694 -0.01051076 0.99990126 -0.45012903] [ 0. 0. 0. 1. ]] SLAMing on 23.79719347 meters Centerline goodness : 0.893311 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.09, Z:-0.45 [[ 0.99941855 0.03269757 0.00966615 2.12797379] [-0.03279594 0.99941002 0.01019968 -0.08950728] [-0.00932694 -0.01051076 0.99990126 -0.45012903] [ 0. 0. 0. 1. ]] SLAMing on 23.82719347 meters Centerline goodness : 0.890929 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.08, Z:-0.45 [[ 0.9993253 0.03557529 0.0091293 2.13035875] [-0.03567617 0.99930135 0.01113618 -0.08091921] [-0.00872675 -0.01145436 0.99989632 -0.45141589] [ 0. 0. 0. 1. ]] SLAMing on 23.85719347 meters Centerline goodness : 0.892344 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.08, Z:-0.45 [[ 0.99933532 0.03535751 0.00887457 2.13131836] [-0.035441 0.99932725 0.00943312 -0.07577038] [-0.00853507 -0.00974137 0.99991613 -0.45180126] [ 0. 0. 0. 1. ]] SLAMing on 23.88719347 meters Centerline goodness : 0.892776 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.07, Z:-0.45 [[ 0.99935816 0.03475671 0.0086739 2.13170636] [-0.03482307 0.99936444 0.0076207 -0.07050972] [-0.00840351 -0.00791786 0.99993334 -0.45161679] [ 0. 0. 0. 1. ]] SLAMing on 23.91719347 meters Centerline goodness : 0.890906 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.07, Z:-0.45 [[ 0.99931687 0.03582922 0.00905873 2.12994925] [-0.03590504 0.99932032 0.00834984 -0.06708442] [-0.0087534 -0.00866939 0.99992411 -0.45004061] [ 0. 0. 0. 1. ]] SLAMing on 23.94719347 meters Centerline goodness : 0.892124 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.06, Z:-0.45 [[ 9.99553129e-01 2.87318854e-02 8.24753014e-03 2.13224023e+00] [-2.87390875e-02 9.99586661e-01 7.56032307e-04 -6.06582404e-02] [-8.22239889e-03 -9.92720948e-04 9.99965703e-01 -4.51346989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.97719347 meters Centerline goodness : 0.892031 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.06, Z:-0.45 [[ 0.99968799 0.02369566 0.00790141 2.13300377] [-0.02366212 0.99971072 -0.00431079 -0.05837844] [-0.00800127 0.00412248 0.99995949 -0.45172063] [ 0. 0. 0. 1. ]] SLAMing on 24.00719347 meters Centerline goodness : 0.892657 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.06, Z:-0.45 [[ 0.99990115 0.0124363 0.00655926 2.12192415] [-0.01248847 0.99989022 0.00797391 -0.05621576] [-0.00645937 -0.00805503 0.9999467 -0.45120954] [ 0. 0. 0. 1. ]] SLAMing on 24.03719347 meters Centerline goodness : 0.890211 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.05, Z:-0.45 [[ 0.99995215 0.00729131 0.00652195 2.12189681] [-0.00730765 0.99997021 0.00248605 -0.05237568] [-0.00650363 -0.00253359 0.99997564 -0.4510082 ] [ 0. 0. 0. 1. ]] SLAMing on 24.06719347 meters Centerline goodness : 0.891357 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.05, Z:-0.45 [[ 9.99977962e-01 7.93900175e-04 6.59125096e-03 2.12205128e+00] [-7.64509293e-04 9.99989760e-01 -4.46039767e-03 -4.73443148e-02] [-6.59472457e-03 4.45526030e-03 9.99968330e-01 -4.51309701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.09719347 meters Centerline goodness : 0.890418 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.04, Z:-0.45 [[ 9.99978596e-01 2.96415693e-04 6.53603394e-03 2.12223753e+00] [-2.60871499e-04 9.99985178e-01 -5.43837204e-03 -4.48108353e-02] [-6.53754909e-03 5.43655057e-03 9.99963852e-01 -4.51281558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.127193469999998 meters Centerline goodness : 0.894124 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.04, Z:-0.45 [[ 0.99997268 0.00251341 0.00695157 2.12015736] [-0.00248676 0.99998954 -0.00383967 -0.0406408 ] [-0.00696115 0.00382228 0.99996847 -0.44936768] [ 0. 0. 0. 1. ]] SLAMing on 24.15719347 meters Centerline goodness : 0.895516 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.03, Z:-0.45 [[ 9.99912549e-01 1.08982980e-02 7.49137755e-03 2.11776103e+00] [-1.09131842e-02 9.99938550e-01 1.94910678e-03 -2.76235807e-02] [-7.46967526e-03 -2.03069111e-03 9.99970040e-01 -4.46325952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.18719347 meters Centerline goodness : 0.894255 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.02, Z:-0.44 [[ 9.99855251e-01 1.69971008e-02 7.59086833e-04 2.10622419e+00] [-1.69969684e-02 9.99855525e-01 -1.80556283e-04 -1.76966166e-02] [-7.62046097e-04 1.67627973e-04 9.99999696e-01 -4.43105832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.21719347 meters Centerline goodness : 0.893977 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.01, Z:-0.45 [[ 9.99712199e-01 2.39868633e-02 3.87385281e-04 2.10876862e+00] [-2.39886486e-02 9.99696748e-01 5.56396218e-03 -1.25449725e-02] [-2.53805805e-04 -5.57165372e-03 9.99984446e-01 -4.45077830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.24719347 meters Centerline goodness : 0.895829 Centerline is valid? [False, False] Translation: X:2.12, Y:0.00, Z:-0.45 [[ 9.99262243e-01 3.77136302e-02 -7.25610012e-03 2.12478833e+00] [-3.76954543e-02 9.99285824e-01 2.62562364e-03 1.95603295e-03] [ 7.34993979e-03 -2.35016457e-03 9.99970227e-01 -4.45705794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.27719347 meters Centerline goodness : 0.897058 Centerline is valid? [False, False] Translation: X:2.13, Y:0.01, Z:-0.45 [[ 0.99895759 0.04507058 -0.00723775 2.12530134] [-0.04500923 0.99895103 0.00842697 0.0082798 ] [ 0.00760997 -0.00809242 0.9999383 -0.4453049 ] [ 0. 0. 0. 1. ]] SLAMing on 24.30719347 meters Centerline goodness : 0.897162 Centerline is valid? [False, False] Translation: X:2.12, Y:0.02, Z:-0.44 [[ 0.99841792 0.05602529 -0.00477673 2.12130196] [-0.05596464 0.99836059 0.01200412 0.02398695] [ 0.00544144 -0.0117178 0.99991654 -0.43813757] [ 0. 0. 0. 1. ]] SLAMing on 24.33719347 meters Centerline goodness : 0.899127 Centerline is valid? [False, False] Translation: X:2.12, Y:0.03, Z:-0.44 [[ 0.99823285 0.0592381 -0.00469262 2.12054746] [-0.0591667 0.99814824 0.01412087 0.0292396 ] [ 0.00552042 -0.01381827 0.99988928 -0.43652796] [ 0. 0. 0. 1. ]] SLAMing on 24.36719347 meters Centerline goodness : 0.898313 Centerline is valid? [False, False] Translation: X:2.12, Y:0.03, Z:-0.44 [[ 0.99823701 0.05913979 -0.0050365 2.12122569] [-0.05907099 0.99817096 0.01285922 0.03370641] [ 0.00578778 -0.01253904 0.99990463 -0.43627458] [ 0. 0. 0. 1. ]] SLAMing on 24.39719347 meters Centerline goodness : 0.897234 Centerline is valid? [False, False] Translation: X:2.12, Y:0.04, Z:-0.44 [[ 0.99826367 0.05866484 -0.0052999 2.12166053] [-0.05859813 0.9982099 0.01196912 0.03590586] [ 0.00599258 -0.01163777 0.99991432 -0.43613751] [ 0. 0. 0. 1. ]] SLAMing on 24.42719347 meters Centerline goodness : 0.899910 Centerline is valid? [False, False] Translation: X:2.13, Y:0.04, Z:-0.44 [[ 9.98725642e-01 5.04499343e-02 1.37676497e-03 2.12934646e+00] [-5.04638880e-02 9.98635790e-01 1.34146914e-02 3.60850530e-02] [-6.98116470e-04 -1.34670732e-02 9.99909071e-01 -4.37926338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.45719347 meters Centerline goodness : 0.899074 Centerline is valid? [False, False] Translation: X:2.14, Y:0.03, Z:-0.44 [[ 0.99899768 0.04414688 0.00739478 2.14045103] [-0.04426207 0.99888837 0.0162141 0.03461783] [-0.00667076 -0.01652515 0.9998412 -0.44189947] [ 0. 0. 0. 1. ]] SLAMing on 24.48719347 meters Centerline goodness : 0.898139 Centerline is valid? [False, False] Translation: X:2.14, Y:0.03, Z:-0.44 [[ 0.9991377 0.0409588 0.00679974 2.1425274 ] [-0.04104501 0.9990719 0.01306348 0.03441137] [-0.00625836 -0.01333131 0.99989155 -0.44327592] [ 0. 0. 0. 1. ]] SLAMing on 24.51719347 meters Centerline goodness : 0.899148 Centerline is valid? [False, False] Translation: X:2.15, Y:0.03, Z:-0.45 [[ 0.99918528 0.03994876 0.00573285 2.14679663] [-0.04001627 0.99912469 0.01218858 0.03363936] [-0.00524091 -0.01240806 0.99990928 -0.44651079] [ 0. 0. 0. 1. ]] SLAMing on 24.54719347 meters Centerline goodness : 0.898291 Centerline is valid? [False, False] Translation: X:2.15, Y:0.03, Z:-0.45 [[ 0.99916371 0.04054447 0.00529457 2.14837819] [-0.04060634 0.99910132 0.01215226 0.03497439] [-0.00479711 -0.01235709 0.99991214 -0.44740895] [ 0. 0. 0. 1. ]] SLAMing on 24.57719347 meters Centerline goodness : 0.899491 Centerline is valid? [False, False] Translation: X:2.15, Y:0.04, Z:-0.45 [[ 0.99913671 0.04124556 0.00496354 2.14929134] [-0.04130229 0.99907549 0.01192864 0.03720977] [-0.00446695 -0.01212335 0.99991653 -0.44758666] [ 0. 0. 0. 1. ]] SLAMing on 24.60719347 meters Centerline goodness : 0.901081 Centerline is valid? [False, False] Translation: X:2.15, Y:0.04, Z:-0.45 [[ 0.99910912 0.04195785 0.00452748 2.15056462] [-0.04200845 0.99904842 0.01172785 0.03926862] [-0.00403109 -0.01190759 0.99992098 -0.44798897] [ 0. 0. 0. 1. ]] SLAMing on 24.63719347 meters Centerline goodness : 0.898195 Centerline is valid? [False, False] Translation: X:2.15, Y:0.04, Z:-0.45 [[ 0.99909031 0.04244179 0.00415182 2.15202506] [-0.04248771 0.99902873 0.01167874 0.04028588] [-0.00365212 -0.01184452 0.99992318 -0.44891427] [ 0. 0. 0. 1. ]] SLAMing on 24.66719347 meters Centerline goodness : 0.897835 Centerline is valid? [False, False] Translation: X:2.15, Y:0.04, Z:-0.45 [[ 0.99907686 0.04279555 0.00373874 2.15397822] [-0.04283696 0.99901231 0.01180643 0.04056909] [-0.00322978 -0.01195569 0.99992331 -0.45053321] [ 0. 0. 0. 1. ]] SLAMing on 24.69719347 meters Centerline goodness : 0.895839 Centerline is valid? [False, False] Translation: X:2.16, Y:0.04, Z:-0.45 [[ 9.99242800e-01 3.88490348e-02 2.14011373e-03 2.15952851e+00] [-3.88654095e-02 9.99210555e-01 8.23084398e-03 3.87188081e-02] [-1.81866388e-03 -8.30778798e-03 9.99963836e-01 -4.54629936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.72719347 meters Centerline goodness : 0.891795 Centerline is valid? [False, False] Translation: X:2.18, Y:0.03, Z:-0.46 [[ 0.99937699 0.03502827 0.00431868 2.1776371 ] [-0.03507111 0.99933198 0.01027711 0.03471836] [-0.00395581 -0.01042217 0.99993786 -0.45628314] [ 0. 0. 0. 1. ]] SLAMing on 24.75719347 meters Centerline goodness : 0.892317 Centerline is valid? [False, False] Translation: X:2.18, Y:0.03, Z:-0.46 [[ 0.99952977 0.03039328 0.00406032 2.1775199 ] [-0.03041881 0.99951689 0.00637896 0.03343319] [-0.00386448 -0.00649948 0.99997141 -0.4555512 ] [ 0. 0. 0. 1. ]] SLAMing on 24.78719347 meters Centerline goodness : 0.892385 Centerline is valid? [False, False] Translation: X:2.19, Y:0.03, Z:-0.46 [[ 0.99970124 0.0231146 0.00794707 2.1875977 ] [-0.02320031 0.99967176 0.01086816 0.03044206] [-0.00769325 -0.01104928 0.99990936 -0.45773352] [ 0. 0. 0. 1. ]] SLAMing on 24.81719347 meters Centerline goodness : 0.890136 Centerline is valid? [False, False] Translation: X:2.19, Y:0.01, Z:-0.46 [[ 0.99998222 0.00420918 0.00422297 2.19234233] [-0.00447866 0.99781111 0.06597667 0.01227445] [-0.00393602 -0.06599441 0.99781223 -0.45790258] [ 0. 0. 0. 1. ]] SLAMing on 24.84719347 meters Centerline goodness : 0.889882 Centerline is valid? [False, False] Translation: X:2.18, Y:0.01, Z:-0.45 [[ 9.99995718e-01 8.16611316e-05 -2.92512479e-03 2.18237856e+00] [ 7.29431754e-05 9.98604319e-01 5.28148483e-02 1.28464288e-02] [ 2.92535517e-03 -5.28148356e-02 9.98600038e-01 -4.53253102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.877193469999998 meters Centerline goodness : 0.890301 Centerline is valid? [False, False] Translation: X:2.17, Y:0.01, Z:-0.45 [[ 0.99997043 -0.00258312 -0.00724304 2.1659227 ] [ 0.00293707 0.99878013 0.04929121 0.01124628] [ 0.00710688 -0.04931103 0.99875819 -0.45275364] [ 0. 0. 0. 1. ]] SLAMing on 24.90719347 meters Centerline goodness : 0.890716 Centerline is valid? [False, False] Translation: X:2.15, Y:0.01, Z:-0.45 [[ 0.99996107 -0.0036181 -0.00804809 2.1460955 ] [ 0.0039776 0.99897401 0.04511211 0.01407632] [ 0.00787661 -0.04514236 0.99894951 -0.45138472] [ 0. 0. 0. 1. ]] SLAMing on 24.93719347 meters Centerline goodness : 0.889402 Centerline is valid? [False, False] Translation: X:2.13, Y:0.02, Z:-0.45 [[ 0.99992175 -0.00239702 -0.01227825 2.13098528] [ 0.0028575 0.99928784 0.03762502 0.02001269] [ 0.01217932 -0.03765716 0.99921649 -0.4462342 ] [ 0. 0. 0. 1. ]] SLAMing on 24.96719347 meters Centerline goodness : 0.889379 Centerline is valid? [False, False] Translation: X:2.11, Y:0.02, Z:-0.44 [[ 9.99927226e-01 -1.04243329e-03 -1.20189959e-02 2.10866523e+00] [ 1.46885024e-03 9.99367725e-01 3.55245288e-02 2.34366677e-02] [ 1.19743646e-02 -3.55395976e-02 9.99296528e-01 -4.43234626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.99719347 meters Centerline goodness : 0.888538 Centerline is valid? [False, False] Translation: X:2.11, Y:0.02, Z:-0.44 [[ 0.99992777 -0.00265607 -0.01172216 2.10614325] [ 0.00304845 0.99943128 0.03358304 0.02366766] [ 0.0116263 -0.03361634 0.99936719 -0.44045155] [ 0. 0. 0. 1. ]] SLAMing on 25.02719347 meters Centerline goodness : 0.890552 Centerline is valid? [False, False] Translation: X:2.11, Y:0.02, Z:-0.44 [[ 0.99992796 -0.00314948 -0.01158261 2.1054599 ] [ 0.00353021 0.99944918 0.0329982 0.0239282 ] [ 0.0114723 -0.03303671 0.99938829 -0.43969728] [ 0. 0. 0. 1. ]] SLAMing on 25.05719347 meters Centerline goodness : 0.890650 Centerline is valid? [False, False] Translation: X:2.10, Y:0.03, Z:-0.44 [[ 9.99933731e-01 1.69453628e-04 -1.15110440e-02 2.10494397e+00] [ 2.37174038e-04 9.99376222e-01 3.53144553e-02 2.83659826e-02] [ 1.15098478e-02 -3.53148452e-02 9.99309954e-01 -4.39173170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.08719347 meters Centerline goodness : 0.888894 Centerline is valid? [False, False] Translation: X:2.11, Y:0.03, Z:-0.44 [[ 0.99991985 0.00401495 -0.01200693 2.10597821] [-0.0035573 0.99927532 0.03789702 0.03314737] [ 0.01215038 -0.03785127 0.99920951 -0.43941169] [ 0. 0. 0. 1. ]] SLAMing on 25.11719347 meters Centerline goodness : 0.889257 Centerline is valid? [False, False] Translation: X:2.10, Y:0.04, Z:-0.44 [[ 0.99990322 0.01131003 -0.00810096 2.10066247] [-0.01099259 0.99920919 0.03821208 0.03788245] [ 0.00852674 -0.03811933 0.99923681 -0.44327463] [ 0. 0. 0. 1. ]] SLAMing on 25.14719347 meters Centerline goodness : 0.892129 Centerline is valid? [False, False] Translation: X:2.10, Y:0.05, Z:-0.44 [[ 0.99960199 0.02754029 -0.0061152 2.095146 ] [-0.02731453 0.99903632 0.03435633 0.04814528] [ 0.00705549 -0.03417562 0.99939094 -0.44060955] [ 0. 0. 0. 1. ]] SLAMing on 25.17719347 meters Centerline goodness : 0.889741 Centerline is valid? [False, False] Translation: X:2.10, Y:0.05, Z:-0.44 [[ 0.99946453 0.03170555 -0.00808772 2.10115216] [-0.03145272 0.99906458 0.02967653 0.05393589] [ 0.00902107 -0.02940626 0.99952683 -0.4357305 ] [ 0. 0. 0. 1. ]] SLAMing on 25.20719347 meters Centerline goodness : 0.891324 Centerline is valid? [False, False] Translation: X:2.10, Y:0.06, Z:-0.44 [[ 0.99932154 0.03588574 -0.00828712 2.10200233] [-0.0355936 0.99881956 0.03305412 0.05602206] [ 0.00946351 -0.03273672 0.99941921 -0.4359866 ] [ 0. 0. 0. 1. ]] SLAMing on 25.23719347 meters Centerline goodness : 0.890081 Centerline is valid? [False, False] Translation: X:2.10, Y:0.06, Z:-0.44 [[ 0.99930054 0.03638498 -0.00863488 2.10313653] [-0.03608857 0.99882631 0.03230512 0.0593918 ] [ 0.00980016 -0.0319709 0.99944075 -0.43648995] [ 0. 0. 0. 1. ]] SLAMing on 25.26719347 meters Centerline goodness : 0.889987 Centerline is valid? [False, False] Translation: X:2.11, Y:0.06, Z:-0.44 [[ 0.99925628 0.03742935 -0.00927006 2.10582565] [-0.03710784 0.99877558 0.03271609 0.06119012] [ 0.01048325 -0.03234776 0.99942169 -0.43822174] [ 0. 0. 0. 1. ]] SLAMing on 25.29719347 meters Centerline goodness : 0.889359 Centerline is valid? [False, False] Translation: X:2.11, Y:0.06, Z:-0.44 [[ 0.99926335 0.03712398 -0.00972504 2.1075247 ] [-0.03679141 0.99879774 0.03239541 0.06189794] [ 0.010916 -0.03201374 0.99942782 -0.4394682 ] [ 0. 0. 0. 1. ]] SLAMing on 25.32719347 meters Centerline goodness : 0.887615 Centerline is valid? [False, False] Translation: X:2.11, Y:0.06, Z:-0.44 [[ 0.99939924 0.03317522 -0.01002786 2.10789324] [-0.03288277 0.99906571 0.02804323 0.06327686] [ 0.01094883 -0.02769664 0.99955641 -0.4394413 ] [ 0. 0. 0. 1. ]] SLAMing on 25.35719347 meters Centerline goodness : 0.889563 Centerline is valid? [False, False] Translation: X:2.11, Y:0.06, Z:-0.44 [[ 0.99949465 0.03000828 -0.01048586 2.10809957] [-0.02973906 0.99924623 0.02495115 0.06141828] [ 0.0112267 -0.0246267 0.99963368 -0.43862543] [ 0. 0. 0. 1. ]] SLAMing on 25.38719347 meters Centerline goodness : 0.889831 Centerline is valid? [False, False] Translation: X:2.11, Y:0.06, Z:-0.44 [[ 0.99955888 0.02747912 -0.0112665 2.10994473] [-0.02722298 0.99938082 0.02229085 0.05984693] [ 0.01187206 -0.02197431 0.99968804 -0.43915058] [ 0. 0. 0. 1. ]] SLAMing on 25.41719347 meters Centerline goodness : 0.888483 Centerline is valid? [False, False] Translation: X:2.11, Y:0.06, Z:-0.44 [[ 0.99964299 0.02409761 -0.01154136 2.11038675] [-0.0238767 0.99953604 0.0189104 0.05816106] [ 0.0119917 -0.01862808 0.99975457 -0.43916263] [ 0. 0. 0. 1. ]] SLAMing on 25.44719347 meters Centerline goodness : 0.889772 Centerline is valid? [False, False] Translation: X:2.11, Y:0.06, Z:-0.44 [[ 0.99971549 0.02071877 -0.01181859 2.11069302] [-0.0205322 0.99966599 0.0156949 0.05592389] [ 0.01213982 -0.01544777 0.99980698 -0.43900713] [ 0. 0. 0. 1. ]] SLAMing on 25.47719347 meters Centerline goodness : 0.887540 Centerline is valid? [False, False] Translation: X:2.13, Y:0.05, Z:-0.44 [[ 0.99976503 0.01977318 -0.00888304 2.12823097] [-0.01957948 0.99957951 0.02138788 0.04564479] [ 0.00930221 -0.02120893 0.99973179 -0.44064157] [ 0. 0. 0. 1. ]] SLAMing on 25.50719347 meters Centerline goodness : 0.887828 Centerline is valid? [False, False] Translation: X:2.15, Y:0.04, Z:-0.44 [[ 0.99982007 0.01770904 -0.00679814 2.1467401 ] [-0.01754307 0.99956416 0.02374302 0.04114594] [ 0.00721564 -0.02361949 0.99969498 -0.44188321] [ 0. 0. 0. 1. ]] SLAMing on 25.53719347 meters Centerline goodness : 0.886676 Centerline is valid? [False, False] Translation: X:2.15, Y:0.04, Z:-0.44 [[ 0.99985999 0.01505071 -0.00731227 2.14838197] [-0.01489053 0.99965823 0.02148699 0.03823819] [ 0.00763317 -0.0213751 0.99974239 -0.44274616] [ 0. 0. 0. 1. ]] SLAMing on 25.56719347 meters Centerline goodness : 0.885808 Centerline is valid? [False, False] Translation: X:2.17, Y:0.03, Z:-0.44 [[ 0.99991328 0.01239116 -0.00446099 2.16607485] [-0.01228462 0.99965614 0.02316657 0.03368672] [ 0.00474651 -0.02310976 0.99972167 -0.44371492] [ 0. 0. 0. 1. ]] SLAMing on 25.59719347 meters Centerline goodness : 0.883972 Centerline is valid? [False, False] Translation: X:2.18, Y:0.03, Z:-0.44 [[ 9.99957761e-01 9.09957388e-03 -1.29414904e-03 2.18325773e+00] [-9.06542283e-03 9.99663204e-01 2.43165747e-02 2.80615976e-02] [ 1.51498365e-03 -2.43038156e-02 9.99703471e-01 -4.44594046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.627193469999998 meters Centerline goodness : 0.881586 Centerline is valid? [False, False] Translation: X:2.22, Y:0.01, Z:-0.45 [[ 0.99998943 0.0036059 0.00285209 2.21538113] [-0.00370038 0.99942011 0.03384902 0.01140066] [-0.00272838 -0.03385921 0.99942289 -0.44870175] [ 0. 0. 0. 1. ]] SLAMing on 25.65719347 meters Centerline goodness : 0.879535 Centerline is valid? [False, False] Translation: X:2.25, Y:0.01, Z:-0.45 [[ 9.99998891e-01 -8.85420017e-04 1.19711077e-03 2.25188645e+00] [ 8.42205409e-04 9.99364696e-01 3.56299782e-02 5.01846490e-03] [-1.22789773e-03 -3.56289305e-02 9.99364334e-01 -4.49693047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.68719347 meters Centerline goodness : 0.879535 Centerline is valid? [False, False] Translation: X:2.25, Y:0.01, Z:-0.45 [[ 9.99998920e-01 -8.08369113e-04 1.22779090e-03 2.25183605e+00] [ 7.64176173e-04 9.99366627e-01 3.55775293e-02 5.08651237e-03] [-1.25577303e-03 -3.55765526e-02 9.99366165e-01 -4.49713268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.717193469999998 meters Centerline goodness : 0.878607 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.01, Z:-0.45 [[ 0.99994589 -0.00971445 0.00372075 2.28182174] [ 0.00944913 0.9977954 0.06568905 -0.01236075] [-0.00435068 -0.06565034 0.9978332 -0.45068682] [ 0. 0. 0. 1. ]] SLAMing on 25.74719347 meters Centerline goodness : 0.875494 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.01, Z:-0.45 [[ 0.99990619 -0.01322144 0.00357819 2.28216491] [ 0.01297027 0.99793518 0.06290584 -0.01498626] [-0.00440251 -0.06285353 0.99801305 -0.44965884] [ 0. 0. 0. 1. ]] SLAMing on 25.77719347 meters Centerline goodness : 0.875583 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.02, Z:-0.45 [[ 0.99984199 -0.01576941 0.00820505 2.29697819] [ 0.01521833 0.99787406 0.06336997 -0.01820121] [-0.00918692 -0.06323509 0.99795637 -0.44788108] [ 0. 0. 0. 1. ]] SLAMing on 25.80719347 meters Centerline goodness : 0.876136 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.03, Z:-0.44 [[ 0.99984585 -0.01557702 0.00810091 2.30136426] [ 0.01490164 0.99687034 0.07763676 -0.02623369] [-0.00928491 -0.07750408 0.9969488 -0.44134678] [ 0. 0. 0. 1. ]] SLAMing on 25.83719347 meters Centerline goodness : 0.874287 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.03, Z:-0.44 [[ 0.99980429 -0.01838348 0.00730949 2.30365315] [ 0.01778144 0.99700229 0.07530112 -0.02998171] [-0.00867187 -0.07515641 0.99713405 -0.44189587] [ 0. 0. 0. 1. ]] SLAMing on 25.86719347 meters Centerline goodness : 0.873328 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.05, Z:-0.44 [[ 9.99840142e-01 -1.77763547e-02 1.92117030e-03 2.31286171e+00] [ 1.75062761e-02 9.95131476e-01 9.69890547e-02 -4.61636736e-02] [-3.63592888e-03 -9.69399177e-02 9.95283594e-01 -4.37958214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.89719347 meters Centerline goodness : 0.874295 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.04, Z:-0.44 [[ 9.99822646e-01 -1.86777601e-02 -2.41189256e-03 2.32025327e+00] [ 1.88203264e-02 9.95598750e-01 9.18091703e-02 -4.48459638e-02] [ 6.86487556e-04 -9.18382802e-02 9.95773699e-01 -4.35351311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.92719347 meters Centerline goodness : 0.875869 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.04, Z:-0.43 [[ 9.99841365e-01 -1.76772609e-02 -2.18158637e-03 2.32581620e+00] [ 1.77963165e-02 9.96509076e-01 8.15656367e-02 -4.07082663e-02] [ 7.32113575e-04 -8.15915217e-02 9.96665585e-01 -4.32513428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.95719347 meters Centerline goodness : 0.876681 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.04, Z:-0.43 [[ 9.99870210e-01 -1.59810369e-02 -2.04211851e-03 2.33052957e+00] [ 1.60866758e-02 9.97269328e-01 7.20770833e-02 -3.68090048e-02] [ 8.84675627e-04 -7.21005793e-02 9.97396974e-01 -4.28640167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.98719347 meters Centerline goodness : 0.874984 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.04, Z:-0.42 [[ 0.99995051 -0.00925018 -0.00366119 2.34433412] [ 0.00945912 0.99803773 0.0618968 -0.03644536] [ 0.00308145 -0.06192837 0.99807584 -0.42211002] [ 0. 0. 0. 1. ]] SLAMing on 26.01719347 meters Centerline goodness : 0.877767 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.04, Z:-0.42 [[ 0.99996677 -0.00556726 -0.0059548 2.35855761] [ 0.00585961 0.99871898 0.05026 -0.03575558] [ 0.00566736 -0.05029322 0.99871842 -0.41765176] [ 0. 0. 0. 1. ]] SLAMing on 26.04719347 meters Centerline goodness : 0.876916 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.04, Z:-0.42 [[ 0.99995831 -0.00636673 -0.00654514 2.36114424] [ 0.00668151 0.99876399 0.04925284 -0.03814921] [ 0.00622347 -0.04929452 0.9987649 -0.41922756] [ 0. 0. 0. 1. ]] SLAMing on 26.07719347 meters Centerline goodness : 0.876723 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.04, Z:-0.42 [[ 0.99994989 -0.00706753 -0.00709063 2.36423588] [ 0.00740357 0.99879368 0.04854252 -0.03891886] [ 0.006739 -0.04859258 0.99879595 -0.42173749] [ 0. 0. 0. 1. ]] SLAMing on 26.10719347 meters Centerline goodness : 0.875165 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.04, Z:-0.42 [[ 0.99995025 -0.00637827 -0.00766854 2.36669597] [ 0.00674921 0.99875819 0.04936127 -0.0403622 ] [ 0.00734417 -0.04941057 0.99875155 -0.42341223] [ 0. 0. 0. 1. ]] SLAMing on 26.13719347 meters Centerline goodness : 0.874220 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.04, Z:-0.42 [[ 0.99995143 -0.00564566 -0.00807875 2.3678517 ] [ 0.0060433 0.99872719 0.05007477 -0.04137292] [ 0.00778576 -0.05012116 0.9987128 -0.423824 ] [ 0. 0. 0. 1. ]] SLAMing on 26.16719347 meters Centerline goodness : 0.877065 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.04, Z:-0.42 [[ 9.99962839e-01 5.27132357e-04 -8.60476268e-03 2.38367386e+00] [-1.86576076e-04 9.99218344e-01 3.95305706e-02 -4.37179481e-02] [ 8.61887456e-03 -3.95274962e-02 9.99181311e-01 -4.19863125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.19719347 meters Centerline goodness : 0.876248 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.05, Z:-0.42 [[ 9.99935541e-01 2.80110802e-03 -1.10030883e-02 2.38767333e+00] [-2.35687822e-03 9.99189650e-01 4.01807051e-02 -4.60703633e-02] [ 1.11067225e-02 -4.01521821e-02 9.99131845e-01 -4.18846519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.22719347 meters Centerline goodness : 0.877400 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.05, Z:-0.42 [[ 0.99992227 0.00453766 -0.01161335 2.38964804] [-0.00404942 0.99912091 0.04172534 -0.04771624] [ 0.01179248 -0.04167507 0.99906162 -0.41975833] [ 0. 0. 0. 1. ]] SLAMing on 26.25719347 meters Centerline goodness : 0.877566 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.05, Z:-0.42 [[ 0.99988551 0.00693926 -0.01344684 2.39332183] [-0.00635562 0.99905613 0.04297038 -0.0486296 ] [ 0.01373233 -0.04288 0.99898585 -0.41999416] [ 0. 0. 0. 1. ]] SLAMing on 26.28719347 meters Centerline goodness : 0.877087 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.05, Z:-0.42 [[ 0.99977982 0.01181022 -0.01734473 2.39989843] [-0.01105672 0.99901759 0.04291389 -0.0514453 ] [ 0.01783451 -0.04271267 0.9989282 -0.41614974] [ 0. 0. 0. 1. ]] SLAMing on 26.31719347 meters Centerline goodness : 0.877196 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.05, Z:-0.42 [[ 0.99980701 0.00900982 -0.01745753 2.39991563] [-0.00830472 0.99916319 0.04004927 -0.05294288] [ 0.01780376 -0.03989656 0.99904519 -0.41578958] [ 0. 0. 0. 1. ]] SLAMing on 26.34719347 meters Centerline goodness : 0.876778 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.06, Z:-0.42 [[ 0.99982908 0.00566352 -0.01759946 2.4002361 ] [-0.00500925 0.99930273 0.03699946 -0.05518534] [ 0.01779673 -0.03690497 0.9991603 -0.41572209] [ 0. 0. 0. 1. ]] SLAMing on 26.377193469999998 meters Centerline goodness : 0.879798 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.06, Z:-0.42 [[ 9.99840372e-01 1.93821014e-03 -1.77615709e-02 2.40066510e+00] [-1.33842172e-03 9.99430465e-01 3.37187624e-02 -5.71990400e-02] [ 1.78168091e-02 -3.36896075e-02 9.99273522e-01 -4.15712692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.40719347 meters Centerline goodness : 0.878377 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.07, Z:-0.42 [[ 0.99986592 -0.00931275 -0.01346876 2.42420887] [ 0.00985395 0.9991232 0.04069058 -0.0652388 ] [ 0.01307801 -0.04081784 0.99908101 -0.41714626] [ 0. 0. 0. 1. ]] SLAMing on 26.43719347 meters Centerline goodness : 0.879827 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.07, Z:-0.42 [[ 0.99982852 -0.01453426 -0.0114755 2.44266055] [ 0.01497774 0.99910512 0.03955544 -0.07002921] [ 0.01089032 -0.03972053 0.99915148 -0.41708248] [ 0. 0. 0. 1. ]] SLAMing on 26.467193469999998 meters Centerline goodness : 0.879271 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.07, Z:-0.42 [[ 0.99969755 -0.02145196 -0.01202551 2.4457319 ] [ 0.02184062 0.99921079 0.03317796 -0.0729877 ] [ 0.01130429 -0.03343057 0.99937711 -0.41909806] [ 0. 0. 0. 1. ]] SLAMing on 26.49719347 meters Centerline goodness : 0.878676 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.07, Z:-0.42 [[ 0.99951207 -0.0289245 -0.01178962 2.44676169] [ 0.02922148 0.99923868 0.02584874 -0.07427689] [ 0.01103298 -0.02618063 0.99959634 -0.42038243] [ 0. 0. 0. 1. ]] SLAMing on 26.52719347 meters Centerline goodness : 0.879016 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.08, Z:-0.42 [[ 0.99927117 -0.03627846 -0.01187431 2.44867664] [ 0.03650556 0.99914314 0.01950222 -0.07852285] [ 0.01115663 -0.01992148 0.9997393 -0.42206547] [ 0. 0. 0. 1. ]] SLAMing on 26.55719347 meters Centerline goodness : 0.878372 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.08, Z:-0.42 [[ 0.99918791 -0.03832579 -0.01243626 2.45058842] [ 0.03854018 0.9991041 0.01748304 -0.07967918] [ 0.01175507 -0.01794813 0.99976981 -0.42282943] [ 0. 0. 0. 1. ]] SLAMing on 26.58719347 meters Centerline goodness : 0.880478 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.08, Z:-0.42 [[ 0.99918965 -0.03819308 -0.01270193 2.45070767] [ 0.03841334 0.9991074 0.01757337 -0.08025255] [ 0.01201941 -0.01804705 0.99976489 -0.42221768] [ 0. 0. 0. 1. ]] SLAMing on 26.61719347 meters Centerline goodness : 0.880127 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.08, Z:-0.42 [[ 0.99949298 -0.02877627 -0.01362759 2.46576108] [ 0.02891805 0.99952847 0.01032376 -0.07982741] [ 0.01332408 -0.01071261 0.99985384 -0.41849674] [ 0. 0. 0. 1. ]] SLAMing on 26.64719347 meters Centerline goodness : 0.878799 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.08, Z:-0.42 [[ 0.99953392 -0.02721362 -0.01383309 2.46619993] [ 0.02736441 0.99956684 0.01083108 -0.07857725] [ 0.01353235 -0.01120457 0.99984565 -0.41838395] [ 0. 0. 0. 1. ]] SLAMing on 26.67719347 meters Centerline goodness : 0.884777 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.08, Z:-0.42 [[ 0.99977471 -0.01800862 -0.01123485 2.47365827] [ 0.01810486 0.99979976 0.00852412 -0.07704659] [ 0.01107909 -0.0087256 0.99990055 -0.41746789] [ 0. 0. 0. 1. ]] SLAMing on 26.70719347 meters Centerline goodness : 0.887569 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.08, Z:-0.42 [[ 0.9997812 -0.01744674 -0.01154 2.47439399] [ 0.01754723 0.99980849 0.00866451 -0.07608259] [ 0.01138662 -0.00886511 0.99989587 -0.41772028] [ 0. 0. 0. 1. ]] SLAMing on 26.73719347 meters Centerline goodness : 0.887028 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.08, Z:-0.42 [[ 0.99977842 -0.01731825 -0.01196638 2.47548146] [ 0.01742434 0.99980929 0.00881904 -0.07611156] [ 0.01181136 -0.0090256 0.99988951 -0.41806642] [ 0. 0. 0. 1. ]] SLAMing on 26.76719347 meters Centerline goodness : 0.888340 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.08, Z:-0.42 [[ 0.99969801 -0.02146033 -0.01197254 2.4749662 ] [ 0.02152508 0.99975423 0.00530613 -0.07810741] [ 0.01185573 -0.00556224 0.99991425 -0.41707767] [ 0. 0. 0. 1. ]] SLAMing on 26.79719347 meters Centerline goodness : 0.888972 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.08, Z:-0.42 [[ 9.99601379e-01 -2.55207730e-02 -1.20736946e-02 2.47509071e+00] [ 2.55441026e-02 9.99672108e-01 1.78199821e-03 -8.02057836e-02] [ 1.20242577e-02 -2.08969956e-03 9.99925522e-01 -4.16584301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.82719347 meters Centerline goodness : 0.892742 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.08, Z:-0.42 [[ 9.99486846e-01 -2.96333536e-02 -1.21617609e-02 2.47523733e+00] [ 2.96154898e-02 9.99560009e-01 -1.64636061e-03 -8.29783286e-02] [ 1.22051970e-02 1.28533927e-03 9.99924688e-01 -4.16081588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.85719347 meters Centerline goodness : 0.893517 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.09, Z:-0.42 [[ 0.99935875 -0.03364811 -0.01224321 2.47557921] [ 0.03358777 0.99942275 -0.00510141 -0.08535497] [ 0.0124078 0.00468692 0.99991204 -0.41586463] [ 0. 0. 0. 1. ]] SLAMing on 26.88719347 meters Centerline goodness : 0.893137 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.09, Z:-0.42 [[ 0.99923052 -0.0372682 -0.01222498 2.47571281] [ 0.03717369 0.99927784 -0.00786884 -0.08828385] [ 0.01250941 0.00740834 0.99989431 -0.41565104] [ 0. 0. 0. 1. ]] SLAMing on 26.91719347 meters Centerline goodness : 0.894335 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.09, Z:-0.42 [[ 0.99921714 -0.03748324 -0.01265342 2.47702433] [ 0.03738628 0.99927034 -0.00781375 -0.0884066 ] [ 0.01293708 0.00733457 0.99988941 -0.41625843] [ 0. 0. 0. 1. ]] SLAMing on 26.94719347 meters Centerline goodness : 0.893980 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.09, Z:-0.42 [[ 0.99921356 -0.0375132 -0.01284631 2.47768096] [ 0.03741583 0.99926982 -0.007738 -0.08866362] [ 0.01312721 0.00725125 0.99988754 -0.41657622] [ 0. 0. 0. 1. ]] SLAMing on 26.97719347 meters Centerline goodness : 0.890598 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.09, Z:-0.42 [[ 0.99942912 -0.0315524 -0.01207839 2.49869914] [ 0.03133977 0.99935721 -0.01740625 -0.08992226] [ 0.01261984 0.01701778 0.99977554 -0.41824683] [ 0. 0. 0. 1. ]] SLAMing on 27.00719347 meters Centerline goodness : 0.892172 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.09, Z:-0.42 [[ 0.999435 -0.03124988 -0.01237418 2.49968255] [ 0.03103153 0.99936587 -0.01746136 -0.08971076] [ 0.012912 0.0170675 0.99977096 -0.41874114] [ 0. 0. 0. 1. ]] SLAMing on 27.03719347 meters Centerline goodness : 0.893256 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.09, Z:-0.42 [[ 0.99944073 -0.03099959 -0.01253996 2.50073092] [ 0.03077482 0.99936896 -0.01773663 -0.08885269] [ 0.01308187 0.0173408 0.99976405 -0.41930513] [ 0. 0. 0. 1. ]] SLAMing on 27.06719347 meters Centerline goodness : 0.891469 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.09, Z:-0.42 [[ 0.99942941 -0.03129178 -0.01271555 2.50167651] [ 0.03105463 0.9993476 -0.01843865 -0.08735226] [ 0.01328424 0.01803326 0.99974913 -0.41982068] [ 0. 0. 0. 1. ]] SLAMing on 27.09719347 meters Centerline goodness : 0.893515 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.08, Z:-0.42 [[ 0.99939223 -0.03238505 -0.01289855 2.50266133] [ 0.03212747 0.99928961 -0.01970018 -0.08474913] [ 0.01352738 0.01927381 0.99972273 -0.42052896] [ 0. 0. 0. 1. ]] SLAMing on 27.127193469999998 meters Centerline goodness : 0.892965 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.08, Z:-0.42 [[ 0.99947367 -0.03097929 -0.00962644 2.51307226] [ 0.03069742 0.99913183 -0.0281649 -0.08261963] [ 0.01049061 0.02785456 0.99955694 -0.42266337] [ 0. 0. 0. 1. ]] SLAMing on 27.15719347 meters Centerline goodness : 0.891173 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.08, Z:-0.42 [[ 0.99944613 -0.03175775 -0.00994343 2.5140246 ] [ 0.03145979 0.99908969 -0.02881097 -0.08211749] [ 0.01084935 0.02848219 0.99953542 -0.42292742] [ 0. 0. 0. 1. ]] SLAMing on 27.18719347 meters Centerline goodness : 0.889459 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.08, Z:-0.42 [[ 0.99941 -0.03280227 -0.0101812 2.51482568] [ 0.03248862 0.99903434 -0.0295783 -0.08184644] [ 0.01114161 0.02923007 0.99951061 -0.42330361] [ 0. 0. 0. 1. ]] SLAMing on 27.217193469999998 meters Centerline goodness : 0.890053 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.08, Z:-0.42 [[ 0.99945691 -0.03217009 -0.00713935 2.53255166] [ 0.03195167 0.99907302 -0.02884765 -0.08050938] [ 0.00806076 0.02860386 0.99955832 -0.42302055] [ 0. 0. 0. 1. ]] SLAMing on 27.24719347 meters Centerline goodness : 0.887775 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.08, Z:-0.42 [[ 0.99954237 -0.02926603 -0.00765172 2.53384955] [ 0.02905285 0.99922317 -0.02662694 -0.07615723] [ 0.00842504 0.02639245 0.99961616 -0.42359047] [ 0. 0. 0. 1. ]] SLAMing on 27.27719347 meters Centerline goodness : 0.888931 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.08, Z:-0.42 [[ 0.99963831 -0.02562499 -0.0081618 2.5351236 ] [ 0.02543189 0.99941322 -0.02294437 -0.07531643] [ 0.00874496 0.0227285 0.99970343 -0.42429663] [ 0. 0. 0. 1. ]] SLAMing on 27.30719347 meters Centerline goodness : 0.889620 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.07, Z:-0.42 [[ 0.99972802 -0.02175363 -0.00840625 2.53567999] [ 0.02159061 0.99958596 -0.01902007 -0.07490922] [ 0.00881653 0.0188334 0.99978376 -0.42454256] [ 0. 0. 0. 1. ]] SLAMing on 27.33719347 meters Centerline goodness : 0.889512 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.07, Z:-0.42 [[ 0.99980289 -0.01789977 -0.00858934 2.53587407] [ 0.01776718 0.9997255 -0.01527274 -0.07409244] [ 0.00886036 0.01511712 0.99984647 -0.42434413] [ 0. 0. 0. 1. ]] SLAMing on 27.36719347 meters Centerline goodness : 0.889507 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.07, Z:-0.42 [[ 0.99991533 -0.00955428 -0.00883459 2.53579586] [ 0.00949068 0.99992894 -0.00721333 -0.07360246] [ 0.00890288 0.00712888 0.99993496 -0.42373071] [ 0. 0. 0. 1. ]] SLAMing on 27.39719347 meters Centerline goodness : 0.889113 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.07, Z:-0.42 [[ 0.99994611 -0.00533109 -0.00890865 2.5355752 ] [ 0.00530458 0.99998144 -0.00299666 -0.07408378] [ 0.00892446 0.00294924 0.99995583 -0.4232566 ] [ 0. 0. 0. 1. ]] SLAMing on 27.42719347 meters Centerline goodness : 0.889286 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.07, Z:-0.42 [[ 9.99959338e-01 -2.85274780e-03 -8.55482365e-03 2.53363379e+00] [ 2.84742963e-03 9.99995745e-01 -6.33773267e-04 -7.37167372e-02] [ 8.55659525e-03 6.09388238e-04 9.99963206e-01 -4.21644219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.45719347 meters Centerline goodness : 0.889214 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.07, Z:-0.42 [[ 9.99959106e-01 -9.83946073e-06 -9.04351951e-03 2.53611973e+00] [ 2.83694684e-05 9.99997901e-01 2.04885589e-03 -7.26301068e-02] [ 9.04348036e-03 -2.04902867e-03 9.99957008e-01 -4.23519158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.48719347 meters Centerline goodness : 0.889577 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.07, Z:-0.43 [[ 9.99998450e-01 6.63087625e-04 1.63105297e-03 2.54287044e+00] [-6.67451698e-04 9.99996195e-01 2.67652948e-03 -7.17688031e-02] [-1.62927199e-03 -2.67761398e-03 9.99995088e-01 -4.30000135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.51719347 meters Centerline goodness : 0.883304 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.07, Z:-0.43 [[ 9.99998304e-01 9.29342544e-04 1.59018979e-03 2.54311270e+00] [-9.33769499e-04 9.99995685e-01 2.78544191e-03 -7.16585376e-02] [-1.58759430e-03 -2.78692206e-03 9.99994856e-01 -4.30189288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.54719347 meters Centerline goodness : 0.886617 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.07, Z:-0.43 [[ 9.99998079e-01 1.35143389e-03 1.41954177e-03 2.54363104e+00] [-1.35591492e-03 9.99994086e-01 3.16046932e-03 -7.24629393e-02] [-1.41526222e-03 -3.16238803e-03 9.99993998e-01 -4.30374568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.57719347 meters Centerline goodness : 0.888107 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.07, Z:-0.43 [[ 9.99997474e-01 1.85842128e-03 1.26443023e-03 2.54393148e+00] [-1.86340306e-03 9.99990462e-01 3.95023764e-03 -7.48811594e-02] [-1.25707696e-03 -3.95258381e-03 9.99991398e-01 -4.30265628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.60719347 meters Centerline goodness : 0.888107 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.07, Z:-0.43 [[ 9.99997474e-01 1.85842128e-03 1.26443023e-03 2.54393148e+00] [-1.86340306e-03 9.99990462e-01 3.95023764e-03 -7.48811594e-02] [-1.25707696e-03 -3.95258381e-03 9.99991398e-01 -4.30265628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.63719347 meters Centerline goodness : 0.888128 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.08, Z:-0.43 [[ 9.99975006e-01 2.43717622e-03 6.63683857e-03 2.55645245e+00] [-2.48039777e-03 9.99975721e-01 6.51194530e-03 -8.24245168e-02] [-6.62080667e-03 -6.52824454e-03 9.99956773e-01 -4.27013060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.66719347 meters Centerline goodness : 0.888501 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.08, Z:-0.43 [[ 9.99976782e-01 2.17515732e-03 6.45793289e-03 2.55669351e+00] [-2.22089558e-03 9.99972443e-01 7.08378987e-03 -8.46208780e-02] [-6.44234657e-03 -7.09796779e-03 9.99954056e-01 -4.26533588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.69719347 meters Centerline goodness : 0.888377 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.09, Z:-0.43 [[ 9.99951355e-01 -6.63205252e-04 9.84114574e-03 2.56780109e+00] [ 5.09678082e-04 9.99878263e-01 1.55948536e-02 -8.78070018e-02] [-9.85029030e-03 -1.55890792e-02 9.99829962e-01 -4.29378722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.72719347 meters Centerline goodness : 0.885597 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.09, Z:-0.43 [[ 0.9999419 -0.00471272 0.00969424 2.56851256] [ 0.0045991 0.99992087 0.01170941 -0.08851169] [-0.00974865 -0.01166415 0.99988445 -0.42991581] [ 0. 0. 0. 1. ]] SLAMing on 27.75719347 meters Centerline goodness : 0.886226 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.09, Z:-0.43 [[ 0.99989253 -0.01133575 0.00929706 2.5710425 ] [ 0.01128095 0.99991882 0.0059247 -0.09333398] [-0.00936347 -0.00581919 0.99993923 -0.43199246] [ 0. 0. 0. 1. ]] SLAMing on 27.78719347 meters Centerline goodness : 0.885377 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.10, Z:-0.43 [[ 0.99985109 -0.01468583 0.00906204 2.57265672] [ 0.01466052 0.99988846 0.00285383 -0.0954323 ] [-0.00910294 -0.00272055 0.99995487 -0.433292 ] [ 0. 0. 0. 1. ]] SLAMing on 27.81719347 meters Centerline goodness : 0.885260 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.10, Z:-0.44 [[ 9.99812571e-01 -1.73999339e-02 8.48907961e-03 2.57547763e+00] [ 1.73987350e-02 9.99848607e-01 2.15072383e-04 -9.69131677e-02] [-8.49153667e-03 -6.73328265e-05 9.99963944e-01 -4.35415893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.84719347 meters Centerline goodness : 0.881684 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.10, Z:-0.44 [[ 0.99975437 -0.02088043 0.00743002 2.58121679] [ 0.02090186 0.99977756 -0.00281908 -0.0993551 ] [-0.00736951 0.00297368 0.99996842 -0.43999618] [ 0. 0. 0. 1. ]] SLAMing on 27.877193469999998 meters Centerline goodness : 0.882670 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.10, Z:-0.44 [[ 0.9997073 -0.0232805 0.00658322 2.58540893] [ 0.02331359 0.99971572 -0.00499532 -0.10046904] [-0.00646506 0.00514734 0.99996585 -0.44319554] [ 0. 0. 0. 1. ]] SLAMing on 27.90719347 meters Centerline goodness : 0.883391 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.10, Z:-0.44 [[ 0.99960432 -0.02745824 0.00610299 2.58732855] [ 0.02750916 0.99958607 -0.00842263 -0.10293357] [-0.00586919 0.00858719 0.9999459 -0.44422701] [ 0. 0. 0. 1. ]] SLAMing on 27.93719347 meters Centerline goodness : 0.880452 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.10, Z:-0.45 [[ 0.9995624 -0.02904983 0.00557746 2.5895253 ] [ 0.02910129 0.99953247 -0.0093783 -0.1040059 ] [-0.00530242 0.00953651 0.99994047 -0.44552485] [ 0. 0. 0. 1. ]] SLAMing on 27.967193469999998 meters Centerline goodness : 0.884243 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.10, Z:-0.45 [[ 0.99950066 -0.03120259 0.00498218 2.59186557] [ 0.0312585 0.99944438 -0.01156918 -0.10403845] [-0.00461842 0.01171913 0.99992066 -0.44677178] [ 0. 0. 0. 1. ]] SLAMing on 27.99719347 meters Centerline goodness : 0.885355 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.10, Z:-0.45 [[ 0.99948843 -0.03029094 0.01026338 2.60332517] [ 0.03049358 0.99933085 -0.02019888 -0.10248777] [-0.00964467 0.02050151 0.9997433 -0.45069959] [ 0. 0. 0. 1. ]] SLAMing on 28.02719347 meters Centerline goodness : 0.885972 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.10, Z:-0.45 [[ 0.99950773 -0.02986598 0.00960868 2.60466737] [ 0.03005234 0.99935075 -0.0198728 -0.10330516] [-0.00900892 0.02015178 0.99975634 -0.45079453] [ 0. 0. 0. 1. ]] SLAMing on 28.05719347 meters Centerline goodness : 0.885349 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.10, Z:-0.46 [[ 0.99956635 -0.02650117 0.0128372 2.6183982 ] [ 0.02682119 0.99931664 -0.02543381 -0.10243593] [-0.0121544 0.02576709 0.99959408 -0.45531434] [ 0. 0. 0. 1. ]] SLAMing on 28.08719347 meters Centerline goodness : 0.884029 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.10, Z:-0.46 [[ 0.99957928 -0.02615813 0.01253028 2.61921389] [ 0.02646831 0.99933036 -0.02526368 -0.10198351] [-0.01186104 0.0255847 0.99960229 -0.45557081] [ 0. 0. 0. 1. ]] SLAMing on 28.11719347 meters Centerline goodness : 0.886276 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.10, Z:-0.45 [[ 0.99969173 -0.0216741 0.01211149 2.6444402 ] [ 0.02202225 0.99932533 -0.02939215 -0.10125605] [-0.01146627 0.02964981 0.99949458 -0.45409054] [ 0. 0. 0. 1. ]] SLAMing on 28.14719347 meters Centerline goodness : 0.887809 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.10, Z:-0.46 [[ 0.99975889 -0.01872038 0.01147629 2.64647961] [ 0.01901135 0.99948655 -0.02579142 -0.10256841] [-0.01098757 0.02600338 0.99960147 -0.45525711] [ 0. 0. 0. 1. ]] SLAMing on 28.17719347 meters Centerline goodness : 0.887210 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.10, Z:-0.46 [[ 0.99974167 -0.01531163 0.01679742 2.65857791] [ 0.01582701 0.99939436 -0.03099065 -0.10188694] [-0.01631273 0.0312485 0.99937852 -0.45962132] [ 0. 0. 0. 1. ]] SLAMing on 28.20719347 meters Centerline goodness : 0.888715 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.10, Z:-0.46 [[ 0.99974998 -0.01500752 0.01657562 2.65899497] [ 0.01551076 0.9994095 -0.03066051 -0.10195223] [-0.01610569 0.03090995 0.99939241 -0.45951843] [ 0. 0. 0. 1. ]] SLAMing on 28.23719347 meters Centerline goodness : 0.889383 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.10, Z:-0.46 [[ 0.99978211 -0.01316648 0.01619804 2.66029887] [ 0.01362493 0.9995002 -0.02852577 -0.10131049] [-0.01581436 0.02874026 0.99946181 -0.46010687] [ 0. 0. 0. 1. ]] SLAMing on 28.26719347 meters Centerline goodness : 0.887792 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.10, Z:-0.46 [[ 0.99977982 -0.01364369 0.01594234 2.66122547] [ 0.01410015 0.99948345 -0.02887948 -0.10081412] [-0.01554009 0.02909791 0.99945576 -0.46062672] [ 0. 0. 0. 1. ]] SLAMing on 28.29719347 meters Centerline goodness : 0.887938 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.10, Z:-0.46 [[ 0.99976742 -0.01521508 0.01528452 2.66378946] [ 0.01567026 0.99942359 -0.03011536 -0.10034334] [-0.0148175 0.03034787 0.99942956 -0.46227449] [ 0. 0. 0. 1. ]] SLAMing on 28.32719347 meters Centerline goodness : 0.887284 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.10, Z:-0.46 [[ 0.99969671 -0.01950807 0.01503091 2.66489435] [ 0.0200178 0.99920273 -0.03454273 -0.09938802] [-0.01434507 0.03483314 0.99929018 -0.46287581] [ 0. 0. 0. 1. ]] SLAMing on 28.35719347 meters Centerline goodness : 0.884567 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.10, Z:-0.46 [[ 0.99952499 -0.02771958 0.01346931 2.68788151] [ 0.02825007 0.99876231 -0.04093623 -0.09856605] [-0.0123179 0.0412973 0.99907097 -0.46488556] [ 0. 0. 0. 1. ]] SLAMing on 28.38719347 meters Centerline goodness : 0.886106 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.10, Z:-0.47 [[ 0.99949376 -0.02896723 0.0131577 2.68876118] [ 0.02948979 0.99870616 -0.04142906 -0.09922211] [-0.01194059 0.0417961 0.99905481 -0.46514608] [ 0. 0. 0. 1. ]] SLAMing on 28.41719347 meters Centerline goodness : 0.885303 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.10, Z:-0.47 [[ 0.99946557 -0.03006202 0.01283964 2.68948426] [ 0.03057911 0.99864197 -0.04217969 -0.09845829] [-0.0115542 0.04254977 0.99902754 -0.46512609] [ 0. 0. 0. 1. ]] SLAMing on 28.44719347 meters Centerline goodness : 0.883794 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.10, Z:-0.47 [[ 0.99945287 -0.03017184 0.01355051 2.70978059] [ 0.03070451 0.99868758 -0.04099211 -0.09710492] [-0.01229591 0.04138574 0.99906758 -0.46566992] [ 0. 0. 0. 1. ]] SLAMing on 28.47719347 meters Centerline goodness : 0.883400 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.09, Z:-0.47 [[ 0.99946606 -0.02974631 0.01351893 2.73108985] [ 0.03028326 0.99868277 -0.04142037 -0.08951822] [-0.01226902 0.04180766 0.99905034 -0.46745014] [ 0. 0. 0. 1. ]] SLAMing on 28.50719347 meters Centerline goodness : 0.882693 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.09, Z:-0.47 [[ 0.99946357 -0.02784228 0.01724445 2.7482236 ] [ 0.02851791 0.99878223 -0.04025896 -0.08598207] [-0.01610255 0.04072914 0.99904046 -0.4674341 ] [ 0. 0. 0. 1. ]] SLAMing on 28.53719347 meters Centerline goodness : 0.883801 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.08, Z:-0.47 [[ 0.99955356 -0.02435667 0.01730416 2.7473023 ] [ 0.0249929 0.99898197 -0.0375551 -0.08296175] [-0.01637183 0.03797082 0.99914472 -0.46596479] [ 0. 0. 0. 1. ]] SLAMing on 28.56719347 meters Centerline goodness : 0.884534 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.08, Z:-0.47 [[ 0.99975207 -0.01405951 0.01726662 2.74694828] [ 0.01455357 0.9994784 -0.0288293 -0.07647724] [-0.01685229 0.02907344 0.99943521 -0.46502871] [ 0. 0. 0. 1. ]] SLAMing on 28.59719347 meters Centerline goodness : 0.885550 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.07, Z:-0.47 [[ 0.99983481 -0.00702133 0.01676466 2.74873101] [ 0.00739811 0.99971904 -0.02251911 -0.07246145] [-0.01660184 0.02263941 0.99960584 -0.46611883] [ 0. 0. 0. 1. ]] SLAMing on 28.627193469999998 meters Centerline goodness : 0.885554 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.07, Z:-0.47 [[ 9.99860667e-01 7.45222584e-04 1.66760794e-02 2.74925924e+00] [-4.82600582e-04 9.99875893e-01 -1.57469121e-02 -6.76861713e-02] [-1.66857447e-02 1.57366702e-02 9.99736937e-01 -4.66505490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.65719347 meters Centerline goodness : 0.886242 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.06, Z:-0.47 [[ 0.99975802 0.01487659 0.01620457 2.75195123] [-0.01480775 0.99988085 -0.00436032 -0.05524045] [-0.0162675 0.00411931 0.99985919 -0.46867203] [ 0. 0. 0. 1. ]] SLAMing on 28.68719347 meters Centerline goodness : 0.886232 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.05, Z:-0.47 [[ 9.99659101e-01 2.08859449e-02 1.56671369e-02 2.75513565e+00] [-2.09007646e-02 9.99781249e-01 7.82750435e-04 -4.98228833e-02] [-1.56473612e-02 -1.10993874e-03 9.99876956e-01 -4.71155672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.717193469999998 meters Centerline goodness : 0.884077 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.04, Z:-0.47 [[ 9.99600244e-01 2.40186608e-02 1.49149429e-02 2.75881209e+00] [-2.40600358e-02 9.99707132e-01 2.60082379e-03 -4.46374201e-02] [-1.48481065e-02 -2.95863815e-03 9.99885384e-01 -4.73962048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.74719347 meters Centerline goodness : 0.884010 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.04, Z:-0.48 [[ 0.9995418 0.02666566 0.01432274 2.76202871] [-0.02673238 0.99963255 0.00448736 -0.04125645] [-0.01419782 -0.00486818 0.99988735 -0.47654112] [ 0. 0. 0. 1. ]] SLAMing on 28.77719347 meters Centerline goodness : 0.884004 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.04, Z:-0.48 [[ 0.99949329 0.02874596 0.01366885 2.76571265] [-0.02882487 0.99956873 0.00561159 -0.03678499] [-0.01350164 -0.00600275 0.99989083 -0.47971242] [ 0. 0. 0. 1. ]] SLAMing on 28.807193469999998 meters Centerline goodness : 0.883987 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.03, Z:-0.48 [[ 0.99951313 0.028274 0.01319435 2.76695255] [-0.02833874 0.99958711 0.00474561 -0.03451252] [-0.01305472 -0.00511721 0.99990169 -0.48011076] [ 0. 0. 0. 1. ]] SLAMing on 28.83719347 meters Centerline goodness : 0.886573 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.03, Z:-0.48 [[ 0.99953188 0.02779205 0.01279141 2.76805579] [-0.02784722 0.99960356 0.00415511 -0.03296121] [-0.01267086 -0.00450937 0.99990955 -0.4805134 ] [ 0. 0. 0. 1. ]] SLAMing on 28.86719347 meters Centerline goodness : 0.885140 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.03, Z:-0.48 [[ 0.99955126 0.02728603 0.01235905 2.76895375] [-0.02733308 0.9996197 0.00365432 -0.03164469] [-0.01225464 -0.00399049 0.99991695 -0.48044406] [ 0. 0. 0. 1. ]] SLAMing on 28.89719347 meters Centerline goodness : 0.885639 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.03, Z:-0.48 [[ 0.99955134 0.02732258 0.0122718 2.76928406] [-0.02737024 0.9996184 0.00373226 -0.03111711] [-0.01216514 -0.00406647 0.99991773 -0.48032802] [ 0. 0. 0. 1. ]] SLAMing on 28.92719347 meters Centerline goodness : 0.886711 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.03, Z:-0.48 [[ 0.99956314 0.02708591 0.01182751 2.77002464] [-0.02712961 0.99962562 0.00354984 -0.03032673] [-0.01172693 -0.00386916 0.99992375 -0.47999519] [ 0. 0. 0. 1. ]] SLAMing on 28.95719347 meters Centerline goodness : 0.888283 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.03, Z:-0.48 [[ 0.99957785 0.02670457 0.01144481 2.7707862 ] [-0.02674102 0.99963776 0.00304307 -0.02983112] [-0.0113594 -0.00334783 0.99992988 -0.47995521] [ 0. 0. 0. 1. ]] SLAMing on 28.98719347 meters Centerline goodness : 0.885841 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.03, Z:-0.48 [[ 9.99592764e-01 2.63139275e-02 1.10400666e-02 2.77141739e+00] [-2.63441251e-02 9.99649555e-01 2.59879991e-03 -2.96046718e-02] [-1.09678131e-02 -2.88858248e-03 9.99935680e-01 -4.79606978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.01719347 meters Centerline goodness : 0.891509 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.03, Z:-0.48 [[ 0.99961141 0.02325333 0.01537225 2.78136183] [-0.02340866 0.99967593 0.01000313 -0.03120302] [-0.01513466 -0.01035909 0.9998318 -0.48211001] [ 0. 0. 0. 1. ]] SLAMing on 29.04719347 meters Centerline goodness : 0.887075 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.03, Z:-0.48 [[ 0.99965341 0.02181432 0.0147377 2.78412529] [-0.02194127 0.99972306 0.00850751 -0.03064902] [-0.01454803 -0.00882793 0.9998552 -0.4842163 ] [ 0. 0. 0. 1. ]] SLAMing on 29.07719347 meters Centerline goodness : 0.887640 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.03, Z:-0.49 [[ 0.99968679 0.02081186 0.01389941 2.78681518] [-0.020921 0.99975106 0.00775371 -0.03066925] [-0.01373458 -0.00804207 0.99987334 -0.48576461] [ 0. 0. 0. 1. ]] SLAMing on 29.10719347 meters Centerline goodness : 0.888227 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.03, Z:-0.49 [[ 0.99970984 0.01990249 0.01356952 2.7877186 ] [-0.0200066 0.99977111 0.00758033 -0.03111959] [-0.01341554 -0.00784961 0.9998792 -0.48575983] [ 0. 0. 0. 1. ]] SLAMing on 29.13719347 meters Centerline goodness : 0.888735 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.03, Z:-0.49 [[ 0.99971264 0.02001329 0.01319485 2.78830029] [-0.0201167 0.99976759 0.00775117 -0.03122454] [-0.01303666 -0.00801438 0.9998829 -0.48539117] [ 0. 0. 0. 1. ]] SLAMing on 29.16719347 meters Centerline goodness : 0.891241 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.03, Z:-0.48 [[ 0.99971472 0.01994981 0.01313307 2.78774177] [-0.02004996 0.99977055 0.00753926 -0.03077623] [-0.01297965 -0.00780043 0.99988533 -0.48403389] [ 0. 0. 0. 1. ]] SLAMing on 29.19719347 meters Centerline goodness : 0.891494 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.03, Z:-0.48 [[ 0.99972027 0.01992358 0.01274472 2.78870059] [-0.02001904 0.99977216 0.00740705 -0.03098946] [-0.01259424 -0.00766011 0.99989135 -0.48432492] [ 0. 0. 0. 1. ]] SLAMing on 29.22719347 meters Centerline goodness : 0.892594 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.03, Z:-0.48 [[ 0.99972716 0.01974527 0.01247889 2.78959196] [-0.01983649 0.9997771 0.00722877 -0.03145005] [-0.01233338 -0.00747434 0.99989601 -0.48484077] [ 0. 0. 0. 1. ]] SLAMing on 29.25719347 meters Centerline goodness : 0.891812 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.03, Z:-0.49 [[ 0.99971768 0.02020348 0.0125053 2.79034505] [-0.02029981 0.99976487 0.00762416 -0.03167089] [-0.01234833 -0.00787587 0.99989274 -0.48544371] [ 0. 0. 0. 1. ]] SLAMing on 29.28719347 meters Centerline goodness : 0.893855 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.03, Z:-0.49 [[ 0.99972197 0.02019964 0.01216411 2.79115782] [-0.02028545 0.99976992 0.00697239 -0.02892721] [-0.01202047 -0.0072172 0.99990171 -0.48560488] [ 0. 0. 0. 1. ]] SLAMing on 29.31719347 meters Centerline goodness : 0.893411 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.03, Z:-0.49 [[ 0.99970673 0.02130034 0.0115221 2.79351505] [-0.0213904 0.99974115 0.00775088 -0.02816508] [-0.01135403 -0.00799507 0.99990358 -0.48695412] [ 0. 0. 0. 1. ]] SLAMing on 29.34719347 meters Centerline goodness : 0.894167 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.03, Z:-0.49 [[ 0.99970861 0.02149011 0.01099446 2.79497224] [-0.02157571 0.99973736 0.0077271 -0.02795526] [-0.01082551 -0.00796206 0.9999097 -0.48752489] [ 0. 0. 0. 1. ]] SLAMing on 29.377193469999998 meters Centerline goodness : 0.894493 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.03, Z:-0.49 [[ 0.99971211 0.02152611 0.01059847 2.79634391] [-0.02160872 0.99973652 0.00774333 -0.02868149] [-0.010429 -0.00797012 0.99991385 -0.48833736] [ 0. 0. 0. 1. ]] SLAMing on 29.40719347 meters Centerline goodness : 0.895051 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.03, Z:-0.49 [[ 0.99981949 0.01614081 0.01002344 2.82147594] [-0.01631154 0.99971915 0.01719174 -0.0304218 ] [-0.00974314 -0.01735214 0.99980197 -0.49201362] [ 0. 0. 0. 1. ]] SLAMing on 29.43719347 meters Centerline goodness : 0.894554 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.03, Z:-0.49 [[ 0.9998285 0.01581929 0.00962942 2.82280287] [-0.01598115 0.99972827 0.01697049 -0.03022797] [-0.00935835 -0.01712147 0.99980962 -0.49269673] [ 0. 0. 0. 1. ]] SLAMing on 29.467193469999998 meters Centerline goodness : 0.896020 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.03, Z:-0.49 [[ 0.99984284 0.01527105 0.00900537 2.82431925] [-0.01541926 0.9997429 0.01662448 -0.0302083 ] [-0.00874918 -0.01676072 0.99982125 -0.49313395] [ 0. 0. 0. 1. ]] SLAMing on 29.49719347 meters Centerline goodness : 0.896020 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.03, Z:-0.49 [[ 0.99984206 0.01530297 0.00903754 2.82428111] [-0.01545167 0.99974248 0.01661973 -0.03019328] [-0.00878088 -0.01675675 0.99982104 -0.49313735] [ 0. 0. 0. 1. ]] SLAMing on 29.52719347 meters Centerline goodness : 0.890982 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.03, Z:-0.49 [[ 0.99987199 0.01374175 0.00819524 2.82699819] [-0.0138649 0.99978889 0.01516392 -0.02996609] [-0.00798513 -0.0152756 0.99985144 -0.49449362] [ 0. 0. 0. 1. ]] SLAMing on 29.557193469999998 meters Centerline goodness : 0.893004 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.03, Z:-0.49 [[ 0.99995055 0.00649623 0.00752977 2.84615987] [-0.00669411 0.99962483 0.02655896 -0.03114568] [-0.00735442 -0.02660805 0.99961889 -0.49376828] [ 0. 0. 0. 1. ]] SLAMing on 29.58719347 meters Centerline goodness : 0.893791 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.03, Z:-0.49 [[ 0.99995811 0.00596975 0.00693795 2.84779763] [-0.00614562 0.99965311 0.02561051 -0.02908308] [-0.00678265 -0.02565207 0.99964792 -0.49455203] [ 0. 0. 0. 1. ]] SLAMing on 29.61719347 meters Centerline goodness : 0.895261 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.03, Z:-0.50 [[ 0.99996571 0.00528229 0.00637815 2.84972185] [-0.00543561 0.99969079 0.02426459 -0.02556469] [-0.00624801 -0.02429842 0.99968522 -0.49567586] [ 0. 0. 0. 1. ]] SLAMing on 29.64719347 meters Centerline goodness : 0.890739 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.02, Z:-0.50 [[ 0.99997202 0.0044629 0.00600415 2.85057045] [-0.00459295 0.9997513 0.02182283 -0.01879577] [-0.00590526 -0.0218498 0.99974382 -0.49585366] [ 0. 0. 0. 1. ]] SLAMing on 29.67719347 meters Centerline goodness : 0.894994 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.02, Z:-0.49 [[ 0.99997583 0.00367764 0.00590067 2.84977457] [-0.00379628 0.9997883 0.02022239 -0.01549307] [-0.00582505 -0.0202443 0.99977809 -0.49440849] [ 0. 0. 0. 1. ]] SLAMing on 29.70719347 meters Centerline goodness : 0.898147 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.01, Z:-0.49 [[ 9.99979481e-01 2.66098384e-03 5.82722118e-03 2.84896880e+00] [-2.76697042e-03 9.99829511e-01 1.82562961e-02 -1.14703848e-02] [-5.77764799e-03 -1.82720452e-02 9.99816359e-01 -4.92898060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.73719347 meters Centerline goodness : 0.899827 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.01, Z:-0.49 [[ 9.99942176e-01 1.07092996e-03 1.07003241e-02 2.86385233e+00] [-1.24767718e-03 9.99862676e-01 1.65249328e-02 -6.87568446e-03] [-1.06811577e-02 -1.65373279e-02 9.99806196e-01 -4.91193770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.76719347 meters Centerline goodness : 0.901583 Centerline is valid? [False, False] Translation: X:2.87, Y:0.00, Z:-0.49 [[ 9.99947419e-01 -1.29370657e-03 1.01727961e-02 2.86512656e+00] [ 1.16428670e-03 9.99918448e-01 1.27177997e-02 2.89718365e-03] [-1.01884196e-02 -1.27052869e-02 9.99867377e-01 -4.91556660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.79719347 meters Centerline goodness : 0.899941 Centerline is valid? [False, False] Translation: X:2.87, Y:0.01, Z:-0.49 [[ 9.99951004e-01 -2.29984707e-03 9.62812671e-03 2.86707853e+00] [ 2.19459104e-03 9.99937874e-01 1.09284688e-02 7.61523406e-03] [-9.65266236e-03 -1.09068035e-02 9.99893928e-01 -4.92787865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.82719347 meters Centerline goodness : 0.899346 Centerline is valid? [False, False] Translation: X:2.87, Y:0.01, Z:-0.50 [[ 9.99957847e-01 -1.40408341e-03 9.07371143e-03 2.86960550e+00] [ 1.30331853e-03 9.99937527e-01 1.11015325e-02 1.39938850e-02] [-9.08873204e-03 -1.10892386e-02 9.99897207e-01 -4.95020858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.85719347 meters Centerline goodness : 0.900207 Centerline is valid? [False, False] Translation: X:2.87, Y:0.02, Z:-0.50 [[ 9.99961494e-01 -1.59008470e-03 8.63034991e-03 2.87095506e+00] [ 1.50278309e-03 9.99947736e-01 1.01127272e-02 1.70880049e-02] [-8.64597895e-03 -1.00993683e-02 9.99911621e-01 -4.95630239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.88719347 meters Centerline goodness : 0.897639 Centerline is valid? [False, False] Translation: X:2.87, Y:0.02, Z:-0.50 [[ 9.99964152e-01 -1.87032068e-03 8.25807358e-03 2.87197806e+00] [ 1.79599614e-03 9.99957900e-01 8.99848842e-03 2.03765994e-02] [-8.27455597e-03 -8.98333438e-03 9.99925413e-01 -4.95880114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.91719347 meters Centerline goodness : 0.900154 Centerline is valid? [False, False] Translation: X:2.87, Y:0.02, Z:-0.50 [[ 9.99968116e-01 -1.91312401e-03 7.75280547e-03 2.87337527e+00] [ 1.85111703e-03 9.99966308e-01 7.99730333e-03 2.40861278e-02] [-7.76784409e-03 -7.98269699e-03 9.99937967e-01 -4.96354658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.94719347 meters Centerline goodness : 0.899806 Centerline is valid? [False, False] Translation: X:2.87, Y:0.03, Z:-0.50 [[ 9.99972770e-01 1.52253478e-05 7.37969235e-03 2.87433260e+00] [-7.90468444e-05 9.99962602e-01 8.64804527e-03 3.26709393e-02] [-7.37928469e-03 -8.64839312e-03 9.99935374e-01 -4.96544805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.97719347 meters Centerline goodness : 0.902802 Centerline is valid? [False, False] Translation: X:2.88, Y:0.04, Z:-0.50 [[ 9.99976029e-01 -4.48302673e-04 6.90938665e-03 2.87534732e+00] [ 3.98515570e-04 9.99973961e-01 7.20541279e-03 3.75377646e-02] [-6.91243694e-03 -7.20248658e-03 9.99950170e-01 -4.96470055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.00719347 meters Centerline goodness : 0.900837 Centerline is valid? [False, False] Translation: X:2.88, Y:0.04, Z:-0.50 [[ 9.99978217e-01 -5.88591541e-04 6.57414607e-03 2.87621133e+00] [ 5.47622221e-04 9.99980431e-01 6.23194712e-03 4.10436052e-02] [-6.57768549e-03 -6.22821122e-03 9.99958971e-01 -4.96640705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.03719347 meters Centerline goodness : 0.899449 Centerline is valid? [False, False] Translation: X:2.88, Y:0.04, Z:-0.50 [[ 9.99981727e-01 -6.56329252e-04 6.00961388e-03 2.87829437e+00] [ 6.22752637e-04 9.99984197e-01 5.58731794e-03 4.36845789e-02] [-6.01318603e-03 -5.58347334e-03 9.99966333e-01 -4.97801053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.06719347 meters Centerline goodness : 0.897762 Centerline is valid? [False, False] Translation: X:2.88, Y:0.05, Z:-0.50 [[ 9.99984181e-01 -9.64280771e-04 5.54141709e-03 2.88005430e+00] [ 9.37980900e-04 9.99988294e-01 4.74669579e-03 4.62216660e-02] [-5.54592937e-03 -4.74142296e-03 9.99973380e-01 -4.98847853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.09719347 meters Centerline goodness : 0.897893 Centerline is valid? [False, False] Translation: X:2.88, Y:0.05, Z:-0.50 [[ 9.99984361e-01 -1.70677030e-03 5.32577379e-03 2.88066194e+00] [ 1.68989130e-03 9.99993541e-01 3.17219726e-03 5.17948829e-02] [-5.33115360e-03 -3.16314768e-03 9.99980786e-01 -4.98959408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.127193469999998 meters Centerline goodness : 0.900870 Centerline is valid? [False, False] Translation: X:2.88, Y:0.06, Z:-0.50 [[ 9.99985307e-01 -2.17849825e-03 4.96381622e-03 2.88157336e+00] [ 2.16746352e-03 9.99995171e-01 2.22733095e-03 5.50983633e-02] [-4.96864448e-03 -2.21653934e-03 9.99985200e-01 -4.99022968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.15719347 meters Centerline goodness : 0.898733 Centerline is valid? [False, False] Translation: X:2.88, Y:0.06, Z:-0.50 [[ 9.99988446e-01 -2.11751901e-03 4.31551129e-03 2.88283311e+00] [ 2.10906945e-03 9.99995852e-01 1.96156226e-03 6.08308902e-02] [-4.31964703e-03 -1.95243789e-03 9.99988764e-01 -4.98860254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.18719347 meters Centerline goodness : 0.897958 Centerline is valid? [False, False] Translation: X:2.88, Y:0.06, Z:-0.50 [[ 9.99990379e-01 -2.13201613e-03 3.83369008e-03 2.88418582e+00] [ 2.12658015e-03 9.99996729e-01 1.42146523e-03 6.29447799e-02] [-3.83670812e-03 -1.41329891e-03 9.99991641e-01 -4.99232452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.217193469999998 meters Centerline goodness : 0.896604 Centerline is valid? [False, False] Translation: X:2.89, Y:0.07, Z:-0.50 [[ 9.99991744e-01 -2.14060065e-03 3.45383714e-03 2.88541228e+00] [ 2.13763684e-03 9.99997344e-01 8.61583603e-04 6.50298035e-02] [-3.45567228e-03 -8.54193440e-04 9.99993664e-01 -4.99718819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.24719347 meters Centerline goodness : 0.900765 Centerline is valid? [False, False] Translation: X:2.89, Y:0.07, Z:-0.50 [[ 9.99992640e-01 -2.20280104e-03 3.14115966e-03 2.88631439e+00] [ 2.20234686e-03 9.99997564e-01 1.48041914e-04 6.79407869e-02] [-3.14147811e-03 -1.41122901e-04 9.99995056e-01 -4.99872442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.27719347 meters Centerline goodness : 0.899770 Centerline is valid? [False, False] Translation: X:2.89, Y:0.08, Z:-0.50 [[ 9.99995496e-01 -1.33066342e-04 2.99822805e-03 2.88685987e+00] [ 1.29623240e-04 9.99999332e-01 1.14854416e-03 7.56698229e-02] [-2.99837888e-03 -1.14815035e-03 9.99994846e-01 -4.99815459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.307193469999998 meters Centerline goodness : 0.898527 Centerline is valid? [False, False] Translation: X:2.89, Y:0.08, Z:-0.50 [[ 9.99996259e-01 -6.97732303e-05 2.73454957e-03 2.88765864e+00] [ 6.91584978e-05 9.99999972e-01 2.24896029e-04 7.98943454e-02] [-2.73456519e-03 -2.24706070e-04 9.99996236e-01 -4.99913166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.33719347 meters Centerline goodness : 0.898076 Centerline is valid? [False, False] Translation: X:2.89, Y:0.08, Z:-0.50 [[ 9.99996226e-01 1.78709614e-03 2.08679018e-03 2.89052429e+00] [-1.79045120e-03 9.99997106e-01 1.60700395e-03 8.26947641e-02] [-2.08391227e-03 -1.61073418e-03 9.99996531e-01 -5.01868315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.36719347 meters Centerline goodness : 0.901074 Centerline is valid? [False, False] Translation: X:2.89, Y:0.09, Z:-0.50 [[ 9.99990842e-01 4.00927045e-03 1.49741982e-03 2.89316000e+00] [-4.01421685e-03 9.99986448e-01 3.31501510e-03 8.50313091e-02] [-1.48410874e-03 -3.32099570e-03 9.99993384e-01 -5.03527445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.39719347 meters Centerline goodness : 0.898714 Centerline is valid? [False, False] Translation: X:2.89, Y:0.09, Z:-0.50 [[ 9.99967347e-01 7.94347559e-03 1.48554047e-03 2.89290014e+00] [-7.95105647e-03 9.99955031e-01 5.16879371e-03 9.26399585e-02] [-1.44441548e-03 -5.18043655e-03 9.99985538e-01 -5.02343815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.42719347 meters Centerline goodness : 0.901096 Centerline is valid? [False, False] Translation: X:2.89, Y:0.10, Z:-0.50 [[ 9.99934782e-01 1.13453254e-02 1.30954177e-03 2.89349466e+00] [-1.13550813e-02 9.99905884e-01 7.69974663e-03 9.76214792e-02] [-1.22206239e-03 -7.71411442e-03 9.99969499e-01 -5.02286268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.45719347 meters Centerline goodness : 0.900004 Centerline is valid? [False, False] Translation: X:2.89, Y:0.10, Z:-0.50 [[ 9.99888579e-01 1.48930805e-02 1.01314935e-03 2.89437141e+00] [-1.49027060e-02 9.99836213e-01 1.02692405e-02 1.02866177e-01] [-8.60042785e-04 -1.02831950e-02 9.99946757e-01 -5.02219024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.48719347 meters Centerline goodness : 0.895191 Centerline is valid? [False, False] Translation: X:2.90, Y:0.11, Z:-0.50 [[ 9.99739606e-01 2.28059207e-02 7.81593505e-04 2.89616134e+00] [-2.28156689e-02 9.99605420e-01 1.63844507e-02 1.09364284e-01] [-4.07622621e-04 -1.63980169e-02 9.99865460e-01 -5.03237192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.51719347 meters Centerline goodness : 0.895030 Centerline is valid? [False, False] Translation: X:2.90, Y:0.11, Z:-0.50 [[ 9.99703829e-01 2.43326747e-02 4.17682903e-04 2.89844807e+00] [-2.43362559e-02 9.99565476e-01 1.66314923e-02 1.12318727e-01] [-1.28127186e-05 -1.66367314e-02 9.99861600e-01 -5.04837982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.54719347 meters Centerline goodness : 0.894012 Centerline is valid? [False, False] Translation: X:2.90, Y:0.11, Z:-0.51 [[ 9.99682530e-01 2.51949044e-02 2.35731752e-04 2.89980889e+00] [-2.51954111e-02 9.99550768e-01 1.62312561e-02 1.14928757e-01] [ 1.73319091e-04 -1.62320425e-02 9.99868237e-01 -5.05748462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.57719347 meters Centerline goodness : 0.894208 Centerline is valid? [False, False] Translation: X:2.90, Y:0.12, Z:-0.51 [[ 9.99665073e-01 2.58793618e-02 -5.60009549e-07 2.90095142e+00] [-2.58760835e-02 9.99538784e-01 1.58948635e-02 1.17300807e-01] [ 4.11908675e-04 -1.58895254e-02 9.99873669e-01 -5.06363203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.60719347 meters Centerline goodness : 0.891595 Centerline is valid? [False, False] Translation: X:2.90, Y:0.12, Z:-0.51 [[ 9.99523378e-01 3.08695434e-02 -2.95861991e-04 2.90260899e+00] [-3.08573189e-02 9.99320680e-01 2.01495317e-02 1.18657384e-01] [ 9.17667848e-04 -2.01307984e-02 9.99796934e-01 -5.07312899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.63719347 meters Centerline goodness : 0.890062 Centerline is valid? [False, False] Translation: X:2.90, Y:0.12, Z:-0.51 [[ 9.99504822e-01 3.14560543e-02 -7.91609779e-04 2.90438179e+00] [-3.14331785e-02 9.99294815e-01 2.05384474e-02 1.18771153e-01] [ 1.43711006e-03 -2.05033944e-02 9.99788750e-01 -5.08235545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.66719347 meters Centerline goodness : 0.888915 Centerline is valid? [False, False] Translation: X:2.91, Y:0.12, Z:-0.51 [[ 9.99591300e-01 2.85667392e-02 -1.08338021e-03 2.90525444e+00] [-2.85440927e-02 9.99446606e-01 1.70796877e-02 1.19055507e-01] [ 1.57069166e-03 -1.70417832e-02 9.99853545e-01 -5.08574127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.69719347 meters Centerline goodness : 0.889063 Centerline is valid? [False, False] Translation: X:2.91, Y:0.12, Z:-0.51 [[ 9.99674407e-01 2.54793103e-02 -1.37266980e-03 2.90580632e+00] [-2.54577048e-02 9.99578500e-01 1.39544744e-02 1.17241112e-01] [ 1.72764161e-03 -1.39149859e-02 9.99901689e-01 -5.08505888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.72719347 meters Centerline goodness : 0.889473 Centerline is valid? [False, False] Translation: X:2.92, Y:0.11, Z:-0.51 [[ 0.99979225 0.01988796 0.00446301 2.91786567] [-0.01996168 0.99965394 0.01713277 0.10517348] [-0.00412073 -0.0172183 0.99984326 -0.51054889] [ 0. 0. 0. 1. ]] SLAMing on 30.75719347 meters Centerline goodness : 0.887732 Centerline is valid? [False, False] Translation: X:2.93, Y:0.10, Z:-0.51 [[ 0.99984203 0.01466508 0.01004242 2.93057311] [-0.01487506 0.99966535 0.02116397 0.09821076] [-0.00972868 -0.02131001 0.99972558 -0.51435631] [ 0. 0. 0. 1. ]] SLAMing on 30.78719347 meters Centerline goodness : 0.889099 Centerline is valid? [False, False] Translation: X:2.93, Y:0.10, Z:-0.51 [[ 0.99991987 0.00829594 0.00956242 2.93183876] [-0.00843782 0.99985349 0.01489335 0.09500892] [-0.00943747 -0.01497284 0.99984336 -0.5146666 ] [ 0. 0. 0. 1. ]] SLAMing on 30.81719347 meters Centerline goodness : 0.888603 Centerline is valid? [False, False] Translation: X:2.95, Y:0.08, Z:-0.52 [[ 0.99992929 0.00313496 0.01147089 2.95107351] [-0.00334106 0.99983254 0.01799263 0.08391574] [-0.01141256 -0.01802969 0.99977232 -0.51847785] [ 0. 0. 0. 1. ]] SLAMing on 30.84719347 meters Centerline goodness : 0.887408 Centerline is valid? [False, False] Translation: X:2.95, Y:0.08, Z:-0.52 [[ 9.99940304e-01 2.79927067e-04 1.09229101e-02 2.95303383e+00] [-4.55528151e-04 9.99870649e-01 1.60772264e-02 7.89407472e-02] [-1.09169967e-02 -1.60812424e-02 9.99811089e-01 -5.19510286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.877193469999998 meters Centerline goodness : 0.887673 Centerline is valid? [False, False] Translation: X:2.95, Y:0.07, Z:-0.52 [[ 9.99939611e-01 -3.09018714e-03 1.05463741e-02 2.95425330e+00] [ 2.94555469e-03 9.99901784e-01 1.37020388e-02 7.32533916e-02] [-1.05876802e-02 -1.36701464e-02 9.99850503e-01 -5.20019585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.90719347 meters Centerline goodness : 0.887935 Centerline is valid? [False, False] Translation: X:2.97, Y:0.06, Z:-0.52 [[ 0.9998825 -0.0081895 0.01295796 2.97324255] [ 0.00797484 0.99983155 0.01653121 0.05802069] [-0.01309116 -0.01642593 0.99977938 -0.5240121 ] [ 0. 0. 0. 1. ]] SLAMing on 30.93719347 meters Centerline goodness : 0.886983 Centerline is valid? [False, False] Translation: X:2.97, Y:0.05, Z:-0.52 [[ 0.99985621 -0.01129998 0.01264378 2.97426173] [ 0.01112159 0.99983885 0.01409177 0.05438449] [-0.01280098 -0.01394912 0.99982076 -0.52418585] [ 0. 0. 0. 1. ]] SLAMing on 30.967193469999998 meters Centerline goodness : 0.884401 Centerline is valid? [False, False] Translation: X:2.98, Y:0.05, Z:-0.52 [[ 0.99982057 -0.01469516 0.01195329 2.97602237] [ 0.01454203 0.99981235 0.01279793 0.04783087] [-0.01213911 -0.0126218 0.99984665 -0.52437732] [ 0. 0. 0. 1. ]] SLAMing on 30.99719347 meters Centerline goodness : 0.883500 Centerline is valid? [False, False] Translation: X:2.98, Y:0.04, Z:-0.53 [[ 0.9997834 -0.01748012 0.01129639 2.97836516] [ 0.0173596 0.99979227 0.0106803 0.04423254] [-0.01148074 -0.01048189 0.99987915 -0.52551003] [ 0. 0. 0. 1. ]] SLAMing on 31.02719347 meters Centerline goodness : 0.881606 Centerline is valid? [False, False] Translation: X:2.98, Y:0.04, Z:-0.53 [[ 0.99973101 -0.0205255 0.01079874 2.98014708] [ 0.0204351 0.99975575 0.00841656 0.04030774] [-0.01096886 -0.00819363 0.99990627 -0.52617004] [ 0. 0. 0. 1. ]] SLAMing on 31.057193469999998 meters Centerline goodness : 0.884374 Centerline is valid? [False, False] Translation: X:2.98, Y:0.04, Z:-0.53 [[ 0.99966147 -0.02381225 0.01048477 2.98101156] [ 0.02375248 0.99970111 0.00578821 0.03672294] [-0.01061946 -0.00553721 0.99992828 -0.52595386] [ 0. 0. 0. 1. ]] SLAMing on 31.08719347 meters Centerline goodness : 0.879848 Centerline is valid? [False, False] Translation: X:3.01, Y:0.02, Z:-0.52 [[ 0.99947849 -0.03023403 0.01134278 3.00647326] [ 0.0298479 0.9990164 0.03279235 0.02383156] [-0.01232307 -0.03243669 0.99939782 -0.52291995] [ 0. 0. 0. 1. ]] SLAMing on 31.11719347 meters Centerline goodness : 0.881855 Centerline is valid? [False, False] Translation: X:3.01, Y:0.02, Z:-0.52 [[ 0.99938029 -0.0333649 0.01121688 3.00649222] [ 0.03301449 0.99900169 0.03009415 0.02244252] [-0.01220977 -0.02970518 0.99948413 -0.52183519] [ 0. 0. 0. 1. ]] SLAMing on 31.14719347 meters Centerline goodness : 0.879513 Centerline is valid? [False, False] Translation: X:3.01, Y:0.02, Z:-0.52 [[ 0.99924657 -0.03710743 0.01137264 3.00591937] [ 0.03679839 0.99897724 0.02627468 0.0223446 ] [-0.01233599 -0.02583639 0.99959007 -0.52076406] [ 0. 0. 0. 1. ]] SLAMing on 31.17719347 meters Centerline goodness : 0.879093 Centerline is valid? [False, False] Translation: X:3.01, Y:0.02, Z:-0.52 [[ 0.99913879 -0.03997511 0.01112103 3.00620114] [ 0.03969021 0.99890529 0.02475688 0.018648 ] [-0.01209852 -0.02429417 0.99963164 -0.51920952] [ 0. 0. 0. 1. ]] SLAMing on 31.20719347 meters Centerline goodness : 0.878853 Centerline is valid? [False, False] Translation: X:3.01, Y:0.02, Z:-0.52 [[ 0.99901529 -0.04292141 0.01123388 3.0060351 ] [ 0.04267082 0.99885418 0.02166881 0.01807197] [-0.01215106 -0.02116811 0.99970209 -0.51864361] [ 0. 0. 0. 1. ]] SLAMing on 31.23719347 meters Centerline goodness : 0.877253 Centerline is valid? [False, False] Translation: X:3.01, Y:0.02, Z:-0.52 [[ 0.99900517 -0.04320955 0.01102777 3.00604507] [ 0.04295362 0.99882423 0.02247541 0.01590081] [-0.01198596 -0.02197936 0.99968657 -0.51746096] [ 0. 0. 0. 1. ]] SLAMing on 31.26719347 meters Centerline goodness : 0.880708 Centerline is valid? [False, False] Translation: X:3.01, Y:0.02, Z:-0.52 [[ 0.99884427 -0.04681445 0.01088681 3.00638615] [ 0.0466022 0.99873292 0.0189947 0.01557908] [-0.01176224 -0.0184654 0.99976031 -0.51685755] [ 0. 0. 0. 1. ]] SLAMing on 31.29719347 meters Centerline goodness : 0.876644 Centerline is valid? [False, False] Translation: X:3.01, Y:0.01, Z:-0.52 [[ 0.99866308 -0.05063892 0.01038027 3.00830681] [ 0.05047296 0.99860248 0.01567075 0.01457999] [-0.01115932 -0.01512588 0.99982332 -0.51751489] [ 0. 0. 0. 1. ]] SLAMing on 31.32719347 meters Centerline goodness : 0.875579 Centerline is valid? [False, False] Translation: X:3.01, Y:0.01, Z:-0.52 [[ 0.99850475 -0.05384224 0.00944838 3.01195863] [ 0.0537168 0.99847077 0.01306215 0.01301912] [-0.01013722 -0.01253508 0.99987005 -0.51944227] [ 0. 0. 0. 1. ]] SLAMing on 31.35719347 meters Centerline goodness : 0.869941 Centerline is valid? [False, False] Translation: X:3.02, Y:0.01, Z:-0.52 [[ 0.99814451 -0.06033817 0.0081762 3.01762702] [ 0.06027992 0.9981556 0.00719277 0.01137225] [-0.00859512 -0.00668656 0.99994071 -0.52308367] [ 0. 0. 0. 1. ]] SLAMing on 31.38719347 meters Centerline goodness : 0.870111 Centerline is valid? [False, False] Translation: X:3.02, Y:0.01, Z:-0.52 [[ 0.99797029 -0.06321529 0.00768938 3.02030702] [ 0.06318115 0.99799145 0.00460492 0.01050072] [-0.00796504 -0.00410974 0.99995983 -0.52475235] [ 0. 0. 0. 1. ]] SLAMing on 31.41719347 meters Centerline goodness : 0.870111 Centerline is valid? [False, False] Translation: X:3.02, Y:0.01, Z:-0.52 [[ 0.99797029 -0.06321529 0.00768938 3.02030702] [ 0.06318115 0.99799145 0.00460492 0.01050072] [-0.00796504 -0.00410974 0.99995983 -0.52475235] [ 0. 0. 0. 1. ]] SLAMing on 31.44719347 meters Centerline goodness : 0.871949 Centerline is valid? [False, False] Translation: X:3.02, Y:0.01, Z:-0.52 [[ 0.99795316 -0.0635477 0.00715401 3.02111634] [ 0.06350928 0.99796623 0.00547531 0.00824139] [-0.0074874 -0.00500976 0.99995942 -0.52400841] [ 0. 0. 0. 1. ]] SLAMing on 31.47719347 meters Centerline goodness : 0.875005 Centerline is valid? [False, False] Translation: X:3.02, Y:0.01, Z:-0.52 [[ 9.97699482e-01 -6.74057739e-02 7.22536335e-03 3.02043797e+00] [ 6.73955671e-02 9.97724974e-01 1.64721489e-03 8.54637063e-03] [-7.31995726e-03 -1.15646798e-03 9.99972540e-01 -5.22200085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.50719347 meters Centerline goodness : 0.873340 Centerline is valid? [False, False] Translation: X:3.02, Y:0.01, Z:-0.52 [[ 0.99790813 -0.06433757 0.00632749 3.02154437] [ 0.06430235 0.99791463 0.00562146 0.00805658] [-0.00667596 -0.00520282 0.99996418 -0.52190704] [ 0. 0. 0. 1. ]] SLAMing on 31.53719347 meters Centerline goodness : 0.875811 Centerline is valid? [False, False] Translation: X:3.01, Y:0.01, Z:-0.52 [[ 9.98409822e-01 -5.63651360e-02 8.94227819e-04 3.00980479e+00] [ 5.63598074e-02 9.98397216e-01 5.15480123e-03 1.41612854e-02] [-1.18334564e-03 -5.09620567e-03 9.99986314e-01 -5.16506990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.56719347 meters Centerline goodness : 0.877645 Centerline is valid? [False, False] Translation: X:3.01, Y:0.02, Z:-0.52 [[ 9.98607995e-01 -5.27443601e-02 3.24628771e-04 3.01022557e+00] [ 5.27397991e-02 9.98573180e-01 8.37364569e-03 1.65599684e-02] [-7.65828168e-04 -8.34486868e-03 9.99964888e-01 -5.16256337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.59719347 meters Centerline goodness : 0.876228 Centerline is valid? [False, False] Translation: X:3.01, Y:0.02, Z:-0.52 [[ 9.98776778e-01 -4.94464036e-02 4.28437476e-05 3.00999471e+00] [ 4.94428093e-02 9.98713900e-01 1.12229788e-02 1.83945935e-02] [-5.97724584e-04 -1.12071322e-02 9.99937019e-01 -5.15765420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.627193469999998 meters Centerline goodness : 0.876208 Centerline is valid? [False, False] Translation: X:3.01, Y:0.02, Z:-0.52 [[ 9.98784458e-01 -4.92909522e-02 9.18790845e-05 3.00997728e+00] [ 4.92876322e-02 9.98735625e-01 9.89341871e-03 2.14857245e-02] [-5.79418944e-04 -9.87686434e-03 9.99951055e-01 -5.16332659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.65719347 meters Centerline goodness : 0.880333 Centerline is valid? [False, False] Translation: X:3.01, Y:0.03, Z:-0.52 [[ 9.98903602e-01 -4.68141229e-02 -1.80443472e-04 3.01047216e+00] [ 4.68136482e-02 9.98855785e-01 9.77763897e-03 3.00836229e-02] [-2.77494586e-04 -9.77536600e-03 9.99952181e-01 -5.17825320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.68719347 meters Centerline goodness : 0.876911 Centerline is valid? [False, False] Translation: X:3.01, Y:0.04, Z:-0.52 [[ 9.99007528e-01 -4.45309642e-02 -9.75914813e-04 3.01216688e+00] [ 4.45389785e-02 9.98947923e-01 1.09237085e-02 3.63480022e-02] [ 4.88444803e-04 -1.09563332e-02 9.99939858e-01 -5.19139965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.717193469999998 meters Centerline goodness : 0.876435 Centerline is valid? [False, False] Translation: X:3.01, Y:0.04, Z:-0.52 [[ 9.99118718e-01 -4.19249862e-02 -2.02058964e-03 3.01413916e+00] [ 4.19478999e-02 9.99034100e-01 1.30858629e-02 4.12020099e-02] [ 1.47001333e-03 -1.31590901e-02 9.99912335e-01 -5.19973005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.74719347 meters Centerline goodness : 0.873435 Centerline is valid? [False, False] Translation: X:3.02, Y:0.05, Z:-0.52 [[ 9.99034415e-01 -4.38592623e-02 -2.56962824e-03 3.01503587e+00] [ 4.38817045e-02 9.98992056e-01 9.44817053e-03 4.86127693e-02] [ 2.15264841e-03 -9.55180718e-03 9.99952063e-01 -5.20512971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.77719347 meters Centerline goodness : 0.875372 Centerline is valid? [False, False] Translation: X:3.02, Y:0.05, Z:-0.52 [[ 9.98989606e-01 -4.48284326e-02 -3.19048433e-03 3.01650474e+00] [ 4.48544234e-02 9.98956486e-01 8.60349248e-03 4.98374634e-02] [ 2.80147393e-03 -8.73790690e-03 9.99957899e-01 -5.20969936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.807193469999998 meters Centerline goodness : 0.872578 Centerline is valid? [False, False] Translation: X:3.02, Y:0.05, Z:-0.52 [[ 0.99893059 -0.04605329 -0.00409567 3.01860081] [ 0.04608384 0.99890785 0.00770658 0.05114342] [ 0.00373629 -0.00788708 0.99996192 -0.52150545] [ 0. 0. 0. 1. ]] SLAMing on 31.83719347 meters Centerline goodness : 0.872769 Centerline is valid? [False, False] Translation: X:3.02, Y:0.06, Z:-0.52 [[ 0.99881036 -0.04845482 -0.00547713 3.02116956] [ 0.04848019 0.99881356 0.00459732 0.05888111] [ 0.00524787 -0.00485738 0.99997443 -0.52191665] [ 0. 0. 0. 1. ]] SLAMing on 31.86719347 meters Centerline goodness : 0.873131 Centerline is valid? [False, False] Translation: X:3.02, Y:0.06, Z:-0.52 [[ 0.99892905 -0.04577876 -0.00671236 3.0227998 ] [ 0.04582846 0.99892157 0.00744664 0.06227287] [ 0.00636422 -0.00774628 0.99994974 -0.52148614] [ 0. 0. 0. 1. ]] SLAMing on 31.89719347 meters Centerline goodness : 0.874866 Centerline is valid? [False, False] Translation: X:3.02, Y:0.07, Z:-0.52 [[ 0.99905187 -0.04292229 -0.0072821 3.02311974] [ 0.04299363 0.99902589 0.00994047 0.0656226 ] [ 0.00684834 -0.01024413 0.99992408 -0.52102022] [ 0. 0. 0. 1. ]] SLAMing on 31.92719347 meters Centerline goodness : 0.873891 Centerline is valid? [False, False] Translation: X:3.02, Y:0.07, Z:-0.52 [[ 0.99906053 -0.04270293 -0.00738305 3.02313081] [ 0.0427654 0.9990488 0.00852153 0.06981431] [ 0.00701213 -0.00882926 0.99993644 -0.52132804] [ 0. 0. 0. 1. ]] SLAMing on 31.95719347 meters Centerline goodness : 0.877148 Centerline is valid? [False, False] Translation: X:3.02, Y:0.07, Z:-0.52 [[ 0.99918964 -0.03951521 -0.00765599 3.0226526 ] [ 0.03959317 0.99916264 0.01031468 0.07348818] [ 0.00724199 -0.01060944 0.99991749 -0.52073306] [ 0. 0. 0. 1. ]] SLAMing on 31.98719347 meters Centerline goodness : 0.876515 Centerline is valid? [False, False] Translation: X:3.02, Y:0.08, Z:-0.52 [[ 0.99916865 -0.0400623 -0.00755081 3.02182621] [ 0.04012325 0.9991619 0.00810028 0.07914318] [ 0.00721997 -0.00839651 0.99993868 -0.52042966] [ 0. 0. 0. 1. ]] SLAMing on 32.017193469999995 meters Centerline goodness : 0.877093 Centerline is valid? [False, False] Translation: X:3.02, Y:0.08, Z:-0.52 [[ 0.99925133 -0.03764203 -0.00893661 3.02353546] [ 0.03773673 0.99923068 0.01067615 0.08437987] [ 0.00852787 -0.0110054 0.99990307 -0.51962545] [ 0. 0. 0. 1. ]] SLAMing on 32.047193469999996 meters Centerline goodness : 0.877930 Centerline is valid? [False, False] Translation: X:3.02, Y:0.10, Z:-0.52 [[ 0.99927687 -0.03645417 -0.01080864 3.02346623] [ 0.03659294 0.99924658 0.01293207 0.09665674] [ 0.01032907 -0.01331824 0.99985796 -0.5154485 ] [ 0. 0. 0. 1. ]] SLAMing on 32.07719347 meters Centerline goodness : 0.878019 Centerline is valid? [False, False] Translation: X:3.02, Y:0.10, Z:-0.52 [[ 0.99923797 -0.03729869 -0.01150123 3.02452701] [ 0.03742889 0.99923516 0.01132153 0.10144411] [ 0.01107015 -0.01174338 0.99986976 -0.51550326] [ 0. 0. 0. 1. ]] SLAMing on 32.10719347 meters Centerline goodness : 0.878511 Centerline is valid? [False, False] Translation: X:3.03, Y:0.10, Z:-0.52 [[ 0.99924336 -0.03699087 -0.01201564 3.02666379] [ 0.03712382 0.99924972 0.01103678 0.10365758] [ 0.01159836 -0.0114745 0.9998669 -0.51711842] [ 0. 0. 0. 1. ]] SLAMing on 32.13719346999999 meters Centerline goodness : 0.877744 Centerline is valid? [False, False] Translation: X:3.03, Y:0.11, Z:-0.52 [[ 0.9992017 -0.03790844 -0.01260574 3.02994411] [ 0.03802774 0.99923281 0.00936335 0.10677339] [ 0.01224111 -0.00983525 0.9998767 -0.51987569] [ 0. 0. 0. 1. ]] SLAMing on 32.167193469999994 meters Centerline goodness : 0.879924 Centerline is valid? [False, False] Translation: X:3.03, Y:0.12, Z:-0.52 [[ 0.99926349 -0.03636663 -0.01224525 3.02999268] [ 0.03648605 0.99928733 0.0096744 0.11529596] [ 0.0118847 -0.01011405 0.99987822 -0.52104619] [ 0. 0. 0. 1. ]] SLAMing on 32.197193469999995 meters Centerline goodness : 0.879589 Centerline is valid? [False, False] Translation: X:3.03, Y:0.12, Z:-0.52 [[ 0.99937439 -0.0330272 -0.01265015 3.03107606] [ 0.03318027 0.99937628 0.01208777 0.12060988] [ 0.01224304 -0.01249994 0.99984692 -0.52185602] [ 0. 0. 0. 1. ]] SLAMing on 32.227193469999996 meters Centerline goodness : 0.881116 Centerline is valid? [False, False] Translation: X:3.03, Y:0.13, Z:-0.52 [[ 0.99946392 -0.03001658 -0.01307198 3.03259936] [ 0.03019876 0.99944629 0.01396981 0.12713871] [ 0.01264542 -0.01435708 0.99981697 -0.52296879] [ 0. 0. 0. 1. ]] SLAMing on 32.25719347 meters Centerline goodness : 0.879793 Centerline is valid? [False, False] Translation: X:3.03, Y:0.14, Z:-0.52 [[ 0.99964567 -0.02290985 -0.01355241 3.03418271] [ 0.02316265 0.99955492 0.01880048 0.13933612] [ 0.01311566 -0.01910773 0.9997314 -0.52430366] [ 0. 0. 0. 1. ]] SLAMing on 32.28719347 meters Centerline goodness : 0.879815 Centerline is valid? [False, False] Translation: X:3.03, Y:0.14, Z:-0.52 [[ 0.99971356 -0.01960559 -0.01372681 3.03416153] [ 0.01989052 0.99958289 0.02093844 0.14464496] [ 0.01331058 -0.02120548 0.99968653 -0.52398566] [ 0. 0. 0. 1. ]] SLAMing on 32.31719347 meters Centerline goodness : 0.881819 Centerline is valid? [False, False] Translation: X:3.03, Y:0.15, Z:-0.52 [[ 0.9997136 -0.01945642 -0.01393407 3.03450375] [ 0.01972393 0.99961867 0.01932579 0.15103246] [ 0.01355274 -0.01959509 0.99971614 -0.52357652] [ 0. 0. 0. 1. ]] SLAMing on 32.34719346999999 meters Centerline goodness : 0.882485 Centerline is valid? [False, False] Translation: X:3.04, Y:0.16, Z:-0.52 [[ 0.99971285 -0.01923309 -0.0142938 3.03527653] [ 0.01948922 0.99964799 0.0180016 0.15630143] [ 0.01394254 -0.01827501 0.99973578 -0.52346942] [ 0. 0. 0. 1. ]] SLAMing on 32.377193469999995 meters Centerline goodness : 0.886764 Centerline is valid? [False, False] Translation: X:3.03, Y:0.17, Z:-0.52 [[ 0.99987824 -0.0129833 -0.00865714 3.03315576] [ 0.0130541 0.99988139 0.00817258 0.16523079] [ 0.00855001 -0.0082846 0.99992913 -0.52281311] [ 0. 0. 0. 1. ]] SLAMing on 32.407193469999996 meters Centerline goodness : 0.888898 Centerline is valid? [False, False] Translation: X:3.03, Y:0.17, Z:-0.52 [[ 0.99987744 -0.01281574 -0.00899204 3.03376884] [ 0.01288057 0.99989119 0.00718993 0.16961816] [ 0.00889891 -0.00730487 0.99993372 -0.52255886] [ 0. 0. 0. 1. ]] SLAMing on 32.43719347 meters Centerline goodness : 0.892262 Centerline is valid? [False, False] Translation: X:3.03, Y:0.17, Z:-0.52 [[ 0.99987766 -0.01263488 -0.00922125 3.03408648] [ 0.01269397 0.99989908 0.00637861 0.17409388] [ 0.00913973 -0.00649488 0.99993714 -0.52209381] [ 0. 0. 0. 1. ]] SLAMing on 32.46719347 meters Centerline goodness : 0.892502 Centerline is valid? [False, False] Translation: X:3.03, Y:0.18, Z:-0.52 [[ 0.99991715 -0.00910257 -0.00910097 3.03364705] [ 0.00918228 0.99991951 0.00875578 0.18030805] [ 0.00902053 -0.00883862 0.99992025 -0.52173079] [ 0. 0. 0. 1. ]] SLAMing on 32.49719347 meters Centerline goodness : 0.892257 Centerline is valid? [False, False] Translation: X:3.04, Y:0.18, Z:-0.52 [[ 0.99992263 -0.00754491 -0.00988968 3.03722011] [ 0.00764116 0.99992346 0.00973091 0.18167023] [ 0.0098155 -0.00980573 0.99990375 -0.52430573] [ 0. 0. 0. 1. ]] SLAMing on 32.52719346999999 meters Centerline goodness : 0.891138 Centerline is valid? [False, False] Translation: X:3.04, Y:0.18, Z:-0.53 [[ 0.99992626 -0.00636132 -0.01034461 3.03964899] [ 0.0064675 0.99992641 0.01026364 0.18225253] [ 0.01027856 -0.01032978 0.99989382 -0.52629873] [ 0. 0. 0. 1. ]] SLAMing on 32.557193469999994 meters Centerline goodness : 0.888999 Centerline is valid? [False, False] Translation: X:3.04, Y:0.18, Z:-0.53 [[ 0.99992986 -0.00494543 -0.01076228 3.04231865] [ 0.00506456 0.9999259 0.01106978 0.18256789] [ 0.01070674 -0.01112351 0.99988081 -0.52854772] [ 0. 0. 0. 1. ]] SLAMing on 32.587193469999995 meters Centerline goodness : 0.890526 Centerline is valid? [False, False] Translation: X:3.04, Y:0.18, Z:-0.53 [[ 9.99942622e-01 3.14893746e-04 -1.07076606e-02 3.04294491e+00] [-1.46289792e-04 9.99876057e-01 1.57432445e-02 1.82018818e-01] [ 1.07112909e-02 -1.57407747e-02 9.99818732e-01 -5.29203900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.61719347 meters Centerline goodness : 0.891530 Centerline is valid? [False, False] Translation: X:3.04, Y:0.18, Z:-0.53 [[ 9.99939870e-01 8.52841450e-04 -1.09329013e-02 3.04291106e+00] [-6.80475162e-04 9.99875574e-01 1.57598687e-02 1.82732896e-01] [ 1.09449816e-02 -1.57514815e-02 9.99816032e-01 -5.28353120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.64719347 meters Centerline goodness : 0.893055 Centerline is valid? [False, False] Translation: X:3.04, Y:0.18, Z:-0.53 [[ 9.99938292e-01 1.04217447e-03 -1.10601181e-02 3.04244449e+00] [-8.68317749e-04 9.99876175e-01 1.57124234e-02 1.82853093e-01] [ 1.10751237e-02 -1.57018501e-02 9.99815380e-01 -5.27128993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.67719347 meters Centerline goodness : 0.895290 Centerline is valid? [False, False] Translation: X:3.04, Y:0.18, Z:-0.53 [[ 9.99933954e-01 -1.60621585e-03 -1.13801120e-02 3.04279781e+00] [ 1.74989412e-03 9.99918749e-01 1.26266950e-02 1.82880663e-01] [ 1.13589062e-02 -1.26457751e-02 9.99855519e-01 -5.26353833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.70719346999999 meters Centerline goodness : 0.899317 Centerline is valid? [False, False] Translation: X:3.05, Y:0.18, Z:-0.53 [[ 9.99993369e-01 -2.18604782e-03 -2.91253030e-03 3.04937441e+00] [ 2.20665345e-03 9.99972427e-01 7.09049062e-03 1.76656668e-01] [ 2.89694984e-03 -7.09687054e-03 9.99970621e-01 -5.28803872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.737193469999994 meters Centerline goodness : 0.898095 Centerline is valid? [False, False] Translation: X:3.05, Y:0.17, Z:-0.53 [[ 9.99992801e-01 -2.16970951e-03 -3.11301394e-03 3.05017596e+00] [ 2.19621590e-03 9.99961150e-01 8.53670383e-03 1.71288227e-01] [ 3.09437083e-03 -8.54347922e-03 9.99958716e-01 -5.29533954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.767193469999995 meters Centerline goodness : 0.896291 Centerline is valid? [False, False] Translation: X:3.05, Y:0.17, Z:-0.53 [[ 0.99998133 -0.00487871 -0.00367864 3.05269219] [ 0.00490254 0.99996688 0.00649659 0.16754631] [ 0.00364682 -0.0065145 0.99997213 -0.53136928] [ 0. 0. 0. 1. ]] SLAMing on 32.797193469999996 meters Centerline goodness : 0.891583 Centerline is valid? [False, False] Translation: X:3.06, Y:0.16, Z:-0.53 [[ 0.99996969 -0.0064101 -0.00441874 3.05653636] [ 0.00643757 0.99995988 0.00622933 0.15993311] [ 0.00437863 -0.00625759 0.99997083 -0.53460142] [ 0. 0. 0. 1. ]] SLAMing on 32.82719347 meters Centerline goodness : 0.892303 Centerline is valid? [False, False] Translation: X:3.06, Y:0.16, Z:-0.54 [[ 0.99997528 -0.0051673 -0.00476902 3.05814228] [ 0.00520554 0.99995412 0.0080408 0.15612222] [ 0.00472726 -0.00806542 0.9999563 -0.5358512 ] [ 0. 0. 0. 1. ]] SLAMing on 32.85719347 meters Centerline goodness : 0.890316 Centerline is valid? [False, False] Translation: X:3.06, Y:0.15, Z:-0.54 [[ 0.99997727 -0.00439097 -0.00511744 3.05934371] [ 0.00443868 0.99994645 0.00934845 0.15245945] [ 0.00507611 -0.00937096 0.99994321 -0.53659517] [ 0. 0. 0. 1. ]] SLAMing on 32.88719346999999 meters Centerline goodness : 0.889387 Centerline is valid? [False, False] Translation: X:3.06, Y:0.15, Z:-0.54 [[ 0.99996656 -0.00577574 -0.00578924 3.06230749] [ 0.00582283 0.99994984 0.00814992 0.1491953 ] [ 0.00574188 -0.00818335 0.99995003 -0.53854257] [ 0. 0. 0. 1. ]] SLAMing on 32.917193469999994 meters Centerline goodness : 0.889053 Centerline is valid? [False, False] Translation: X:3.07, Y:0.14, Z:-0.54 [[ 0.99995029 -0.0074507 -0.00662655 3.065436 ] [ 0.00750243 0.99994132 0.00781501 0.14138957] [ 0.00656793 -0.00786433 0.99994751 -0.54052053] [ 0. 0. 0. 1. ]] SLAMing on 32.947193469999995 meters Centerline goodness : 0.886418 Centerline is valid? [False, False] Translation: X:3.07, Y:0.14, Z:-0.54 [[ 0.99995087 -0.00703515 -0.00698367 3.06639583] [ 0.00709889 0.99993299 0.00914451 0.13775649] [ 0.00691887 -0.00919364 0.9999338 -0.54094467] [ 0. 0. 0. 1. ]] SLAMing on 32.977193469999996 meters Centerline goodness : 0.886966 Centerline is valid? [False, False] Translation: X:3.07, Y:0.14, Z:-0.54 [[ 0.99992369 -0.00998694 -0.00727123 3.0671019 ] [ 0.01003374 0.999929 0.00642874 0.1359054 ] [ 0.00720651 -0.0065012 0.9999529 -0.54082532] [ 0. 0. 0. 1. ]] SLAMing on 33.00719347 meters Centerline goodness : 0.887444 Centerline is valid? [False, False] Translation: X:3.07, Y:0.13, Z:-0.54 [[ 0.99992588 -0.00962203 -0.0074594 3.06733795] [ 0.00968147 0.99992134 0.00797419 0.1303275 ] [ 0.00738208 -0.00804582 0.99994038 -0.54066215] [ 0. 0. 0. 1. ]] SLAMing on 33.03719347 meters Centerline goodness : 0.886152 Centerline is valid? [False, False] Translation: X:3.07, Y:0.12, Z:-0.54 [[ 0.99986492 -0.01414982 -0.00836171 3.07031113] [ 0.0141836 0.99989143 0.00399426 0.11984442] [ 0.00830428 -0.00411232 0.99995706 -0.5415393 ] [ 0. 0. 0. 1. ]] SLAMing on 33.06719347 meters Centerline goodness : 0.884807 Centerline is valid? [False, False] Translation: X:3.07, Y:0.12, Z:-0.54 [[ 9.99829853e-01 -1.61050013e-02 -8.99413142e-03 3.07359573e+00] [ 1.61281797e-02 9.99866781e-01 2.51050135e-03 1.15592189e-01] [ 8.95250160e-03 -2.65513316e-03 9.99956401e-01 -5.44066841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.09719346999999 meters Centerline goodness : 0.882927 Centerline is valid? [False, False] Translation: X:3.08, Y:0.11, Z:-0.55 [[ 9.99815996e-01 -1.65150654e-02 -9.75841818e-03 3.07760547e+00] [ 1.65423512e-02 9.99859461e-01 2.72205380e-03 1.12230724e-01] [ 9.71209184e-03 -2.88298011e-03 9.99948681e-01 -5.47213465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.127193469999995 meters Centerline goodness : 0.883440 Centerline is valid? [False, False] Translation: X:3.08, Y:0.11, Z:-0.55 [[ 0.99984106 -0.01453049 -0.01033064 3.08017427] [ 0.01458978 0.99987739 0.00568719 0.10696414] [ 0.01024674 -0.00583701 0.99993046 -0.54907376] [ 0. 0. 0. 1. ]] SLAMing on 33.157193469999996 meters Centerline goodness : 0.881721 Centerline is valid? [False, False] Translation: X:3.08, Y:0.10, Z:-0.55 [[ 0.99985153 -0.0135013 -0.01070655 3.08118597] [ 0.01357879 0.99988189 0.00719848 0.10346785] [ 0.0106081 -0.00734279 0.99991677 -0.54940041] [ 0. 0. 0. 1. ]] SLAMing on 33.18719347 meters Centerline goodness : 0.882247 Centerline is valid? [False, False] Translation: X:3.08, Y:0.10, Z:-0.55 [[ 0.99986211 -0.01252348 -0.01090496 3.08176363] [ 0.01262141 0.99988021 0.0089588 0.09843799] [ 0.01079146 -0.0090952 0.99990041 -0.54956456] [ 0. 0. 0. 1. ]] SLAMing on 33.21719347 meters Centerline goodness : 0.880333 Centerline is valid? [False, False] Translation: X:3.08, Y:0.09, Z:-0.55 [[ 0.99982881 -0.01469743 -0.01123969 3.08315607] [ 0.01477722 0.99986597 0.00704882 0.09430589] [ 0.01113458 -0.0072137 0.99991199 -0.55017207] [ 0. 0. 0. 1. ]] SLAMing on 33.24719347 meters Centerline goodness : 0.884237 Centerline is valid? [False, False] Translation: X:3.10, Y:0.08, Z:-0.55 [[ 0.99980655 -0.01823931 -0.00736179 3.0991248 ] [ 0.01832935 0.99975567 0.01235451 0.08293638] [ 0.00713466 -0.01248706 0.99989658 -0.553215 ] [ 0. 0. 0. 1. ]] SLAMing on 33.27719346999999 meters Centerline goodness : 0.884234 Centerline is valid? [False, False] Translation: X:3.10, Y:0.08, Z:-0.55 [[ 0.99972694 -0.02213824 -0.00748019 3.09941917] [ 0.02221239 0.99970347 0.00997922 0.07789493] [ 0.00725704 -0.01014265 0.99992223 -0.55275526] [ 0. 0. 0. 1. ]] SLAMing on 33.307193469999994 meters Centerline goodness : 0.884234 Centerline is valid? [False, False] Translation: X:3.10, Y:0.08, Z:-0.55 [[ 0.99972694 -0.02213824 -0.00748019 3.09941917] [ 0.02221239 0.99970347 0.00997922 0.07789493] [ 0.00725704 -0.01014265 0.99992223 -0.55275526] [ 0. 0. 0. 1. ]] SLAMing on 33.337193469999995 meters Centerline goodness : 0.881518 Centerline is valid? [False, False] Translation: X:3.11, Y:0.07, Z:-0.56 [[ 9.99594846e-01 -2.83611639e-02 -2.40581179e-03 3.11248849e+00] [ 2.83914982e-02 9.99503214e-01 1.36838656e-02 7.06800526e-02] [ 2.01652626e-03 -1.37466262e-02 9.99903477e-01 -5.55852731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.36719347 meters Centerline goodness : 0.882980 Centerline is valid? [False, False] Translation: X:3.15, Y:0.05, Z:-0.56 [[ 0.99888469 -0.04705388 0.00391292 3.14646832] [ 0.04674974 0.99723372 0.05778732 0.04660014] [-0.00662121 -0.05753994 0.99832125 -0.55674302] [ 0. 0. 0. 1. ]] SLAMing on 33.39719347 meters Centerline goodness : 0.883935 Centerline is valid? [False, False] Translation: X:3.15, Y:0.04, Z:-0.55 [[ 0.99852036 -0.05423535 0.00395066 3.14580222] [ 0.05395546 0.99717449 0.05226714 0.0437913 ] [-0.00677423 -0.05197664 0.99862532 -0.55392027] [ 0. 0. 0. 1. ]] SLAMing on 33.42719347 meters Centerline goodness : 0.883809 Centerline is valid? [False, False] Translation: X:3.15, Y:0.04, Z:-0.55 [[ 0.99810834 -0.06133568 0.00420408 3.14523178] [ 0.06107849 0.99707391 0.04596784 0.04241668] [-0.00701125 -0.04562411 0.99893407 -0.55210817] [ 0. 0. 0. 1. ]] SLAMing on 33.45719346999999 meters Centerline goodness : 0.883106 Centerline is valid? [False, False] Translation: X:3.15, Y:0.04, Z:-0.55 [[ 0.99732663 -0.07291864 0.0047391 3.14520483] [ 0.07270598 0.99672278 0.03546182 0.03980156] [-0.00730939 -0.03502245 0.9993598 -0.55057628] [ 0. 0. 0. 1. ]] SLAMing on 33.487193469999994 meters Centerline goodness : 0.884387 Centerline is valid? [False, False] Translation: X:3.15, Y:0.04, Z:-0.55 [[ 0.99702272 -0.07694265 0.00505232 3.14535156] [ 0.07674846 0.99655991 0.03127322 0.03987518] [-0.00744118 -0.03079235 0.9994981 -0.55070246] [ 0. 0. 0. 1. ]] SLAMing on 33.517193469999995 meters Centerline goodness : 0.882100 Centerline is valid? [False, False] Translation: X:3.15, Y:0.04, Z:-0.55 [[ 0.99678761 -0.0799089 0.00538856 3.14552338] [ 0.07973355 0.996442 0.02731121 0.04149703] [-0.00755179 -0.02679383 0.99961246 -0.55134216] [ 0. 0. 0. 1. ]] SLAMing on 33.547193469999996 meters Centerline goodness : 0.881642 Centerline is valid? [False, False] Translation: X:3.15, Y:0.04, Z:-0.55 [[ 0.9968129 -0.07963092 0.004792 3.14765344] [ 0.07947408 0.99647219 0.02696384 0.04286346] [-0.00692225 -0.02649706 0.99962492 -0.55310963] [ 0. 0. 0. 1. ]] SLAMing on 33.57719347 meters Centerline goodness : 0.879924 Centerline is valid? [False, False] Translation: X:3.14, Y:0.05, Z:-0.55 [[ 9.97361993e-01 -7.25824797e-02 -9.15451213e-04 3.14060742e+00] [ 7.25853989e-02 9.97131639e-01 2.14442085e-02 4.92640901e-02] [-6.43648460e-04 -2.14540869e-02 9.99769627e-01 -5.51652427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.60719347 meters Centerline goodness : 0.878778 Centerline is valid? [False, False] Translation: X:3.14, Y:0.05, Z:-0.55 [[ 9.97600259e-01 -6.92217350e-02 -1.44027352e-03 3.14130444e+00] [ 6.92363925e-02 9.97316022e-01 2.38133242e-02 5.29843904e-02] [-2.11991762e-04 -2.38558977e-02 9.99715385e-01 -5.52496607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.63719346999999 meters Centerline goodness : 0.875800 Centerline is valid? [False, False] Translation: X:3.14, Y:0.06, Z:-0.55 [[ 9.97825106e-01 -6.58853011e-02 -2.04560711e-03 3.14230265e+00] [ 6.59162014e-02 9.97489098e-01 2.58950342e-02 5.74834909e-02] [ 3.34368662e-04 -2.59735539e-02 9.99662574e-01 -5.53625549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.667193469999994 meters Centerline goodness : 0.874323 Centerline is valid? [False, False] Translation: X:3.14, Y:0.07, Z:-0.55 [[ 0.99851219 -0.05435645 -0.0043337 3.13722977] [ 0.05442746 0.99834775 0.01842363 0.0699537 ] [ 0.0033251 -0.0186321 0.99982088 -0.55340631] [ 0. 0. 0. 1. ]] SLAMing on 33.697193469999995 meters Centerline goodness : 0.872716 Centerline is valid? [False, False] Translation: X:3.14, Y:0.08, Z:-0.55 [[ 9.98583398e-01 -5.30601371e-02 -3.97729482e-03 3.13634790e+00] [ 5.31208494e-02 9.98440915e-01 1.71439437e-02 7.53435918e-02] [ 3.06143388e-03 -1.73309348e-02 9.99845121e-01 -5.54086632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.727193469999996 meters Centerline goodness : 0.872549 Centerline is valid? [False, False] Translation: X:3.14, Y:0.08, Z:-0.56 [[ 9.98620750e-01 -5.23929433e-02 -3.40260664e-03 3.13571769e+00] [ 5.24383790e-02 9.98511168e-01 1.50221362e-02 7.97594583e-02] [ 2.61048680e-03 -1.51798441e-02 9.99881372e-01 -5.55634005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.75719347 meters Centerline goodness : 0.873343 Centerline is valid? [False, False] Translation: X:3.14, Y:0.08, Z:-0.56 [[ 9.98714127e-01 -5.05599588e-02 -3.71256964e-03 3.13801006e+00] [ 5.06084353e-02 9.98614862e-01 1.43924606e-02 8.32782358e-02] [ 2.97974501e-03 -1.45618410e-02 9.99889531e-01 -5.59060259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.78719347 meters Centerline goodness : 0.870652 Centerline is valid? [False, False] Translation: X:3.13, Y:0.09, Z:-0.56 [[ 0.99916947 -0.03971536 -0.00911427 3.13491506] [ 0.03980198 0.99916216 0.00952801 0.09227988] [ 0.00872823 -0.00988286 0.99991307 -0.5573656 ] [ 0. 0. 0. 1. ]] SLAMing on 33.81719347 meters Centerline goodness : 0.870958 Centerline is valid? [False, False] Translation: X:3.14, Y:0.10, Z:-0.56 [[ 0.99930734 -0.03599563 -0.00944251 3.13541289] [ 0.03611314 0.99926848 0.01258372 0.09618254] [ 0.00898264 -0.01291601 0.99987624 -0.55753842] [ 0. 0. 0. 1. ]] SLAMing on 33.84719346999999 meters Centerline goodness : 0.868190 Centerline is valid? [False, False] Translation: X:3.14, Y:0.10, Z:-0.56 [[ 0.99942782 -0.03238528 -0.00975844 3.1358769 ] [ 0.03253638 0.99934654 0.01574439 0.09900996] [ 0.00924218 -0.01605288 0.99982843 -0.55767886] [ 0. 0. 0. 1. ]] SLAMing on 33.877193469999995 meters Centerline goodness : 0.867060 Centerline is valid? [False, False] Translation: X:3.14, Y:0.10, Z:-0.56 [[ 0.99945123 -0.03159826 -0.00993969 3.1365218 ] [ 0.03175114 0.99937376 0.01561869 0.10162124] [ 0.00943994 -0.01592571 0.99982861 -0.55800685] [ 0. 0. 0. 1. ]] SLAMing on 33.907193469999996 meters Centerline goodness : 0.866254 Centerline is valid? [False, False] Translation: X:3.15, Y:0.10, Z:-0.56 [[ 0.99976466 -0.0202328 -0.00782706 3.14615794] [ 0.02026837 0.99978448 0.00449324 0.10214604] [ 0.00773446 -0.00465083 0.99995927 -0.55890241] [ 0. 0. 0. 1. ]] SLAMing on 33.93719347 meters Centerline goodness : 0.867288 Centerline is valid? [False, False] Translation: X:3.15, Y:0.10, Z:-0.56 [[ 0.99979054 -0.01867375 -0.00837606 3.14854689] [ 0.01871919 0.99981031 0.00537889 0.10242896] [ 0.00827402 -0.00553456 0.99995045 -0.56049309] [ 0. 0. 0. 1. ]] SLAMing on 33.96719347 meters Centerline goodness : 0.867700 Centerline is valid? [False, False] Translation: X:3.15, Y:0.10, Z:-0.56 [[ 0.99987052 -0.01364486 -0.00852965 3.14947028] [ 0.01372979 0.99985595 0.00997894 0.10235134] [ 0.00839226 -0.01009476 0.99991383 -0.5613306 ] [ 0. 0. 0. 1. ]] SLAMing on 33.99719347 meters Centerline goodness : 0.867010 Centerline is valid? [False, False] Translation: X:3.15, Y:0.10, Z:-0.56 [[ 0.99987891 -0.01279559 -0.00885604 3.15020224] [ 0.01288934 0.99986062 0.01061196 0.10232839] [ 0.00871902 -0.01072482 0.99990447 -0.56129945] [ 0. 0. 0. 1. ]] SLAMing on 34.02719346999999 meters Centerline goodness : 0.868102 Centerline is valid? [False, False] Translation: X:3.15, Y:0.10, Z:-0.56 [[ 0.99988427 -0.01220704 -0.00907889 3.15053796] [ 0.01230987 0.99985972 0.01135803 0.10087198] [ 0.00893897 -0.01146848 0.99989428 -0.56099485] [ 0. 0. 0. 1. ]] SLAMing on 34.057193469999994 meters Centerline goodness : 0.867485 Centerline is valid? [False, False] Translation: X:3.15, Y:0.10, Z:-0.56 [[ 0.99985348 -0.01409335 -0.00971586 3.15270799] [ 0.01418526 0.99985466 0.00945684 0.09870798] [ 0.00958117 -0.00959327 0.99990808 -0.56177023] [ 0. 0. 0. 1. ]] SLAMing on 34.087193469999995 meters Centerline goodness : 0.867529 Centerline is valid? [False, False] Translation: X:3.15, Y:0.09, Z:-0.56 [[ 0.99985455 -0.01377685 -0.01005384 3.15338339] [ 0.01388539 0.99984519 0.01080739 0.09370508] [ 0.00990339 -0.01094542 0.99989105 -0.561582 ] [ 0. 0. 0. 1. ]] SLAMing on 34.11719347 meters Centerline goodness : 0.865727 Centerline is valid? [False, False] Translation: X:3.15, Y:0.08, Z:-0.56 [[ 0.9997876 -0.01798674 -0.01006133 3.15380609] [ 0.01806723 0.99980503 0.00796697 0.08328816] [ 0.00991607 -0.00814706 0.99991765 -0.56105803] [ 0. 0. 0. 1. ]] SLAMing on 34.14719347 meters Centerline goodness : 0.865519 Centerline is valid? [False, False] Translation: X:3.17, Y:0.07, Z:-0.56 [[ 0.99978543 -0.01959089 -0.00673046 3.17104888] [ 0.01968171 0.99971238 0.01370384 0.07494768] [ 0.00646005 -0.01383337 0.99988345 -0.56404651] [ 0. 0. 0. 1. ]] SLAMing on 34.17719347 meters Centerline goodness : 0.866837 Centerline is valid? [False, False] Translation: X:3.17, Y:0.07, Z:-0.56 [[ 0.99972951 -0.02221616 -0.00688088 3.17236026] [ 0.02229941 0.99967607 0.01226722 0.06819939] [ 0.00660612 -0.01241734 0.99990108 -0.56472849] [ 0. 0. 0. 1. ]] SLAMing on 34.20719346999999 meters Centerline goodness : 0.865262 Centerline is valid? [False, False] Translation: X:3.17, Y:0.06, Z:-0.57 [[ 0.99962021 -0.0265399 -0.00742037 3.17461433] [ 0.02660954 0.99960125 0.00944851 0.05624069] [ 0.00716665 -0.00964237 0.99992783 -0.56501754] [ 0. 0. 0. 1. ]] SLAMing on 34.237193469999994 meters Centerline goodness : 0.867854 Centerline is valid? [False, False] Translation: X:3.18, Y:0.05, Z:-0.57 [[ 0.99955501 -0.02883942 -0.00762055 3.17602208] [ 0.02889956 0.99955108 0.00790249 0.05142632] [ 0.00738923 -0.00811921 0.99993974 -0.56571583] [ 0. 0. 0. 1. ]] SLAMing on 34.267193469999995 meters Centerline goodness : 0.865605 Centerline is valid? [False, False] Translation: X:3.18, Y:0.04, Z:-0.56 [[ 0.99956545 -0.02838576 -0.00794706 3.17680528] [ 0.02847292 0.99953317 0.0110783 0.04452155] [ 0.00762888 -0.01129976 0.99990705 -0.56473617] [ 0. 0. 0. 1. ]] SLAMing on 34.297193469999996 meters Centerline goodness : 0.866136 Centerline is valid? [False, False] Translation: X:3.18, Y:0.03, Z:-0.56 [[ 0.99948971 -0.03074402 -0.00866773 3.17913871] [ 0.03085743 0.99943571 0.01326915 0.03119297] [ 0.00825489 -0.01352985 0.99987439 -0.56391523] [ 0. 0. 0. 1. ]] SLAMing on 34.32719347 meters Centerline goodness : 0.866548 Centerline is valid? [False, False] Translation: X:3.18, Y:0.02, Z:-0.56 [[ 0.99940284 -0.03341598 -0.00879391 3.18059778] [ 0.03352393 0.99936063 0.01242857 0.02404427] [ 0.00837297 -0.01271595 0.99988409 -0.56430651] [ 0. 0. 0. 1. ]] SLAMing on 34.35719347 meters Centerline goodness : 0.864393 Centerline is valid? [False, False] Translation: X:3.18, Y:0.02, Z:-0.56 [[ 0.99928938 -0.03661946 -0.00892988 3.1816673 ] [ 0.03671691 0.99926512 0.01100371 0.0174407 ] [ 0.00852037 -0.01132377 0.99989958 -0.56414137] [ 0. 0. 0. 1. ]] SLAMing on 34.38719346999999 meters Centerline goodness : 0.864777 Centerline is valid? [False, False] Translation: X:3.18, Y:0.01, Z:-0.56 [[ 0.99917746 -0.03944366 -0.00941314 3.18382146] [ 0.039541 0.99916395 0.01038825 0.01097458] [ 0.00899552 -0.01075191 0.99990173 -0.56446721] [ 0. 0. 0. 1. ]] SLAMing on 34.417193469999994 meters Centerline goodness : 0.863362 Centerline is valid? [False, False] Translation: X:3.19, Y:0.01, Z:-0.56 [[ 0.99904141 -0.04261742 -0.0100004 3.18595465] [ 0.04271081 0.99904402 0.00931818 0.00508256] [ 0.00959372 -0.00973637 0.99990658 -0.56459741] [ 0. 0. 0. 1. ]] SLAMing on 34.447193469999995 meters Centerline goodness : 0.864238 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.00, Z:-0.56 [[ 0.99865928 -0.05062653 -0.01079831 3.18813255] [ 0.05069134 0.99869744 0.00581432 -0.00483854] [ 0.01048988 -0.0063539 0.99992479 -0.56359086] [ 0. 0. 0. 1. ]] SLAMing on 34.477193469999996 meters Centerline goodness : 0.866023 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.01, Z:-0.56 [[ 9.98301093e-01 -5.72026676e-02 -1.10807308e-02 3.19056394e+00] [ 5.72043891e-02 9.98362475e-01 -1.61780189e-04 -7.32117775e-03] [ 1.10718401e-02 -4.72361100e-04 9.99938594e-01 -5.64735632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.50719347 meters Centerline goodness : 0.867248 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.03, Z:-0.54 [[ 0.99773115 -0.06349262 -0.0223885 3.21202999] [ 0.06505629 0.99483694 0.07789185 -0.03039415] [ 0.01732735 -0.07917163 0.9967104 -0.5408724 ] [ 0. 0. 0. 1. ]] SLAMing on 34.53719347 meters Centerline goodness : 0.864332 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.04, Z:-0.54 [[ 0.99740739 -0.07032109 -0.01527895 3.21369936] [ 0.07108957 0.99581023 0.05751752 -0.0351713 ] [ 0.01117024 -0.05845457 0.99822757 -0.54146193] [ 0. 0. 0. 1. ]] SLAMing on 34.56719347 meters Centerline goodness : 0.867028 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.04, Z:-0.54 [[ 0.99708443 -0.07403384 -0.01848315 3.22055669] [ 0.07487036 0.99595681 0.04964344 -0.03665588] [ 0.01473312 -0.05088254 0.99859597 -0.53899223] [ 0. 0. 0. 1. ]] SLAMing on 34.59719346999999 meters Centerline goodness : 0.866540 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.04, Z:-0.54 [[ 0.99678654 -0.07799939 -0.01823997 3.2207712 ] [ 0.07876719 0.99582862 0.04605538 -0.03846839] [ 0.01457159 -0.0473441 0.99877235 -0.5387383 ] [ 0. 0. 0. 1. ]] SLAMing on 34.627193469999995 meters Centerline goodness : 0.870206 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.04, Z:-0.54 [[ 0.99628397 -0.08443064 -0.01702124 3.2174372 ] [ 0.08505958 0.9955554 0.04042677 -0.03898761] [ 0.01353233 -0.04172436 0.99903751 -0.53601018] [ 0. 0. 0. 1. ]] SLAMing on 34.657193469999996 meters Centerline goodness : 0.872230 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.04, Z:-0.54 [[ 0.9959378 -0.08846926 -0.01676544 3.21747022] [ 0.0890265 0.99537605 0.03606662 -0.03684492] [ 0.01349713 -0.03741268 0.99920875 -0.53589606] [ 0. 0. 0. 1. ]] SLAMing on 34.68719347 meters Centerline goodness : 0.873661 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.04, Z:-0.54 [[ 0.99587406 -0.08916064 -0.01688874 3.21754846] [ 0.08971364 0.99533665 0.03544592 -0.0357782 ] [ 0.0136496 -0.03681483 0.99922888 -0.5356602 ] [ 0. 0. 0. 1. ]] SLAMing on 34.71719347 meters Centerline goodness : 0.874168 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.03, Z:-0.54 [[ 0.99573737 -0.09058525 -0.01736096 3.21980572] [ 0.09113217 0.99526368 0.03383995 -0.03404855] [ 0.01421333 -0.03527785 0.99927647 -0.53715006] [ 0. 0. 0. 1. ]] SLAMing on 34.74719347 meters Centerline goodness : 0.873363 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.03, Z:-0.54 [[ 0.99584749 -0.08916811 -0.01835265 3.22134304] [ 0.08949804 0.99582403 0.01801679 -0.03016571] [ 0.01666948 -0.0195845 0.99966923 -0.53847009] [ 0. 0. 0. 1. ]] SLAMing on 34.77719346999999 meters Centerline goodness : 0.873525 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.03, Z:-0.54 [[ 0.9958157 -0.08953827 -0.01827551 3.2213897 ] [ 0.08984745 0.9958128 0.01686144 -0.02719272] [ 0.01668924 -0.0184329 0.9996908 -0.53873477] [ 0. 0. 0. 1. ]] SLAMing on 34.807193469999994 meters Centerline goodness : 0.873870 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.02, Z:-0.54 [[ 0.99584705 -0.08921908 -0.0181276 3.22120725] [ 0.08951195 0.99585655 0.0160422 -0.02183123] [ 0.01662122 -0.01759821 0.99970698 -0.53919077] [ 0. 0. 0. 1. ]] SLAMing on 34.837193469999995 meters Centerline goodness : 0.876063 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.01, Z:-0.54 [[ 0.99658929 -0.08017217 -0.01955045 3.22298538] [ 0.08061867 0.99647423 0.02323238 -0.01039875] [ 0.01761893 -0.02472928 0.99953891 -0.54088974] [ 0. 0. 0. 1. ]] SLAMing on 34.86719347 meters Centerline goodness : 0.877740 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.00, Z:-0.54 [[ 0.99689739 -0.07597145 -0.02058959 3.22442087] [ 0.07649081 0.99673814 0.02573409 -0.00426507] [ 0.01856737 -0.02722916 0.99945677 -0.5415996 ] [ 0. 0. 0. 1. ]] SLAMing on 34.89719347 meters Centerline goodness : 0.876281 Centerline is valid? [False, False] Translation: X:3.21, Y:0.00, Z:-0.54 [[ 9.97239258e-01 -6.94684931e-02 -2.62295598e-02 3.21276035e+00] [ 7.00510052e-02 9.97301161e-01 2.19829745e-02 2.21935554e-03] [ 2.46316463e-02 -2.37596922e-02 9.99414208e-01 -5.37799795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.92719347 meters Centerline goodness : 0.877087 Centerline is valid? [False, False] Translation: X:3.21, Y:0.01, Z:-0.54 [[ 0.99748739 -0.06575102 -0.02637625 3.21236357] [ 0.06637976 0.99751258 0.02371457 0.00783259] [ 0.02475138 -0.02540583 0.99937076 -0.53818954] [ 0. 0. 0. 1. ]] SLAMing on 34.95719346999999 meters Centerline goodness : 0.880796 Centerline is valid? [False, False] Translation: X:3.21, Y:0.02, Z:-0.54 [[ 0.99787887 -0.06075755 -0.02337258 3.20749013] [ 0.06122921 0.99792288 0.0200228 0.02038558] [ 0.0221075 -0.02141142 0.99952629 -0.53584636] [ 0. 0. 0. 1. ]] SLAMing on 34.987193469999994 meters Centerline goodness : 0.882309 Centerline is valid? [False, False] Translation: X:3.21, Y:0.03, Z:-0.54 [[ 0.99795313 -0.05957315 -0.02325058 3.20723037] [ 0.06001477 0.99802078 0.01878169 0.02582077] [ 0.02208568 -0.02013863 0.99955323 -0.53664787] [ 0. 0. 0. 1. ]] SLAMing on 35.017193469999995 meters Centerline goodness : 0.879194 Centerline is valid? [False, False] Translation: X:3.21, Y:0.03, Z:-0.54 [[ 0.99815266 -0.0559759 -0.02362133 3.20789155] [ 0.05647254 0.99818518 0.02090916 0.02986268] [ 0.02240806 -0.02220449 0.9995023 -0.53781637] [ 0. 0. 0. 1. ]] SLAMing on 35.047193469999996 meters Centerline goodness : 0.883396 Centerline is valid? [False, False] Translation: X:3.21, Y:0.04, Z:-0.54 [[ 0.99856658 -0.0474168 -0.02482807 3.21137365] [ 0.04805772 0.99850905 0.02588691 0.03903325] [ 0.02356358 -0.02704299 0.99935651 -0.54225605] [ 0. 0. 0. 1. ]] SLAMing on 35.07719347 meters Centerline goodness : 0.879925 Centerline is valid? [False, False] Translation: X:3.21, Y:0.04, Z:-0.54 [[ 0.99874135 -0.0435375 -0.02490387 3.21147031] [ 0.04423519 0.99862344 0.02818632 0.04311183] [ 0.02364242 -0.02925248 0.99929241 -0.5432857 ] [ 0. 0. 0. 1. ]] SLAMing on 35.10719347 meters Centerline goodness : 0.880367 Centerline is valid? [False, False] Translation: X:3.21, Y:0.05, Z:-0.54 [[ 0.99878597 -0.04263691 -0.02467148 3.2109744 ] [ 0.0433028 0.99869393 0.02711649 0.04703504] [ 0.02348309 -0.02815191 0.99932778 -0.54390191] [ 0. 0. 0. 1. ]] SLAMing on 35.13719346999999 meters Centerline goodness : 0.881304 Centerline is valid? [False, False] Translation: X:3.21, Y:0.05, Z:-0.54 [[ 0.99885813 -0.04134128 -0.02394426 3.20951464] [ 0.04198388 0.99875376 0.0269865 0.04818881] [ 0.02279876 -0.02796096 0.99934899 -0.54390808] [ 0. 0. 0. 1. ]] SLAMing on 35.167193469999994 meters Centerline goodness : 0.882777 Centerline is valid? [False, False] Translation: X:3.21, Y:0.05, Z:-0.54 [[ 0.99886124 -0.04108536 -0.02425331 3.21033932] [ 0.04174207 0.99875752 0.02722173 0.04758807] [ 0.02310476 -0.02820311 0.99933516 -0.54417834] [ 0. 0. 0. 1. ]] SLAMing on 35.197193469999995 meters Centerline goodness : 0.880368 Centerline is valid? [False, False] Translation: X:3.21, Y:0.05, Z:-0.54 [[ 0.99885835 -0.04106583 -0.024405 3.21096172] [ 0.04172335 0.99876235 0.0270728 0.04751499] [ 0.02326302 -0.02806015 0.99933551 -0.54463519] [ 0. 0. 0. 1. ]] SLAMing on 35.227193469999996 meters Centerline goodness : 0.880368 Centerline is valid? [False, False] Translation: X:3.21, Y:0.05, Z:-0.54 [[ 0.99885835 -0.04106583 -0.024405 3.21096172] [ 0.04172335 0.99876235 0.0270728 0.04751499] [ 0.02326302 -0.02806015 0.99933551 -0.54463519] [ 0. 0. 0. 1. ]] SLAMing on 35.25719347 meters Centerline goodness : 0.880891 Centerline is valid? [False, False] Translation: X:3.21, Y:0.05, Z:-0.54 [[ 0.99885821 -0.04072672 -0.02497218 3.21194453] [ 0.04142092 0.998751 0.027942 0.04650544] [ 0.023803 -0.02894447 0.99929757 -0.54423248] [ 0. 0. 0. 1. ]] SLAMing on 35.28719347 meters Centerline goodness : 0.877938 Centerline is valid? [False, False] Translation: X:3.21, Y:0.04, Z:-0.54 [[ 0.99872956 -0.04352587 -0.02539216 3.21408219] [ 0.0441981 0.99867013 0.02654235 0.04071443] [ 0.02420311 -0.02763091 0.99932514 -0.54479332] [ 0. 0. 0. 1. ]] SLAMing on 35.31719346999999 meters Centerline goodness : 0.881509 Centerline is valid? [False, False] Translation: X:3.22, Y:0.04, Z:-0.55 [[ 0.99858597 -0.04672275 -0.02535831 3.21519802] [ 0.04733732 0.99858574 0.02420123 0.03749529] [ 0.0241917 -0.0253674 0.99938544 -0.54551233] [ 0. 0. 0. 1. ]] SLAMing on 35.34719346999999 meters Centerline goodness : 0.875390 Centerline is valid? [False, False] Translation: X:3.22, Y:0.03, Z:-0.55 [[ 0.9982356 -0.05320013 -0.02637115 3.22096708] [ 0.05372843 0.99836033 0.01974628 0.0310817 ] [ 0.02527741 -0.02112832 0.99945718 -0.54917939] [ 0. 0. 0. 1. ]] SLAMing on 35.377193469999995 meters Centerline goodness : 0.875830 Centerline is valid? [False, False] Translation: X:3.22, Y:0.02, Z:-0.55 [[ 0.99782881 -0.05651087 -0.03382598 3.2224304 ] [ 0.05774628 0.99765527 0.03673313 0.02114422] [ 0.03167085 -0.0386067 0.99875246 -0.54504914] [ 0. 0. 0. 1. ]] SLAMing on 35.407193469999996 meters Centerline goodness : 0.873434 Centerline is valid? [False, False] Translation: X:3.22, Y:0.02, Z:-0.55 [[ 0.99748014 -0.06236434 -0.03382407 3.2242717 ] [ 0.06342533 0.99749695 0.03125786 0.0181121 ] [ 0.03179004 -0.0333244 0.99893888 -0.54597101] [ 0. 0. 0. 1. ]] SLAMing on 35.43719347 meters Centerline goodness : 0.876045 Centerline is valid? [False, False] Translation: X:3.23, Y:0.01, Z:-0.54 [[ 0.99743067 -0.06272935 -0.03459881 3.22604101] [ 0.06390515 0.99737682 0.03399419 0.01229339] [ 0.03237561 -0.03611789 0.99882297 -0.54472845] [ 0. 0. 0. 1. ]] SLAMing on 35.46719347 meters Centerline goodness : 0.876703 Centerline is valid? [False, False] Translation: X:3.22, Y:0.01, Z:-0.54 [[ 0.99714667 -0.06738038 -0.03403532 3.22445455] [ 0.06846173 0.99715086 0.03167246 0.00610578] [ 0.03180425 -0.03391221 0.99891864 -0.5419328 ] [ 0. 0. 0. 1. ]] SLAMing on 35.49719347 meters Centerline goodness : 0.879723 Centerline is valid? [False, False] Translation: X:3.23, Y:0.00, Z:-0.54 [[ 9.96996339e-01 -6.93569360e-02 -3.44661450e-02 3.22606951e+00] [ 7.03973922e-02 9.97069299e-01 2.99502789e-02 3.19817804e-03] [ 3.22878755e-02 -3.22866451e-02 9.98956989e-01 -5.42022438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.52719346999999 meters Centerline goodness : 0.880211 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.01, Z:-0.54 [[ 0.9971602 -0.06677048 -0.03483164 3.22610898] [ 0.06796299 0.99709959 0.03425548 -0.00507996] [ 0.03244336 -0.03652547 0.99880595 -0.53981164] [ 0. 0. 0. 1. ]] SLAMing on 35.557193469999994 meters Centerline goodness : 0.879512 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.01, Z:-0.54 [[ 0.99723059 -0.06576873 -0.03472198 3.22540899] [ 0.06699994 0.99711864 0.03557284 -0.0071247 ] [ 0.03228235 -0.0378007 0.99876371 -0.5388474 ] [ 0. 0. 0. 1. ]] SLAMing on 35.587193469999995 meters Centerline goodness : 0.881869 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.01, Z:-0.54 [[ 0.99729065 -0.06438083 -0.03558739 3.22688637] [ 0.06570074 0.99714368 0.03725457 -0.00961738] [ 0.03308726 -0.03949176 0.99867194 -0.53837107] [ 0. 0. 0. 1. ]] SLAMing on 35.61719347 meters Centerline goodness : 0.879514 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.01, Z:-0.54 [[ 0.99732474 -0.06362765 -0.03598452 3.2280338 ] [ 0.06500927 0.99713688 0.03862431 -0.01270973] [ 0.03342392 -0.04086031 0.99860567 -0.53843843] [ 0. 0. 0. 1. ]] SLAMing on 35.64719347 meters Centerline goodness : 0.879175 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.02, Z:-0.54 [[ 0.9972736 -0.06232034 -0.03951635 3.22484118] [ 0.06342283 0.99761363 0.02728726 -0.01536142] [ 0.0377215 -0.0297191 0.99884627 -0.53841022] [ 0. 0. 0. 1. ]] SLAMing on 35.67719347 meters Centerline goodness : 0.876125 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.03, Z:-0.53 [[ 0.99690648 -0.06481603 -0.04445623 3.24989298] [ 0.06743141 0.99591226 0.06009811 -0.03147654] [ 0.04037919 -0.06290994 0.99720202 -0.5285365 ] [ 0. 0. 0. 1. ]] SLAMing on 35.70719346999999 meters Centerline goodness : 0.877635 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.03, Z:-0.53 [[ 0.99690906 -0.06646221 -0.04189395 3.2415998 ] [ 0.06854832 0.99636895 0.05049792 -0.03423513] [ 0.03838563 -0.05321359 0.99784511 -0.5304982 ] [ 0. 0. 0. 1. ]] SLAMing on 35.737193469999994 meters Centerline goodness : 0.877268 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.04, Z:-0.53 [[ 0.99711275 -0.06608561 -0.03740119 3.25203825] [ 0.06767827 0.99677791 0.04305169 -0.03647155] [ 0.03443558 -0.04545863 0.99837253 -0.53200345] [ 0. 0. 0. 1. ]] SLAMing on 35.767193469999995 meters Centerline goodness : 0.876499 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.04, Z:-0.53 [[ 0.99697009 -0.06987755 -0.03417273 3.25786175] [ 0.07091568 0.99702586 0.03017276 -0.04357339] [ 0.03196269 -0.03250472 0.99896037 -0.52838149] [ 0. 0. 0. 1. ]] SLAMing on 35.797193469999996 meters Centerline goodness : 0.876937 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.05, Z:-0.53 [[ 0.996717 -0.07337259 -0.03422997 3.25863114] [ 0.07432254 0.99685895 0.02735662 -0.04767862] [ 0.03211522 -0.02981087 0.9990395 -0.5281884 ] [ 0. 0. 0. 1. ]] SLAMing on 35.82719347 meters Centerline goodness : 0.874036 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.05, Z:-0.53 [[ 0.99647749 -0.07642603 -0.0345206 3.26048263] [ 0.07730834 0.99669401 0.02498954 -0.0514331 ] [ 0.03249663 -0.02757024 0.99909151 -0.52883353] [ 0. 0. 0. 1. ]] SLAMing on 35.85719347 meters Centerline goodness : 0.872301 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.06, Z:-0.53 [[ 0.99592874 -0.08337785 -0.03426494 3.26268392] [ 0.08407204 0.99627194 0.01934193 -0.05562763] [ 0.03252451 -0.02214391 0.9992256 -0.53053864] [ 0. 0. 0. 1. ]] SLAMing on 35.88719346999999 meters Centerline goodness : 0.871675 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.06, Z:-0.53 [[ 0.99554429 -0.08776147 -0.03448907 3.26433882] [ 0.08834907 0.99596272 0.0158966 -0.05802936] [ 0.03295472 -0.01887284 0.99927864 -0.53098757] [ 0. 0. 0. 1. ]] SLAMing on 35.917193469999994 meters Centerline goodness : 0.871069 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.06, Z:-0.53 [[ 0.99514265 -0.0922866 -0.03426804 3.26483863] [ 0.09275278 0.99561357 0.01226959 -0.06032712] [ 0.03298541 -0.01538845 0.99933736 -0.5308825 ] [ 0. 0. 0. 1. ]] SLAMing on 35.947193469999995 meters Centerline goodness : 0.871303 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.06, Z:-0.53 [[ 0.99472715 -0.0966973 -0.03416907 3.26514045] [ 0.09703666 0.99524525 0.00841295 -0.06163512] [ 0.03319309 -0.01168425 0.99938066 -0.53031758] [ 0. 0. 0. 1. ]] SLAMing on 35.977193469999996 meters Centerline goodness : 0.872961 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.06, Z:-0.53 [[ 9.94045818e-01 -1.03495352e-01 -3.40826125e-02 3.26740408e+00] [ 1.03630886e-01 9.94613326e-01 2.22966423e-03 -6.28892199e-02] [ 3.36682607e-02 -5.74839973e-03 9.99416532e-01 -5.31337002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.00719347 meters Centerline goodness : 0.872848 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.06, Z:-0.53 [[ 9.93616392e-01 -1.07593170e-01 -3.39142337e-02 3.26798403e+00] [ 1.07589099e-01 9.94193534e-01 -1.95025400e-03 -6.25333249e-02] [ 3.39271458e-02 -1.71099749e-03 9.99422844e-01 -5.31319290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.03719347 meters Centerline goodness : 0.873639 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.06, Z:-0.53 [[ 9.93209958e-01 -1.11408692e-01 -3.34974928e-02 3.26788267e+00] [ 1.11268805e-01 9.93772129e-01 -6.01738894e-03 -6.19850414e-02] [ 3.39592642e-02 2.24930461e-03 9.99420687e-01 -5.31060543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.06719346999999 meters Centerline goodness : 0.873307 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.06, Z:-0.53 [[ 9.93151535e-01 -1.11926356e-01 -3.35040266e-02 3.26793099e+00] [ 1.11776410e-01 9.93713276e-01 -6.32140161e-03 -6.20820650e-02] [ 3.40009274e-02 2.53314990e-03 9.99418591e-01 -5.30860515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.09719346999999 meters Centerline goodness : 0.877700 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.06, Z:-0.53 [[ 9.93335264e-01 -1.11572502e-01 -2.89245637e-02 3.28403890e+00] [ 1.11488070e-01 9.93755490e-01 -4.52056833e-03 -5.77176718e-02] [ 2.92483151e-02 1.26569615e-03 9.99571375e-01 -5.30936305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.127193469999995 meters Centerline goodness : 0.878399 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.06, Z:-0.53 [[ 9.93278546e-01 -1.12036695e-01 -2.90776375e-02 3.28445011e+00] [ 1.11935389e-01 9.93702431e-01 -5.09383131e-03 -5.56205272e-02] [ 2.94652151e-02 1.80477670e-03 9.99564177e-01 -5.31115852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.157193469999996 meters Centerline goodness : 0.877657 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.05, Z:-0.53 [[ 9.93198930e-01 -1.12691388e-01 -2.92666581e-02 3.28538827e+00] [ 1.12567048e-01 9.93626809e-01 -5.86720079e-03 -5.38605340e-02] [ 2.97413191e-02 2.53283624e-03 9.99554420e-01 -5.31716327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.18719347 meters Centerline goodness : 0.872756 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.05, Z:-0.54 [[ 0.99284555 -0.11555214 -0.03009001 3.29168628] [ 0.11532549 0.99328545 -0.00916755 -0.05153443] [ 0.0309473 0.00563181 0.99950515 -0.53671582] [ 0. 0. 0. 1. ]] SLAMing on 36.21719347 meters Centerline goodness : 0.871929 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.05, Z:-0.54 [[ 0.99269504 -0.11674351 -0.03045522 3.29424157] [ 0.11647885 0.99313945 -0.01032997 -0.05056852] [ 0.03145224 0.00670712 0.99948275 -0.53873606] [ 0. 0. 0. 1. ]] SLAMing on 36.24719347 meters Centerline goodness : 0.872067 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.05, Z:-0.54 [[ 0.99262907 -0.11724753 -0.03066832 3.29549674] [ 0.11696401 0.99307648 -0.01088693 -0.0493823 ] [ 0.03173245 0.0072196 0.99947032 -0.53975592] [ 0. 0. 0. 1. ]] SLAMing on 36.27719346999999 meters Centerline goodness : 0.870681 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.04, Z:-0.54 [[ 0.99249809 -0.11809025 -0.03165805 3.30008732] [ 0.11775443 0.99296685 -0.01227674 -0.04424647] [ 0.03288516 0.00845677 0.99942336 -0.54314254] [ 0. 0. 0. 1. ]] SLAMing on 36.307193469999994 meters Centerline goodness : 0.870225 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.04, Z:-0.55 [[ 0.99272673 -0.11591009 -0.03253449 3.30265697] [ 0.11564212 0.99324053 -0.01000715 -0.04225808] [ 0.03347451 0.00617201 0.99942051 -0.5450546 ] [ 0. 0. 0. 1. ]] SLAMing on 36.337193469999995 meters Centerline goodness : 0.870637 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.04, Z:-0.55 [[ 0.99279892 -0.11505181 -0.03336741 3.3056898 ] [ 0.11479531 0.99334365 -0.00951 -0.03922535] [ 0.03423944 0.00561109 0.99939791 -0.54717615] [ 0. 0. 0. 1. ]] SLAMing on 36.36719347 meters Centerline goodness : 0.871206 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.03, Z:-0.55 [[ 0.99316918 -0.1131303 -0.02857483 3.32020694] [ 0.11279056 0.99353058 -0.01323904 -0.03429504] [ 0.0298877 0.00992563 0.99950398 -0.55083172] [ 0. 0. 0. 1. ]] SLAMing on 36.39719347 meters Centerline goodness : 0.868992 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.03, Z:-0.55 [[ 0.99358052 -0.11098752 -0.02189788 3.33040944] [ 0.11058719 0.99369011 -0.01871995 -0.02705713] [ 0.02383739 0.01617815 0.99958494 -0.5534339 ] [ 0. 0. 0. 1. ]] SLAMing on 36.42719347 meters Centerline goodness : 0.870395 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.03, Z:-0.55 [[ 0.99389804 -0.10806502 -0.02210515 3.33003395] [ 0.10773412 0.99405651 -0.01565267 -0.02628975] [ 0.02366528 0.01317568 0.99963311 -0.55316517] [ 0. 0. 0. 1. ]] SLAMing on 36.45719346999999 meters Centerline goodness : 0.870923 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.02, Z:-0.56 [[ 0.99436939 -0.10491821 -0.0148889 3.34016455] [ 0.10460537 0.9943039 -0.02043187 -0.01759376] [ 0.01694776 0.01875936 0.99968038 -0.55654629] [ 0. 0. 0. 1. ]] SLAMing on 36.487193469999994 meters Centerline goodness : 0.871900 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.01, Z:-0.56 [[ 0.99488061 -0.10040919 -0.01142657 3.35058582] [ 0.10009257 0.99465022 -0.0255425 -0.01275218] [ 0.01393014 0.02426803 0.99960843 -0.5588228 ] [ 0. 0. 0. 1. ]] SLAMing on 36.517193469999995 meters Centerline goodness : 0.869693 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.01, Z:-0.56 [[ 0.99508224 -0.09830879 -0.01211234 3.35229122] [ 0.09799953 0.99489896 -0.02391951 -0.00834791] [ 0.01440205 0.02261487 0.99964051 -0.56000959] [ 0. 0. 0. 1. ]] SLAMing on 36.547193469999996 meters Centerline goodness : 0.872053 Centerline is valid? [False, False] Translation: X:3.35, Y:0.00, Z:-0.56 [[ 9.95661513e-01 -9.22019156e-02 -1.25283166e-02 3.35179774e+00] [ 9.19551511e-02 9.95581448e-01 -1.90218509e-02 3.25549412e-04] [ 1.42268107e-02 1.77872816e-02 9.99740572e-01 -5.60205974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.57719347 meters Centerline goodness : 0.871166 Centerline is valid? [False, False] Translation: X:3.35, Y:0.00, Z:-0.56 [[ 9.96242901e-01 -8.55870420e-02 -1.32265324e-02 3.35209475e+00] [ 8.54233851e-02 9.96266577e-01 -1.24800947e-02 2.86573693e-03] [ 1.42452866e-02 1.13033505e-02 9.99834639e-01 -5.60455597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.60719347 meters Centerline goodness : 0.872529 Centerline is valid? [False, False] Translation: X:3.35, Y:0.00, Z:-0.56 [[ 0.99678767 -0.07887098 -0.01391781 3.3523832 ] [ 0.07879538 0.99687335 -0.0059002 0.00496738] [ 0.01433964 0.00478459 0.99988573 -0.5605882 ] [ 0. 0. 0. 1. ]] SLAMing on 36.63719346999999 meters Centerline goodness : 0.871589 Centerline is valid? [False, False] Translation: X:3.35, Y:0.01, Z:-0.56 [[ 9.97283587e-01 -7.21239898e-02 -1.49525037e-02 3.35326927e+00] [ 7.21508897e-02 9.97392924e-01 1.26674743e-03 6.04392115e-03] [ 1.48221585e-02 -2.34214287e-03 9.99887403e-01 -5.60425800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.667193469999994 meters Centerline goodness : 0.870804 Centerline is valid? [False, False] Translation: X:3.35, Y:0.01, Z:-0.56 [[ 9.97603497e-01 -6.74989037e-02 -1.52039497e-02 3.35425541e+00] [ 6.75492154e-02 9.97711959e-01 2.81966897e-03 1.25941547e-02] [ 1.49788379e-02 -3.83992650e-03 9.99880438e-01 -5.62497769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.697193469999995 meters Centerline goodness : 0.872400 Centerline is valid? [False, False] Translation: X:3.35, Y:0.01, Z:-0.56 [[ 0.99802511 -0.06078149 -0.01585857 3.35389189] [ 0.06093677 0.99809643 0.00949889 0.01422963] [ 0.01525102 -0.0104465 0.99982912 -0.56165005] [ 0. 0. 0. 1. ]] SLAMing on 36.727193469999996 meters Centerline goodness : 0.874208 Centerline is valid? [False, False] Translation: X:3.35, Y:0.02, Z:-0.56 [[ 0.99824462 -0.05699503 -0.0161008 3.35317105] [ 0.05719513 0.99828782 0.01225335 0.01830839] [ 0.01537485 -0.01315272 0.99979529 -0.56098291] [ 0. 0. 0. 1. ]] SLAMing on 36.75719347 meters Centerline goodness : 0.873396 Centerline is valid? [False, False] Translation: X:3.35, Y:0.02, Z:-0.56 [[ 0.99840797 -0.05394871 -0.01646375 3.35198391] [ 0.05418155 0.99843239 0.01404006 0.02463245] [ 0.01568049 -0.01490974 0.99976588 -0.55945338] [ 0. 0. 0. 1. ]] SLAMing on 36.78719347 meters Centerline goodness : 0.873960 Centerline is valid? [False, False] Translation: X:3.35, Y:0.02, Z:-0.56 [[ 0.99839592 -0.05410052 -0.01669502 3.35227535] [ 0.05433848 0.99842239 0.01414442 0.02453055] [ 0.01590346 -0.01502891 0.99976058 -0.55903225] [ 0. 0. 0. 1. ]] SLAMing on 36.81719346999999 meters Centerline goodness : 0.876377 Centerline is valid? [False, False] Translation: X:3.35, Y:0.02, Z:-0.56 [[ 0.99837266 -0.05443515 -0.01699575 3.35260775] [ 0.05468979 0.99839229 0.01489501 0.0222844 ] [ 0.01615761 -0.01580026 0.99974461 -0.55806673] [ 0. 0. 0. 1. ]] SLAMing on 36.84719346999999 meters Centerline goodness : 0.875536 Centerline is valid? [False, False] Translation: X:3.35, Y:0.02, Z:-0.56 [[ 0.99817624 -0.05810786 -0.01636095 3.35168918] [ 0.05829392 0.99823737 0.01113462 0.0219527 ] [ 0.0156851 -0.01206806 0.99980415 -0.55770619] [ 0. 0. 0. 1. ]] SLAMing on 36.877193469999995 meters Centerline goodness : 0.874696 Centerline is valid? [False, False] Translation: X:3.35, Y:0.02, Z:-0.56 [[ 0.99808211 -0.05956143 -0.01686826 3.35458363] [ 0.05973489 0.99816446 0.00997279 0.02253982] [ 0.01624331 -0.01096129 0.99980798 -0.56016081] [ 0. 0. 0. 1. ]] SLAMing on 36.907193469999996 meters Centerline goodness : 0.875567 Centerline is valid? [False, False] Translation: X:3.36, Y:0.03, Z:-0.56 [[ 0.99806582 -0.05977033 -0.01709152 3.35546798] [ 0.05993179 0.99816103 0.00909567 0.025338 ] [ 0.01651644 -0.0101024 0.99981256 -0.56103228] [ 0. 0. 0. 1. ]] SLAMing on 36.93719347 meters Centerline goodness : 0.875167 Centerline is valid? [False, False] Translation: X:3.36, Y:0.03, Z:-0.56 [[ 0.99824745 -0.05649841 -0.01760548 3.35572326] [ 0.0566996 0.99832907 0.01114574 0.03061285] [ 0.01694635 -0.01212443 0.99978289 -0.5610774 ] [ 0. 0. 0. 1. ]] SLAMing on 36.96719347 meters Centerline goodness : 0.873504 Centerline is valid? [False, False] Translation: X:3.36, Y:0.03, Z:-0.56 [[ 0.99824985 -0.0563861 -0.01782818 3.3563398 ] [ 0.05657969 0.99834237 0.0105473 0.03284012] [ 0.01720391 -0.01153755 0.99978543 -0.56157015] [ 0. 0. 0. 1. ]] SLAMing on 36.99719347 meters Centerline goodness : 0.874742 Centerline is valid? [False, False] Translation: X:3.36, Y:0.03, Z:-0.56 [[ 0.99824128 -0.05642996 -0.01816601 3.35692909] [ 0.05662029 0.99834431 0.01013841 0.03416793] [ 0.01756382 -0.01114915 0.99978358 -0.56158206] [ 0. 0. 0. 1. ]] SLAMing on 37.02719346999999 meters Centerline goodness : 0.876438 Centerline is valid? [False, False] Translation: X:3.36, Y:0.04, Z:-0.56 [[ 0.99820397 -0.05704661 -0.01829 3.35734286] [ 0.05721265 0.99832422 0.00868686 0.03707005] [ 0.01776379 -0.00971768 0.99979499 -0.56212642] [ 0. 0. 0. 1. ]] SLAMing on 37.057193469999994 meters Centerline goodness : 0.875508 Centerline is valid? [False, False] Translation: X:3.36, Y:0.04, Z:-0.56 [[ 0.99825146 -0.05587865 -0.01927664 3.36063096] [ 0.05606046 0.9983866 0.00902342 0.04012122] [ 0.01874132 -0.0100883 0.99977347 -0.56443949] [ 0. 0. 0. 1. ]] SLAMing on 37.087193469999995 meters Centerline goodness : 0.875338 Centerline is valid? [False, False] Translation: X:3.36, Y:0.04, Z:-0.57 [[ 0.99836613 -0.05348698 -0.02010521 3.36310403] [ 0.05371908 0.99849342 0.01118683 0.04216215] [ 0.01947657 -0.01224858 0.99973528 -0.56614861] [ 0. 0. 0. 1. ]] SLAMing on 37.11719347 meters Centerline goodness : 0.875338 Centerline is valid? [False, False] Translation: X:3.36, Y:0.04, Z:-0.57 [[ 0.99836613 -0.05348698 -0.02010521 3.36310403] [ 0.05371908 0.99849342 0.01118683 0.04216215] [ 0.01947657 -0.01224858 0.99973528 -0.56614861] [ 0. 0. 0. 1. ]] SLAMing on 37.14719347 meters Centerline goodness : 0.875554 Centerline is valid? [False, False] Translation: X:3.37, Y:0.04, Z:-0.57 [[ 0.99840506 -0.05240729 -0.02099538 3.3661868 ] [ 0.05265953 0.99854461 0.01164648 0.04331752] [ 0.02035446 -0.01273351 0.99971174 -0.56832277] [ 0. 0. 0. 1. ]] SLAMing on 37.17719347 meters Centerline goodness : 0.877796 Centerline is valid? [False, False] Translation: X:3.37, Y:0.05, Z:-0.57 [[ 0.99849338 -0.05056789 -0.02130394 3.36879982] [ 0.0508205 0.99864174 0.01148734 0.04588745] [ 0.02069411 -0.01255271 0.99970705 -0.57182551] [ 0. 0. 0. 1. ]] SLAMing on 37.20719346999999 meters Centerline goodness : 0.876780 Centerline is valid? [False, False] Translation: X:3.37, Y:0.05, Z:-0.57 [[ 0.9985253 -0.04984423 -0.02151232 3.36978051] [ 0.05008643 0.99868573 0.01087042 0.04848533] [ 0.02094222 -0.01193187 0.99970948 -0.57316711] [ 0. 0. 0. 1. ]] SLAMing on 37.237193469999994 meters Centerline goodness : 0.878828 Centerline is valid? [False, False] Translation: X:3.37, Y:0.05, Z:-0.57 [[ 0.99855803 -0.04923165 -0.02140336 3.36970213] [ 0.04945461 0.99872616 0.01001532 0.05138209] [ 0.02088302 -0.01105937 0.99972076 -0.57385172] [ 0. 0. 0. 1. ]] SLAMing on 37.267193469999995 meters Centerline goodness : 0.878534 Centerline is valid? [False, False] Translation: X:3.38, Y:0.06, Z:-0.57 [[ 9.98944497e-01 -3.95401544e-02 -2.33766570e-02 3.38432372e+00] [ 3.95636659e-02 9.99216904e-01 5.43946676e-04 5.58267529e-02] [ 2.33368431e-02 -1.46823879e-03 9.99726581e-01 -5.69656519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.297193469999996 meters Centerline goodness : 0.881288 Centerline is valid? [False, False] Translation: X:3.38, Y:0.05, Z:-0.57 [[ 0.99911113 -0.03489318 -0.02365198 3.38434175] [ 0.03503688 0.99936983 0.00568885 0.05426796] [ 0.02343857 -0.00651249 0.99970407 -0.56900396] [ 0. 0. 0. 1. ]] SLAMing on 37.32719347 meters Centerline goodness : 0.880393 Centerline is valid? [False, False] Translation: X:3.39, Y:0.05, Z:-0.57 [[ 0.99924553 -0.03043293 -0.02412912 3.38519566] [ 0.03069831 0.99947137 0.01070514 0.05290876] [ 0.02379058 -0.01143778 0.99965153 -0.56897215] [ 0. 0. 0. 1. ]] SLAMing on 37.35719347 meters Centerline goodness : 0.878480 Centerline is valid? [False, False] Translation: X:3.39, Y:0.05, Z:-0.57 [[ 0.9993946 -0.02488903 -0.02430982 3.38577419] [ 0.02528276 0.99955188 0.01602554 0.05125055] [ 0.02390007 -0.01663046 0.99957602 -0.56948892] [ 0. 0. 0. 1. ]] SLAMing on 37.38719346999999 meters Centerline goodness : 0.877598 Centerline is valid? [False, False] Translation: X:3.39, Y:0.05, Z:-0.57 [[ 0.99939837 -0.02432473 -0.02472237 3.38706712] [ 0.02474622 0.9995511 0.01688833 0.04917221] [ 0.02430047 -0.01748996 0.99955169 -0.56998977] [ 0. 0. 0. 1. ]] SLAMing on 37.417193469999994 meters Centerline goodness : 0.879306 Centerline is valid? [False, False] Translation: X:3.39, Y:0.05, Z:-0.57 [[ 0.99934482 -0.02592546 -0.02525453 3.3899107 ] [ 0.02631868 0.99953552 0.01536436 0.04656094] [ 0.02484447 -0.01601896 0.99956298 -0.57180823] [ 0. 0. 0. 1. ]] SLAMing on 37.447193469999995 meters Centerline goodness : 0.878925 Centerline is valid? [False, False] Translation: X:3.39, Y:0.04, Z:-0.57 [[ 0.99927069 -0.02840765 -0.02551655 3.3915532 ] [ 0.02875841 0.99949541 0.01348641 0.0422203 ] [ 0.02512055 -0.01421039 0.99958342 -0.57268188] [ 0. 0. 0. 1. ]] SLAMing on 37.477193469999996 meters Centerline goodness : 0.879055 Centerline is valid? [False, False] Translation: X:3.39, Y:0.03, Z:-0.57 [[ 0.99913777 -0.03227796 -0.0261122 3.39430584] [ 0.03261634 0.99938804 0.01263809 0.03342905] [ 0.02568829 -0.01347888 0.99957913 -0.57326347] [ 0. 0. 0. 1. ]] SLAMing on 37.50719347 meters Centerline goodness : 0.877909 Centerline is valid? [False, False] Translation: X:3.40, Y:0.03, Z:-0.57 [[ 0.9989931 -0.03621891 -0.026476 3.39534653] [ 0.03648429 0.99928802 0.00960993 0.03123213] [ 0.02610909 -0.01056621 0.99960326 -0.57304124] [ 0. 0. 0. 1. ]] SLAMing on 37.53719347 meters Centerline goodness : 0.876077 Centerline is valid? [False, False] Translation: X:3.40, Y:0.03, Z:-0.57 [[ 0.99896412 -0.03646907 -0.02721576 3.39703318] [ 0.03679836 0.99925424 0.0116979 0.02620475] [ 0.02676885 -0.01268728 0.99956113 -0.57253157] [ 0. 0. 0. 1. ]] SLAMing on 37.56719346999999 meters Centerline goodness : 0.877910 Centerline is valid? [False, False] Translation: X:3.40, Y:0.02, Z:-0.57 [[ 0.99877994 -0.04092166 -0.02764133 3.39927288] [ 0.04117628 0.99911397 0.00870582 0.01834659] [ 0.02726058 -0.00983337 0.99957999 -0.57282694] [ 0. 0. 0. 1. ]] SLAMing on 37.59719346999999 meters Centerline goodness : 0.877613 Centerline is valid? [False, False] Translation: X:3.40, Y:0.01, Z:-0.57 [[ 0.99877441 -0.0405415 -0.02839138 3.40130337] [ 0.04086783 0.99910391 0.0110094 0.01354534] [ 0.0279196 -0.01215621 0.99953625 -0.57282872] [ 0. 0. 0. 1. ]] SLAMing on 37.627193469999995 meters Centerline goodness : 0.877501 Centerline is valid? [False, False] Translation: X:3.40, Y:0.01, Z:-0.57 [[ 0.99868588 -0.042376 -0.02882335 3.40366001] [ 0.04265615 0.99904768 0.00917492 0.01190171] [ 0.0284071 -0.01039235 0.99954241 -0.57425639] [ 0. 0. 0. 1. ]] SLAMing on 37.657193469999996 meters Centerline goodness : 0.877189 Centerline is valid? [False, False] Translation: X:3.40, Y:0.01, Z:-0.57 [[ 0.99880964 -0.03879188 -0.02957171 3.40487627] [ 0.0392506 0.99911541 0.01509255 0.00736884] [ 0.02896008 -0.01623529 0.99944871 -0.57325847] [ 0. 0. 0. 1. ]] SLAMing on 37.68719347 meters Centerline goodness : 0.878673 Centerline is valid? [False, False] Translation: X:3.40, Y:0.00, Z:-0.57 [[ 9.98682790e-01 -4.19305808e-02 -2.95721524e-02 3.40408016e+00] [ 4.23453223e-02 9.99011276e-01 1.35404929e-02 2.03473250e-03] [ 2.89751529e-02 -1.47748995e-02 9.99470931e-01 -5.70945714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.71719347 meters Centerline goodness : 0.879906 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.00, Z:-0.57 [[ 9.98676159e-01 -4.19604871e-02 -2.97531021e-02 3.40395224e+00] [ 4.24425789e-02 9.98974587e-01 1.57607536e-02 -3.11864097e-03] [ 2.90612640e-02 -1.70026873e-02 9.99433015e-01 -5.69073524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.74719347 meters Centerline goodness : 0.879771 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.01, Z:-0.57 [[ 0.9985135 -0.04561092 -0.02983999 3.40412212] [ 0.04601374 0.9988568 0.01295451 -0.00536266] [ 0.02921501 -0.0143083 0.99947074 -0.56815145] [ 0. 0. 0. 1. ]] SLAMing on 37.77719346999999 meters Centerline goodness : 0.878692 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.01, Z:-0.56 [[ 0.99832855 -0.04738513 -0.03308722 3.41509911] [ 0.04834107 0.99841804 0.02871511 -0.01304215] [ 0.03167421 -0.03026658 0.99903988 -0.5607633 ] [ 0. 0. 0. 1. ]] SLAMing on 37.807193469999994 meters Centerline goodness : 0.879186 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.02, Z:-0.56 [[ 0.99824832 -0.05174 -0.02869243 3.4204437 ] [ 0.05218731 0.99852366 0.01506626 -0.01942129] [ 0.02787054 -0.01653725 0.99947474 -0.5581898 ] [ 0. 0. 0. 1. ]] SLAMing on 37.837193469999995 meters Centerline goodness : 0.880313 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.03, Z:-0.56 [[ 0.99825349 -0.05145863 -0.02901691 3.42105613] [ 0.05197427 0.99849848 0.01730475 -0.02511157] [ 0.02808286 -0.01878266 0.99942912 -0.55713394] [ 0. 0. 0. 1. ]] SLAMing on 37.86719347 meters Centerline goodness : 0.881408 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.03, Z:-0.56 [[ 0.99808517 -0.05465786 -0.02895712 3.42143344] [ 0.05509701 0.9983744 0.01459045 -0.02751233] [ 0.02811256 -0.01615796 0.99947416 -0.55711974] [ 0. 0. 0. 1. ]] SLAMing on 37.89719347 meters Centerline goodness : 0.879961 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.03, Z:-0.56 [[ 0.99796542 -0.05642101 -0.02969314 3.4250019 ] [ 0.05684373 0.99829059 0.01358978 -0.03182001] [ 0.02887563 -0.01525 0.99946668 -0.5592418 ] [ 0. 0. 0. 1. ]] SLAMing on 37.92719347 meters Centerline goodness : 0.880164 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.03, Z:-0.56 [[ 0.99797673 -0.05611149 -0.02989905 3.42579545] [ 0.05656334 0.99829391 0.01448666 -0.03438363] [ 0.02903517 -0.01614854 0.99944794 -0.55965304] [ 0. 0. 0. 1. ]] SLAMing on 37.95719346999999 meters Centerline goodness : 0.878316 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.04, Z:-0.56 [[ 0.99792989 -0.05671655 -0.03031793 3.4282975 ] [ 0.05717379 0.99825991 0.01443274 -0.03767621] [ 0.0294466 -0.01613625 0.9994361 -0.56130418] [ 0. 0. 0. 1. ]] SLAMing on 37.987193469999994 meters Centerline goodness : 0.875622 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.05, Z:-0.57 [[ 0.99772348 -0.05971369 -0.03133899 3.43493812] [ 0.06011973 0.99811689 0.01217743 -0.0454839 ] [ 0.03055281 -0.0140338 0.99943463 -0.56591904] [ 0. 0. 0. 1. ]] SLAMing on 38.017193469999995 meters Centerline goodness : 0.874661 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.05, Z:-0.57 [[ 0.99769861 -0.05963843 -0.03226066 3.43976617] [ 0.06006984 0.998115 0.01257208 -0.04765475] [ 0.03145007 -0.01448103 0.99940042 -0.56935129] [ 0. 0. 0. 1. ]] SLAMing on 38.047193469999996 meters Centerline goodness : 0.874296 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.05, Z:-0.57 [[ 0.99771623 -0.05920132 -0.03251965 3.4406108 ] [ 0.05965429 0.99813262 0.01313929 -0.047842 ] [ 0.03168106 -0.01504922 0.99938473 -0.56987597] [ 0. 0. 0. 1. ]] SLAMing on 38.07719347 meters Centerline goodness : 0.875114 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.05, Z:-0.57 [[ 0.99801361 -0.05635034 -0.02816867 3.44887694] [ 0.05658064 0.99837027 0.00744582 -0.0473881 ] [ 0.02770319 -0.00902483 0.99957545 -0.56973797] [ 0. 0. 0. 1. ]] SLAMing on 38.10719347 meters Centerline goodness : 0.875091 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.05, Z:-0.57 [[ 0.99788096 -0.05882524 -0.02780625 3.44679044] [ 0.05898926 0.99824551 0.0051147 -0.04904643] [ 0.02745659 -0.00674413 0.99960025 -0.56747546] [ 0. 0. 0. 1. ]] SLAMing on 38.13719346999999 meters Centerline goodness : 0.876860 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.05, Z:-0.57 [[ 9.97643055e-01 -6.28332904e-02 -2.75737801e-02 3.44629770e+00] [ 6.29033277e-02 9.98018212e-01 1.67912458e-03 -5.12965474e-02] [ 2.74136298e-02 -3.40964950e-03 9.99618361e-01 -5.66637263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.167193469999994 meters Centerline goodness : 0.877262 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.05, Z:-0.57 [[ 9.97064090e-01 -7.37551970e-02 -2.05760119e-02 3.45467434e+00] [ 7.38016133e-02 9.97271807e-01 1.50464970e-03 -5.47756089e-02] [ 2.04089009e-02 -3.01877506e-03 9.99787159e-01 -5.68609616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.197193469999995 meters Centerline goodness : 0.876102 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.05, Z:-0.57 [[ 9.96706896e-01 -7.84855970e-02 -2.03807366e-02 3.45515900e+00] [ 7.84427206e-02 9.96914416e-01 -2.89599795e-03 -5.40391566e-02] [ 2.05451442e-02 1.28774071e-03 9.99788097e-01 -5.68820257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.227193469999996 meters Centerline goodness : 0.875540 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.05, Z:-0.57 [[ 9.96639369e-01 -7.93030247e-02 -2.05182508e-02 3.45572419e+00] [ 7.92541372e-02 9.96849352e-01 -3.18620921e-03 -5.42098807e-02] [ 2.07062811e-02 1.54934527e-03 9.99784401e-01 -5.68960334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.25719347 meters Centerline goodness : 0.873292 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.05, Z:-0.57 [[ 0.99687642 -0.07758055 -0.01478757 3.46532205] [ 0.07742618 0.99694023 -0.01074106 -0.04972724] [ 0.01557562 0.00956256 0.99983296 -0.57163501] [ 0. 0. 0. 1. ]] SLAMing on 38.28719347 meters Centerline goodness : 0.875429 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.05, Z:-0.57 [[ 0.99713207 -0.07415163 -0.01513865 3.4664096 ] [ 0.07404587 0.99722715 -0.00743154 -0.04904108] [ 0.01564773 0.00628927 0.99985779 -0.57274272] [ 0. 0. 0. 1. ]] SLAMing on 38.31719346999999 meters Centerline goodness : 0.873531 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.05, Z:-0.58 [[ 0.99748266 -0.06992836 -0.01176304 3.47994184] [ 0.06977674 0.99747999 -0.01284057 -0.04569111] [ 0.01263131 0.01198746 0.99984836 -0.57725 ] [ 0. 0. 0. 1. ]] SLAMing on 38.34719346999999 meters Centerline goodness : 0.873440 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.04, Z:-0.58 [[ 0.99774671 -0.06594561 -0.01235675 3.48138892] [ 0.06583517 0.99778864 -0.00914106 -0.04483979] [ 0.01293223 0.00830696 0.99988187 -0.57827871] [ 0. 0. 0. 1. ]] SLAMing on 38.377193469999995 meters Centerline goodness : 0.872225 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.04, Z:-0.58 [[ 0.9982083 -0.05723498 -0.01744542 3.4927921 ] [ 0.05708546 0.99832916 -0.00895193 -0.03943474] [ 0.01792863 0.00794002 0.99980774 -0.57739291] [ 0. 0. 0. 1. ]] SLAMing on 38.407193469999996 meters Centerline goodness : 0.871121 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.04, Z:-0.58 [[ 0.9984161 -0.05334491 -0.01787778 3.49359254] [ 0.05325062 0.99856486 -0.00570955 -0.03745036] [ 0.0181567 0.00474851 0.99982388 -0.57755079] [ 0. 0. 0. 1. ]] SLAMing on 38.43719347 meters Centerline goodness : 0.870176 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.04, Z:-0.58 [[ 9.98603373e-01 -4.95062723e-02 -1.84507857e-02 3.49473505e+00] [ 4.94761543e-02 9.98773128e-01 -2.08553538e-03 -3.64190810e-02] [ 1.85313960e-02 1.16974874e-03 9.99827595e-01 -5.78073641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.46719347 meters Centerline goodness : 0.868872 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.04, Z:-0.58 [[ 9.98804874e-01 -4.51342459e-02 -1.87543067e-02 3.49523550e+00] [ 4.51798915e-02 9.98976831e-01 2.01713099e-03 -3.59345616e-02] [ 1.86440762e-02 -2.86203780e-03 9.99822088e-01 -5.78359413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.49719347 meters Centerline goodness : 0.871074 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.04, Z:-0.58 [[ 9.98815455e-01 -4.48346341e-02 -1.89087834e-02 3.49545040e+00] [ 4.48862792e-02 9.98989419e-01 2.31555589e-03 -3.66280791e-02] [ 1.87858574e-02 -3.16155794e-03 9.99818532e-01 -5.78210341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.52719346999999 meters Centerline goodness : 0.869533 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.04, Z:-0.58 [[ 9.98836943e-01 -4.43690145e-02 -1.88720090e-02 3.49477725e+00] [ 4.44318444e-02 9.99008142e-01 2.92289274e-03 -3.80116546e-02] [ 1.87236048e-02 -3.75801142e-03 9.99817635e-01 -5.77276692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.557193469999994 meters Centerline goodness : 0.871703 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.04, Z:-0.57 [[ 0.99904293 -0.0410111 -0.01520904 3.49820079] [ 0.04094003 0.99914932 -0.00495555 -0.03527747] [ 0.01539934 0.00432815 0.99987206 -0.57384545] [ 0. 0. 0. 1. ]] SLAMing on 38.587193469999995 meters Centerline goodness : 0.871838 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.04, Z:-0.57 [[ 9.99207032e-01 -3.67039234e-02 -1.54314270e-02 3.49820942e+00] [ 3.66992864e-02 9.99326184e-01 -5.83653537e-04 -3.55250150e-02] [ 1.54424514e-02 1.68683600e-05 9.99880758e-01 -5.73613455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.61719347 meters Centerline goodness : 0.869676 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.04, Z:-0.57 [[ 0.99936113 -0.03225168 -0.01540018 3.49765122] [ 0.03231055 0.99947143 0.00358914 -0.03558731] [ 0.01527628 -0.00408444 0.99987497 -0.57299898] [ 0. 0. 0. 1. ]] SLAMing on 38.64719347 meters Centerline goodness : 0.869426 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.04, Z:-0.57 [[ 9.99728950e-01 -1.94692359e-02 -1.27661789e-02 3.49547288e+00] [ 1.94461215e-02 9.99809039e-01 -1.93224769e-03 -3.59835588e-02] [ 1.28013605e-02 1.68347129e-03 9.99916642e-01 -5.72112411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.67719347 meters Centerline goodness : 0.866882 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.04, Z:-0.57 [[ 9.99754657e-01 -1.81133475e-02 -1.27488259e-02 3.49583333e+00] [ 1.81038315e-02 9.99835741e-01 -8.61443358e-04 -3.77420224e-02] [ 1.27623354e-02 6.30429413e-04 9.99918359e-01 -5.72562268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.70719346999999 meters Centerline goodness : 0.865157 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.04, Z:-0.57 [[ 9.99780955e-01 -1.63538748e-02 -1.30611151e-02 3.49751114e+00] [ 1.63667197e-02 9.99865672e-01 8.77157945e-04 -4.05488620e-02] [ 1.30450157e-02 -1.09073342e-03 9.99914315e-01 -5.73930952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.737193469999994 meters Centerline goodness : 0.865836 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.04, Z:-0.57 [[ 0.99981934 -0.01415777 -0.01268214 3.49734258] [ 0.0142033 0.99989298 0.00350777 -0.04470044] [ 0.01263112 -0.00368726 0.99991343 -0.57451671] [ 0. 0. 0. 1. ]] SLAMing on 38.767193469999995 meters Centerline goodness : 0.864725 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.05, Z:-0.58 [[ 0.99983407 -0.01247011 -0.01327885 3.50024461] [ 0.01254531 0.99990565 0.00559524 -0.0472692 ] [ 0.01320783 -0.0057609 0.99989618 -0.57668894] [ 0. 0. 0. 1. ]] SLAMing on 38.797193469999996 meters Centerline goodness : 0.863268 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.05, Z:-0.58 [[ 0.99983852 -0.01178311 -0.01356831 3.50198389] [ 0.01187738 0.99990573 0.00688834 -0.05064905] [ 0.01348586 -0.00704838 0.99988422 -0.57816665] [ 0. 0. 0. 1. ]] SLAMing on 38.82719347 meters Centerline goodness : 0.862073 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.05, Z:-0.58 [[ 0.99981373 -0.0131603 -0.01411814 3.50468858] [ 0.01324225 0.99989592 0.005727 -0.0549554 ] [ 0.0140413 -0.00591289 0.99988393 -0.58011486] [ 0. 0. 0. 1. ]] SLAMing on 38.85719347 meters Centerline goodness : 0.860158 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.07, Z:-0.58 [[ 0.99977973 -0.0113948 -0.017625 3.51421057] [ 0.01146944 0.99992565 0.00413979 -0.07045948] [ 0.01757652 -0.00434103 0.9998361 -0.58030807] [ 0. 0. 0. 1. ]] SLAMing on 38.88719346999999 meters Centerline goodness : 0.860439 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.08, Z:-0.58 [[ 9.99755729e-01 -1.29837669e-02 -1.78858815e-02 3.51534013e+00] [ 1.30435523e-02 9.99909712e-01 3.23000646e-03 -7.70832769e-02] [ 1.78423290e-02 -3.46251290e-03 9.99834818e-01 -5.80842654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.917193469999994 meters Centerline goodness : 0.862150 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.08, Z:-0.58 [[ 9.99749223e-01 -1.39859354e-02 -1.74895717e-02 3.51373796e+00] [ 1.40404309e-02 9.99896937e-01 2.99698413e-03 -8.35187727e-02] [ 1.74458536e-02 -3.24179368e-03 9.99842554e-01 -5.79536146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.947193469999995 meters Centerline goodness : 0.860465 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.10, Z:-0.58 [[ 0.99978952 -0.01094422 -0.01735343 3.5138599 ] [ 0.01108383 0.99990681 0.00796936 -0.0964161 ] [ 0.0172646 -0.00816002 0.99981766 -0.57944878] [ 0. 0. 0. 1. ]] SLAMing on 38.977193469999996 meters Centerline goodness : 0.861973 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.10, Z:-0.58 [[ 0.9997737 -0.01238665 -0.01729523 3.51374217] [ 0.01251661 0.99989409 0.00742651 -0.10288096] [ 0.01720141 -0.0076413 0.99982285 -0.57915966] [ 0. 0. 0. 1. ]] SLAMing on 39.00719347 meters Centerline goodness : 0.861068 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.11, Z:-0.58 [[ 0.99974107 -0.01435939 -0.01765233 3.5156426 ] [ 0.01448213 0.9998717 0.00684465 -0.11139688] [ 0.01755178 -0.00709852 0.99982076 -0.58024491] [ 0. 0. 0. 1. ]] SLAMing on 39.03719347 meters Centerline goodness : 0.861068 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.11, Z:-0.58 [[ 0.99974107 -0.01435939 -0.01765233 3.5156426 ] [ 0.01448213 0.9998717 0.00684465 -0.11139688] [ 0.01755178 -0.00709852 0.99982076 -0.58024491] [ 0. 0. 0. 1. ]] SLAMing on 39.06719346999999 meters Centerline goodness : 0.859974 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.13, Z:-0.58 [[ 0.99954344 -0.0244375 -0.01776858 3.51739672] [ 0.02457764 0.99966818 0.00771177 -0.13496982] [ 0.01757423 -0.00814496 0.99981239 -0.57951461] [ 0. 0. 0. 1. ]] SLAMing on 39.09719346999999 meters Centerline goodness : 0.860153 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.14, Z:-0.58 [[ 0.99937545 -0.03073047 -0.01744576 3.51723568] [ 0.03079798 0.9995191 0.00361415 -0.14469397] [ 0.01732631 -0.00414919 0.99984128 -0.57901503] [ 0. 0. 0. 1. ]] SLAMing on 39.127193469999995 meters Centerline goodness : 0.860601 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.15, Z:-0.58 [[ 9.99177907e-01 -3.67853921e-02 -1.70394977e-02 3.51676839e+00] [ 3.67809331e-02 9.99323187e-01 -5.75105930e-04 -1.53588770e-01] [ 1.70491207e-02 -5.20954870e-05 9.99854652e-01 -5.78290606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.157193469999996 meters Centerline goodness : 0.860756 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.16, Z:-0.58 [[ 0.99894625 -0.04260833 -0.01705636 3.51808628] [ 0.04253331 0.99908382 -0.00473763 -0.16211777] [ 0.01724259 0.00400717 0.99984331 -0.57885758] [ 0. 0. 0. 1. ]] SLAMing on 39.18719347 meters Centerline goodness : 0.860511 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.18, Z:-0.58 [[ 9.98644372e-01 -4.90023815e-02 -1.75551962e-02 3.52029302e+00] [ 4.89636239e-02 9.98797097e-01 -2.63107228e-03 -1.82869988e-01] [ 1.76630079e-02 1.76793950e-03 9.99842434e-01 -5.78420286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.21719347 meters Centerline goodness : 0.860250 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.19, Z:-0.58 [[ 9.98537308e-01 -5.10540154e-02 -1.77969576e-02 3.52223534e+00] [ 5.10074190e-02 9.98693578e-01 -3.06268166e-03 -1.90913975e-01] [ 1.79300695e-02 2.15042502e-03 9.99836931e-01 -5.79474614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.24719347 meters Centerline goodness : 0.861725 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.20, Z:-0.58 [[ 9.98456570e-01 -5.23499005e-02 -1.85462965e-02 3.52574324e+00] [ 5.22977669e-02 9.98626132e-01 -3.28527110e-03 -1.97390599e-01] [ 1.86928000e-02 2.31027062e-03 9.99822605e-01 -5.81611589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.27719346999999 meters Centerline goodness : 0.858542 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.21, Z:-0.59 [[ 9.98434453e-01 -5.23214885e-02 -1.97763577e-02 3.53279258e+00] [ 5.23034830e-02 9.98630217e-01 -1.42695424e-03 -2.09845744e-01] [ 1.98239287e-02 3.90347889e-04 9.99803410e-01 -5.87023279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.307193469999994 meters Centerline goodness : 0.856922 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.22, Z:-0.59 [[ 9.98390809e-01 -5.27958085e-02 -2.06976893e-02 3.53666058e+00] [ 5.27856770e-02 9.98605327e-01 -1.03590197e-03 -2.15533099e-01] [ 2.07235141e-02 -5.83065401e-05 9.99785243e-01 -5.89476063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.337193469999995 meters Centerline goodness : 0.855932 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.22, Z:-0.59 [[ 9.98377137e-01 -5.27419746e-02 -2.14796712e-02 3.54002897e+00] [ 5.27491433e-02 9.98607768e-01 -2.33096881e-04 -2.21646801e-01] [ 2.14620605e-02 -9.00315660e-04 9.99769258e-01 -5.91478791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.36719347 meters Centerline goodness : 0.854614 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.23, Z:-0.59 [[ 9.98353017e-01 -5.30409264e-02 -2.18612556e-02 3.54201926e+00] [ 5.30715871e-02 9.98590370e-01 8.24325618e-04 -2.31952070e-01] [ 2.17867163e-02 -1.98317950e-03 9.99760674e-01 -5.92372127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.39719347 meters Centerline goodness : 0.855452 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.24, Z:-0.59 [[ 9.98371596e-01 -5.25656337e-02 -2.21587563e-02 3.54264630e+00] [ 5.26271984e-02 9.98611797e-01 2.20400952e-03 -2.36821480e-01] [ 2.20121402e-02 -3.36657376e-03 9.99752035e-01 -5.92115340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.42719347 meters Centerline goodness : 0.854431 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.25, Z:-0.59 [[ 9.98538523e-01 -5.21542713e-02 -1.41686166e-02 3.55138766e+00] [ 5.21599833e-02 9.98638741e-01 3.36610660e-05 -2.47185138e-01] [ 1.41475739e-02 -7.72646677e-04 9.99899620e-01 -5.88960852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.45719346999999 meters Centerline goodness : 0.853934 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.25, Z:-0.59 [[ 0.99871599 -0.05011275 -0.00742221 3.56100219] [ 0.05006191 0.99872239 -0.00688415 -0.25103769] [ 0.00775771 0.00650375 0.99994876 -0.59149627] [ 0. 0. 0. 1. ]] SLAMing on 39.487193469999994 meters Centerline goodness : 0.854829 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.26, Z:-0.59 [[ 0.99877144 -0.04896638 -0.00760925 3.56081218] [ 0.04893117 0.99879087 -0.00474722 -0.25657155] [ 0.0078325 0.00436906 0.99995978 -0.59056143] [ 0. 0. 0. 1. ]] SLAMing on 39.517193469999995 meters Centerline goodness : 0.855537 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.27, Z:-0.59 [[ 9.98853287e-01 -4.73091598e-02 -7.34538950e-03 3.56047180e+00] [ 4.73014698e-02 9.98879917e-01 -1.21723123e-03 -2.67320246e-01] [ 7.39474824e-03 8.68387699e-04 9.99972281e-01 -5.90029249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.547193469999996 meters Centerline goodness : 0.854064 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.27, Z:-0.59 [[ 9.98877558e-01 -4.67470811e-02 -7.63775399e-03 3.56124527e+00] [ 4.67537811e-02 9.98906198e-01 7.00948190e-04 -2.73493136e-01] [ 7.59663252e-03 -1.05725529e-03 9.99970586e-01 -5.89895919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.57719347 meters Centerline goodness : 0.854895 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.28, Z:-0.59 [[ 9.98753841e-01 -4.93044714e-02 -7.73526480e-03 3.56253211e+00] [ 4.92984252e-02 9.98783622e-01 -9.70491149e-04 -2.78693320e-01] [ 7.77370535e-03 5.87945390e-04 9.99969611e-01 -5.90670012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.60719347 meters Centerline goodness : 0.856652 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.28, Z:-0.59 [[ 9.98625049e-01 -5.17915303e-02 -8.10238447e-03 3.56532153e+00] [ 5.17739520e-02 9.98656030e-01 -2.36457499e-03 -2.84080204e-01] [ 8.21396007e-03 1.94183135e-03 9.99964379e-01 -5.92661445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.63719346999999 meters Centerline goodness : 0.854784 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.29, Z:-0.60 [[ 9.98398864e-01 -5.58636062e-02 -8.88627926e-03 3.57060862e+00] [ 5.58307303e-02 9.98432609e-01 -3.90583688e-03 -2.92916787e-01] [ 9.09054512e-03 3.40345564e-03 9.99952888e-01 -5.96658379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.667193469999994 meters Centerline goodness : 0.855071 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.30, Z:-0.60 [[ 0.99832391 -0.0570709 -0.00960688 3.57346865] [ 0.05703239 0.99836334 -0.00423536 -0.29780594] [ 0.00983287 0.00368036 0.99994488 -0.59807487] [ 0. 0. 0. 1. ]] SLAMing on 39.697193469999995 meters Centerline goodness : 0.854920 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.30, Z:-0.60 [[ 0.99812635 -0.06041156 -0.00970721 3.57409217] [ 0.06034539 0.99815322 -0.0069708 -0.30172902] [ 0.0101104 0.00637195 0.99992859 -0.59791253] [ 0. 0. 0. 1. ]] SLAMing on 39.727193469999996 meters Centerline goodness : 0.853549 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.31, Z:-0.60 [[ 0.99792528 -0.06362672 -0.00983754 3.57487976] [ 0.06353172 0.99793281 -0.00968636 -0.3058713 ] [ 0.01043352 0.00904127 0.99990469 -0.59788052] [ 0. 0. 0. 1. ]] SLAMing on 39.75719347 meters Centerline goodness : 0.856158 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.31, Z:-0.60 [[ 0.99773632 -0.06651995 -0.00986614 3.57632841] [ 0.06640856 0.99772945 -0.01121856 -0.31323058] [ 0.01059 0.01053797 0.9998884 -0.59860097] [ 0. 0. 0. 1. ]] SLAMing on 39.78719347 meters Centerline goodness : 0.856422 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.32, Z:-0.60 [[ 0.99771167 -0.06682685 -0.01027607 3.57808506] [ 0.06671784 0.99771548 -0.0106088 -0.31592751] [ 0.01096155 0.00989893 0.99989092 -0.59962545] [ 0. 0. 0. 1. ]] SLAMing on 39.81719346999999 meters Centerline goodness : 0.856610 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.32, Z:-0.60 [[ 0.99763092 -0.06792189 -0.01091665 3.58117296] [ 0.06780334 0.99763932 -0.01088587 -0.31778729] [ 0.01163026 0.0101199 0.99988116 -0.60165508] [ 0. 0. 0. 1. ]] SLAMing on 39.84719346999999 meters Centerline goodness : 0.857365 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.32, Z:-0.60 [[ 0.99710067 -0.07532983 -0.0107552 3.58424403] [ 0.07514366 0.9970316 -0.01677545 -0.32095634] [ 0.01198697 0.01591863 0.99980144 -0.60409544] [ 0. 0. 0. 1. ]] SLAMing on 39.877193469999995 meters Centerline goodness : 0.858669 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.32, Z:-0.60 [[ 0.99676563 -0.07966801 -0.01054886 3.58422518] [ 0.07944284 0.99663318 -0.0202764 -0.32313333] [ 0.01212873 0.01937279 0.99973876 -0.6033947 ] [ 0. 0. 0. 1. ]] SLAMing on 39.907193469999996 meters Centerline goodness : 0.858993 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.33, Z:-0.60 [[ 0.99641363 -0.08398334 -0.01032823 3.58390705] [ 0.0837196 0.99620612 -0.02375717 -0.32561152] [ 0.01228426 0.0228073 0.99966441 -0.60219959] [ 0. 0. 0. 1. ]] SLAMing on 39.93719347 meters Centerline goodness : 0.861341 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.33, Z:-0.60 [[ 0.99560971 -0.0931176 -0.00950867 3.58361198] [ 0.09277159 0.99517422 -0.03196403 -0.32764113] [ 0.0124392 0.03094156 0.99944379 -0.60116754] [ 0. 0. 0. 1. ]] SLAMing on 39.96719347 meters Centerline goodness : 0.860803 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.33, Z:-0.60 [[ 0.99552839 -0.09396211 -0.0097136 3.58464233] [ 0.09360113 0.99507543 -0.03261477 -0.32685218] [ 0.01273032 0.03155972 0.99942079 -0.60176198] [ 0. 0. 0. 1. ]] SLAMing on 39.99719347 meters Centerline goodness : 0.862065 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.32, Z:-0.60 [[ 0.99572408 -0.091797 -0.01033756 3.58677127] [ 0.09145074 0.99535528 -0.03007713 -0.3249067 ] [ 0.01305054 0.02900315 0.99949412 -0.60337037] [ 0. 0. 0. 1. ]] SLAMing on 40.02719346999999 meters Centerline goodness : 0.861157 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.32, Z:-0.61 [[ 0.99588082 -0.08996904 -0.01126761 3.58995326] [ 0.08962118 0.99557393 -0.02829486 -0.32081943] [ 0.0137634 0.02716849 0.99953611 -0.605697 ] [ 0. 0. 0. 1. ]] SLAMing on 40.057193469999994 meters Centerline goodness : 0.859645 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.31, Z:-0.61 [[ 0.99618508 -0.08623784 -0.01335362 3.59594678] [ 0.0858989 0.99601087 -0.02416025 -0.3114904 ] [ 0.01538388 0.02292102 0.99961891 -0.60881622] [ 0. 0. 0. 1. ]] SLAMing on 40.087193469999995 meters Centerline goodness : 0.857068 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.31, Z:-0.61 [[ 0.99640427 -0.0835179 -0.01425785 3.61709164] [ 0.08311477 0.99617824 -0.02684853 -0.30692826] [ 0.0164457 0.02556695 0.99953783 -0.61078532] [ 0. 0. 0. 1. ]] SLAMing on 40.11719347 meters Centerline goodness : 0.856981 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.29, Z:-0.61 [[ 0.99662265 -0.0813993 -0.01083727 3.634197 ] [ 0.08100816 0.99617895 -0.03263716 -0.29478767] [ 0.01345251 0.03164903 0.99940851 -0.61347353] [ 0. 0. 0. 1. ]] SLAMing on 40.14719347 meters Centerline goodness : 0.859014 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.29, Z:-0.61 [[ 0.99689053 -0.07840394 -0.00787934 3.65118971] [ 0.07806691 0.99627804 -0.03654624 -0.28658581] [ 0.01071538 0.03581749 0.9993009 -0.61497092] [ 0. 0. 0. 1. ]] SLAMing on 40.17719347 meters Centerline goodness : 0.856473 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.28, Z:-0.62 [[ 0.9972815 -0.07352994 -0.00479225 3.66816038] [ 0.07329637 0.99658754 -0.03795935 -0.27896336] [ 0.00756704 0.03750491 0.99926779 -0.61622247] [ 0. 0. 0. 1. ]] SLAMing on 40.20719346999999 meters Centerline goodness : 0.857320 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.27, Z:-0.62 [[ 9.97691106e-01 -6.78885688e-02 -1.89707454e-03 3.68529557e+00] [ 6.77641920e-02 9.96947127e-01 -3.87871070e-02 -2.71351042e-01] [ 4.52448420e-03 3.85689979e-02 9.99245696e-01 -6.17801105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.237193469999994 meters Centerline goodness : 0.857236 Centerline is valid? [False, False] Translation: X:3.70, Y:-0.25, Z:-0.62 [[ 9.98280396e-01 -5.86161100e-02 6.34329333e-04 3.70363821e+00] [ 5.85996211e-02 9.97600627e-01 -3.68656135e-02 -2.54962060e-01] [ 1.52811151e-03 3.68393907e-02 9.99320031e-01 -6.20733961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.267193469999995 meters Centerline goodness : 0.857959 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.25, Z:-0.62 [[ 9.98590721e-01 -5.30106475e-02 2.53838369e-03 3.72212001e+00] [ 5.30687757e-02 9.97873248e-01 -3.78508287e-02 -2.46249417e-01] [-5.26488237e-04 3.79321952e-02 9.99280177e-01 -6.23059412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.297193469999996 meters Centerline goodness : 0.858776 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.23, Z:-0.63 [[ 9.98986394e-01 -4.48316772e-02 4.03786450e-03 3.74224411e+00] [ 4.49530619e-02 9.98264237e-01 -3.80491120e-02 -2.29561417e-01] [-2.32505021e-03 3.81920596e-02 9.99267712e-01 -6.26105966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.32719347 meters Centerline goodness : 0.859189 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.22, Z:-0.63 [[ 0.99922104 -0.03889464 0.00667167 3.75990639] [ 0.03912281 0.99849639 -0.03839752 -0.22213975] [-0.00516818 0.03862862 0.99924027 -0.62772646] [ 0. 0. 0. 1. ]] SLAMing on 40.35719347 meters Centerline goodness : 0.860328 Centerline is valid? [False, False] Translation: X:3.78, Y:-0.21, Z:-0.63 [[ 0.99946328 -0.03221005 0.00597148 3.78479559] [ 0.03245763 0.99834521 -0.04746945 -0.21489182] [-0.0044326 0.04763779 0.99885484 -0.62530809] [ 0. 0. 0. 1. ]] SLAMing on 40.38719346999999 meters Centerline goodness : 0.859549 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.21, Z:-0.63 [[ 0.99951801 -0.02965751 0.00917494 3.80171162] [ 0.03008122 0.99828956 -0.05013067 -0.20978412] [-0.0076725 0.0503825 0.99870052 -0.62589551] [ 0. 0. 0. 1. ]] SLAMing on 40.417193469999994 meters Centerline goodness : 0.861699 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.20, Z:-0.62 [[ 0.99953016 -0.02860069 0.01102043 3.82569511] [ 0.02909216 0.99845371 -0.04736906 -0.20081299] [-0.0096486 0.04766742 0.99881666 -0.62419322] [ 0. 0. 0. 1. ]] SLAMing on 40.447193469999995 meters Centerline goodness : 0.863005 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.20, Z:-0.62 [[ 0.99961707 -0.02553232 0.0106684 3.8263932 ] [ 0.02598409 0.99866673 -0.04460491 -0.19765267] [-0.00951531 0.04486503 0.99894774 -0.6240513 ] [ 0. 0. 0. 1. ]] SLAMing on 40.477193469999996 meters Centerline goodness : 0.863693 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.19, Z:-0.62 [[ 0.99966097 -0.02207089 0.01381411 3.84381812] [ 0.02267861 0.99870678 -0.04550227 -0.19343741] [-0.01279197 0.04580013 0.99886872 -0.62481121] [ 0. 0. 0. 1. ]] SLAMing on 40.50719347 meters Centerline goodness : 0.863748 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.19, Z:-0.62 [[ 0.99973824 -0.01853121 0.013418 3.84393148] [ 0.01907896 0.99893902 -0.04191459 -0.19251528] [-0.01262704 0.04215962 0.99903109 -0.62382604] [ 0. 0. 0. 1. ]] SLAMing on 40.53719347 meters Centerline goodness : 0.867760 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.19, Z:-0.62 [[ 0.9997805 -0.01592501 0.01361409 3.8413853 ] [ 0.01645803 0.99906493 -0.03997998 -0.18970957] [-0.01296468 0.04019527 0.99910773 -0.62059892] [ 0. 0. 0. 1. ]] SLAMing on 40.56719346999999 meters Centerline goodness : 0.868459 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.19, Z:-0.62 [[ 0.99982859 -0.0128818 0.01329869 3.84184202] [ 0.01336309 0.99923478 -0.03675976 -0.18816415] [-0.01281499 0.03693117 0.99923564 -0.62028101] [ 0. 0. 0. 1. ]] SLAMing on 40.59719346999999 meters Centerline goodness : 0.871495 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.18, Z:-0.62 [[ 0.99983967 -0.00974429 0.0150225 3.86156768] [ 0.01029606 0.9992585 -0.03710034 -0.17938769] [-0.01464985 0.03724906 0.99919862 -0.62219901] [ 0. 0. 0. 1. ]] SLAMing on 40.627193469999995 meters Centerline goodness : 0.870321 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.18, Z:-0.62 [[ 0.99986281 -0.00838297 0.01428574 3.86426678] [ 0.00888497 0.99933208 -0.03544645 -0.17759697] [-0.01397905 0.03556852 0.99926947 -0.62353004] [ 0. 0. 0. 1. ]] SLAMing on 40.657193469999996 meters Centerline goodness : 0.869786 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.18, Z:-0.62 [[ 0.99986482 -0.00887593 0.01384046 3.86508772] [ 0.00936934 0.99930779 -0.03600225 -0.17695137] [-0.01351132 0.03612706 0.99925586 -0.6233252 ] [ 0. 0. 0. 1. ]] SLAMing on 40.68719347 meters Centerline goodness : 0.871411 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.18, Z:-0.62 [[ 0.99985949 -0.01005353 0.01341404 3.86603674] [ 0.01054617 0.99925312 -0.03717497 -0.17637218] [-0.01303029 0.03731121 0.99921874 -0.62314659] [ 0. 0. 0. 1. ]] SLAMing on 40.71719347 meters Centerline goodness : 0.872301 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.18, Z:-0.62 [[ 0.99989265 -0.00845094 0.01196916 3.88769209] [ 0.00889332 0.99926071 -0.03740243 -0.17529298] [-0.01164422 0.03750486 0.9992286 -0.6248642 ] [ 0. 0. 0. 1. ]] SLAMing on 40.74719347 meters Centerline goodness : 0.869944 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.17, Z:-0.63 [[ 0.99991667 -0.00664667 0.01106678 3.89130714] [ 0.00703197 0.99935734 -0.03514913 -0.17372528] [-0.01082604 0.03522403 0.9993208 -0.62731944] [ 0. 0. 0. 1. ]] SLAMing on 40.77719346999999 meters Centerline goodness : 0.869601 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.17, Z:-0.63 [[ 0.99995619 -0.00673252 0.00650327 3.90415363] [ 0.00692204 0.99953863 -0.02957382 -0.17087925] [-0.00630117 0.02961754 0.99954144 -0.62868324] [ 0. 0. 0. 1. ]] SLAMing on 40.807193469999994 meters Centerline goodness : 0.870597 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.17, Z:-0.63 [[ 9.99974535e-01 -3.88119448e-03 5.98879786e-03 3.90510446e+00] [ 4.03384614e-03 9.99661778e-01 -2.56915735e-02 -1.73264176e-01] [-5.88705832e-03 2.57150771e-02 9.99651978e-01 -6.28463654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.837193469999995 meters Centerline goodness : 0.872457 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.18, Z:-0.63 [[ 9.99951797e-01 -1.88676204e-03 9.63558990e-03 3.92225146e+00] [ 2.13330071e-03 9.99668955e-01 -2.56404061e-02 -1.75354425e-01] [-9.58402274e-03 2.56597257e-02 9.99624792e-01 -6.28459961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.86719347 meters Centerline goodness : 0.872183 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.18, Z:-0.63 [[ 9.99959687e-01 8.95913392e-04 8.93435295e-03 3.92455186e+00] [-6.94497922e-04 9.99746115e-01 -2.25216096e-02 -1.77528221e-01] [-8.95226206e-03 2.25144968e-02 9.99706434e-01 -6.29505169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.89719347 meters Centerline goodness : 0.872801 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.17, Z:-0.63 [[ 0.99991471 0.01181986 0.00555544 3.96904207] [-0.01166609 0.99956896 -0.02694079 -0.17415954] [-0.00587148 0.02687369 0.99962159 -0.63020953] [ 0. 0. 0. 1. ]] SLAMing on 40.92719347 meters Centerline goodness : 0.872801 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.17, Z:-0.63 [[ 0.9999149 0.01178847 0.00558823 3.96900309] [-0.01163387 0.99956949 -0.02693477 -0.17416947] [-0.00590334 0.02686747 0.99962157 -0.63021732] [ 0. 0. 0. 1. ]] SLAMing on 40.95719346999999 meters Centerline goodness : 0.873431 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.17, Z:-0.63 [[ 9.99865586e-01 1.60590201e-02 3.30408547e-03 3.95121400e+00] [-1.59782546e-02 9.99603872e-01 -2.31688239e-02 -1.71118803e-01] [-3.67484524e-03 2.31129162e-02 9.99726107e-01 -6.29903519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.987193469999994 meters Centerline goodness : 0.873657 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.17, Z:-0.63 [[ 9.99787103e-01 2.03957821e-02 3.12424802e-03 3.95173497e+00] [-2.03326768e-02 9.99611771e-01 -1.90496433e-02 -1.70780947e-01] [-3.51156747e-03 1.89820633e-02 9.99813658e-01 -6.29841252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.017193469999995 meters Centerline goodness : 0.872366 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.17, Z:-0.63 [[ 9.99789064e-01 2.05307744e-02 -5.61628831e-04 3.93474888e+00] [-2.05376623e-02 9.99616844e-01 -1.85572036e-02 -1.74539859e-01] [ 1.80419879e-04 1.85648238e-02 9.99827643e-01 -6.29873062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.047193469999996 meters Centerline goodness : 0.874272 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.18, Z:-0.63 [[ 9.99790987e-01 2.04352145e-02 -6.19421407e-04 3.93522013e+00] [-2.04429825e-02 9.99634058e-01 -1.77153560e-02 -1.78114259e-01] [ 2.57177636e-04 1.77243161e-02 9.99842879e-01 -6.30298709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.07719347 meters Centerline goodness : 0.874327 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.18, Z:-0.63 [[ 9.99819702e-01 1.89514619e-02 -1.18521477e-03 3.93730818e+00] [-1.89698485e-02 9.99655576e-01 -1.81348768e-02 -1.81445459e-01] [ 8.41124123e-04 1.81540904e-02 9.99834847e-01 -6.31470793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.10719347 meters Centerline goodness : 0.876353 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.18, Z:-0.63 [[ 9.99885687e-01 1.50621757e-02 -1.32020796e-03 3.93724193e+00] [-1.50869457e-02 9.99658077e-01 -2.13568080e-02 -1.83559643e-01] [ 9.98076552e-04 2.13742845e-02 9.99771046e-01 -6.31086600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.13719346999999 meters Centerline goodness : 0.877504 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.19, Z:-0.63 [[ 9.99969516e-01 7.67773761e-03 -1.42095585e-03 3.93647058e+00] [-7.71371664e-03 9.99596578e-01 -2.73345978e-02 -1.89320224e-01] [ 1.21051473e-03 2.73447253e-02 9.99625330e-01 -6.29862903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.167193469999994 meters Centerline goodness : 0.878161 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.19, Z:-0.63 [[ 9.99975111e-01 6.82549481e-03 -1.78594407e-03 3.93763815e+00] [-6.87138214e-03 9.99609361e-01 -2.70907767e-02 -1.92760080e-01] [ 1.60033846e-03 2.71023744e-02 9.99631382e-01 -6.30362745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.197193469999995 meters Centerline goodness : 0.878868 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.19, Z:-0.63 [[ 9.99978515e-01 6.19213664e-03 -2.15102159e-03 3.93873347e+00] [-6.24772154e-03 9.99619285e-01 -2.68747210e-02 -1.94850647e-01] [ 1.98379072e-03 2.68875826e-02 9.99636495e-01 -6.30851334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.227193469999996 meters Centerline goodness : 0.879021 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.20, Z:-0.63 [[ 9.99992080e-01 2.59188675e-03 -3.02013776e-03 3.94324976e+00] [-2.68064825e-03 9.99553293e-01 -2.97662209e-02 -1.95945450e-01] [ 2.94163798e-03 2.97740811e-02 9.99552325e-01 -6.34411620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.25719347 meters Centerline goodness : 0.878437 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.20, Z:-0.64 [[ 9.99992290e-01 6.87616423e-04 -3.86621753e-03 3.94675886e+00] [-8.07715804e-04 9.99514440e-01 -3.11485402e-02 -1.96186114e-01] [ 3.84292200e-03 3.11514228e-02 9.99507289e-01 -6.36676135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.28719347 meters Centerline goodness : 0.879196 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.20, Z:-0.64 [[ 9.99988670e-01 -1.24197459e-03 -4.59537096e-03 3.94968062e+00] [ 1.09209817e-03 9.99471963e-01 -3.24746327e-02 -1.96434460e-01] [ 4.63327710e-03 3.24692462e-02 9.99461996e-01 -6.38435684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.31719346999999 meters Centerline goodness : 0.880531 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.19, Z:-0.64 [[ 0.99994701 -0.00670492 -0.00781114 3.95564171] [ 0.00643711 0.99940718 -0.03382088 -0.1948161 ] [ 0.00803327 0.0337688 0.99939739 -0.63563676] [ 0. 0. 0. 1. ]] SLAMing on 41.34719346999999 meters Centerline goodness : 0.879937 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.19, Z:-0.64 [[ 0.99993659 -0.00781952 -0.00810411 3.95600071] [ 0.00753393 0.99936968 -0.03469117 -0.19382881] [ 0.00837027 0.03462792 0.99936522 -0.63509263] [ 0. 0. 0. 1. ]] SLAMing on 41.377193469999995 meters Centerline goodness : 0.883191 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.19, Z:-0.63 [[ 0.99992613 -0.00895728 -0.00821645 3.95567134] [ 0.00866062 0.99933366 -0.03545732 -0.19328413] [ 0.00852857 0.03538354 0.99933741 -0.63396057] [ 0. 0. 0. 1. ]] SLAMing on 41.407193469999996 meters Centerline goodness : 0.882433 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.19, Z:-0.63 [[ 0.99991345 -0.01189416 -0.00562409 3.96061416] [ 0.01173143 0.99953538 -0.02813188 -0.19399254] [ 0.00595608 0.02806346 0.9995884 -0.63011794] [ 0. 0. 0. 1. ]] SLAMing on 41.43719347 meters Centerline goodness : 0.883717 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.19, Z:-0.63 [[ 0.99989655 -0.01311681 -0.00590292 3.96090142] [ 0.01293923 0.99949049 -0.02917771 -0.19220293] [ 0.00628263 0.02909832 0.99955681 -0.62956429] [ 0. 0. 0. 1. ]] SLAMing on 41.46719347 meters Centerline goodness : 0.883353 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.19, Z:-0.63 [[ 0.99984781 -0.01634994 -0.00608563 3.96332498] [ 0.01614353 0.99933983 -0.0325469 -0.18555138] [ 0.00661375 0.0324437 0.99945168 -0.63176634] [ 0. 0. 0. 1. ]] SLAMing on 41.49719347 meters Centerline goodness : 0.881207 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.18, Z:-0.63 [[ 0.99981548 -0.01806964 -0.00651952 3.96588989] [ 0.01783486 0.9992479 -0.03443187 -0.18203954] [ 0.00713679 0.03430924 0.99938578 -0.6338561 ] [ 0. 0. 0. 1. ]] SLAMing on 41.52719346999999 meters Centerline goodness : 0.880161 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.18, Z:-0.64 [[ 0.99975406 -0.0211274 -0.00674224 3.96885431] [ 0.02085736 0.99906454 -0.03788154 -0.17509907] [ 0.00753627 0.0377316 0.99925949 -0.63670437] [ 0. 0. 0. 1. ]] SLAMing on 41.557193469999994 meters Centerline goodness : 0.877944 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.17, Z:-0.64 [[ 0.99972128 -0.02254175 -0.00701716 3.9705629 ] [ 0.02224562 0.998962 -0.03974997 -0.17097075] [ 0.00790591 0.03958279 0.99918502 -0.63804401] [ 0. 0. 0. 1. ]] SLAMing on 41.587193469999995 meters Centerline goodness : 0.875590 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.17, Z:-0.64 [[ 0.99972285 -0.02230497 -0.00753027 3.97362528] [ 0.02198954 0.9989716 -0.03965104 -0.16720768] [ 0.00840694 0.03947446 0.99918521 -0.64035234] [ 0. 0. 0. 1. ]] SLAMing on 41.61719347 meters Centerline goodness : 0.875087 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.16, Z:-0.64 [[ 0.99974598 -0.02098029 -0.00823378 3.97690851] [ 0.02063664 0.99899413 -0.03981022 -0.15779142] [ 0.00906073 0.03963019 0.99917333 -0.64269758] [ 0. 0. 0. 1. ]] SLAMing on 41.64719347 meters Centerline goodness : 0.873266 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.15, Z:-0.64 [[ 0.99977386 -0.01924484 -0.0090481 3.98006585] [ 0.01888131 0.99907331 -0.03867845 -0.15306769] [ 0.00978407 0.03849886 0.99921074 -0.64468833] [ 0. 0. 0. 1. ]] SLAMing on 41.67719347 meters Centerline goodness : 0.872409 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.15, Z:-0.65 [[ 0.99981032 -0.01697076 -0.00955553 3.98215964] [ 0.01660306 0.99916516 -0.03732733 -0.14704111] [ 0.01018103 0.0371616 0.99925741 -0.64597375] [ 0. 0. 0. 1. ]] SLAMing on 41.70719346999999 meters Centerline goodness : 0.870436 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.13, Z:-0.65 [[ 0.99993707 -0.01018602 -0.00470083 3.9974318 ] [ 0.0100097 0.99929738 -0.03611853 -0.12965617] [ 0.00506543 0.0360692 0.99933646 -0.64817321] [ 0. 0. 0. 1. ]] SLAMing on 41.737193469999994 meters Centerline goodness : 0.867637 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.12, Z:-0.65 [[ 0.99997588 -0.00504377 -0.00477474 3.99692883] [ 0.00488861 0.99947698 -0.03196652 -0.12182563] [ 0.00493348 0.03194241 0.99947754 -0.64682841] [ 0. 0. 0. 1. ]] SLAMing on 41.767193469999995 meters Centerline goodness : 0.868066 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.11, Z:-0.64 [[ 9.99989377e-01 -3.78583754e-04 -4.59375231e-03 3.99550655e+00] [ 2.48088071e-04 9.99597329e-01 -2.83745977e-02 -1.14089261e-01] [ 4.60264470e-03 2.83731567e-02 9.99586804e-01 -6.44877309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.797193469999996 meters Centerline goodness : 0.870599 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.10, Z:-0.64 [[ 9.99990758e-01 4.26614110e-03 5.32721082e-04 4.00913605e+00] [-4.24767805e-03 9.99515056e-01 -3.08481653e-02 -9.53135729e-02] [-6.64065368e-04 3.08456174e-02 9.99523940e-01 -6.44660360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.82719347 meters Centerline goodness : 0.871489 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.09, Z:-0.64 [[ 9.99961814e-01 8.72129649e-03 5.56535652e-04 4.00950366e+00] [-8.70268622e-03 9.99583606e-01 -2.75114281e-02 -8.70731228e-02] [-7.96239235e-04 2.75055342e-02 9.99621334e-01 -6.44374240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.85719347 meters Centerline goodness : 0.872671 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.08, Z:-0.64 [[ 9.99902966e-01 1.39102391e-02 7.50649530e-04 4.00925617e+00] [-1.38884684e-02 9.99620908e-01 -2.37728904e-02 -7.80109255e-02] [-1.08105155e-03 2.37601582e-02 9.99717103e-01 -6.43616631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.88719346999999 meters Centerline goodness : 0.873553 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.07, Z:-0.64 [[ 9.99804203e-01 1.97761426e-02 6.78093305e-04 4.00967411e+00] [-1.97590057e-02 9.99611632e-01 -1.96511295e-02 -6.84308726e-02] [-1.06645350e-03 1.96338834e-02 9.99806668e-01 -6.42962075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.917193469999994 meters Centerline goodness : 0.876690 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.05, Z:-0.64 [[ 9.99476959e-01 3.23389367e-02 5.06889592e-05 4.01157750e+00] [-3.23349854e-02 9.99377006e-01 -1.41438863e-02 -4.74296105e-02] [-5.08055623e-04 1.41348494e-02 9.99899969e-01 -6.42696886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.947193469999995 meters Centerline goodness : 0.874974 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.04, Z:-0.64 [[ 9.99241443e-01 3.89424141e-02 -1.66916386e-04 4.01331133e+00] [-3.89422906e-02 9.99198610e-01 -9.25399294e-03 -3.94003699e-02] [-1.93590204e-04 9.25347336e-03 9.99957167e-01 -6.43539589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.977193469999996 meters Centerline goodness : 0.873982 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.03, Z:-0.64 [[ 9.99088004e-01 4.26961990e-02 -4.41106387e-04 4.01494720e+00] [-4.26982895e-02 9.99060951e-01 -7.35343002e-03 -3.22005608e-02] [ 1.26728654e-04 7.36555821e-03 9.99972866e-01 -6.44471924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.00719347 meters Centerline goodness : 0.877280 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.02, Z:-0.65 [[ 9.98815725e-01 4.86439948e-02 -9.53982560e-04 4.01757994e+00] [-4.86473033e-02 9.98808707e-01 -3.82182611e-03 -2.22529163e-02] [ 7.66937198e-04 3.86370870e-03 9.99992242e-01 -6.45676210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.03719347 meters Centerline goodness : 0.876580 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.02, Z:-0.65 [[ 9.98657290e-01 5.17923392e-02 -1.08200414e-03 4.01824153e+00] [-5.17939078e-02 9.98656704e-01 -1.47580228e-03 -1.80489308e-02] [ 1.00411543e-03 1.52986192e-03 9.99998326e-01 -6.45604038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.06719346999999 meters Centerline goodness : 0.877054 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.01, Z:-0.64 [[ 9.98485738e-01 5.49996484e-02 -1.12682395e-03 4.01822465e+00] [-5.49985769e-02 9.98485971e-01 9.60767451e-04 -1.35763525e-02] [ 1.17795978e-03 -8.97338883e-04 9.99998904e-01 -6.44749521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.09719346999999 meters Centerline goodness : 0.878761 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.01, Z:-0.64 [[ 9.98291652e-01 5.84158402e-02 -1.16930797e-03 4.01809146e+00] [-5.84113968e-02 9.98286359e-01 3.52913232e-03 -9.08943496e-03] [ 1.37346142e-03 -3.45480242e-03 9.99993089e-01 -6.43698237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.127193469999995 meters Centerline goodness : 0.878413 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.00, Z:-0.64 [[ 9.97789716e-01 6.64414220e-02 -1.10413137e-03 4.01880271e+00] [-6.64264818e-02 9.97737528e-01 1.03608352e-02 -4.30294005e-03] [ 1.79002192e-03 -1.02645912e-02 9.99945716e-01 -6.43206103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.157193469999996 meters Centerline goodness : 0.878485 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.00, Z:-0.64 [[ 9.97759935e-01 6.68811570e-02 -1.42237946e-03 4.01968844e+00] [-6.68637027e-02 9.97712073e-01 9.99318550e-03 -2.50261620e-03] [ 2.08748096e-03 -9.87569455e-03 9.99949055e-01 -6.43466884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.18719347 meters Centerline goodness : 0.877498 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.00, Z:-0.64 [[ 9.97732963e-01 6.72785051e-02 -1.59274795e-03 4.02007483e+00] [-6.72595686e-02 9.97686428e-01 9.89659196e-03 -1.86492841e-03] [ 2.25489092e-03 -9.76702848e-03 9.99949759e-01 -6.43540434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.21719347 meters Centerline goodness : 0.876502 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.00, Z:-0.65 [[ 9.97472642e-01 7.09318548e-02 4.12326348e-03 4.03130581e+00] [-7.09459257e-02 9.97474461e-01 3.37264427e-03 -8.96485728e-04] [-3.87362210e-03 -3.65664913e-03 9.99985812e-01 -6.47806710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.24719346999999 meters Centerline goodness : 0.876720 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.00, Z:-0.65 [[ 9.97448914e-01 7.12756960e-02 3.92937561e-03 4.03227109e+00] [-7.12899747e-02 9.97449057e-01 3.62195849e-03 -1.14743319e-03] [-3.66119438e-03 -3.89284365e-03 9.99985721e-01 -6.48588799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.27719346999999 meters Centerline goodness : 0.872878 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.00, Z:-0.65 [[ 9.97433165e-01 7.15088461e-02 3.68326657e-03 4.03347112e+00] [-7.15236108e-02 9.97430700e-01 4.04613793e-03 -2.04695579e-03] [-3.38446850e-03 -4.29919269e-03 9.99985031e-01 -6.49623112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.307193469999994 meters Centerline goodness : 0.870739 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.00, Z:-0.65 [[ 9.97578618e-01 6.94881214e-02 2.88128953e-03 4.03647434e+00] [-6.94939606e-02 9.97580410e-01 1.97845128e-03 -2.99825940e-03] [-2.73683913e-03 -2.17389291e-03 9.99993892e-01 -6.51912065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.337193469999995 meters Centerline goodness : 0.867123 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.01, Z:-0.65 [[ 9.98113572e-01 6.13324300e-02 -2.76222920e-03 4.04786674e+00] [-6.13230728e-02 9.98112335e-01 3.35366415e-03 -9.61886235e-03] [ 2.96270341e-03 -3.17794932e-03 9.99990561e-01 -6.51334874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.36719347 meters Centerline goodness : 0.867338 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.01, Z:-0.65 [[ 9.98583128e-01 5.32062228e-02 9.12945142e-04 4.05884478e+00] [-5.32107126e-02 9.98565729e-01 5.92490276e-03 -1.35555689e-02] [-5.96394035e-04 -5.96508639e-03 9.99982031e-01 -6.54262679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.39719347 meters Centerline goodness : 0.868856 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.02, Z:-0.65 [[ 9.99199177e-01 3.99801500e-02 1.60986337e-03 4.07384485e+00] [-3.99983540e-02 9.99107531e-01 1.35747564e-02 -2.29048581e-02] [-1.06570582e-03 -1.36282773e-02 9.99906563e-01 -6.50847754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.42719347 meters Centerline goodness : 0.869492 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.03, Z:-0.65 [[ 9.99473594e-01 3.23113319e-02 2.91779231e-03 4.09107389e+00] [-3.23739610e-02 9.99166854e-01 2.48500549e-02 -2.64953594e-02] [-2.11242299e-03 -2.49314341e-02 9.99686932e-01 -6.48709787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.45719346999999 meters Centerline goodness : 0.869967 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.03, Z:-0.65 [[ 9.99590081e-01 2.84988345e-02 2.73618203e-03 4.09108371e+00] [-2.85514219e-02 9.99358392e-01 2.16245497e-02 -2.70361254e-02] [-2.11815201e-03 -2.16938073e-02 9.99762418e-01 -6.47762462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.487193469999994 meters Centerline goodness : 0.870015 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.03, Z:-0.64 [[ 9.99702398e-01 2.43729645e-02 -1.03611777e-03 4.09813448e+00] [-2.43403098e-02 9.99403856e-01 2.44843050e-02 -2.86965720e-02] [ 1.63225519e-03 -2.44517990e-02 9.99699678e-01 -6.43931795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.517193469999995 meters Centerline goodness : 0.870585 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.03, Z:-0.64 [[ 9.99824299e-01 1.83638513e-02 -3.76020876e-03 4.10324894e+00] [-1.82532982e-02 9.99452883e-01 2.75817342e-02 -3.04188689e-02] [ 4.26465835e-03 -2.75082519e-02 9.99612479e-01 -6.37432484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.547193469999996 meters Centerline goodness : 0.871712 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.03, Z:-0.64 [[ 9.99826458e-01 1.81726328e-02 -4.09993563e-03 4.10346852e+00] [-1.80502201e-02 9.99440919e-01 2.81431742e-02 -3.09776923e-02] [ 4.60907901e-03 -2.80642854e-02 9.99595494e-01 -6.36473324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.57719347 meters Centerline goodness : 0.872068 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.03, Z:-0.64 [[ 0.99989048 0.0141678 -0.00427838 4.10346249] [-0.01406243 0.99961952 0.02372875 -0.0289603 ] [ 0.00461294 -0.02366598 0.99970928 -0.6358718 ] [ 0. 0. 0. 1. ]] SLAMing on 42.60719347 meters Centerline goodness : 0.871827 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.03, Z:-0.63 [[ 0.99994951 0.00916168 -0.00412876 4.10264789] [-0.00908173 0.99977854 0.01898387 -0.02791453] [ 0.00430177 -0.01894541 0.99981127 -0.6349398 ] [ 0. 0. 0. 1. ]] SLAMing on 42.63719346999999 meters Centerline goodness : 0.872471 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.03, Z:-0.63 [[ 0.99997817 0.00503745 -0.00427574 4.10286028] [-0.00497422 0.99987996 0.01467393 -0.02676874] [ 0.00434914 -0.01465234 0.99988319 -0.63481486] [ 0. 0. 0. 1. ]] SLAMing on 42.667193469999994 meters Centerline goodness : 0.871735 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.03, Z:-0.64 [[ 9.99990340e-01 1.05465018e-03 -4.26698263e-03 4.10320536e+00] [-1.01029579e-03 9.99945578e-01 1.03836264e-02 -2.53258429e-02] [ 4.27770151e-03 -1.03792151e-02 9.99936985e-01 -6.35234932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.697193469999995 meters Centerline goodness : 0.870999 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.02, Z:-0.64 [[ 9.99991775e-01 -4.75896047e-04 -4.02785310e-03 4.10334927e+00] [ 5.13392385e-04 9.99956498e-01 9.31335305e-03 -2.44840435e-02] [ 4.02324570e-03 -9.31534432e-03 9.99948518e-01 -6.35941772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.727193469999996 meters Centerline goodness : 0.873328 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.02, Z:-0.64 [[ 9.99991429e-01 -1.19775833e-03 -3.96326722e-03 4.10309206e+00] [ 1.23214321e-03 9.99961527e-01 8.68485403e-03 -2.35819654e-02] [ 3.95271238e-03 -8.68966291e-03 9.99954432e-01 -6.35652597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.75719347 meters Centerline goodness : 0.871957 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.02, Z:-0.64 [[ 9.99990415e-01 -1.86957541e-03 -3.95923776e-03 4.10305188e+00] [ 1.90102767e-03 9.99966550e-01 7.95521256e-03 -2.23473998e-02] [ 3.94423245e-03 -7.96266292e-03 9.99960519e-01 -6.35502646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.78719347 meters Centerline goodness : 0.871442 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.02, Z:-0.64 [[ 9.99987065e-01 -3.15626581e-03 -3.98858028e-03 4.10472665e+00] [ 3.17955461e-03 9.99977857e-01 5.84608145e-03 -1.62126387e-02] [ 3.97004017e-03 -5.85868773e-03 9.99974957e-01 -6.37260860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.81719346999999 meters Centerline goodness : 0.870905 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.01, Z:-0.64 [[ 9.99992258e-01 -3.93283638e-04 -3.91527090e-03 4.10486254e+00] [ 4.26107311e-04 9.99964744e-01 8.38619877e-03 -1.32352203e-02] [ 3.91183471e-03 -8.38780217e-03 9.99957170e-01 -6.37586225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.84719346999999 meters Centerline goodness : 0.870905 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.01, Z:-0.64 [[ 9.99992274e-01 -3.94840743e-04 -3.91104127e-03 4.10485566e+00] [ 4.27608955e-04 9.99964787e-01 8.38109604e-03 -1.32209122e-02] [ 3.90759436e-03 -8.38270369e-03 9.99957230e-01 -6.37587288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.877193469999995 meters Centerline goodness : 0.870902 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.01, Z:-0.64 [[ 9.99992704e-01 -6.14621948e-04 -3.77026626e-03 4.10467776e+00] [ 6.40162608e-04 9.99976833e-01 6.77677016e-03 -7.15267846e-03] [ 3.76601376e-03 -6.77913429e-03 9.99969930e-01 -6.37425886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.907193469999996 meters Centerline goodness : 0.869966 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.00, Z:-0.64 [[ 9.99989917e-01 2.42139993e-03 -3.78184716e-03 4.10467477e+00] [-2.38844140e-03 9.99959343e-01 8.69526495e-03 -1.67051094e-03] [ 3.80274811e-03 -8.68614456e-03 9.99955044e-01 -6.37201379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.93719347 meters Centerline goodness : 0.869878 Centerline is valid? [False, False] Translation: X:4.11, Y:0.01, Z:-0.64 [[ 9.99916593e-01 1.23578619e-02 -3.75369866e-03 4.10592742e+00] [-1.22985074e-02 9.99805097e-01 1.54438931e-02 1.09233232e-02] [ 3.94382055e-03 -1.53964401e-02 9.99873690e-01 -6.38419352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.96719347 meters Centerline goodness : 0.869380 Centerline is valid? [False, False] Translation: X:4.11, Y:0.02, Z:-0.64 [[ 9.99862796e-01 1.61466921e-02 -3.69785522e-03 4.10671240e+00] [-1.60799249e-02 9.99718868e-01 1.74247126e-02 1.86915827e-02] [ 3.97816711e-03 -1.73628606e-02 9.99841340e-01 -6.39144019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.99719346999999 meters Centerline goodness : 0.872017 Centerline is valid? [False, False] Translation: X:4.11, Y:0.03, Z:-0.64 [[ 9.99800677e-01 1.96134549e-02 -3.73089353e-03 4.10775690e+00] [-1.95393801e-02 9.99629477e-01 1.89504894e-02 2.63093646e-02] [ 4.10119572e-03 -1.88738128e-02 9.99813462e-01 -6.40022234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.02719346999999 meters Centerline goodness : 0.871602 Centerline is valid? [False, False] Translation: X:4.11, Y:0.04, Z:-0.64 [[ 0.99960214 0.02789953 -0.00414568 4.11040738] [-0.02779811 0.9993539 0.02278248 0.03816946] [ 0.00477862 -0.02265817 0.99973185 -0.6413537 ] [ 0. 0. 0. 1. ]] SLAMing on 43.057193469999994 meters Centerline goodness : 0.870736 Centerline is valid? [False, False] Translation: X:4.11, Y:0.04, Z:-0.64 [[ 0.99949267 0.03157589 -0.00416764 4.11112092] [-0.03146087 0.99918577 0.02525886 0.0424041 ] [ 0.00496182 -0.02511493 0.99967226 -0.64174873] [ 0. 0. 0. 1. ]] SLAMing on 43.087193469999995 meters Centerline goodness : 0.873785 Centerline is valid? [False, False] Translation: X:4.11, Y:0.05, Z:-0.64 [[ 0.99936786 0.03529675 -0.00424464 4.11188265] [-0.03516413 0.99898749 0.02806192 0.04592896] [ 0.00523084 -0.02789492 0.99959717 -0.642127 ] [ 0. 0. 0. 1. ]] SLAMing on 43.11719347 meters Centerline goodness : 0.873564 Centerline is valid? [False, False] Translation: X:4.11, Y:0.05, Z:-0.64 [[ 0.99922724 0.03905883 -0.00439719 4.11308067] [-0.03890386 0.99875993 0.03106595 0.0490542 ] [ 0.00560513 -0.03087088 0.99950766 -0.64291194] [ 0. 0. 0. 1. ]] SLAMing on 43.14719347 meters Centerline goodness : 0.872343 Centerline is valid? [False, False] Translation: X:4.12, Y:0.06, Z:-0.64 [[ 0.9988421 0.04773636 -0.00597559 4.11619384] [-0.0476003 0.99864255 0.02114857 0.05622517] [ 0.00697703 -0.02083965 0.99975849 -0.64464843] [ 0. 0. 0. 1. ]] SLAMing on 43.17719347 meters Centerline goodness : 0.868918 Centerline is valid? [False, False] Translation: X:4.12, Y:0.06, Z:-0.65 [[ 0.99881919 0.04817407 -0.00628289 4.11765382] [-0.04803361 0.99862783 0.02086235 0.0582851 ] [ 0.00727929 -0.02053592 0.99976262 -0.64565815] [ 0. 0. 0. 1. ]] SLAMing on 43.20719346999999 meters Centerline goodness : 0.868231 Centerline is valid? [False, False] Translation: X:4.12, Y:0.06, Z:-0.65 [[ 0.99879571 0.0486128 -0.0066271 4.11859949] [-0.04846495 0.99860633 0.02089375 0.05856526] [ 0.00763356 -0.02054741 0.99975974 -0.64591127] [ 0. 0. 0. 1. ]] SLAMing on 43.237193469999994 meters Centerline goodness : 0.871250 Centerline is valid? [False, False] Translation: X:4.12, Y:0.06, Z:-0.65 [[ 0.99877209 0.04907828 -0.00675495 4.11892008] [-0.04892509 0.99857677 0.02123157 0.05781073] [ 0.00778734 -0.02087502 0.99975176 -0.64584072] [ 0. 0. 0. 1. ]] SLAMing on 43.267193469999995 meters Centerline goodness : 0.870344 Centerline is valid? [False, False] Translation: X:4.12, Y:0.06, Z:-0.64 [[ 9.98643019e-01 5.19167834e-02 -4.09498857e-03 4.12455222e+00] [-5.18580218e-02 9.98565301e-01 1.33448446e-02 5.55293407e-02] [ 4.78193491e-03 -1.31143779e-02 9.99902568e-01 -6.43053138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.297193469999996 meters Centerline goodness : 0.871706 Centerline is valid? [False, False] Translation: X:4.12, Y:0.05, Z:-0.64 [[ 0.99859803 0.05276498 -0.0042223 4.12490315] [-0.05269987 0.99850834 0.01427682 0.05349669] [ 0.00496932 -0.01403429 0.99988917 -0.64303172] [ 0. 0. 0. 1. ]] SLAMing on 43.32719347 meters Centerline goodness : 0.869852 Centerline is valid? [False, False] Translation: X:4.13, Y:0.05, Z:-0.64 [[ 0.99848694 0.05482457 -0.00425353 4.12593133] [-0.0547458 0.99835838 0.01683553 0.04824607] [ 0.00516955 -0.0165772 0.99984922 -0.64400629] [ 0. 0. 0. 1. ]] SLAMing on 43.35719347 meters Centerline goodness : 0.867600 Centerline is valid? [False, False] Translation: X:4.15, Y:0.04, Z:-0.65 [[ 9.98522681e-01 5.42634446e-02 -2.81669357e-03 4.14563824e+00] [-5.41996354e-02 9.98345409e-01 1.92053191e-02 4.33069736e-02] [ 3.85417986e-03 -1.90242830e-02 9.99811593e-01 -6.45302226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.38719346999999 meters Centerline goodness : 0.867982 Centerline is valid? [False, False] Translation: X:4.15, Y:0.04, Z:-0.65 [[ 9.98672315e-01 5.14219008e-02 -3.06505001e-03 4.14600994e+00] [-5.13645574e-02 9.98543326e-01 1.65199290e-02 4.02948635e-02] [ 3.91007139e-03 -1.63405608e-02 9.99858839e-01 -6.45467227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.417193469999994 meters Centerline goodness : 0.869509 Centerline is valid? [False, False] Translation: X:4.16, Y:0.03, Z:-0.65 [[ 9.98783659e-01 4.93019872e-02 7.19377075e-04 4.16209423e+00] [-4.93064857e-02 9.98581725e-01 2.00850577e-02 2.68175327e-02] [ 2.71876460e-04 -2.00960974e-02 9.99798016e-01 -6.47311445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.447193469999995 meters Centerline goodness : 0.870358 Centerline is valid? [False, False] Translation: X:4.16, Y:0.02, Z:-0.65 [[ 9.98911441e-01 4.66454709e-02 3.63529948e-04 4.16267414e+00] [-4.66443281e-02 9.98744663e-01 1.82593797e-02 2.09628439e-02] [ 4.88643771e-04 -1.82564600e-02 9.99833218e-01 -6.47388519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.477193469999996 meters Centerline goodness : 0.870647 Centerline is valid? [False, False] Translation: X:4.17, Y:0.01, Z:-0.65 [[ 0.99906028 0.04283753 0.00659566 4.17321909] [-0.04298282 0.99879375 0.02373847 0.013241 ] [-0.00557081 -0.02399966 0.99969645 -0.65073296] [ 0. 0. 0. 1. ]] SLAMing on 43.50719347 meters Centerline goodness : 0.871847 Centerline is valid? [False, False] Translation: X:4.17, Y:0.00, Z:-0.65 [[ 9.99252548e-01 3.81072300e-02 6.49490103e-03 4.17333018e+00] [-3.82360671e-02 9.99047528e-01 2.10247255e-02 9.43164206e-04] [-5.68752077e-03 -2.12573500e-02 9.99757859e-01 -6.50276631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.53719347 meters Centerline goodness : 0.870443 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.01, Z:-0.65 [[ 0.99932021 0.03610902 0.00743327 4.19336127] [-0.03626625 0.99909482 0.02223299 -0.0058386 ] [-0.00662373 -0.02248745 0.99972518 -0.65191003] [ 0. 0. 0. 1. ]] SLAMing on 43.56719346999999 meters Centerline goodness : 0.869900 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.01, Z:-0.65 [[ 0.99939274 0.0341529 0.00690846 4.19516681] [-0.03428947 0.99919708 0.0207225 -0.01091554] [-0.00619518 -0.02094681 0.9997614 -0.65306324] [ 0. 0. 0. 1. ]] SLAMing on 43.59719346999999 meters Centerline goodness : 0.869356 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.02, Z:-0.65 [[ 0.99944204 0.03278606 0.00637887 4.19736685] [-0.03290536 0.99926637 0.01959483 -0.01588183] [-0.00573175 -0.0197938 0.99978765 -0.65468522] [ 0. 0. 0. 1. ]] SLAMing on 43.627193469999995 meters Centerline goodness : 0.865899 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.03, Z:-0.66 [[ 9.99405621e-01 3.43583841e-02 2.81181162e-03 4.20709547e+00] [-3.44039523e-02 9.99242457e-01 1.81901036e-02 -3.09632171e-02] [-2.18469898e-03 -1.82760292e-02 9.99830593e-01 -6.56235424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.657193469999996 meters Centerline goodness : 0.866013 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.04, Z:-0.66 [[ 9.99470713e-01 3.24470121e-02 2.34199965e-03 4.20934468e+00] [-3.24823964e-02 9.99325896e-01 1.71069551e-02 -3.86503961e-02] [-1.78535132e-03 -1.71739743e-02 9.99850922e-01 -6.58070671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.68719347 meters Centerline goodness : 0.866411 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.05, Z:-0.66 [[ 9.99545787e-01 3.00648287e-02 2.07975738e-03 4.21067814e+00] [-3.00939171e-02 9.99422870e-01 1.57570051e-02 -4.58309029e-02] [-1.60482543e-03 -1.58124361e-02 9.99873688e-01 -6.59307065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.71719347 meters Centerline goodness : 0.867989 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.06, Z:-0.66 [[ 9.99668560e-01 2.57194045e-02 1.13239403e-03 4.21308340e+00] [-2.57324841e-02 9.99575542e-01 1.36592176e-02 -5.83955882e-02] [-7.80606435e-04 -1.36838297e-02 9.99906067e-01 -6.60284253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.74719346999999 meters Centerline goodness : 0.866295 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.07, Z:-0.66 [[ 0.99972241 0.02256365 0.00678175 4.22609106] [-0.02268917 0.99956124 0.01904033 -0.06613635] [-0.00634916 -0.01918892 0.99979572 -0.66434543] [ 0. 0. 0. 1. ]] SLAMing on 43.77719346999999 meters Centerline goodness : 0.869520 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.07, Z:-0.66 [[ 0.99983693 0.01690339 0.006356 4.22678756] [-0.01699066 0.99975851 0.01393675 -0.07194454] [-0.00611889 -0.01404247 0.99988268 -0.66436201] [ 0. 0. 0. 1. ]] SLAMing on 43.807193469999994 meters Centerline goodness : 0.869936 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.08, Z:-0.67 [[ 0.99991792 0.01151055 0.00562684 4.22860181] [-0.01156238 0.99989022 0.00926554 -0.07928406] [-0.00551957 -0.00932984 0.99994124 -0.66502834] [ 0. 0. 0. 1. ]] SLAMing on 43.837193469999995 meters Centerline goodness : 0.871676 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.10, Z:-0.66 [[ 0.99997367 0.00555494 0.00467006 4.2302768 ] [-0.00557497 0.99997527 0.00428658 -0.09735964] [-0.00464613 -0.00431251 0.99997991 -0.6647176 ] [ 0. 0. 0. 1. ]] SLAMing on 43.86719347 meters Centerline goodness : 0.874386 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.10, Z:-0.66 [[ 9.99988826e-01 6.01772486e-04 4.68887472e-03 4.22965921e+00] [-6.01213344e-04 9.99999812e-01 -1.20657322e-04 -1.03155161e-01] [-4.68894645e-03 1.17836960e-04 9.99989000e-01 -6.63900677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.89719347 meters Centerline goodness : 0.873943 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.11, Z:-0.66 [[ 9.99989733e-01 -1.79424913e-03 4.16110755e-03 4.23150650e+00] [ 1.79946905e-03 9.99997598e-01 -1.25104917e-03 -1.09352750e-01] [-4.15885286e-03 1.25852411e-03 9.99990560e-01 -6.64871066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.92719347 meters Centerline goodness : 0.876855 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.12, Z:-0.66 [[ 9.99982264e-01 -5.81952518e-03 1.26699768e-03 4.23647791e+00] [ 5.81639472e-03 9.99980057e-01 2.46059101e-03 -1.24717512e-01] [-1.28129188e-03 -2.45317801e-03 9.99996170e-01 -6.64144653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.95719346999999 meters Centerline goodness : 0.877296 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.13, Z:-0.66 [[ 9.99960334e-01 -8.86925086e-03 8.17130786e-04 4.23811574e+00] [ 8.86861292e-03 9.99960368e-01 7.81046374e-04 -1.31582077e-01] [-8.24025697e-04 -7.73768576e-04 9.99999361e-01 -6.64846629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.987193469999994 meters Centerline goodness : 0.880866 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.14, Z:-0.66 [[ 9.99929726e-01 -1.18386171e-02 6.24284376e-04 4.23827973e+00] [ 1.18391282e-02 9.99929578e-01 -8.21485236e-04 -1.38665335e-01] [-6.14515163e-04 8.28818490e-04 9.99999468e-01 -6.64331271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.017193469999995 meters Centerline goodness : 0.882527 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.14, Z:-0.66 [[ 9.99888719e-01 -1.49081735e-02 5.43402314e-04 4.23832506e+00] [ 1.49096261e-02 9.99884995e-01 -2.77497804e-03 -1.44552798e-01] [-5.01969966e-04 2.78277117e-03 9.99996002e-01 -6.63875990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.047193469999996 meters Centerline goodness : 0.885448 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.15, Z:-0.66 [[ 9.99856889e-01 -1.69161586e-02 2.12073194e-04 4.23887678e+00] [ 1.69167325e-02 9.99852145e-01 -3.08435910e-03 -1.53659230e-01] [-1.59866331e-04 3.08750528e-03 9.99995221e-01 -6.63308008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.07719347 meters Centerline goodness : 0.887626 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.16, Z:-0.66 [[ 9.99854312e-01 -1.70656960e-02 -3.41701175e-04 4.24042584e+00] [ 1.70648065e-02 9.99851370e-01 -2.45575879e-03 -1.56597479e-01] [ 3.83559620e-04 2.44956995e-03 9.99996926e-01 -6.63809653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.10719347 meters Centerline goodness : 0.888819 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.16, Z:-0.67 [[ 9.99845381e-01 -1.75493286e-02 -1.11111169e-03 4.24376822e+00] [ 1.75467995e-02 9.99843519e-01 -2.24642233e-03 -1.58865547e-01] [ 1.15036103e-03 2.22657854e-03 9.99996860e-01 -6.66269751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.13719346999999 meters Centerline goodness : 0.887254 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.16, Z:-0.67 [[ 9.99845271e-01 -1.75032945e-02 -1.75157267e-03 4.24562349e+00] [ 1.75002295e-02 9.99845327e-01 -1.75017251e-03 -1.60556424e-01] [ 1.78193553e-03 1.71924878e-03 9.99996934e-01 -6.67002333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.167193469999994 meters Centerline goodness : 0.887660 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.16, Z:-0.67 [[ 9.99787370e-01 -2.05361680e-02 -1.86589423e-03 4.24562372e+00] [ 2.05268463e-02 9.99777370e-01 -4.88467044e-03 -1.61687578e-01] [ 1.96579124e-03 4.84533088e-03 9.99986329e-01 -6.66512090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.197193469999995 meters Centerline goodness : 0.891261 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.17, Z:-0.66 [[ 9.99750980e-01 -2.22499188e-02 -1.70875959e-03 4.24382246e+00] [ 2.22398709e-02 9.99736472e-01 -5.68987117e-03 -1.69204949e-01] [ 1.83490845e-03 5.65045168e-03 9.99982353e-01 -6.64038806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.227193469999996 meters Centerline goodness : 0.894763 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.17, Z:-0.67 [[ 9.99775416e-01 -2.10014116e-02 2.83876221e-03 4.25155802e+00] [ 2.10448065e-02 9.99646702e-01 -1.62353455e-02 -1.69611162e-01] [-2.49679411e-03 1.62914405e-02 9.99864168e-01 -6.65443828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.25719347 meters Centerline goodness : 0.896827 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.17, Z:-0.67 [[ 9.99848189e-01 -1.72371491e-02 2.54552136e-03 4.25189106e+00] [ 1.72644691e-02 9.99788988e-01 -1.11318352e-02 -1.73698248e-01] [-2.35310312e-03 1.11740923e-02 9.99934799e-01 -6.65001444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.28719347 meters Centerline goodness : 0.895618 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.17, Z:-0.67 [[ 9.99924712e-01 -1.22705847e-02 -4.66226220e-05 4.28090782e+00] [ 1.22678193e-02 9.99766871e-01 -1.77680631e-02 -1.73692111e-01] [ 2.64636277e-04 1.77661534e-02 9.99842134e-01 -6.65014062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.31719346999999 meters Centerline goodness : 0.897387 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.17, Z:-0.67 [[ 9.99927458e-01 -1.20427239e-02 -2.26520529e-04 4.28138425e+00] [ 1.20369970e-02 9.99777634e-01 -1.73145572e-02 -1.74894795e-01] [ 4.34984589e-04 1.73105745e-02 9.99850066e-01 -6.65140392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.34719346999999 meters Centerline goodness : 0.899696 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.18, Z:-0.67 [[ 9.99935383e-01 -1.13603630e-02 -4.14678401e-04 4.28175757e+00] [ 1.13520874e-02 9.99802470e-01 -1.63141579e-02 -1.77168277e-01] [ 5.99931245e-04 1.63083962e-02 9.99866829e-01 -6.65103355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.377193469999995 meters Centerline goodness : 0.899764 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.18, Z:-0.66 [[ 9.99957862e-01 -9.17104236e-03 -4.08085495e-04 4.28104421e+00] [ 9.16480450e-03 9.99869546e-01 -1.33002629e-02 -1.83888012e-01] [ 5.30009534e-04 1.32959625e-02 9.99911464e-01 -6.64096576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.407193469999996 meters Centerline goodness : 0.898657 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.19, Z:-0.66 [[ 9.99961649e-01 -8.71541301e-03 -8.60901884e-04 4.28240691e+00] [ 8.70424361e-03 9.99887422e-01 -1.22221217e-02 -1.87062017e-01] [ 9.67325804e-04 1.22141595e-02 9.99924936e-01 -6.64632015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.43719347 meters Centerline goodness : 0.900254 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.19, Z:-0.67 [[ 9.99958331e-01 -9.04875733e-03 -1.20674245e-03 4.28443180e+00] [ 9.03338768e-03 9.99884947e-01 -1.21856792e-02 -1.89011624e-01] [ 1.31686886e-03 1.21742705e-02 9.99925024e-01 -6.66325165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.46719347 meters Centerline goodness : 0.900304 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.19, Z:-0.67 [[ 9.99960340e-01 -8.69163510e-03 -1.94273463e-03 4.28827446e+00] [ 8.66881315e-03 9.99896729e-01 -1.14622766e-02 -1.90570198e-01] [ 2.04215993e-03 1.14449808e-02 9.99932419e-01 -6.69303968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.49719346999999 meters Centerline goodness : 0.896195 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.19, Z:-0.67 [[ 9.99938510e-01 -1.07425257e-02 -2.75200521e-03 4.29154680e+00] [ 1.07061851e-02 9.99859525e-01 -1.28960074e-02 -1.92794470e-01] [ 2.89015431e-03 1.28657509e-02 9.99913056e-01 -6.71318691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.52719346999999 meters Centerline goodness : 0.898148 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.19, Z:-0.67 [[ 9.99893133e-01 -1.43112836e-02 -2.98483129e-03 4.29212537e+00] [ 1.42608904e-02 9.99765909e-01 -1.62712864e-02 -1.94127526e-01] [ 3.21699556e-03 1.62269812e-02 9.99863159e-01 -6.71308876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.557193469999994 meters Centerline goodness : 0.897844 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.20, Z:-0.67 [[ 9.99830128e-01 -1.81279531e-02 -3.33060305e-03 4.29333182e+00] [ 1.80588339e-02 9.99642299e-01 -1.97269252e-02 -1.96177715e-01] [ 3.68702047e-03 1.96634274e-02 9.99799858e-01 -6.71789879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.587193469999995 meters Centerline goodness : 0.896206 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.20, Z:-0.67 [[ 9.99767708e-01 -2.11907410e-02 -3.93472156e-03 4.29607106e+00] [ 2.10980223e-02 9.99529249e-01 -2.22745270e-02 -1.99253511e-01] [ 4.40488301e-03 2.21863379e-02 9.99744149e-01 -6.73553381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.61719347 meters Centerline goodness : 0.896950 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.20, Z:-0.68 [[ 0.99957899 -0.02864752 -0.00460088 4.30018915] [ 0.02850406 0.99918173 -0.02869464 -0.20236653] [ 0.00541915 0.02855141 0.99957764 -0.67666647] [ 0. 0. 0. 1. ]] SLAMing on 44.64719347 meters Centerline goodness : 0.895113 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.20, Z:-0.68 [[ 0.99947514 -0.03161868 -0.00705077 4.30584574] [ 0.03140022 0.99908035 -0.02919724 -0.2035353 ] [ 0.00796747 0.02896051 0.9995488 -0.67675671] [ 0. 0. 0. 1. ]] SLAMing on 44.67719347 meters Centerline goodness : 0.896879 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.21, Z:-0.68 [[ 0.99944967 -0.0323229 -0.00745588 4.30670529] [ 0.03209624 0.99907139 -0.02874339 -0.20610621] [ 0.00837802 0.02848827 0.99955902 -0.67646784] [ 0. 0. 0. 1. ]] SLAMing on 44.70719346999999 meters Centerline goodness : 0.898927 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.21, Z:-0.68 [[ 9.99297078e-01 -3.73890118e-02 -2.72256957e-03 4.31539606e+00] [ 3.73152283e-02 9.99029403e-01 -2.34056813e-02 -2.08894959e-01] [ 3.59504235e-03 2.32876356e-02 9.99722342e-01 -6.76770563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.737193469999994 meters Centerline goodness : 0.898927 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.21, Z:-0.68 [[ 9.99297078e-01 -3.73890118e-02 -2.72256957e-03 4.31539606e+00] [ 3.73152283e-02 9.99029403e-01 -2.34056813e-02 -2.08894959e-01] [ 3.59504235e-03 2.32876356e-02 9.99722342e-01 -6.76770563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.767193469999995 meters Centerline goodness : 0.900535 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.21, Z:-0.68 [[ 9.99282570e-01 -3.77331599e-02 -3.24871553e-03 4.31661030e+00] [ 3.76479237e-02 9.99021932e-01 -2.31908110e-02 -2.10491636e-01] [ 4.12060064e-03 2.30518659e-02 9.99725778e-01 -6.76820641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.797193469999996 meters Centerline goodness : 0.900111 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.21, Z:-0.68 [[ 9.99277602e-01 -3.78335138e-02 -3.59152450e-03 4.31720777e+00] [ 3.77413312e-02 9.99023480e-01 -2.29712348e-02 -2.11406229e-01] [ 4.45709983e-03 2.28190915e-02 9.99729675e-01 -6.76589355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.82719347 meters Centerline goodness : 0.901623 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.21, Z:-0.68 [[ 9.99389166e-01 -3.47194311e-02 -3.98206699e-03 4.31789329e+00] [ 3.46380770e-02 9.99220331e-01 -1.89455567e-02 -2.13240122e-01] [ 4.63674125e-03 1.87960530e-02 9.99812587e-01 -6.76393218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.85719347 meters Centerline goodness : 0.899754 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.21, Z:-0.68 [[ 9.99516796e-01 -3.10814696e-02 -3.41452209e-04 4.33528602e+00] [ 3.10703382e-02 9.99356020e-01 -1.79493699e-02 -2.10181987e-01] [ 8.99125115e-04 1.79300876e-02 9.99838839e-01 -6.76194705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.88719346999999 meters Centerline goodness : 0.901277 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.21, Z:-0.68 [[ 9.99575391e-01 -2.91252148e-02 8.70966377e-04 4.35476831e+00] [ 2.91366699e-02 9.99384861e-01 -1.95180259e-02 -2.07659547e-01] [-3.01963915e-04 1.95351155e-02 9.99809126e-01 -6.77104516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.917193469999994 meters Centerline goodness : 0.901631 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.21, Z:-0.68 [[ 9.99569129e-01 -2.93482037e-02 4.90099186e-04 4.35568495e+00] [ 2.93521327e-02 9.99368606e-01 -2.00210079e-02 -2.05943797e-01] [ 9.77908795e-05 2.00267669e-02 9.99799439e-01 -6.77241308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.947193469999995 meters Centerline goodness : 0.899977 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.21, Z:-0.68 [[ 9.99654345e-01 -2.62901699e-02 -1.35537188e-04 4.35679507e+00] [ 2.62845111e-02 9.99522822e-01 -1.62250664e-02 -2.07041947e-01] [ 5.62032266e-04 1.62158956e-02 9.99868356e-01 -6.77005479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.977193469999996 meters Centerline goodness : 0.900172 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.21, Z:-0.67 [[ 9.99655761e-01 -2.62361565e-02 -1.52573154e-04 4.35542127e+00] [ 2.62302584e-02 9.99525084e-01 -1.61734101e-02 -2.06497196e-01] [ 5.76828813e-04 1.61638406e-02 9.99869190e-01 -6.74782526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.00719347 meters Centerline goodness : 0.899877 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.21, Z:-0.68 [[ 9.99702742e-01 -2.43696329e-02 7.40315847e-04 4.37533141e+00] [ 2.43787502e-02 9.99555566e-01 -1.71565703e-02 -2.05822224e-01] [-3.21887505e-04 1.71695184e-02 9.99852541e-01 -6.75418387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.03719347 meters Centerline goodness : 0.898844 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.20, Z:-0.68 [[ 9.99760911e-01 -2.18658913e-02 -5.70424939e-05 4.37806054e+00] [ 2.18627782e-02 9.99656314e-01 -1.44662590e-02 -2.04531102e-01] [ 3.73340536e-04 1.44615532e-02 9.99895357e-01 -6.76949516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.06719346999999 meters Centerline goodness : 0.897363 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.20, Z:-0.68 [[ 9.99874297e-01 -1.58538826e-02 2.09172006e-04 4.40009772e+00] [ 1.58552428e-02 9.99765290e-01 -1.47640114e-02 -1.95856763e-01] [ 2.49439917e-05 1.47654720e-02 9.99890984e-01 -6.80941422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.09719346999999 meters Centerline goodness : 0.894416 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.19, Z:-0.69 [[ 0.9999356 -0.01003914 0.00529352 4.41384743] [ 0.01013477 0.99978006 -0.01836051 -0.19209349] [-0.00510803 0.01841298 0.99981742 -0.68593396] [ 0. 0. 0. 1. ]] SLAMing on 45.127193469999995 meters Centerline goodness : 0.894594 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.19, Z:-0.68 [[ 9.99988181e-01 -3.65100420e-03 3.21062784e-03 4.43992731e+00] [ 3.73373361e-03 9.99651046e-01 -2.61504337e-02 -1.88505830e-01] [-3.11403213e-03 2.61621123e-02 9.99652863e-01 -6.84758122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.157193469999996 meters Centerline goodness : 0.891983 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.18, Z:-0.69 [[ 9.99944470e-01 1.03367002e-02 2.05182201e-03 4.46564799e+00] [-1.02604669e-02 9.99361777e-01 -3.42163978e-02 -1.83547703e-01] [-2.40419714e-03 3.41934451e-02 9.99412341e-01 -6.88078473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.18719347 meters Centerline goodness : 0.892714 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.18, Z:-0.69 [[ 9.99891994e-01 1.46110856e-02 1.58644387e-03 4.46710375e+00] [-1.45558580e-02 9.99427768e-01 -3.05329801e-02 -1.82528856e-01] [-2.03165605e-03 3.05065903e-02 9.99532501e-01 -6.88806118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.21719347 meters Centerline goodness : 0.891075 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.18, Z:-0.69 [[ 9.99820862e-01 1.88920090e-02 1.15569977e-03 4.46862727e+00] [-1.88545517e-02 9.99467546e-01 -2.66294942e-02 -1.81874268e-01] [-1.65816906e-03 2.66029337e-02 9.99644704e-01 -6.89631027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.24719346999999 meters Centerline goodness : 0.890542 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.18, Z:-0.69 [[ 9.99794150e-01 2.02749756e-02 7.63240774e-04 4.46970405e+00] [-2.02478325e-02 9.99447663e-01 -2.63513627e-02 -1.80307553e-01] [-1.29709244e-03 2.63304843e-02 9.99652451e-01 -6.90488899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.27719346999999 meters Centerline goodness : 0.890564 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.18, Z:-0.69 [[ 9.99669973e-01 2.56725802e-02 9.29435182e-04 4.46917985e+00] [-2.56482609e-02 9.99462387e-01 -2.04231378e-02 -1.83546222e-01] [-1.45325015e-03 2.03925592e-02 9.99790994e-01 -6.89844596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.307193469999994 meters Centerline goodness : 0.890913 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.19, Z:-0.69 [[ 9.99647069e-01 2.65537068e-02 7.99207247e-04 4.46882655e+00] [-2.65340435e-02 9.99471706e-01 -1.87684408e-02 -1.87189456e-01] [-1.29715670e-03 1.87406106e-02 9.99823538e-01 -6.88916943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.337193469999995 meters Centerline goodness : 0.889424 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.19, Z:-0.69 [[ 9.99640385e-01 2.68081619e-02 6.50956071e-04 4.46919385e+00] [-2.67926617e-02 9.99487617e-01 -1.75115948e-02 -1.92019671e-01] [-1.12007620e-03 1.74878565e-02 9.99846448e-01 -6.88890746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.36719347 meters Centerline goodness : 0.890109 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.20, Z:-0.69 [[ 9.99686049e-01 2.50538289e-02 3.29327010e-04 4.46988735e+00] [-2.50441573e-02 9.99531453e-01 -1.75973092e-02 -2.03301288e-01] [-7.70052677e-04 1.75835368e-02 9.99845101e-01 -6.89062939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.39719347 meters Centerline goodness : 0.889927 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.21, Z:-0.69 [[ 9.99681942e-01 2.52193314e-02 -1.92566328e-05 4.47071822e+00] [-2.52163833e-02 9.99552809e-01 -1.60721977e-02 -2.09118817e-01] [-3.86082058e-04 1.60675714e-02 9.99870834e-01 -6.89108721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.42719347 meters Centerline goodness : 0.890682 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.22, Z:-0.69 [[ 9.99742859e-01 2.26763074e-02 -1.79636516e-05 4.47011789e+00] [-2.26735205e-02 9.99606930e-01 -1.64893258e-02 -2.18580276e-01] [-3.55960431e-04 1.64854931e-02 9.99864042e-01 -6.88171164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.45719346999999 meters Centerline goodness : 0.888539 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.22, Z:-0.69 [[ 9.99806811e-01 1.96554504e-02 6.86495648e-05 4.46934495e+00] [-1.96507385e-02 9.99632377e-01 -1.86804404e-02 -2.22515628e-01] [-4.35796796e-04 1.86754825e-02 9.99825503e-01 -6.87339562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.487193469999994 meters Centerline goodness : 0.890532 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.23, Z:-0.69 [[ 9.99811815e-01 1.93990717e-02 -9.85347919e-05 4.46953407e+00] [-1.93978918e-02 9.99663540e-01 -1.72199917e-02 -2.29315230e-01] [-2.35550215e-04 1.72186625e-02 9.99851720e-01 -6.86655161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.517193469999995 meters Centerline goodness : 0.890038 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.23, Z:-0.69 [[ 9.99867221e-01 1.62943353e-02 -1.87787752e-04 4.46896809e+00] [-1.62949581e-02 9.99686128e-01 -1.90294419e-02 -2.34738272e-01] [-1.22343298e-04 1.90299752e-02 9.99818906e-01 -6.85539345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.547193469999996 meters Centerline goodness : 0.886233 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.25, Z:-0.68 [[ 9.99927984e-01 1.19727359e-02 8.25148240e-04 4.46758918e+00] [-1.19592030e-02 9.99818741e-01 -1.48142970e-02 -2.49695472e-01] [-1.00236634e-03 1.48033620e-02 9.99889922e-01 -6.78549488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.57719347 meters Centerline goodness : 0.888074 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.25, Z:-0.68 [[ 9.99960529e-01 7.76973064e-03 4.30944000e-03 4.48469892e+00] [-7.67270850e-03 9.99726520e-01 -2.20910649e-02 -2.53644440e-01] [-4.47990308e-03 2.20571279e-02 9.99746675e-01 -6.79195918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.60719347 meters Centerline goodness : 0.885402 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.27, Z:-0.68 [[ 9.99978136e-01 5.05027165e-03 4.26878453e-03 4.48405663e+00] [-4.96453445e-03 9.99790402e-01 -1.98621447e-02 -2.66925830e-01] [-4.36819903e-03 1.98405179e-02 9.99793615e-01 -6.75073600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.63719346999999 meters Centerline goodness : 0.886180 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.27, Z:-0.67 [[ 9.99979190e-01 5.16052375e-03 3.87163206e-03 4.48494197e+00] [-5.08810849e-03 9.99816166e-01 -1.84863803e-02 -2.73201690e-01] [-3.96631973e-03 1.84662963e-02 9.99821616e-01 -6.74977394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.667193469999994 meters Centerline goodness : 0.886333 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.28, Z:-0.68 [[ 9.99989219e-01 3.32865159e-03 3.23762427e-03 4.48742986e+00] [-3.26423903e-03 9.99800591e-01 -1.97008609e-02 -2.77920968e-01] [-3.30255596e-03 1.96900801e-02 9.99800677e-01 -6.76700910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.697193469999995 meters Centerline goodness : 0.888532 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.28, Z:-0.68 [[ 9.99992759e-01 2.78352075e-03 2.59493645e-03 4.48999768e+00] [-2.73343865e-03 9.99813694e-01 -1.91077171e-02 -2.82990769e-01] [-2.64763973e-03 1.91004857e-02 9.99814063e-01 -6.78406036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.727193469999996 meters Centerline goodness : 0.887419 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.29, Z:-0.68 [[ 9.99995513e-01 2.30516573e-03 1.91327964e-03 4.49275941e+00] [-2.26939795e-03 9.99826457e-01 -1.84907197e-02 -2.87482362e-01] [-1.95557177e-03 1.84862947e-02 9.99827201e-01 -6.80177888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.75719347 meters Centerline goodness : 0.887774 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.30, Z:-0.68 [[ 9.99996239e-01 2.56062826e-03 9.82066261e-04 4.49711660e+00] [-2.54440207e-03 9.99865819e-01 -1.61823840e-02 -2.95285628e-01] [-1.02337156e-03 1.61798244e-02 9.99868574e-01 -6.83310849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.78719347 meters Centerline goodness : 0.886721 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.30, Z:-0.69 [[ 9.99994574e-01 2.88402841e-03 -1.59208063e-03 4.51900191e+00] [-2.91259297e-03 9.99829380e-01 -1.82408064e-02 -2.98235321e-01] [ 1.53920198e-03 1.82453445e-02 9.99832355e-01 -6.85126489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.81719346999999 meters Centerline goodness : 0.884495 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.30, Z:-0.69 [[ 9.99994883e-01 2.21870258e-03 -2.30458461e-03 4.52098086e+00] [-2.25946635e-03 9.99838324e-01 -1.78387526e-02 -3.01879259e-01] [ 2.26463312e-03 1.78438684e-02 9.99838221e-01 -6.85554725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.84719346999999 meters Centerline goodness : 0.885008 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.31, Z:-0.68 [[ 9.99996351e-01 -1.19226310e-03 -2.42421556e-03 4.51985343e+00] [ 1.14501918e-03 9.99811201e-01 -1.93972017e-02 -3.09956078e-01] [ 2.44688444e-03 1.93943552e-02 9.99808918e-01 -6.83022786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.877193469999995 meters Centerline goodness : 0.885495 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.31, Z:-0.68 [[ 9.99995466e-01 -1.38834494e-03 -2.67213300e-03 4.52038210e+00] [ 1.33818054e-03 9.99824538e-01 -1.86842733e-02 -3.13987573e-01] [ 2.69760436e-03 1.86806128e-02 9.99821863e-01 -6.82731250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.907193469999996 meters Centerline goodness : 0.888432 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.32, Z:-0.68 [[ 9.99994237e-01 -1.55257741e-03 -3.01932595e-03 4.52113395e+00] [ 1.49747729e-03 9.99833853e-01 -1.81665695e-02 -3.16617825e-01] [ 3.04702930e-03 1.81619435e-02 9.99830415e-01 -6.82575627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.93719347 meters Centerline goodness : 0.886424 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.32, Z:-0.68 [[ 9.99992722e-01 1.62780588e-03 -3.45039491e-03 4.52304202e+00] [-1.67736787e-03 9.99894760e-01 -1.44102602e-02 -3.17202287e-01] [ 3.42657468e-03 1.44159429e-02 9.99890214e-01 -6.83588478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.96719347 meters Centerline goodness : 0.883803 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.32, Z:-0.69 [[ 9.99987887e-01 4.20612930e-03 -2.55609479e-03 4.54184556e+00] [-4.25063091e-03 9.99834990e-01 -1.76613887e-02 -3.15882389e-01] [ 2.48138692e-03 1.76720398e-02 9.99840758e-01 -6.85450947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.99719346999999 meters Centerline goodness : 0.883228 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.32, Z:-0.69 [[ 9.99971552e-01 6.78148942e-03 -3.30248342e-03 4.54526514e+00] [-6.82949590e-03 9.99867905e-01 -1.47488985e-02 -3.16707585e-01] [ 3.20202768e-03 1.47710332e-02 9.99885775e-01 -6.87882167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.02719346999999 meters Centerline goodness : 0.879665 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.32, Z:-0.69 [[ 9.99962093e-01 7.64984753e-03 -4.15848409e-03 4.54948261e+00] [-7.70570355e-03 9.99878014e-01 -1.35859832e-02 -3.19740977e-01] [ 4.05404612e-03 1.36175122e-02 9.99899059e-01 -6.91127297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.057193469999994 meters Centerline goodness : 0.880086 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.32, Z:-0.69 [[ 0.99996625 0.00649975 -0.00502528 4.55281391] [-0.00657107 0.99987602 -0.01430958 -0.32151825] [ 0.00493164 0.01434212 0.99988498 -0.69326538] [ 0. 0. 0. 1. ]] SLAMing on 46.087193469999995 meters Centerline goodness : 0.877831 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.32, Z:-0.70 [[ 0.99996955 0.00508702 -0.0059176 4.55634543] [-0.00517692 0.9998699 -0.01527696 -0.32308257] [ 0.00583912 0.01530713 0.99986579 -0.69553471] [ 0. 0. 0. 1. ]] SLAMing on 46.11719347 meters Centerline goodness : 0.876698 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.32, Z:-0.70 [[ 9.99970392e-01 3.86688076e-03 -6.65306888e-03 4.55900873e+00] [-3.97190097e-03 9.99866569e-01 -1.58451037e-02 -3.24497060e-01] [ 6.59091004e-03 1.58710599e-02 9.99852324e-01 -6.96962633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.14719347 meters Centerline goodness : 0.873178 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.33, Z:-0.70 [[ 9.99999258e-01 4.77393879e-04 -1.12093040e-03 4.56700323e+00] [-4.88448707e-04 9.99951045e-01 -9.88271614e-03 -3.27523697e-01] [ 1.11615758e-03 9.88325632e-03 9.99950536e-01 -6.97883212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.17719347 meters Centerline goodness : 0.872354 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.33, Z:-0.70 [[ 9.99978909e-01 -2.85687061e-03 5.83257031e-03 4.57517073e+00] [ 2.88850605e-03 9.99981125e-01 -5.42272882e-03 -3.28485262e-01] [-5.81696819e-03 5.43946186e-03 9.99968287e-01 -6.99860292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.20719346999999 meters Centerline goodness : 0.872395 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.33, Z:-0.70 [[ 9.99980180e-01 -2.95824633e-03 5.55764903e-03 4.57528117e+00] [ 2.98820695e-03 9.99981007e-01 -5.39033326e-03 -3.29103988e-01] [-5.54159754e-03 5.40683383e-03 9.99970028e-01 -6.99040692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.237193469999994 meters Centerline goodness : 0.869933 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.33, Z:-0.70 [[ 9.99946562e-01 4.12286040e-04 1.03297705e-02 4.58730149e+00] [-2.84864238e-04 9.99923895e-01 -1.23338314e-02 -3.28350266e-01] [-1.03340694e-02 1.23302297e-02 9.99870578e-01 -7.02997181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.267193469999995 meters Centerline goodness : 0.869680 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.33, Z:-0.70 [[ 9.99950908e-01 3.44143487e-04 9.90266481e-03 4.58852346e+00] [-2.20170211e-04 9.99921628e-01 -1.25175512e-02 -3.28135454e-01] [-9.90619655e-03 1.25147564e-02 9.99872616e-01 -7.03566045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.297193469999996 meters Centerline goodness : 0.869817 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.33, Z:-0.71 [[ 9.99927076e-01 2.53237952e-03 1.18080590e-02 4.60726952e+00] [-2.33888690e-03 9.99863241e-01 -1.63716028e-02 -3.27922682e-01] [-1.18479033e-02 1.63427912e-02 9.99796249e-01 -7.05812562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.32719347 meters Centerline goodness : 0.871818 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.33, Z:-0.71 [[ 0.99992214 0.00526708 0.01131203 4.60898445] [-0.00511745 0.99989957 -0.01321621 -0.32943415] [-0.0113805 0.01315729 0.99984867 -0.70637941] [ 0. 0. 0. 1. ]] SLAMing on 46.35719347 meters Centerline goodness : 0.870617 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.33, Z:-0.71 [[ 0.99992684 0.0050393 0.01099646 4.61004589] [-0.00489242 0.99989901 -0.01334276 -0.32943196] [-0.01106259 0.01328798 0.99985051 -0.70692436] [ 0. 0. 0. 1. ]] SLAMing on 46.38719346999999 meters Centerline goodness : 0.869502 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.33, Z:-0.71 [[ 9.99937939e-01 4.02063622e-03 1.03899983e-02 4.61212232e+00] [-3.87521853e-03 9.99894788e-01 -1.39783635e-02 -3.29735831e-01] [-1.04451071e-02 1.39372325e-02 9.99848315e-01 -7.08058472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.417193469999994 meters Centerline goodness : 0.871540 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.33, Z:-0.71 [[ 9.99979390e-01 1.66305545e-03 6.20111999e-03 4.64091103e+00] [-1.57302031e-03 9.99893692e-01 -1.44958917e-02 -3.31630083e-01] [-6.22456823e-03 1.44858384e-02 9.99875700e-01 -7.08986617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.447193469999995 meters Centerline goodness : 0.869015 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.33, Z:-0.71 [[ 9.99984814e-01 3.27613543e-04 5.50130168e-03 4.64369928e+00] [-2.42845813e-04 9.99881348e-01 -1.54022722e-02 -3.31528044e-01] [-5.50569493e-03 1.54007023e-02 9.99866244e-01 -7.10768149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.477193469999996 meters Centerline goodness : 0.868733 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.33, Z:-0.71 [[ 9.99988124e-01 -1.11713010e-03 4.74375038e-03 4.64638287e+00] [ 1.19477439e-03 9.99864854e-01 -1.63965376e-02 -3.31348362e-01] [-4.72479222e-03 1.64020106e-02 9.99854315e-01 -7.12208112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.50719347 meters Centerline goodness : 0.866360 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.33, Z:-0.71 [[ 9.99972706e-01 -5.85463716e-03 4.50666180e-03 4.64699799e+00] [ 5.94711177e-03 9.99766235e-01 -2.07872038e-02 -3.31454440e-01] [-4.38390677e-03 2.08134380e-02 9.99773765e-01 -7.12084960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.53719347 meters Centerline goodness : 0.867051 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.33, Z:-0.71 [[ 9.99969017e-01 -6.83497050e-03 3.90487549e-03 4.64867638e+00] [ 6.91699067e-03 9.99747235e-01 -2.13921056e-02 -3.31947180e-01] [-3.75767406e-03 2.14184528e-02 9.99763537e-01 -7.12517664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.56719346999999 meters Centerline goodness : 0.867162 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.33, Z:-0.71 [[ 9.99967676e-01 -7.17146949e-03 3.63557695e-03 4.64936798e+00] [ 7.24882802e-03 9.99737566e-01 -2.17314201e-02 -3.31297741e-01] [-3.47877663e-03 2.17570713e-02 9.99757235e-01 -7.12578830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.59719346999999 meters Centerline goodness : 0.867010 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.33, Z:-0.71 [[ 9.99985610e-01 -4.50780266e-03 2.90863974e-03 4.65140734e+00] [ 4.56175182e-03 9.99812560e-01 -1.88158234e-02 -3.30730260e-01] [-2.82327653e-03 1.88288211e-02 9.99818736e-01 -7.13124071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.627193469999995 meters Centerline goodness : 0.866292 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.32, Z:-0.72 [[ 9.99982600e-01 -4.75897438e-04 5.87994339e-03 4.66910733e+00] [ 6.10336915e-04 9.99737953e-01 -2.28834796e-02 -3.23810502e-01] [-5.86751238e-03 2.28866701e-02 9.99720847e-01 -7.16631527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.657193469999996 meters Centerline goodness : 0.866292 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.32, Z:-0.72 [[ 9.99982600e-01 -4.75897438e-04 5.87994339e-03 4.66910733e+00] [ 6.10336915e-04 9.99737953e-01 -2.28834796e-02 -3.23810502e-01] [-5.86751238e-03 2.28866701e-02 9.99720847e-01 -7.16631527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.68719347 meters Centerline goodness : 0.867346 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.32, Z:-0.72 [[ 9.99993089e-01 1.73747869e-03 3.28676253e-03 4.69672045e+00] [-1.66863636e-03 9.99781569e-01 -2.08333701e-02 -3.20869997e-01] [-3.32224214e-03 2.08277417e-02 9.99777559e-01 -7.17483540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.71719347 meters Centerline goodness : 0.866409 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.32, Z:-0.72 [[ 9.99988229e-01 4.11174154e-03 2.57601472e-03 4.69964896e+00] [-4.06275699e-03 9.99816123e-01 -1.87406985e-02 -3.17440164e-01] [-2.65259796e-03 1.87300122e-02 9.99821059e-01 -7.19319376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.74719346999999 meters Centerline goodness : 0.863324 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.31, Z:-0.72 [[ 9.99975959e-01 6.69992022e-03 1.78663689e-03 4.70247532e+00] [-6.66814913e-03 9.99829280e-01 -1.72321465e-02 -3.11237299e-01] [-1.90178588e-03 1.72198186e-02 9.99849919e-01 -7.20992829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.77719346999999 meters Centerline goodness : 0.863880 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.31, Z:-0.72 [[ 9.99965344e-01 8.25375972e-03 1.08914122e-03 4.70516614e+00] [-8.23565593e-03 9.99842927e-01 -1.56937954e-02 -3.10130506e-01] [-1.21850296e-03 1.56842817e-02 9.99876252e-01 -7.22434811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.807193469999994 meters Centerline goodness : 0.864318 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.31, Z:-0.72 [[ 9.99967043e-01 8.08159488e-03 7.74972979e-04 4.70553107e+00] [-8.06779484e-03 9.99832845e-01 -1.64070891e-02 -3.07686166e-01] [-9.07438885e-04 1.64002960e-02 9.99865094e-01 -7.22003461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.837193469999995 meters Centerline goodness : 0.865748 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.31, Z:-0.72 [[ 9.99937183e-01 1.11967999e-02 5.11498818e-04 4.70605640e+00] [-1.11890444e-02 9.99849668e-01 -1.32456595e-02 -3.06233242e-01] [-6.59730922e-04 1.32391043e-02 9.99912142e-01 -7.21550769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.86719347 meters Centerline goodness : 0.865645 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.30, Z:-0.72 [[ 9.99876235e-01 1.53673668e-02 3.37030358e-03 4.72341704e+00] [-1.53061299e-02 9.99729713e-01 -1.74992197e-02 -2.97134481e-01] [-3.63830956e-03 1.74454676e-02 9.99841197e-01 -7.24940028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.89719347 meters Centerline goodness : 0.865195 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.29, Z:-0.73 [[ 9.99832271e-01 1.80940509e-02 2.83479186e-03 4.72578271e+00] [-1.80492934e-02 9.99723220e-01 -1.50899419e-02 -2.93839273e-01] [-3.10704543e-03 1.50362448e-02 9.99882122e-01 -7.26426674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.92719347 meters Centerline goodness : 0.864904 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.29, Z:-0.73 [[ 9.99779938e-01 2.08449579e-02 2.35866092e-03 4.72778185e+00] [-2.08138536e-02 9.99704952e-01 -1.25216850e-02 -2.91555138e-01] [-2.61897900e-03 1.24698366e-02 9.99918819e-01 -7.27460618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.95719346999999 meters Centerline goodness : 0.863536 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.29, Z:-0.73 [[ 0.9997695 0.02054915 0.0062194 4.74294021] [-0.02041174 0.99956252 -0.02140397 -0.28572609] [-0.00665651 0.02127209 0.99975156 -0.72911809] [ 0. 0. 0. 1. ]] SLAMing on 46.987193469999994 meters Centerline goodness : 0.864790 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.28, Z:-0.73 [[ 0.99977356 0.02039866 0.00606008 4.74302971] [-0.02026255 0.9995585 -0.02173094 -0.28495922] [-0.00650069 0.02160322 0.99974549 -0.72858346] [ 0. 0. 0. 1. ]] SLAMing on 47.017193469999995 meters Centerline goodness : 0.867026 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.28, Z:-0.73 [[ 0.99971282 0.02327108 0.00572072 4.74424944] [-0.02315899 0.99955245 -0.01893553 -0.28276851] [-0.00615881 0.01879761 0.99980434 -0.72872694] [ 0. 0. 0. 1. ]] SLAMing on 47.047193469999996 meters Centerline goodness : 0.867019 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.28, Z:-0.73 [[ 0.99965256 0.0258896 0.00494872 4.74717079] [-0.02580611 0.9995349 -0.0162488 -0.28135381] [-0.00536709 0.01611544 0.99985573 -0.7303779 ] [ 0. 0. 0. 1. ]] SLAMing on 47.07719347 meters Centerline goodness : 0.866833 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.28, Z:-0.73 [[ 9.99580890e-01 2.86097966e-02 4.41862403e-03 4.74981291e+00] [-2.85481305e-02 9.99502065e-01 -1.34397146e-02 -2.80307647e-01] [-4.80093135e-03 1.33079384e-02 9.99899920e-01 -7.32160168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.10719347 meters Centerline goodness : 0.867452 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.28, Z:-0.73 [[ 9.99507975e-01 3.11409046e-02 3.74869768e-03 4.75258844e+00] [-3.10992227e-02 9.99458960e-01 -1.07063734e-02 -2.79739870e-01] [-4.08007564e-03 1.05845240e-02 9.99935658e-01 -7.33798112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.13719346999999 meters Centerline goodness : 0.869416 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.28, Z:-0.73 [[ 9.99499258e-01 3.14241072e-02 3.70927605e-03 4.75247887e+00] [-3.13825573e-02 9.99449382e-01 -1.07734729e-02 -2.79076476e-01] [-4.04578042e-03 1.06516716e-02 9.99935085e-01 -7.33405377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.167193469999994 meters Centerline goodness : 0.871145 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.28, Z:-0.73 [[ 9.99535797e-01 3.04560472e-02 7.87047340e-04 4.75892488e+00] [-3.04489546e-02 9.99505587e-01 -7.83848703e-03 -2.80717742e-01] [-1.02538754e-03 7.81088361e-03 9.99968969e-01 -7.31627896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.197193469999995 meters Centerline goodness : 0.870528 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.28, Z:-0.73 [[ 9.99574036e-01 2.91832939e-02 2.87533026e-04 4.76082179e+00] [-2.91796343e-02 9.99535421e-01 -8.80291058e-03 -2.81034900e-01] [-5.44297371e-04 8.79077074e-03 9.99961212e-01 -7.32758411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.227193469999996 meters Centerline goodness : 0.872149 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.28, Z:-0.74 [[ 9.99630955e-01 2.71623615e-02 -3.98892653e-04 4.76400238e+00] [-2.71650625e-02 9.99574931e-01 -1.05837645e-02 -2.80415239e-01] [ 1.11243058e-04 1.05906946e-02 9.99943911e-01 -7.35138478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.25719347 meters Centerline goodness : 0.871422 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.28, Z:-0.74 [[ 9.99658358e-01 2.61234218e-02 -8.56234210e-04 4.76600029e+00] [-2.61315878e-02 9.99591518e-01 -1.15731469e-02 -2.79803550e-01] [ 5.53554256e-04 1.15915678e-02 9.99932662e-01 -7.36414111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.28719347 meters Centerline goodness : 0.872984 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.28, Z:-0.74 [[ 9.99668686e-01 2.57137256e-02 -1.15006766e-03 4.76694991e+00] [-2.57255918e-02 9.99598372e-01 -1.18865163e-02 -2.79814969e-01] [ 8.43959141e-04 1.19121643e-02 9.99928691e-01 -7.36798189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.31719346999999 meters Centerline goodness : 0.873922 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.28, Z:-0.74 [[ 9.99702158e-01 2.43272330e-02 -1.94447890e-03 4.76946289e+00] [-2.43506980e-02 9.99617310e-01 -1.31254473e-02 -2.79237989e-01] [ 1.62442895e-03 1.31688875e-02 9.99911967e-01 -7.37957206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.34719346999999 meters Centerline goodness : 0.877758 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.28, Z:-0.74 [[ 9.99732665e-01 2.29719416e-02 -2.62467605e-03 4.77196336e+00] [-2.30074462e-02 9.99631443e-01 -1.44095327e-02 -2.78089204e-01] [ 2.29269377e-03 1.44660676e-02 9.99892732e-01 -7.39421776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.377193469999995 meters Centerline goodness : 0.876002 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.28, Z:-0.74 [[ 9.99757283e-01 2.17681198e-02 -3.39479164e-03 4.77471635e+00] [-2.18186274e-02 9.99639796e-01 -1.56277044e-02 -2.76622056e-01] [ 3.05338308e-03 1.56979810e-02 9.99872117e-01 -7.41103505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.407193469999996 meters Centerline goodness : 0.877291 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.28, Z:-0.74 [[ 9.99782650e-01 2.04313639e-02 -4.14882671e-03 4.77733111e+00] [-2.04985419e-02 9.99647841e-01 -1.68524120e-02 -2.75395829e-01] [ 3.80304790e-03 1.69337941e-02 9.99849380e-01 -7.42546617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.43719347 meters Centerline goodness : 0.879495 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.27, Z:-0.74 [[ 9.99865161e-01 1.57647742e-02 -4.59696389e-03 4.77815657e+00] [-1.58595073e-02 9.99646134e-01 -2.13560926e-02 -2.74590478e-01] [ 4.25866320e-03 2.14261186e-02 9.99761364e-01 -7.42452782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.46719347 meters Centerline goodness : 0.880990 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.28, Z:-0.74 [[ 0.99988064 0.0145504 -0.00519572 4.77971728] [-0.01466085 0.99965278 -0.02189461 -0.27549383] [ 0.00487534 0.02196817 0.99974678 -0.74279189] [ 0. 0. 0. 1. ]] SLAMing on 47.49719346999999 meters Centerline goodness : 0.880943 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.28, Z:-0.74 [[ 0.99989264 0.01354029 -0.00560066 4.78081462] [-0.01366196 0.99965822 -0.02228892 -0.27603123] [ 0.00529694 0.02236304 0.99973588 -0.74294544] [ 0. 0. 0. 1. ]] SLAMing on 47.52719346999999 meters Centerline goodness : 0.882265 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.27, Z:-0.74 [[ 9.99983012e-01 5.81714450e-03 3.68308871e-04 4.77801155e+00] [-5.81133775e-03 9.99882579e-01 -1.41794396e-02 -2.73931577e-01] [-4.50749473e-04 1.41770584e-02 9.99899399e-01 -7.41799376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.557193469999994 meters Centerline goodness : 0.884004 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.27, Z:-0.74 [[ 9.99984352e-01 5.59083250e-03 1.97338568e-04 4.77842506e+00] [-5.58737960e-03 9.99879056e-01 -1.45139373e-02 -2.72772776e-01] [-2.78459693e-04 1.45126076e-02 9.99894648e-01 -7.41745017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.587193469999995 meters Centerline goodness : 0.883740 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.27, Z:-0.74 [[ 9.99972795e-01 7.36949396e-03 -3.15660072e-04 4.78063721e+00] [-7.37290992e-03 9.99892103e-01 -1.27052392e-02 -2.72623141e-01] [ 2.21994830e-04 1.27072209e-02 9.99919235e-01 -7.42977332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.61719347 meters Centerline goodness : 0.885687 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.27, Z:-0.74 [[ 9.99937823e-01 1.11449072e-02 -3.75996441e-04 4.78153024e+00] [-1.11481950e-02 9.99884583e-01 -1.03217681e-02 -2.67620890e-01] [ 2.60917897e-04 1.03253180e-02 9.99946658e-01 -7.43889828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.64719347 meters Centerline goodness : 0.883385 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.26, Z:-0.74 [[ 9.99894186e-01 1.45247554e-02 -8.05727479e-04 4.78326039e+00] [-1.45304879e-02 9.99865277e-01 -7.63501140e-03 -2.64112443e-01] [ 6.94722255e-04 7.64591112e-03 9.99970528e-01 -7.44895871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.67719347 meters Centerline goodness : 0.882671 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.26, Z:-0.75 [[ 9.99836179e-01 1.80709645e-02 -1.02754470e-03 4.78410900e+00] [-1.80757203e-02 9.99824981e-01 -4.82443666e-03 -2.60886057e-01] [ 9.40182641e-04 4.84221993e-03 9.99987834e-01 -7.45140433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.70719346999999 meters Centerline goodness : 0.882279 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.25, Z:-0.75 [[ 9.99727382e-01 2.29616754e-02 4.23351982e-03 4.79576331e+00] [-2.29136374e-02 9.99676198e-01 -1.10663670e-02 -2.53571833e-01] [-4.48625132e-03 1.09663447e-02 9.99929804e-01 -7.48199846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.737193469999994 meters Centerline goodness : 0.881712 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.25, Z:-0.75 [[ 9.99669171e-01 2.54574352e-02 3.66983558e-03 4.79803074e+00] [-2.54244051e-02 9.99638169e-01 -8.78238443e-03 -2.51631072e-01] [-3.89208470e-03 8.68617557e-03 9.99954700e-01 -7.49434668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.767193469999995 meters Centerline goodness : 0.882148 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.25, Z:-0.75 [[ 9.99615796e-01 2.75423441e-02 3.11136439e-03 4.80099444e+00] [-2.75205491e-02 9.99597815e-01 -6.84309325e-03 -2.49218104e-01] [-3.29858787e-03 6.75483764e-03 9.99971745e-01 -7.51575440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.797193469999996 meters Centerline goodness : 0.880065 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.24, Z:-0.75 [[ 9.99558966e-01 2.95883700e-02 2.53024076e-03 4.80434640e+00] [-2.95734147e-02 9.99546033e-01 -5.75676089e-03 -2.43719525e-01] [-2.69942528e-03 5.67939410e-03 9.99980229e-01 -7.54179918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.82719347 meters Centerline goodness : 0.879552 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.24, Z:-0.76 [[ 9.99575344e-01 2.90543757e-02 2.23064632e-03 4.80564351e+00] [-2.90380954e-02 9.99553700e-01 -7.01348161e-03 -2.40716631e-01] [-2.43342311e-03 6.94572957e-03 9.99972917e-01 -7.55107727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.85719347 meters Centerline goodness : 0.876881 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.24, Z:-0.76 [[ 9.99540771e-01 3.02589684e-02 1.62548280e-03 4.80855951e+00] [-3.02486804e-02 9.99524280e-01 -6.01927991e-03 -2.39451922e-01] [-1.80684673e-03 5.96734698e-03 9.99980563e-01 -7.57081810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.88719346999999 meters Centerline goodness : 0.882051 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.24, Z:-0.76 [[ 9.99568028e-01 2.93673789e-02 1.14689030e-03 4.81053193e+00] [-2.93581667e-02 9.99541867e-01 -7.35894010e-03 -2.36719959e-01] [-1.36247765e-03 7.32209064e-03 9.99972265e-01 -7.58419954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.917193469999994 meters Centerline goodness : 0.879552 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.23, Z:-0.76 [[ 9.99602097e-01 2.82023052e-02 5.26194758e-04 4.81275635e+00] [-2.81965490e-02 9.99563213e-01 -8.85090900e-03 -2.34417680e-01] [-7.75580960e-04 8.83255033e-03 9.99960691e-01 -7.59860297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.947193469999995 meters Centerline goodness : 0.879438 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.23, Z:-0.76 [[ 9.99616105e-01 2.77052997e-02 2.41166712e-04 4.81384982e+00] [-2.77018678e-02 9.99573105e-01 -9.28519793e-03 -2.34165913e-01] [-4.98312951e-04 9.27495262e-03 9.99956863e-01 -7.60504850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.977193469999996 meters Centerline goodness : 0.880827 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.23, Z:-0.76 [[ 9.99627739e-01 2.72833744e-02 -2.18807498e-05 4.81470201e+00] [-2.72823283e-02 9.99581716e-01 -9.59514587e-03 -2.33779112e-01] [-2.39916360e-04 9.59217093e-03 9.99953965e-01 -7.60831582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.00719347 meters Centerline goodness : 0.882083 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.23, Z:-0.76 [[ 9.99644836e-01 2.66476626e-02 -3.21697221e-04 4.81555478e+00] [-2.66495539e-02 9.99593597e-01 -1.01213851e-02 -2.33061125e-01] [ 5.18552262e-05 1.01263635e-02 9.99948726e-01 -7.61064324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.03719347 meters Centerline goodness : 0.880020 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.23, Z:-0.76 [[ 9.99703512e-01 2.43323226e-02 -9.08649196e-04 4.81781948e+00] [-2.43414299e-02 9.99632674e-01 -1.19168450e-02 -2.32567821e-01] [ 6.18350910e-04 1.19354296e-02 9.99928579e-01 -7.62204525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.06719346999999 meters Centerline goodness : 0.881412 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.23, Z:-0.76 [[ 9.99738555e-01 2.28121844e-02 -1.55781669e-03 4.82005003e+00] [-2.28307464e-02 9.99652576e-01 -1.31713185e-02 -2.32745789e-01] [ 1.25680892e-03 1.32034411e-02 9.99912041e-01 -7.63370215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.09719346999999 meters Centerline goodness : 0.880493 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.23, Z:-0.76 [[ 9.99764426e-01 2.16004668e-02 -2.12421217e-03 4.82207936e+00] [-2.16286152e-02 9.99664279e-01 -1.42664613e-02 -2.32628641e-01] [ 1.81533681e-03 1.43090443e-02 9.99895972e-01 -7.64508120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.127193469999995 meters Centerline goodness : 0.880530 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.23, Z:-0.76 [[ 9.99777186e-01 2.09430822e-02 -2.63942358e-03 4.82347854e+00] [-2.09804228e-02 9.99667090e-01 -1.50176726e-02 -2.31327221e-01] [ 2.32402854e-03 1.50697027e-02 9.99883745e-01 -7.64901763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.157193469999996 meters Centerline goodness : 0.882242 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.23, Z:-0.77 [[ 9.99784264e-01 2.05603758e-02 -2.94893061e-03 4.82474821e+00] [-2.06043135e-02 9.99663868e-01 -1.57357277e-02 -2.29301641e-01] [ 2.62440691e-03 1.57930937e-02 9.99871837e-01 -7.65734670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.18719347 meters Centerline goodness : 0.881686 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.23, Z:-0.77 [[ 9.99742272e-01 2.24173052e-02 -3.58531826e-03 4.82771925e+00] [-2.24645572e-02 9.99653328e-01 -1.37320155e-02 -2.28227891e-01] [ 3.27624054e-03 1.38090189e-02 9.99899284e-01 -7.67629042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.21719347 meters Centerline goodness : 0.882019 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.22, Z:-0.77 [[ 9.99689846e-01 2.49012380e-02 3.73370402e-04 4.84409884e+00] [-2.48914543e-02 9.99548976e-01 -1.68006099e-02 -2.24697169e-01] [-7.91557990e-04 1.67861054e-02 9.99858790e-01 -7.68811002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.24719346999999 meters Centerline goodness : 0.880187 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.22, Z:-0.77 [[ 9.99686707e-01 2.50295343e-02 9.86489559e-05 4.84428275e+00] [-2.50241985e-02 9.99540915e-01 -1.70806594e-02 -2.23946825e-01] [-5.26124617e-04 1.70728395e-02 9.99854110e-01 -7.68085763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.27719346999999 meters Centerline goodness : 0.880129 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.22, Z:-0.77 [[ 9.99672461e-01 2.55908080e-02 -2.86425118e-04 4.84467921e+00] [-2.55919979e-02 9.99530139e-01 -1.68686414e-02 -2.23558155e-01] [-1.45391626e-04 1.68704465e-02 9.99857673e-01 -7.67443816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.307193469999994 meters Centerline goodness : 0.883059 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.22, Z:-0.77 [[ 9.99575352e-01 2.91350139e-02 -5.16758263e-04 4.84518442e+00] [-2.91392860e-02 9.99489362e-01 -1.31117218e-02 -2.23913844e-01] [ 1.34484189e-04 1.31212119e-02 9.99913904e-01 -7.67024440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.337193469999995 meters Centerline goodness : 0.883941 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.22, Z:-0.77 [[ 9.99451381e-01 3.31198079e-02 1.21593830e-04 4.84476739e+00] [-3.31168510e-02 9.99399557e-01 -1.01881838e-02 -2.21050988e-01] [-4.58951509e-04 1.01785675e-02 9.99948092e-01 -7.66123547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.36719347 meters Centerline goodness : 0.883688 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.22, Z:-0.77 [[ 9.99314581e-01 3.70184641e-02 -3.80933804e-05 4.84533655e+00] [-3.70180514e-02 9.99297407e-01 -5.86145638e-03 -2.22430736e-01] [-1.78915497e-04 5.85884897e-03 9.99982821e-01 -7.66216528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.39719347 meters Centerline goodness : 0.883145 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.22, Z:-0.77 [[ 9.99273664e-01 3.80855732e-02 -1.27800541e-03 4.84835534e+00] [-3.80923812e-02 9.99257332e-01 -5.80996805e-03 -2.22890691e-01] [ 1.05578031e-03 5.85443033e-03 9.99982305e-01 -7.66947250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.42719347 meters Centerline goodness : 0.878366 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.23, Z:-0.77 [[ 9.99184586e-01 4.01614549e-02 -4.14977091e-03 4.85598261e+00] [-4.01811436e-02 9.99181000e-01 -4.77536392e-03 -2.26683537e-01] [ 3.95458669e-03 4.93821256e-03 9.99979987e-01 -7.70250492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.45719346999999 meters Centerline goodness : 0.881040 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.23, Z:-0.77 [[ 0.99913597 0.03771572 -0.01745961 4.85488635] [-0.03781821 0.99926907 -0.00557747 -0.22595177] [ 0.01723649 0.00623294 0.99983201 -0.76597868] [ 0. 0. 0. 1. ]] SLAMing on 48.487193469999994 meters Centerline goodness : 0.879159 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.23, Z:-0.77 [[ 9.99062023e-01 3.90018834e-02 -1.88129298e-02 4.85835050e+00] [-3.90959525e-02 9.99224602e-01 -4.65849526e-03 -2.27771635e-01] [ 1.86166522e-02 5.38963511e-03 9.99812168e-01 -7.67322578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.517193469999995 meters Centerline goodness : 0.879510 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.23, Z:-0.77 [[ 9.98992890e-01 4.01880581e-02 -1.99530770e-02 4.86099209e+00] [-4.02698989e-02 9.99181926e-01 -3.71678791e-03 -2.30041900e-01] [ 1.97873834e-02 4.51655309e-03 9.99794009e-01 -7.67985864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.547193469999996 meters Centerline goodness : 0.879510 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.23, Z:-0.77 [[ 9.98992890e-01 4.01880581e-02 -1.99530770e-02 4.86099209e+00] [-4.02698989e-02 9.99181926e-01 -3.71678791e-03 -2.30041900e-01] [ 1.97873834e-02 4.51655309e-03 9.99794009e-01 -7.67985864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.57719347 meters Centerline goodness : 0.879978 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.23, Z:-0.77 [[ 9.98865502e-01 4.24128781e-02 -2.16531191e-02 4.86385113e+00] [-4.24664163e-02 9.99095856e-01 -2.01853396e-03 -2.34514570e-01] [ 2.15479297e-02 2.93577431e-03 9.99763506e-01 -7.67456864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.60719347 meters Centerline goodness : 0.879238 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.24, Z:-0.77 [[ 9.98840420e-01 4.27483529e-02 -2.21448212e-02 4.86433826e+00] [-4.27863537e-02 9.99083469e-01 -1.24484197e-03 -2.37576079e-01] [ 2.20713098e-02 2.19089463e-03 9.99753998e-01 -7.66915253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.63719346999999 meters Centerline goodness : 0.879105 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.24, Z:-0.77 [[ 9.98941693e-01 3.97318388e-02 -2.31705539e-02 4.86541732e+00] [-3.98535115e-02 9.99193941e-01 -4.81307913e-03 -2.39354727e-01] [ 2.29606446e-02 5.73141335e-03 9.99719941e-01 -7.65782412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.667193469999994 meters Centerline goodness : 0.884050 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.25, Z:-0.76 [[ 0.99916732 0.03516282 -0.02069427 4.85841578] [-0.0352805 0.99936313 -0.00534918 -0.24728008] [ 0.020493 0.00607483 0.99977154 -0.76159999] [ 0. 0. 0. 1. ]] SLAMing on 48.697193469999995 meters Centerline goodness : 0.883199 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.25, Z:-0.76 [[ 9.99454680e-01 3.00545921e-02 -1.36771071e-02 4.86811047e+00] [-3.00974799e-02 9.99542642e-01 -2.94073141e-03 -2.51269646e-01] [ 1.35824693e-02 3.35077423e-03 9.99902140e-01 -7.64708780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.727193469999996 meters Centerline goodness : 0.882929 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.26, Z:-0.76 [[ 0.99965201 0.02252388 -0.01373106 4.86762882] [-0.02265232 0.99970041 -0.0092711 -0.25582431] [ 0.01351813 0.00957892 0.99986274 -0.76428153] [ 0. 0. 0. 1. ]] SLAMing on 48.75719347 meters Centerline goodness : 0.883367 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.26, Z:-0.77 [[ 0.99967639 0.02091801 -0.01447588 4.87037605] [-0.02106371 0.99972825 -0.00998717 -0.25852576] [ 0.01426304 0.01028885 0.99984534 -0.7658309 ] [ 0. 0. 0. 1. ]] SLAMing on 48.78719347 meters Centerline goodness : 0.883363 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.26, Z:-0.77 [[ 0.9996954 0.01941518 -0.01523684 4.87328512] [-0.01957963 0.99975084 -0.0107188 -0.26110331] [ 0.01502493 0.01101387 0.99982646 -0.76756694] [ 0. 0. 0. 1. ]] SLAMing on 48.81719346999999 meters Centerline goodness : 0.881297 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.27, Z:-0.77 [[ 0.99975083 0.01524383 -0.01630684 4.87802589] [-0.01546569 0.99978836 -0.01356672 -0.26610876] [ 0.01609658 0.01381554 0.99977499 -0.77097702] [ 0. 0. 0. 1. ]] SLAMing on 48.84719346999999 meters Centerline goodness : 0.879873 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.27, Z:-0.77 [[ 0.99975526 0.01403279 -0.01710258 4.88123838] [-0.01427451 0.99979877 -0.01409456 -0.26788713] [ 0.01690135 0.01433524 0.99975439 -0.77304521] [ 0. 0. 0. 1. ]] SLAMing on 48.877193469999995 meters Centerline goodness : 0.878678 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.27, Z:-0.77 [[ 0.99975662 0.01301579 -0.0178129 4.88383006] [-0.0132768 0.99980506 -0.01461405 -0.26854274] [ 0.01761921 0.01484699 0.99973453 -0.77449395] [ 0. 0. 0. 1. ]] SLAMing on 48.907193469999996 meters Centerline goodness : 0.878087 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.27, Z:-0.77 [[ 0.99975446 0.01258947 -0.01823508 4.88484377] [-0.01285648 0.99981075 -0.01460052 -0.26927372] [ 0.01804782 0.01483137 0.99972712 -0.77458774] [ 0. 0. 0. 1. ]] SLAMing on 48.93719347 meters Centerline goodness : 0.877692 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.27, Z:-0.77 [[ 0.99988762 0.00829158 -0.01249004 4.89201811] [-0.0084152 0.99991581 -0.00987728 -0.2701072 ] [ 0.01240709 0.00998128 0.99987321 -0.77484622] [ 0. 0. 0. 1. ]] SLAMing on 48.96719347 meters Centerline goodness : 0.878222 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.27, Z:-0.77 [[ 0.99988759 0.00747639 -0.01299627 4.89319471] [-0.00761125 0.99991738 -0.01035826 -0.27050893] [ 0.01291775 0.01045602 0.99986189 -0.77490881] [ 0. 0. 0. 1. ]] SLAMing on 48.99719346999999 meters Centerline goodness : 0.878911 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.27, Z:-0.78 [[ 0.99989219 0.0050706 -0.01378069 4.89583725] [-0.00524528 0.99990598 -0.01266922 -0.27100547] [ 0.01371515 0.01274014 0.99982478 -0.77621372] [ 0. 0. 0. 1. ]] SLAMing on 49.02719346999999 meters Centerline goodness : 0.875669 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.27, Z:-0.78 [[ 9.99897763e-01 5.05695284e-04 -1.42901494e-02 4.89713140e+00] [-7.54058767e-04 9.99848672e-01 -1.73800084e-02 -2.69930996e-01] [ 1.42791979e-02 1.73890071e-02 9.99746831e-01 -7.76598132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.057193469999994 meters Centerline goodness : 0.878433 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.27, Z:-0.78 [[ 9.99890938e-01 -5.41658379e-04 -1.47586709e-02 4.89933237e+00] [ 2.67716933e-04 9.99827767e-01 -1.85570472e-02 -2.67596085e-01] [ 1.47661805e-02 1.85510722e-02 9.99718869e-01 -7.78139510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.087193469999995 meters Centerline goodness : 0.876945 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.27, Z:-0.78 [[ 9.99877945e-01 5.79465253e-04 -1.56128157e-02 4.90310332e+00] [-8.46156383e-04 9.99853762e-01 -1.70803651e-02 -2.65412711e-01] [ 1.56006350e-02 1.70914912e-02 9.99732215e-01 -7.80484658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.11719347 meters Centerline goodness : 0.875808 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.26, Z:-0.78 [[ 9.99864970e-01 1.54765901e-03 -1.63599246e-02 4.90676813e+00] [-1.80741421e-03 9.99872356e-01 -1.58746879e-02 -2.63552502e-01] [ 1.63332677e-02 1.59021135e-02 9.99740140e-01 -7.82947845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.14719347 meters Centerline goodness : 0.874462 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.26, Z:-0.79 [[ 9.99850955e-01 -7.78950981e-04 -1.72470311e-02 4.91040269e+00] [ 4.60741671e-04 9.99829745e-01 -1.84463842e-02 -2.60049783e-01] [ 1.72584635e-02 1.84356884e-02 9.99681085e-01 -7.85191565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.17719347 meters Centerline goodness : 0.872492 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.26, Z:-0.79 [[ 9.99841952e-01 -1.62470860e-03 -1.77040047e-02 4.91208451e+00] [ 1.27841690e-03 9.99807987e-01 -1.95538687e-02 -2.58332319e-01] [ 1.77323747e-02 1.95281452e-02 9.99652047e-01 -7.86099363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.20719346999999 meters Centerline goodness : 0.874793 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.26, Z:-0.79 [[ 9.99838555e-01 -2.01101784e-03 -1.78555223e-02 4.91270204e+00] [ 1.64615514e-03 9.99790025e-01 -2.04254011e-02 -2.55895414e-01] [ 1.78928489e-02 2.03927106e-02 9.99631924e-01 -7.86374410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.237193469999994 meters Centerline goodness : 0.873850 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.25, Z:-0.79 [[ 9.99833953e-01 5.64359799e-04 -1.82139590e-02 4.91414319e+00] [-8.94579774e-04 9.99835292e-01 -1.81269974e-02 -2.53435929e-01] [ 1.82007289e-02 1.81402813e-02 9.99669777e-01 -7.86990845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.267193469999995 meters Centerline goodness : 0.875700 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.24, Z:-0.79 [[ 0.99990268 0.00721426 -0.01194108 4.92648081] [-0.007452 0.99977248 -0.01998657 -0.24247114] [ 0.01179417 0.02007361 0.99972894 -0.78963442] [ 0. 0. 0. 1. ]] SLAMing on 49.297193469999996 meters Centerline goodness : 0.874485 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.24, Z:-0.79 [[ 0.9999046 0.01222484 -0.00642924 4.93955353] [-0.01237247 0.99964852 -0.02344687 -0.23618777] [ 0.00614035 0.02352418 0.99970441 -0.79276029] [ 0. 0. 0. 1. ]] SLAMing on 49.32719347 meters Centerline goodness : 0.873088 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.23, Z:-0.79 [[ 0.99985381 0.01570283 -0.00676582 4.94078288] [-0.01584193 0.9996535 -0.02102157 -0.23124781] [ 0.00643337 0.02112568 0.99975613 -0.79315538] [ 0. 0. 0. 1. ]] SLAMing on 49.35719347 meters Centerline goodness : 0.867516 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.22, Z:-0.80 [[ 9.99784126e-01 2.03494881e-02 -4.19517432e-03 4.96033938e+00] [-2.04435343e-02 9.99508933e-01 -2.37477466e-02 -2.21157059e-01] [ 3.70985972e-03 2.38283842e-02 9.99709180e-01 -7.96781666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.38719346999999 meters Centerline goodness : 0.866862 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.22, Z:-0.80 [[ 9.99716531e-01 2.33946879e-02 -4.42113474e-03 4.96090662e+00] [-2.34831166e-02 9.99500750e-01 -2.11375074e-02 -2.18174445e-01] [ 3.92442210e-03 2.12353376e-02 9.99766802e-01 -7.96404425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.417193469999994 meters Centerline goodness : 0.866880 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.21, Z:-0.80 [[ 9.99718147e-01 2.32694462e-02 -4.70737590e-03 4.96128605e+00] [-2.33696176e-02 9.99474118e-01 -2.24799482e-02 -2.13121453e-01] [ 4.18180443e-03 2.25836217e-02 9.99736211e-01 -7.95679110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.447193469999995 meters Centerline goodness : 0.868418 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.21, Z:-0.79 [[ 0.99967191 0.0243115 -0.00806361 4.96808722] [-0.02444989 0.99954729 -0.01753306 -0.20966862] [ 0.0076337 0.01772446 0.99981377 -0.7926578 ] [ 0. 0. 0. 1. ]] SLAMing on 49.477193469999996 meters Centerline goodness : 0.865307 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.20, Z:-0.79 [[ 0.99960885 0.02673096 -0.00822194 4.96865636] [-0.02686462 0.99950122 -0.01660116 -0.2015426 ] [ 0.00777407 0.01681555 0.99982839 -0.79185553] [ 0. 0. 0. 1. ]] SLAMing on 49.50719347 meters Centerline goodness : 0.868968 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.20, Z:-0.79 [[ 0.99954747 0.02876377 -0.0088038 4.97100411] [-0.02889126 0.99947425 -0.0147144 -0.19922043] [ 0.00837593 0.01496209 0.99985298 -0.79294354] [ 0. 0. 0. 1. ]] SLAMing on 49.53719347 meters Centerline goodness : 0.869380 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.20, Z:-0.79 [[ 0.99955614 0.02836815 -0.00909792 4.9718846 ] [-0.02851012 0.99946744 -0.01587456 -0.19585277] [ 0.00864274 0.01612689 0.9998326 -0.79309077] [ 0. 0. 0. 1. ]] SLAMing on 49.56719346999999 meters Centerline goodness : 0.866287 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.19, Z:-0.79 [[ 0.99951498 0.02951538 -0.00993178 4.97507092] [-0.02966088 0.9994499 -0.01483644 -0.19271683] [ 0.00948841 0.01512383 0.99984061 -0.79465294] [ 0. 0. 0. 1. ]] SLAMing on 49.59719346999999 meters Centerline goodness : 0.869255 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.19, Z:-0.80 [[ 0.99953211 0.02882916 -0.01021972 4.97623946] [-0.0289878 0.99945599 -0.01572968 -0.1912105 ] [ 0.00976069 0.01601857 0.99982405 -0.79539595] [ 0. 0. 0. 1. ]] SLAMing on 49.627193469999995 meters Centerline goodness : 0.866131 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.19, Z:-0.80 [[ 0.99954287 0.02834 -0.01053087 4.97748499] [-0.02851193 0.99945642 -0.01655124 -0.18964479] [ 0.01005609 0.01684393 0.99980756 -0.79611209] [ 0. 0. 0. 1. ]] SLAMing on 49.657193469999996 meters Centerline goodness : 0.864368 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.19, Z:-0.80 [[ 0.9995256 0.02853251 -0.01159612 4.9823896 ] [-0.0287244 0.99944732 -0.01673187 -0.18685799] [ 0.01111231 0.01705702 0.99979277 -0.7994998 ] [ 0. 0. 0. 1. ]] SLAMing on 49.68719347 meters Centerline goodness : 0.865434 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.19, Z:-0.80 [[ 0.99943634 0.0311808 -0.01244007 4.98565594] [-0.03135291 0.99941188 -0.01388831 -0.18642946] [ 0.0119997 0.01427052 0.99982616 -0.80158161] [ 0. 0. 0. 1. ]] SLAMing on 49.71719347 meters Centerline goodness : 0.863707 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.18, Z:-0.80 [[ 0.99933829 0.03389953 -0.01318332 4.98866603] [-0.03405202 0.99935367 -0.0115194 -0.18453317] [ 0.0127843 0.0119607 0.99984674 -0.80318919] [ 0. 0. 0. 1. ]] SLAMing on 49.74719346999999 meters Centerline goodness : 0.863569 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.18, Z:-0.80 [[ 0.99931534 0.03424191 -0.01401233 4.99050837] [-0.0344235 0.99932369 -0.01293004 -0.18126059] [ 0.0135601 0.01340354 0.99981822 -0.80283845] [ 0. 0. 0. 1. ]] SLAMing on 49.77719346999999 meters Centerline goodness : 0.863573 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.18, Z:-0.80 [[ 0.99926796 0.03561207 -0.01397617 4.9892106 ] [-0.03579445 0.99927431 -0.0130236 -0.1795109 ] [ 0.01350223 0.01351434 0.99981751 -0.80042617] [ 0. 0. 0. 1. ]] SLAMing on 49.807193469999994 meters Centerline goodness : 0.864377 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.18, Z:-0.80 [[ 0.99927697 0.0352301 -0.01429607 4.98977763] [-0.03542616 0.99927837 -0.01370129 -0.17898572] [ 0.01380306 0.01419784 0.99980393 -0.80006233] [ 0. 0. 0. 1. ]] SLAMing on 49.837193469999995 meters Centerline goodness : 0.860925 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.18, Z:-0.80 [[ 0.99928964 0.03493739 -0.01412759 4.98904546] [-0.03513376 0.99928597 -0.01389845 -0.17903794] [ 0.01363193 0.01438493 0.9998036 -0.79923857] [ 0. 0. 0. 1. ]] SLAMing on 49.86719347 meters Centerline goodness : 0.861504 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.18, Z:-0.80 [[ 0.99949935 0.02990276 -0.01033778 4.99294085] [-0.02997097 0.99952958 -0.00650818 -0.18096376] [ 0.01013831 0.00681476 0.99992538 -0.79740991] [ 0. 0. 0. 1. ]] SLAMing on 49.89719347 meters Centerline goodness : 0.862237 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.18, Z:-0.80 [[ 0.99952814 0.02900927 -0.01009738 4.99253568] [-0.02907809 0.99955444 -0.00673737 -0.18156498] [ 0.00989743 0.0070278 0.99992632 -0.79750507] [ 0. 0. 0. 1. ]] SLAMing on 49.92719347 meters Centerline goodness : 0.860067 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.18, Z:-0.80 [[ 0.99954502 0.0283989 -0.01016169 4.99298268] [-0.02846746 0.99957249 -0.00666685 -0.18248018] [ 0.00996802 0.0069531 0.99992614 -0.7980237 ] [ 0. 0. 0. 1. ]] SLAMing on 49.95719346999999 meters Centerline goodness : 0.859372 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.18, Z:-0.80 [[ 0.99957888 0.02702374 -0.01057218 4.99440664] [-0.02710248 0.99960544 -0.00737685 -0.18290105] [ 0.01036866 0.00766027 0.9999169 -0.79906695] [ 0. 0. 0. 1. ]] SLAMing on 49.987193469999994 meters Centerline goodness : 0.857334 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.18, Z:-0.80 [[ 0.99967524 0.02304579 -0.01087724 4.99491488] [-0.02316567 0.99967082 -0.01102704 -0.18473006] [ 0.01061953 0.01127544 0.99988004 -0.79890946] [ 0. 0. 0. 1. ]] SLAMing on 50.017193469999995 meters Centerline goodness : 0.855734 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.19, Z:-0.80 [[ 0.99971332 0.02093518 -0.01161865 4.99778868] [-0.02108496 0.99969417 -0.01292269 -0.18537609] [ 0.01134456 0.01316396 0.99984899 -0.80069558] [ 0. 0. 0. 1. ]] SLAMing on 50.047193469999996 meters Centerline goodness : 0.854563 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.18, Z:-0.80 [[ 0.99974672 0.01881169 -0.01235364 5.00134636] [-0.01899247 0.99971181 -0.0146828 -0.18436406] [ 0.01207387 0.0149137 0.99981588 -0.80329046] [ 0. 0. 0. 1. ]] SLAMing on 50.07719347 meters Centerline goodness : 0.854163 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.18, Z:-0.81 [[ 0.99975621 0.01779314 -0.01307375 5.00416933] [-0.01799689 0.99971578 -0.01563555 -0.18339212] [ 0.01279183 0.01586703 0.99979228 -0.80501142] [ 0. 0. 0. 1. ]] SLAMing on 50.10719347 meters Centerline goodness : 0.850500 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.18, Z:-0.81 [[ 0.99976279 0.01708505 -0.01350815 5.00567553] [-0.01730621 0.99971525 -0.0164291 -0.18216363] [ 0.01322361 0.01665898 0.99977378 -0.80571651] [ 0. 0. 0. 1. ]] SLAMing on 50.13719346999999 meters Centerline goodness : 0.854450 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.18, Z:-0.81 [[ 0.99977997 0.01559037 -0.01403429 5.00694673] [-0.01584168 0.99971288 -0.01797777 -0.17952708] [ 0.01374998 0.01819614 0.99973989 -0.80576542] [ 0. 0. 0. 1. ]] SLAMing on 50.167193469999994 meters Centerline goodness : 0.854484 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.18, Z:-0.81 [[ 0.9997893 0.01458468 -0.01444471 5.00806187] [-0.01485732 0.99971003 -0.01895057 -0.17789414] [ 0.01416413 0.01916118 0.99971607 -0.80601167] [ 0. 0. 0. 1. ]] SLAMing on 50.197193469999995 meters Centerline goodness : 0.852418 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.18, Z:-0.81 [[ 0.99990008 0.01058491 -0.00936973 5.01792288] [-0.01071269 0.99984884 -0.01369403 -0.17704706] [ 0.00922337 0.01379304 0.99986233 -0.80850039] [ 0. 0. 0. 1. ]] SLAMing on 50.227193469999996 meters Centerline goodness : 0.852671 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.17, Z:-0.81 [[ 0.99991123 0.00868971 -0.01010074 5.02028443] [-0.00884614 0.99984 -0.01554753 -0.17484928] [ 0.00996402 0.0156355 0.99982811 -0.8095772 ] [ 0. 0. 0. 1. ]] SLAMing on 50.25719347 meters Centerline goodness : 0.851194 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.17, Z:-0.81 [[ 0.99992234 0.00535508 -0.01125337 5.02440889] [-0.00556908 0.9998026 -0.01907197 -0.16945543] [ 0.01114902 0.01913316 0.99975478 -0.81183288] [ 0. 0. 0. 1. ]] SLAMing on 50.28719347 meters Centerline goodness : 0.852522 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.17, Z:-0.81 [[ 9.99922854e-01 4.58317438e-03 -1.15447228e-02 5.02574007e+00] [-4.81555877e-03 9.99784719e-01 -2.01823434e-02 -1.66541452e-01] [ 1.14497382e-02 2.02363807e-02 9.99729660e-01 -8.12604083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.31719346999999 meters Centerline goodness : 0.856244 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.16, Z:-0.81 [[ 0.99991081 0.00647234 -0.01168236 5.02650087] [-0.00669538 0.99979411 -0.01915474 -0.15936325] [ 0.01155598 0.01923125 0.99974828 -0.81259302] [ 0. 0. 0. 1. ]] SLAMing on 50.34719346999999 meters Centerline goodness : 0.855529 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.16, Z:-0.81 [[ 0.99988607 0.00893076 -0.01216877 5.02832681] [-0.00913912 0.99981071 -0.01717591 -0.15539098] [ 0.01201307 0.01728516 0.99977843 -0.81333576] [ 0. 0. 0. 1. ]] SLAMing on 50.377193469999995 meters Centerline goodness : 0.856186 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.15, Z:-0.81 [[ 0.99985565 0.01144922 -0.01255377 5.03046663] [-0.01164296 0.99981254 -0.01546988 -0.15041821] [ 0.01237429 0.01561381 0.99980152 -0.81470233] [ 0. 0. 0. 1. ]] SLAMing on 50.407193469999996 meters Centerline goodness : 0.853621 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.15, Z:-0.82 [[ 0.99981492 0.01396362 -0.01323444 5.03340547] [-0.01414674 0.99980407 -0.01384545 -0.14522472] [ 0.01303852 0.01403011 0.99981656 -0.81642938] [ 0. 0. 0. 1. ]] SLAMing on 50.43719347 meters Centerline goodness : 0.850960 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.14, Z:-0.82 [[ 0.99977612 0.01596507 -0.01388625 5.03664671] [-0.01613977 0.99979085 -0.01256059 -0.14051224] [ 0.01368282 0.0127819 0.99982469 -0.81860655] [ 0. 0. 0. 1. ]] SLAMing on 50.46719347 meters Centerline goodness : 0.850960 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.14, Z:-0.82 [[ 0.99977612 0.01596507 -0.01388625 5.03664671] [-0.01613977 0.99979085 -0.01256059 -0.14051224] [ 0.01368282 0.0127819 0.99982469 -0.81860655] [ 0. 0. 0. 1. ]] SLAMing on 50.49719346999999 meters Centerline goodness : 0.850117 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.13, Z:-0.82 [[ 0.99973135 0.01834597 -0.01416527 5.03860795] [-0.01853097 0.99974323 -0.01304143 -0.13061157] [ 0.01392238 0.01330042 0.99981462 -0.81907713] [ 0. 0. 0. 1. ]] SLAMing on 50.52719346999999 meters Centerline goodness : 0.851848 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.13, Z:-0.82 [[ 0.9996769 0.02111315 -0.01415362 5.0379537 ] [-0.02127888 0.99970556 -0.01166234 -0.12568766] [ 0.01390322 0.01195975 0.99983182 -0.81742306] [ 0. 0. 0. 1. ]] SLAMing on 50.557193469999994 meters Centerline goodness : 0.852781 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.12, Z:-0.82 [[ 0.99966185 0.02414772 -0.00964776 5.05313188] [-0.02423966 0.99966076 -0.0095294 -0.12242928] [ 0.00941437 0.00976003 0.99990805 -0.81621552] [ 0. 0. 0. 1. ]] SLAMing on 50.587193469999995 meters Centerline goodness : 0.852390 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.11, Z:-0.81 [[ 0.99961729 0.02598417 -0.00949228 5.05220998] [-0.0260817 0.99960675 -0.01030012 -0.11271126] [ 0.00922091 0.01054375 0.9999019 -0.81375622] [ 0. 0. 0. 1. ]] SLAMing on 50.61719347 meters Centerline goodness : 0.855076 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.11, Z:-0.81 [[ 0.99955203 0.02839241 -0.00946631 5.05188341] [-0.02847443 0.99955713 -0.00864534 -0.10899567] [ 0.00921666 0.00891101 0.99991782 -0.81274401] [ 0. 0. 0. 1. ]] SLAMing on 50.64719347 meters Centerline goodness : 0.854874 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.10, Z:-0.81 [[ 0.99955772 0.02811439 -0.00969279 5.05249066] [-0.02821302 0.99954995 -0.010194 -0.10424082] [ 0.00940183 0.01046295 0.99990106 -0.81245102] [ 0. 0. 0. 1. ]] SLAMing on 50.67719346999999 meters Centerline goodness : 0.854354 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.10, Z:-0.81 [[ 0.99947719 0.03065386 -0.01028019 5.05567072] [-0.03074694 0.99948648 -0.00902177 -0.09722362] [ 0.00999836 0.00933313 0.99990646 -0.81443014] [ 0. 0. 0. 1. ]] SLAMing on 50.70719346999999 meters Centerline goodness : 0.853865 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.09, Z:-0.82 [[ 0.99947273 0.03058451 -0.01090178 5.05895181] [-0.0306916 0.9994809 -0.00979552 -0.0933919 ] [ 0.01059653 0.01012494 0.99989259 -0.81670655] [ 0. 0. 0. 1. ]] SLAMing on 50.737193469999994 meters Centerline goodness : 0.852798 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.09, Z:-0.82 [[ 9.99503557e-01 3.04395483e-02 -8.12858746e-03 5.05084786e+00] [-3.04562345e-02 9.99534225e-01 -1.93692359e-03 -9.04664558e-02] [ 8.06584229e-03 2.18352819e-03 9.99965087e-01 -8.19249776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.767193469999995 meters Centerline goodness : 0.853762 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.09, Z:-0.82 [[ 9.99511079e-01 3.01649682e-02 -8.22658942e-03 5.05124075e+00] [-3.01897041e-02 9.99539982e-01 -2.89937534e-03 -8.69185457e-02] [ 8.13534548e-03 3.14631607e-03 9.99961958e-01 -8.19288070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.797193469999996 meters Centerline goodness : 0.856794 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.08, Z:-0.82 [[ 9.99543701e-01 2.90179853e-02 -8.38731815e-03 5.05128237e+00] [-2.90576171e-02 9.99566957e-01 -4.64258982e-03 -8.16091284e-02] [ 8.24896748e-03 4.88418689e-03 9.99954049e-01 -8.18528634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.82719347 meters Centerline goodness : 0.854583 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.08, Z:-0.82 [[ 0.99956355 0.02826514 -0.00859043 5.05125785] [-0.02831259 0.99958424 -0.00545318 -0.07938287] [ 0.00843273 0.00569401 0.99994823 -0.81779488] [ 0. 0. 0. 1. ]] SLAMing on 50.85719347 meters Centerline goodness : 0.854584 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.08, Z:-0.82 [[ 0.99959939 0.02691689 -0.00874861 5.05118941] [-0.02697619 0.99961341 -0.00673186 -0.07766291] [ 0.00856403 0.00696517 0.99993907 -0.81722606] [ 0. 0. 0. 1. ]] SLAMing on 50.88719346999999 meters Centerline goodness : 0.855448 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.07, Z:-0.82 [[ 0.99973362 0.02137164 -0.00871469 5.05117322] [-0.02147961 0.99969125 -0.01249111 -0.07459951] [ 0.00844504 0.01267498 0.99988401 -0.81729982] [ 0. 0. 0. 1. ]] SLAMing on 50.917193469999994 meters Centerline goodness : 0.856577 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.07, Z:-0.82 [[ 0.99976308 0.01966879 -0.00932302 5.05362408] [-0.01979851 0.99970551 -0.0140322 -0.07288336] [ 0.00904428 0.01421346 0.99985808 -0.81892551] [ 0. 0. 0. 1. ]] SLAMing on 50.947193469999995 meters Centerline goodness : 0.855197 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.07, Z:-0.82 [[ 0.99977099 0.01914926 -0.00955335 5.0546996 ] [-0.01929012 0.99970322 -0.01487795 -0.06992786] [ 0.00926561 0.01505883 0.99984368 -0.81959184] [ 0. 0. 0. 1. ]] SLAMing on 50.977193469999996 meters Centerline goodness : 0.852658 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.06, Z:-0.82 [[ 0.99970455 0.02230836 -0.00965155 5.05631113] [-0.02242983 0.99966818 -0.01266657 -0.06370774] [ 0.00936578 0.01287931 0.99987319 -0.8209216 ] [ 0. 0. 0. 1. ]] SLAMing on 51.00719347 meters Centerline goodness : 0.852326 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.06, Z:-0.82 [[ 0.99964107 0.02469931 -0.01037682 5.05921381] [-0.02480978 0.9996354 -0.01065594 -0.06133583] [ 0.01010985 0.01090956 0.99988938 -0.82258574] [ 0. 0. 0. 1. ]] SLAMing on 51.03719347 meters Centerline goodness : 0.852904 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.06, Z:-0.82 [[ 0.99955178 0.02807201 -0.01040213 5.05956111] [-0.02815356 0.99957335 -0.00777742 -0.05885574] [ 0.01017937 0.00806679 0.99991565 -0.82258741] [ 0. 0. 0. 1. ]] SLAMing on 51.06719346999999 meters Centerline goodness : 0.852524 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.05, Z:-0.82 [[ 0.99945147 0.03146209 -0.01033876 5.05938582] [-0.03151675 0.99948987 -0.0051675 -0.05472212] [ 0.01017091 0.00549051 0.9999332 -0.8219876 ] [ 0. 0. 0. 1. ]] SLAMing on 51.09719346999999 meters Centerline goodness : 0.850062 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.04, Z:-0.82 [[ 9.99202316e-01 3.86423340e-02 -1.00747665e-02 5.05861070e+00] [-3.86475832e-02 9.99252850e-01 -3.26786060e-04 -4.36220610e-02] [ 1.00546113e-02 7.15890764e-04 9.99949195e-01 -8.19937591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.127193469999995 meters Centerline goodness : 0.851175 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.04, Z:-0.82 [[ 9.99043667e-01 4.25369597e-02 -1.01172413e-02 5.05918298e+00] [-4.25165494e-02 9.99093287e-01 2.22407190e-03 -3.92291048e-02] [ 1.02026731e-02 -1.79179476e-03 9.99946346e-01 -8.19747551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.157193469999996 meters Centerline goodness : 0.851052 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.04, Z:-0.82 [[ 9.98848319e-01 4.68859863e-02 -1.01853061e-02 5.05981858e+00] [-4.68358578e-02 9.98889550e-01 5.10578539e-03 -3.54270956e-02] [ 1.04133856e-02 -4.62286760e-03 9.99935093e-01 -8.19567942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.18719347 meters Centerline goodness : 0.852611 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.03, Z:-0.82 [[ 9.98204341e-01 5.86451214e-02 -1.22001349e-02 5.06654877e+00] [-5.85794111e-02 9.98266617e-01 5.67571028e-03 -2.68343305e-02] [ 1.25118402e-02 -4.95084192e-03 9.99909467e-01 -8.15595143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.21719347 meters Centerline goodness : 0.854106 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.02, Z:-0.82 [[ 0.99795138 0.06279423 -0.0122447 5.06702441] [-0.06269234 0.99799641 0.00853497 -0.02321154] [ 0.01275612 -0.00774983 0.9998886 -0.81522119] [ 0. 0. 0. 1. ]] SLAMing on 51.24719346999999 meters Centerline goodness : 0.852587 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.02, Z:-0.81 [[ 0.99768368 0.06692517 -0.01217739 5.06742903] [-0.06678187 0.99769762 0.01181683 -0.02042808] [ 0.01294019 -0.01097623 0.99985603 -0.81499889] [ 0. 0. 0. 1. ]] SLAMing on 51.27719346999999 meters Centerline goodness : 0.854531 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.02, Z:-0.82 [[ 0.99710578 0.07579668 -0.00591051 5.07611317] [-0.0757328 0.99707421 0.01037171 -0.01509821] [ 0.00667936 -0.00989407 0.99992874 -0.81636478] [ 0. 0. 0. 1. ]] SLAMing on 51.307193469999994 meters Centerline goodness : 0.854627 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.01, Z:-0.82 [[ 0.99704734 0.07654346 -0.00613988 5.07644085] [-0.07647898 0.99701976 0.01012773 -0.01277447] [ 0.00689679 -0.00962825 0.99992986 -0.81566372] [ 0. 0. 0. 1. ]] SLAMing on 51.337193469999995 meters Centerline goodness : 0.856737 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.01, Z:-0.82 [[ 0.99700122 0.07711935 -0.00641708 5.07677524] [-0.07705074 0.99697367 0.01032921 -0.01244019] [ 0.00719425 -0.00980379 0.99992606 -0.81520606] [ 0. 0. 0. 1. ]] SLAMing on 51.36719347 meters Centerline goodness : 0.853538 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.02, Z:-0.82 [[ 0.99703527 0.07656976 -0.00759923 5.08047098] [-0.07649838 0.99702653 0.00927841 -0.01728442] [ 0.00828708 -0.00866958 0.99992808 -0.81759578] [ 0. 0. 0. 1. ]] SLAMing on 51.39719347 meters Centerline goodness : 0.852249 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.02, Z:-0.82 [[ 0.99709209 0.07539281 -0.01110391 5.10308138] [-0.07529139 0.99711834 0.00928537 -0.0220178 ] [ 0.01177196 -0.00842234 0.99989524 -0.81907318] [ 0. 0. 0. 1. ]] SLAMing on 51.42719346999999 meters Centerline goodness : 0.852024 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.03, Z:-0.82 [[ 0.99722205 0.07352759 -0.01191119 5.10580895] [-0.07344129 0.99727113 0.00752788 -0.02515148] [ 0.0124322 -0.00663219 0.99990072 -0.82110079] [ 0. 0. 0. 1. ]] SLAMing on 51.45719346999999 meters Centerline goodness : 0.850267 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.03, Z:-0.82 [[ 9.97392478e-01 7.10613706e-02 -1.25907391e-02 5.10778964e+00] [-7.09974204e-02 9.97461578e-01 5.45590384e-03 -2.83906756e-02] [ 1.29464825e-02 -4.54776745e-03 9.99905849e-01 -8.22493959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.487193469999994 meters Centerline goodness : 0.849285 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.04, Z:-0.83 [[ 0.99787818 0.06417078 -0.01101144 5.13115894] [-0.06399819 0.99783166 0.01536904 -0.03926448] [ 0.0119738 -0.01463171 0.99982125 -0.82535905] [ 0. 0. 0. 1. ]] SLAMing on 51.517193469999995 meters Centerline goodness : 0.850182 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.04, Z:-0.83 [[ 0.99803525 0.06158063 -0.01155233 5.13219312] [-0.06142225 0.99801924 0.01359782 -0.04330879] [ 0.01236681 -0.01286154 0.99984081 -0.82555261] [ 0. 0. 0. 1. ]] SLAMing on 51.547193469999996 meters Centerline goodness : 0.850179 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.05, Z:-0.83 [[ 9.98344848e-01 5.72839367e-02 -5.11020543e-03 5.14277306e+00] [-5.71866000e-02 9.98210036e-01 1.75047772e-02 -4.90731470e-02] [ 6.10380089e-03 -1.71835689e-02 9.99833720e-01 -8.28683836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.57719347 meters Centerline goodness : 0.850815 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.06, Z:-0.83 [[ 9.98635268e-01 5.22227237e-02 -6.22655434e-04 5.15686018e+00] [-5.22064308e-02 9.98511758e-01 1.57720759e-02 -6.31502156e-02] [ 1.44538954e-03 -1.57180447e-02 9.99875419e-01 -8.28589989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.60719347 meters Centerline goodness : 0.850065 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.07, Z:-0.83 [[ 9.98800611e-01 4.89556671e-02 -8.26240637e-04 5.15725662e+00] [-4.89403874e-02 9.98713232e-01 1.32935835e-02 -6.98931861e-02] [ 1.47597370e-03 -1.32372027e-02 9.99911295e-01 -8.28897007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.63719346999999 meters Centerline goodness : 0.852316 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.08, Z:-0.83 [[ 9.98947742e-01 4.58472444e-02 -1.19982715e-03 5.15825986e+00] [-4.58310219e-02 9.98886707e-01 1.11742451e-02 -7.52371421e-02] [ 1.71079974e-03 -1.11074976e-02 9.99936846e-01 -8.29608691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.667193469999994 meters Centerline goodness : 0.849671 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.08, Z:-0.83 [[ 9.99053444e-01 4.34663572e-02 -1.70062583e-03 5.16045237e+00] [-4.34473840e-02 9.99006265e-01 9.94017742e-03 -7.96494393e-02] [ 2.13099917e-03 -9.85688074e-03 9.99949149e-01 -8.31186065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.697193469999995 meters Centerline goodness : 0.849530 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.10, Z:-0.83 [[ 9.99358342e-01 3.57118204e-02 -2.75145416e-03 5.18348944e+00] [-3.55397129e-02 9.98224630e-01 4.77966198e-02 -9.81899878e-02] [ 4.45347361e-03 -4.76681648e-02 9.98853299e-01 -8.25189959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.727193469999996 meters Centerline goodness : 0.851314 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.11, Z:-0.83 [[ 9.99482750e-01 3.21063234e-02 1.84858117e-03 5.19204405e+00] [-3.21594669e-02 9.97908049e-01 5.60829203e-02 -1.05918226e-01] [-4.40976490e-05 -5.61133608e-02 9.98424403e-01 -8.25360195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.75719347 meters Centerline goodness : 0.853968 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.11, Z:-0.82 [[ 9.99560593e-01 2.96046266e-02 1.47905084e-03 5.19164500e+00] [-2.96411256e-02 9.98034054e-01 5.52216510e-02 -1.11021308e-01] [ 1.58673247e-04 -5.52412269e-02 9.98473025e-01 -8.23020837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.78719347 meters Centerline goodness : 0.851923 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.11, Z:-0.82 [[ 9.99617194e-01 2.76257439e-02 1.51099788e-03 5.19023818e+00] [-2.76670348e-02 9.98135865e-01 5.43997217e-02 -1.14645238e-01] [-5.34839950e-06 -5.44207020e-02 9.98518096e-01 -8.20341867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.81719346999999 meters Centerline goodness : 0.858708 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.12, Z:-0.82 [[ 9.99654038e-01 2.62447218e-02 1.73721197e-03 5.18778585e+00] [-2.63005710e-02 9.98135897e-01 5.50727848e-02 -1.20483535e-01] [-2.88603712e-04 -5.50994214e-02 9.98480831e-01 -8.16315499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.84719346999999 meters Centerline goodness : 0.858470 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.12, Z:-0.82 [[ 9.99735648e-01 2.29495616e-02 1.39685433e-03 5.18809199e+00] [-2.29911638e-02 9.98379455e-01 5.20564203e-02 -1.21604700e-01] [-1.99918634e-04 -5.20747744e-02 9.98643168e-01 -8.15687818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.877193469999995 meters Centerline goodness : 0.857245 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.13, Z:-0.82 [[ 9.99873033e-01 1.58774698e-02 1.35032670e-03 5.18785316e+00] [-1.59225313e-02 9.98833172e-01 4.55934941e-02 -1.25226191e-01] [-6.24841776e-04 -4.56092059e-02 9.98959163e-01 -8.15498139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.907193469999996 meters Centerline goodness : 0.857236 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.13, Z:-0.82 [[ 9.99926445e-01 1.20902195e-02 9.64537548e-04 5.18851967e+00] [-1.21200139e-02 9.99048742e-01 4.18893319e-02 -1.26169964e-01] [-4.57168808e-04 -4.18979409e-02 9.99121791e-01 -8.15521229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.93719347 meters Centerline goodness : 0.858215 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.13, Z:-0.82 [[ 9.99964677e-01 8.38798178e-03 5.34633722e-04 5.18941515e+00] [-8.40225248e-03 9.99240215e-01 3.80577931e-02 -1.26355626e-01] [-2.14999440e-04 -3.80609410e-02 9.99275397e-01 -8.15667269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.96719347 meters Centerline goodness : 0.857641 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.13, Z:-0.82 [[ 9.99988109e-01 4.86281737e-03 3.66948208e-04 5.18970372e+00] [-4.87248003e-03 9.99410334e-01 3.39888629e-02 -1.25351368e-01] [-2.01450199e-04 -3.39902467e-02 9.99422144e-01 -8.15598259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.99719346999999 meters Centerline goodness : 0.859838 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.12, Z:-0.81 [[ 9.99970479e-01 5.91492733e-03 -4.90466036e-03 5.20040062e+00] [-5.77009809e-03 9.99561738e-01 2.90350989e-02 -1.24068415e-01] [ 5.07425133e-03 -2.90059414e-02 9.99566360e-01 -8.14781876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.02719346999999 meters Centerline goodness : 0.860182 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.12, Z:-0.82 [[ 0.9999442 0.00685539 -0.00803738 5.20719353] [-0.00662836 0.99958759 0.02794113 -0.12233604] [ 0.00822562 -0.0278863 0.99957726 -0.81592898] [ 0. 0. 0. 1. ]] SLAMing on 52.057193469999994 meters Centerline goodness : 0.855784 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.12, Z:-0.82 [[ 0.999941 0.00641757 -0.00876434 5.2102921 ] [-0.00618129 0.99962371 0.02672513 -0.11932606] [ 0.00893255 -0.02666938 0.9996044 -0.8181735 ] [ 0. 0. 0. 1. ]] SLAMing on 52.087193469999995 meters Centerline goodness : 0.856556 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.12, Z:-0.82 [[ 0.9999133 0.0090423 -0.00957262 5.21390347] [-0.008768 0.9995605 0.02831829 -0.11511911] [ 0.00982448 -0.0282319 0.99955312 -0.82097692] [ 0. 0. 0. 1. ]] SLAMing on 52.11719347 meters Centerline goodness : 0.854955 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.11, Z:-0.82 [[ 0.99990228 0.01185078 -0.00741517 5.22422649] [-0.01170237 0.99973651 0.01974731 -0.11096713] [ 0.00764724 -0.01965861 0.9997775 -0.8226528 ] [ 0. 0. 0. 1. ]] SLAMing on 52.14719347 meters Centerline goodness : 0.856142 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.11, Z:-0.82 [[ 0.99990304 0.01163312 -0.0076535 5.22528466] [-0.01148983 0.9997627 0.01850749 -0.10714479] [ 0.00786698 -0.01841776 0.99979943 -0.82335515] [ 0. 0. 0. 1. ]] SLAMing on 52.17719346999999 meters Centerline goodness : 0.852305 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.10, Z:-0.82 [[ 0.99990128 0.01156683 -0.00797723 5.22631243] [-0.01142846 0.99978712 0.01717857 -0.10328675] [ 0.00817423 -0.0170857 0.99982061 -0.82382973] [ 0. 0. 0. 1. ]] SLAMing on 52.20719346999999 meters Centerline goodness : 0.853954 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.10, Z:-0.82 [[ 0.99993634 0.00777754 -0.00817519 5.22680818] [-0.00767423 0.99989124 0.01259402 -0.10122437] [ 0.00827226 -0.01253048 0.99988727 -0.82395094] [ 0. 0. 0. 1. ]] SLAMing on 52.237193469999994 meters Centerline goodness : 0.857128 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.10, Z:-0.82 [[ 9.99957490e-01 4.04499575e-03 -8.28586145e-03 5.22699246e+00] [-3.97687463e-03 9.99958296e-01 8.22141232e-03 -9.95341678e-02] [ 8.31877148e-03 -8.18811100e-03 9.99931874e-01 -8.23891914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.267193469999995 meters Centerline goodness : 0.856978 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.10, Z:-0.83 [[ 9.99982319e-01 2.76048919e-03 -5.26703007e-03 5.23716123e+00] [-2.78162509e-03 9.99988092e-01 -4.00977150e-03 -9.55769656e-02] [ 5.25589842e-03 4.02435151e-03 9.99978090e-01 -8.25624830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.297193469999996 meters Centerline goodness : 0.859468 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.09, Z:-0.83 [[ 9.99994927e-01 2.92792046e-03 -1.25459266e-03 5.24800693e+00] [-2.94528670e-03 9.99896655e-01 -1.40714084e-02 -9.18456937e-02] [ 1.21326304e-03 1.40750322e-02 9.99900206e-01 -8.28388378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.32719347 meters Centerline goodness : 0.858802 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.09, Z:-0.83 [[ 9.99991740e-01 3.31332224e-03 2.35419559e-03 5.25757982e+00] [-3.25396288e-03 9.99687487e-01 -2.47858711e-02 -8.83144308e-02] [-2.43558345e-03 2.47780059e-02 9.99690011e-01 -8.29846122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.35719347 meters Centerline goodness : 0.858802 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.09, Z:-0.83 [[ 9.99991662e-01 3.27362803e-03 2.44118555e-03 5.25749941e+00] [-3.21198248e-03 9.99686218e-01 -2.48424877e-02 -8.83777627e-02] [-2.52174462e-03 2.48344395e-02 9.99688397e-01 -8.29757103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.38719346999999 meters Centerline goodness : 0.863273 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.09, Z:-0.83 [[ 9.99972335e-01 3.26218097e-03 6.68490304e-03 5.26840023e+00] [-3.02203840e-03 9.99360707e-01 -3.56236560e-02 -8.54134237e-02] [-6.79684024e-03 3.56024684e-02 9.99342918e-01 -8.32728405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.417193469999994 meters Centerline goodness : 0.863597 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.09, Z:-0.83 [[ 9.99976555e-01 2.70658433e-03 6.28994277e-03 5.26881730e+00] [-2.48001634e-03 9.99357563e-01 -3.57534773e-02 -8.66607817e-02] [-6.38267167e-03 3.57370399e-02 9.99340845e-01 -8.32239256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.447193469999995 meters Centerline goodness : 0.864582 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.09, Z:-0.83 [[ 9.99997609e-01 3.18429557e-04 2.16365086e-03 5.27605507e+00] [-2.45309854e-04 9.99431586e-01 -3.37112104e-02 -8.72648085e-02] [-2.17315566e-03 3.37105990e-02 9.99429274e-01 -8.30176720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.477193469999996 meters Centerline goodness : 0.865809 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.09, Z:-0.83 [[ 9.99992628e-01 -2.86922586e-03 -2.55161252e-03 5.28473208e+00] [ 2.78824534e-03 9.99509476e-01 -3.11934701e-02 -8.75672441e-02] [ 2.63986200e-03 3.11861256e-02 9.99510108e-01 -8.27726848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.50719347 meters Centerline goodness : 0.866123 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.09, Z:-0.83 [[ 9.99981251e-01 -5.55176123e-03 2.58382026e-03 5.29503326e+00] [ 5.61057508e-03 9.99711822e-01 -2.33408464e-02 -8.94169017e-02] [-2.45349286e-03 2.33549055e-02 9.99724226e-01 -8.30669197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.53719347 meters Centerline goodness : 0.872629 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.09, Z:-0.83 [[ 9.99918930e-01 -1.15909246e-02 5.27110130e-03 5.30095094e+00] [ 1.16804820e-02 9.99782299e-01 -1.72893264e-02 -8.91372085e-02] [-5.06955450e-03 1.73494937e-02 9.99836634e-01 -8.29171615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.56719346999999 meters Centerline goodness : 0.874919 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.09, Z:-0.83 [[ 9.99911403e-01 -1.22858878e-02 5.12274965e-03 5.30136015e+00] [ 1.23761337e-02 9.99761859e-01 -1.79737794e-02 -8.73809551e-02] [-4.90070588e-03 1.80355869e-02 9.99825335e-01 -8.29198690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.59719346999999 meters Centerline goodness : 0.876247 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.09, Z:-0.83 [[ 9.99937861e-01 -9.99745344e-03 4.93212486e-03 5.30178783e+00] [ 1.00698146e-02 9.99838706e-01 -1.48714776e-02 -8.72512464e-02] [-4.78265244e-03 1.49202191e-02 9.99877249e-01 -8.29334901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.627193469999995 meters Centerline goodness : 0.876330 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.08, Z:-0.83 [[ 9.99923127e-01 -1.15613594e-02 4.48041611e-03 5.30307325e+00] [ 1.16358533e-02 9.99788233e-01 -1.69733665e-02 -8.29892432e-02] [-4.28323212e-03 1.70241952e-02 9.99845903e-01 -8.29686852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.657193469999996 meters Centerline goodness : 0.879600 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.08, Z:-0.83 [[ 9.99952227e-01 -8.81734320e-03 4.21879556e-03 5.30381387e+00] [ 8.87520892e-03 9.99864002e-01 -1.38999070e-02 -8.24459844e-02] [-4.09566157e-03 1.39366857e-02 9.99894492e-01 -8.30004618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.68719347 meters Centerline goodness : 0.879677 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.08, Z:-0.83 [[ 9.99975223e-01 -5.87334730e-03 3.88028766e-03 5.30488171e+00] [ 5.91541906e-03 9.99922862e-01 -1.09214204e-02 -8.11763714e-02] [-3.81584305e-03 1.09441033e-02 9.99932831e-01 -8.30512229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.71719347 meters Centerline goodness : 0.880199 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.08, Z:-0.83 [[ 9.99990005e-01 -2.73264536e-03 3.53876062e-03 5.30559495e+00] [ 2.76035382e-03 9.99965387e-01 -7.84892173e-03 -7.96607376e-02] [-3.51718981e-03 7.85861151e-03 9.99962935e-01 -8.30478883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.74719346999999 meters Centerline goodness : 0.887291 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.07, Z:-0.83 [[ 9.99991741e-01 9.17414890e-04 3.95930416e-03 5.30240737e+00] [-8.97653418e-04 9.99987147e-01 -4.99004191e-03 -7.28107257e-02] [-3.96383121e-03 4.98644662e-03 9.99979711e-01 -8.26985980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.77719346999999 meters Centerline goodness : 0.891691 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.07, Z:-0.83 [[ 9.99985979e-01 3.25922626e-03 4.17359774e-03 5.30117173e+00] [-3.24707681e-03 9.99990481e-01 -2.91450119e-03 -6.88669888e-02] [-4.18305703e-03 2.90090834e-03 9.99987043e-01 -8.25603474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.807193469999994 meters Centerline goodness : 0.894650 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.06, Z:-0.82 [[ 9.99976520e-01 5.17409005e-03 4.49304939e-03 5.29938291e+00] [-5.16896630e-03 9.99985978e-01 -1.15123588e-03 -6.48582766e-02] [-4.49894299e-03 1.12798442e-03 9.99989244e-01 -8.23563252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.837193469999995 meters Centerline goodness : 0.899078 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.06, Z:-0.82 [[ 9.99964837e-01 7.19975993e-03 4.29990736e-03 5.29821683e+00] [-7.20199067e-03 9.99973939e-01 5.03528707e-04 -6.00065339e-02] [-4.29617001e-03 -5.34478894e-04 9.99990629e-01 -8.21256653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.86719347 meters Centerline goodness : 0.898632 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.06, Z:-0.82 [[ 9.99965028e-01 7.29627113e-03 4.08738412e-03 5.29891906e+00] [-7.29725561e-03 9.99973349e-01 2.25996043e-04 -5.88956073e-02] [-4.08562626e-03 -2.55814826e-04 9.99991621e-01 -8.21514580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.89719347 meters Centerline goodness : 0.897213 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.06, Z:-0.82 [[ 9.99936827e-01 1.05120845e-02 3.97967346e-03 5.29975717e+00] [-1.05276884e-02 9.99936897e-01 3.92045633e-03 -5.99994367e-02] [-3.93821016e-03 -3.96210542e-03 9.99984396e-01 -8.22147306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.92719346999999 meters Centerline goodness : 0.900219 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.06, Z:-0.82 [[ 9.99893634e-01 1.40661972e-02 3.85531855e-03 5.30075239e+00] [-1.40948259e-02 9.99872520e-01 7.50200518e-03 -5.95524023e-02] [-3.74930238e-03 -7.55554726e-03 9.99964428e-01 -8.22957391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.95719346999999 meters Centerline goodness : 0.901779 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.05, Z:-0.83 [[ 9.99733829e-01 2.28495691e-02 3.18890498e-03 5.30467169e+00] [-2.28965539e-02 9.99616588e-01 1.55699734e-02 -5.33599831e-02] [-2.83191513e-03 -1.56388441e-02 9.99873695e-01 -8.26014915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.987193469999994 meters Centerline goodness : 0.900105 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.05, Z:-0.83 [[ 9.99649844e-01 2.63440287e-02 2.48625125e-03 5.30708356e+00] [-2.63851366e-02 9.99484742e-01 1.82777229e-02 -4.88861075e-02] [-2.00346133e-03 -1.83369229e-02 9.99829857e-01 -8.27098503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.017193469999995 meters Centerline goodness : 0.898884 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.05, Z:-0.83 [[ 9.99567566e-01 2.93467986e-02 1.85657095e-03 5.30969047e+00] [-2.93790139e-02 9.99353346e-01 2.07307418e-02 -4.59000807e-02] [-1.24698949e-03 -2.07763213e-02 9.99783371e-01 -8.28570570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.047193469999996 meters Centerline goodness : 0.900525 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.04, Z:-0.83 [[ 9.99541440e-01 3.02289291e-02 1.76656674e-03 5.30934667e+00] [-3.02582060e-02 9.99342677e-01 1.99663479e-02 -4.45712977e-02] [-1.16184422e-03 -2.00106453e-02 9.99799092e-01 -8.27413613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.07719347 meters Centerline goodness : 0.905532 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.04, Z:-0.83 [[ 9.99549418e-01 2.99669383e-02 1.71562272e-03 5.30958037e+00] [-2.99946771e-02 9.99360637e-01 1.94585647e-02 -4.40242244e-02] [-1.13141221e-03 -1.95012565e-02 9.99809192e-01 -8.27201849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.10719347 meters Centerline goodness : 0.907791 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.04, Z:-0.83 [[ 9.99563372e-01 2.95150724e-02 1.38793234e-03 5.31057412e+00] [-2.95357411e-02 9.99391940e-01 1.85308113e-02 -4.15378730e-02] [-8.40150156e-04 -1.85637138e-02 9.99827326e-01 -8.27456411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.13719346999999 meters Centerline goodness : 0.908160 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.04, Z:-0.83 [[ 9.99575103e-01 2.91307198e-02 1.00738029e-03 5.31151652e+00] [-2.91439071e-02 9.99421609e-01 1.75236820e-02 -3.75550585e-02] [-4.96320157e-04 -1.75455953e-02 9.99845941e-01 -8.27459867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.167193469999994 meters Centerline goodness : 0.911822 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.03, Z:-0.83 [[ 9.99506546e-01 3.14086313e-02 4.01995202e-04 5.31287300e+00] [-3.14104474e-02 9.99311818e-01 1.97300521e-02 -3.36599245e-02] [ 2.17975376e-04 -1.97329431e-02 9.99805263e-01 -8.27385930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.197193469999995 meters Centerline goodness : 0.913238 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.03, Z:-0.83 [[ 9.99508844e-01 3.13379796e-02 3.45769072e-05 5.31393148e+00] [-3.13326786e-02 9.99318226e-01 1.95280910e-02 -3.27479792e-02] [ 5.77417583e-04 -1.95195830e-02 9.99809308e-01 -8.27609440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.227193469999996 meters Centerline goodness : 0.912752 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.03, Z:-0.83 [[ 9.99558585e-01 2.97031670e-02 -5.97600568e-04 5.31613652e+00] [-2.96878572e-02 9.99401086e-01 1.77792024e-02 -3.13842953e-02] [ 1.12534128e-03 -1.77536130e-02 9.99841759e-01 -8.28791259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.25719347 meters Centerline goodness : 0.914422 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.03, Z:-0.83 [[ 9.99592412e-01 2.85198401e-02 -1.27582237e-03 5.31808452e+00] [-2.84940481e-02 9.99449262e-01 1.70077095e-02 -3.09970037e-02] [ 1.76017689e-03 -1.69644240e-02 9.99854544e-01 -8.29207654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.28719347 meters Centerline goodness : 0.917430 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.03, Z:-0.83 [[ 9.99730420e-01 2.31780958e-02 -1.36469226e-03 5.31679746e+00] [-2.31598145e-02 9.99657828e-01 1.21593748e-02 -3.14821190e-02] [ 1.64605646e-03 -1.21244909e-02 9.99925141e-01 -8.27407770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.31719346999999 meters Centerline goodness : 0.917130 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.03, Z:-0.83 [[ 9.99826848e-01 1.78570473e-02 -5.23448656e-03 5.31589717e+00] [-1.77198440e-02 9.99525872e-01 2.51801052e-02 -3.40014719e-02] [ 5.68164707e-03 -2.50829909e-02 9.99669227e-01 -8.25150745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.34719346999999 meters Centerline goodness : 0.918146 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.03, Z:-0.82 [[ 0.99984567 0.01661726 -0.00570135 5.31652915] [-0.0164707 0.99955538 0.02485486 -0.03452552] [ 0.00611184 -0.02475712 0.99967481 -0.82461943] [ 0. 0. 0. 1. ]] SLAMing on 53.377193469999995 meters Centerline goodness : 0.918305 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.03, Z:-0.82 [[ 0.99991494 0.01145223 -0.00624126 5.31715823] [-0.01132512 0.99973514 0.02003488 -0.0323025 ] [ 0.00646905 -0.0199625 0.9997798 -0.82423691] [ 0. 0. 0. 1. ]] SLAMing on 53.407193469999996 meters Centerline goodness : 0.919089 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.03, Z:-0.82 [[ 0.99994042 0.00906666 -0.0060791 5.31571285] [-0.00895755 0.99980249 0.01774127 -0.03209226] [ 0.00623876 -0.01768576 0.99982413 -0.82258599] [ 0. 0. 0. 1. ]] SLAMing on 53.43719347 meters Centerline goodness : 0.920052 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.03, Z:-0.82 [[ 0.99996152 0.00665026 -0.00572166 5.31369226] [-0.00656379 0.99986593 0.01500112 -0.03217478] [ 0.00582066 -0.01496299 0.99987111 -0.82069688] [ 0. 0. 0. 1. ]] SLAMing on 53.46719347 meters Centerline goodness : 0.920854 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.03, Z:-0.82 [[ 0.99996347 0.00630535 -0.00577123 5.31306757] [-0.00622012 0.99987307 0.01466829 -0.03212196] [ 0.00586298 -0.01463185 0.99987576 -0.81943105] [ 0. 0. 0. 1. ]] SLAMing on 53.49719346999999 meters Centerline goodness : 0.922924 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.03, Z:-0.82 [[ 0.99995595 0.00736617 -0.00581644 5.3118967 ] [-0.00727673 0.99985722 0.01525084 -0.02931534] [ 0.00592795 -0.01520785 0.99986678 -0.81758061] [ 0. 0. 0. 1. ]] SLAMing on 53.52719346999999 meters Centerline goodness : 0.922415 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.03, Z:-0.82 [[ 0.9999531 0.0073303 -0.00632945 5.31350862] [-0.00723719 0.99986706 0.01461094 -0.02636198] [ 0.00643571 -0.01456445 0.99987322 -0.81825902] [ 0. 0. 0. 1. ]] SLAMing on 53.557193469999994 meters Centerline goodness : 0.919761 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.02, Z:-0.82 [[ 0.99994974 0.00722956 -0.00694676 5.31542342] [-0.00713244 0.99987787 0.01390582 -0.02347372] [ 0.00704644 -0.01385557 0.99987918 -0.81913076] [ 0. 0. 0. 1. ]] SLAMing on 53.587193469999995 meters Centerline goodness : 0.915937 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.02, Z:-0.82 [[ 0.99994701 0.00719664 -0.00736063 5.31691973] [-0.00709819 0.99988615 0.0133154 -0.02146449] [ 0.00745562 -0.01326245 0.99988425 -0.81989055] [ 0. 0. 0. 1. ]] SLAMing on 53.61719347 meters Centerline goodness : 0.916571 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.02, Z:-0.82 [[ 0.99991812 0.00999052 -0.00799584 5.31996212] [-0.00986887 0.99983711 0.01511123 -0.01890025] [ 0.00814551 -0.01503109 0.99985385 -0.82207174] [ 0. 0. 0. 1. ]] SLAMing on 53.64719347 meters Centerline goodness : 0.913974 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.02, Z:-0.82 [[ 0.99987442 0.0134551 -0.00837232 5.32133204] [-0.01330242 0.99974891 0.01803246 -0.01667304] [ 0.00861284 -0.01791882 0.99980235 -0.8226328 ] [ 0. 0. 0. 1. ]] SLAMing on 53.67719346999999 meters Centerline goodness : 0.914135 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.01, Z:-0.82 [[ 0.99981346 0.01717421 -0.00883668 5.32268236] [-0.01698505 0.99963406 0.02105361 -0.01379097] [ 0.00919502 -0.02089959 0.9997393 -0.8229035 ] [ 0. 0. 0. 1. ]] SLAMing on 53.70719346999999 meters Centerline goodness : 0.915147 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.01, Z:-0.82 [[ 0.99973473 0.02100015 -0.00945891 5.3242926 ] [-0.02076542 0.99948988 0.02426491 -0.01125605] [ 0.00996365 -0.02406205 0.99966081 -0.82302104] [ 0. 0. 0. 1. ]] SLAMing on 53.737193469999994 meters Centerline goodness : 0.914854 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.01, Z:-0.82 [[ 9.99623555e-01 2.70564430e-02 -4.54946878e-03 5.33240334e+00] [-2.69645411e-02 9.99452459e-01 1.91754175e-02 -5.87160960e-03] [ 5.06579635e-03 -1.90455247e-02 9.99805784e-01 -8.23070031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.767193469999995 meters Centerline goodness : 0.914230 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.00, Z:-0.82 [[ 9.99614990e-01 2.73809853e-02 -4.48926990e-03 5.33122022e+00] [-2.72919516e-02 9.99450317e-01 1.88205407e-02 -4.16538734e-03] [ 5.00212717e-03 -1.86907736e-02 9.99812799e-01 -8.21265333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.797193469999996 meters Centerline goodness : 0.919702 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.00, Z:-0.82 [[ 9.99667643e-01 2.57612381e-02 9.81273970e-04 5.34450199e+00] [-2.57741945e-02 9.99523523e-01 1.69828792e-02 -2.14096386e-03] [-5.43306420e-04 -1.70025264e-02 9.99855299e-01 -8.18340625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.82719347 meters Centerline goodness : 0.919829 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.00, Z:-0.81 [[ 9.99669736e-01 2.45017757e-02 7.75122881e-03 5.35362467e+00] [-2.46234647e-02 9.99568524e-01 1.60140542e-02 -3.25969135e-03] [-7.35551157e-03 -1.61996275e-02 9.99841722e-01 -8.12998936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.85719347 meters Centerline goodness : 0.917040 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.01, Z:-0.82 [[ 0.99969298 0.02040202 0.0140606 5.36509099] [-0.02067782 0.99959095 0.01975765 -0.00617898] [-0.01365176 -0.02004233 0.99970592 -0.81677632] [ 0. 0. 0. 1. ]] SLAMing on 53.88719346999999 meters Centerline goodness : 0.920527 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.01, Z:-0.82 [[ 0.99975229 0.01768965 0.01350672 5.36687078] [-0.01791858 0.99969456 0.01702083 -0.0078295 ] [-0.0132015 -0.01725864 0.9997639 -0.8175493 ] [ 0. 0. 0. 1. ]] SLAMing on 53.917193469999994 meters Centerline goodness : 0.915482 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.01, Z:-0.82 [[ 0.99978145 0.01751466 0.01141433 5.38960949] [-0.01775444 0.99961641 0.02125577 -0.01271458] [-0.01103766 -0.02145378 0.99970891 -0.82040031] [ 0. 0. 0. 1. ]] SLAMing on 53.947193469999995 meters Centerline goodness : 0.912989 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.01, Z:-0.82 [[ 0.99983793 0.01457399 0.01056929 5.3920613 ] [-0.01476666 0.99972189 0.01838711 -0.01399195] [-0.01029837 -0.0185402 0.99977508 -0.8214697 ] [ 0. 0. 0. 1. ]] SLAMing on 53.977193469999996 meters Centerline goodness : 0.909131 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.02, Z:-0.82 [[ 0.99984994 0.01423167 0.00987754 5.39411347] [-0.01442536 0.99969945 0.01982228 -0.01903291] [-0.00959246 -0.01996179 0.99975473 -0.82163703] [ 0. 0. 0. 1. ]] SLAMing on 54.00719347 meters Centerline goodness : 0.911473 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.02, Z:-0.82 [[ 0.9998822 0.01192658 0.0096615 5.3945665 ] [-0.01210873 0.99974579 0.01901913 -0.02488398] [-0.00943221 -0.01913388 0.99977244 -0.82061201] [ 0. 0. 0. 1. ]] SLAMing on 54.03719347 meters Centerline goodness : 0.911565 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.03, Z:-0.82 [[ 9.99941989e-01 5.33897909e-03 9.35489525e-03 5.39522461e+00] [-5.47768227e-03 9.99874514e-01 1.48644507e-02 -3.45597607e-02] [-9.27436035e-03 -1.49148315e-02 9.99845755e-01 -8.19765105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.06719346999999 meters Centerline goodness : 0.913259 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.04, Z:-0.82 [[ 9.99978672e-01 3.53480034e-03 5.49192471e-03 5.40412147e+00] [-3.66209526e-03 9.99720783e-01 2.33440530e-02 -3.95493360e-02] [-5.40787471e-03 -2.33636670e-02 9.99712406e-01 -8.16105101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.09719346999999 meters Centerline goodness : 0.911359 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.04, Z:-0.82 [[ 9.99979905e-01 4.16524087e-03 4.77923372e-03 5.40641817e+00] [-4.28391187e-03 9.99675892e-01 2.50950069e-02 -4.26702407e-02] [-4.67315798e-03 -2.51149764e-02 9.99673647e-01 -8.17175445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.127193469999995 meters Centerline goodness : 0.905346 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.05, Z:-0.82 [[ 9.99989406e-01 1.49152342e-03 4.35459593e-03 5.40739589e+00] [-1.59205251e-03 9.99730172e-01 2.31742910e-02 -4.66891974e-02] [-4.31885594e-03 -2.31809782e-02 9.99721956e-01 -8.16845184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.157193469999996 meters Centerline goodness : 0.907394 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.05, Z:-0.82 [[ 9.99989223e-01 1.99576418e-03 4.19182587e-03 5.41628859e+00] [-2.04974449e-03 9.99914524e-01 1.29129452e-02 -4.81245010e-02] [-4.16569637e-03 -1.29213982e-02 9.99907838e-01 -8.15176260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.18719347 meters Centerline goodness : 0.906920 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.05, Z:-0.81 [[ 9.99989104e-01 4.66793582e-03 -3.71342552e-05 5.41728478e+00] [-4.66801690e-03 9.99985692e-01 -2.61260253e-03 -4.86095025e-02] [ 2.49382630e-05 2.61274741e-03 9.99996586e-01 -8.13589290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.21719347 meters Centerline goodness : 0.907058 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.05, Z:-0.81 [[ 9.99989383e-01 4.58180012e-03 -4.91632815e-04 5.41873451e+00] [-4.58289590e-03 9.99986964e-01 -2.25136973e-03 -5.05091183e-02] [ 4.81311080e-04 2.25359893e-03 9.99997345e-01 -8.14211035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.24719346999999 meters Centerline goodness : 0.907028 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.05, Z:-0.81 [[ 9.99989450e-01 4.50042021e-03 -9.20028466e-04 5.41922625e+00] [-4.50114676e-03 9.99989558e-01 -7.89166084e-04 -5.42178883e-02] [ 9.16467280e-04 7.93298941e-04 9.99999265e-01 -8.13299913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.27719346999999 meters Centerline goodness : 0.907028 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.05, Z:-0.81 [[ 9.99989450e-01 4.50042021e-03 -9.20028466e-04 5.41922625e+00] [-4.50114676e-03 9.99989558e-01 -7.89166084e-04 -5.42178883e-02] [ 9.16467280e-04 7.93298941e-04 9.99999265e-01 -8.13299913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.307193469999994 meters Centerline goodness : 0.908758 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.06, Z:-0.81 [[ 9.99990944e-01 3.93087698e-03 -1.63109890e-03 5.42050021e+00] [-3.93098776e-03 9.99992272e-01 -6.47189187e-05 -5.66284327e-02] [ 1.63083189e-03 7.11301624e-05 9.99998668e-01 -8.12764319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.337193469999995 meters Centerline goodness : 0.909631 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.06, Z:-0.81 [[ 9.99998019e-01 -1.93475109e-04 -1.98085346e-03 5.42085251e+00] [ 1.86006093e-04 9.99992876e-01 -3.77009513e-03 -5.77936753e-02] [ 1.98156877e-03 3.76971921e-03 9.99990931e-01 -8.12089235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.36719347 meters Centerline goodness : 0.909177 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.06, Z:-0.81 [[ 9.99969172e-01 -7.48092184e-03 -2.38556858e-03 5.42146309e+00] [ 7.45683175e-03 9.99922672e-01 -9.95212960e-03 -6.26126857e-02] [ 2.45983521e-03 9.93403401e-03 9.99947631e-01 -8.11555018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.39719347 meters Centerline goodness : 0.908547 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.07, Z:-0.81 [[ 9.99934632e-01 -1.10739496e-02 -2.84577617e-03 5.42332044e+00] [ 1.10367051e-02 9.99857344e-01 -1.27860400e-02 -6.61647538e-02] [ 2.98696217e-03 1.27537963e-02 9.99914206e-01 -8.12658774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.42719346999999 meters Centerline goodness : 0.907440 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.07, Z:-0.82 [[ 9.99880560e-01 -1.50254360e-02 -3.61972255e-03 5.42715165e+00] [ 1.49657803e-02 9.99760310e-01 -1.59796143e-02 -6.95607391e-02] [ 3.85895561e-03 1.59235337e-02 9.99865766e-01 -8.15404110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.45719346999999 meters Centerline goodness : 0.909315 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.08, Z:-0.82 [[ 9.99831065e-01 -1.79291794e-02 -4.04802770e-03 5.42921470e+00] [ 1.78562333e-02 9.99689334e-01 -1.73893892e-02 -7.57919182e-02] [ 4.35854759e-03 1.73141690e-02 9.99840599e-01 -8.16804884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.487193469999994 meters Centerline goodness : 0.912033 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.08, Z:-0.82 [[ 9.99837125e-01 -1.79841468e-02 -1.51462629e-03 5.44717025e+00] [ 1.79569385e-02 9.99704483e-01 -1.63858167e-02 -7.78184202e-02] [ 1.80886363e-03 1.63559498e-02 9.99864596e-01 -8.16851034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.517193469999995 meters Centerline goodness : 0.914544 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.08, Z:-0.82 [[ 9.99840376e-01 -1.77766843e-02 -1.79233436e-03 5.44738999e+00] [ 1.77461026e-02 9.99717092e-01 -1.58370320e-02 -7.89840617e-02] [ 2.07335721e-03 1.58026971e-02 9.99872980e-01 -8.16104190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.547193469999996 meters Centerline goodness : 0.914496 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.08, Z:-0.82 [[ 9.99884951e-01 -1.42578296e-02 5.17682322e-03 5.45883382e+00] [ 1.43502068e-02 9.99730126e-01 -1.82687238e-02 -8.00882787e-02] [-4.91495377e-03 1.83409105e-02 9.99819711e-01 -8.18758610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.57719347 meters Centerline goodness : 0.915516 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.08, Z:-0.82 [[ 9.99974206e-01 -4.73068196e-03 5.40446718e-03 5.47563693e+00] [ 4.86779263e-03 9.99659264e-01 -2.56449001e-02 -8.34188001e-02] [-5.28130782e-03 2.56705464e-02 9.99656506e-01 -8.16471662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.60719347 meters Centerline goodness : 0.912931 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.08, Z:-0.81 [[ 9.99997521e-01 -1.60107444e-03 1.54746446e-03 5.48486800e+00] [ 1.64692664e-03 9.99545594e-01 -3.00980437e-02 -8.43172572e-02] [-1.49857208e-03 3.01005176e-02 9.99545753e-01 -8.14251058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.63719346999999 meters Centerline goodness : 0.914737 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.09, Z:-0.82 [[ 9.99996424e-01 2.43097655e-03 1.11488292e-03 5.48637030e+00] [-2.40174346e-03 9.99671619e-01 -2.55124507e-02 -8.67123717e-02] [-1.17653698e-03 2.55096817e-02 9.99673883e-01 -8.15085460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.667193469999994 meters Centerline goodness : 0.914549 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.09, Z:-0.81 [[ 9.99980061e-01 4.94060296e-03 -3.93294935e-03 5.48710996e+00] [-5.09479407e-03 9.99178202e-01 -4.02114766e-02 -8.51652389e-02] [ 3.73104832e-03 4.02307124e-02 9.99183451e-01 -8.13813608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.697193469999995 meters Centerline goodness : 0.915173 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.09, Z:-0.81 [[ 9.99979297e-01 4.91669693e-03 -4.15108032e-03 5.48782460e+00] [-5.07813972e-03 9.99193918e-01 -3.98211803e-02 -8.60960148e-02] [ 3.95194553e-03 3.98414356e-02 9.99198200e-01 -8.14075943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.727193469999996 meters Centerline goodness : 0.915461 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.09, Z:-0.81 [[ 9.99982010e-01 4.14608483e-03 -4.33463217e-03 5.48820822e+00] [-4.31575621e-03 9.99194528e-01 -3.98957261e-02 -8.72474652e-02] [ 4.16572968e-03 3.99137156e-02 9.99194447e-01 -8.13805202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.75719347 meters Centerline goodness : 0.913489 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.09, Z:-0.81 [[ 9.99994997e-01 6.12490428e-04 -3.10328147e-03 5.49792734e+00] [-7.12395703e-04 9.99478117e-01 -3.22952851e-02 -8.93451879e-02] [ 3.08188137e-03 3.22973343e-02 9.99473554e-01 -8.13994165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.78719347 meters Centerline goodness : 0.913959 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.09, Z:-0.81 [[ 9.99981248e-01 -4.90392779e-03 -3.66799689e-03 5.49883865e+00] [ 4.76696430e-03 9.99323730e-01 -3.64603634e-02 -9.20649129e-02] [ 3.84431533e-03 3.64421945e-02 9.99328368e-01 -8.13467725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.81719346999999 meters Centerline goodness : 0.915509 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.10, Z:-0.81 [[ 9.99976937e-01 -5.62995563e-03 -3.79848553e-03 5.49876836e+00] [ 5.48994808e-03 9.99339818e-01 -3.59136212e-02 -9.53627633e-02] [ 3.99816993e-03 3.58919394e-02 9.99347679e-01 -8.12801702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.84719346999999 meters Centerline goodness : 0.917561 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.10, Z:-0.81 [[ 9.99955039e-01 -9.47417567e-03 3.99630481e-04 5.50606967e+00] [ 9.48175758e-03 9.99539707e-01 -2.88178676e-02 -9.79130056e-02] [-1.26420994e-04 2.88203611e-02 9.99584599e-01 -8.12575181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.877193469999995 meters Centerline goodness : 0.921329 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.10, Z:-0.81 [[ 0.99989111 -0.0123939 0.00800945 5.51234034] [ 0.01256729 0.99967956 -0.02197362 -0.09943891] [-0.00773454 0.02207189 0.99972647 -0.813334 ] [ 0. 0. 0. 1. ]] SLAMing on 54.907193469999996 meters Centerline goodness : 0.921426 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.10, Z:-0.81 [[ 0.99992566 -0.00935565 0.00781941 5.51264626] [ 0.00949531 0.99979255 -0.01801946 -0.10031288] [-0.00764921 0.01809237 0.99980706 -0.81304563] [ 0. 0. 0. 1. ]] SLAMing on 54.93719347 meters Centerline goodness : 0.922305 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.10, Z:-0.81 [[ 0.99992687 -0.00938927 0.00762243 5.51343338] [ 0.00952472 0.99979383 -0.01793258 -0.09947631] [-0.00745248 0.01800387 0.99981014 -0.81348972] [ 0. 0. 0. 1. ]] SLAMing on 54.96719347 meters Centerline goodness : 0.920472 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.10, Z:-0.82 [[ 0.99994271 -0.00825777 0.00681037 5.51698244] [ 0.00836899 0.99982936 -0.0164684 -0.09976686] [-0.00667322 0.01652445 0.99984119 -0.81613778] [ 0. 0. 0. 1. ]] SLAMing on 54.99719346999999 meters Centerline goodness : 0.921874 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.10, Z:-0.82 [[ 0.99995332 -0.00747517 0.00612163 5.52014832] [ 0.0075686 0.99985301 -0.01538448 -0.10063199] [-0.00600573 0.0154301 0.99986291 -0.8186378 ] [ 0. 0. 0. 1. ]] SLAMing on 55.02719346999999 meters Centerline goodness : 0.920216 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.10, Z:-0.82 [[ 9.99972238e-01 -6.51462898e-03 3.61701225e-03 5.54180336e+00] [ 6.56438406e-03 9.99881582e-01 -1.39187520e-02 -1.01428760e-01] [-3.52590842e-03 1.39421091e-02 9.99896587e-01 -8.20014584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.057193469999994 meters Centerline goodness : 0.920995 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.10, Z:-0.82 [[ 9.99972245e-01 -6.68948741e-03 3.28023183e-03 5.54303794e+00] [ 6.73547229e-03 9.99876289e-01 -1.42140871e-02 -1.00710133e-01] [-3.18474107e-03 1.42357865e-02 9.99893594e-01 -8.20731635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.087193469999995 meters Centerline goodness : 0.918818 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.10, Z:-0.82 [[ 9.99961678e-01 -4.32502416e-03 7.61158043e-03 5.55437203e+00] [ 4.49078856e-03 9.99750140e-01 -2.18972868e-02 -9.85926364e-02] [-7.51497230e-03 2.19306296e-02 9.99731250e-01 -8.24236065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.11719347 meters Centerline goodness : 0.921018 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.09, Z:-0.82 [[ 9.99983787e-01 1.95976748e-03 5.34651694e-03 5.58071076e+00] [-1.81143638e-03 9.99617167e-01 -2.76086670e-02 -9.29163825e-02] [-5.39857668e-03 2.75985345e-02 9.99604510e-01 -8.23027946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.14719347 meters Centerline goodness : 0.919428 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.09, Z:-0.82 [[ 9.99978787e-01 5.98553554e-03 2.56867944e-03 5.60726782e+00] [-5.89686870e-03 9.99430035e-01 -3.32390167e-02 -8.96550897e-02] [-2.76616870e-03 3.32231645e-02 9.99444130e-01 -8.21228544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.17719346999999 meters Centerline goodness : 0.920361 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.09, Z:-0.82 [[ 9.99916352e-01 1.27309852e-02 2.28294043e-03 5.60802235e+00] [-1.26673905e-02 9.99581957e-01 -2.59893952e-02 -8.99041194e-02] [-2.61285667e-03 2.59583023e-02 9.99659612e-01 -8.21217736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.20719346999999 meters Centerline goodness : 0.919020 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.09, Z:-0.82 [[ 9.99852052e-01 1.70591435e-02 2.20469096e-03 5.60864593e+00] [-1.70066756e-02 9.99614299e-01 -2.19551027e-02 -8.95702486e-02] [-2.57837585e-03 2.19143600e-02 9.99756527e-01 -8.21612507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.237193469999994 meters Centerline goodness : 0.916138 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.09, Z:-0.82 [[ 9.99684778e-01 2.50169696e-02 2.12047613e-03 5.61108650e+00] [-2.49817656e-02 9.99571437e-01 -1.52595360e-02 -8.72364221e-02] [-2.50131472e-03 1.52017526e-02 9.99881318e-01 -8.24385818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.267193469999995 meters Centerline goodness : 0.914686 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.09, Z:-0.83 [[ 9.99573648e-01 2.91284760e-02 2.01367638e-03 5.61223399e+00] [-2.91029602e-02 9.99507788e-01 -1.17132011e-02 -8.56724520e-02] [-2.35387292e-03 1.16496032e-02 9.99929371e-01 -8.25395610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.297193469999996 meters Centerline goodness : 0.912487 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.08, Z:-0.83 [[ 9.99536057e-01 3.04080921e-02 1.73731799e-03 5.61317750e+00] [-3.03858042e-02 9.99470128e-01 -1.16690355e-02 -8.32559497e-02] [-2.09123054e-03 1.16108320e-02 9.99930405e-01 -8.26029454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.32719347 meters Centerline goodness : 0.911938 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.08, Z:-0.83 [[ 9.99355766e-01 3.58177962e-02 2.26665142e-03 5.61206718e+00] [-3.58016319e-02 9.99335714e-01 -6.80988826e-03 -8.39857399e-02] [-2.50906091e-03 6.72435128e-03 9.99974244e-01 -8.25224129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.35719347 meters Centerline goodness : 0.913174 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.08, Z:-0.82 [[ 9.99342387e-01 3.61878350e-02 2.28771664e-03 5.61145168e+00] [-3.61725073e-02 9.99324941e-01 -6.41961929e-03 -8.49173348e-02] [-2.51848442e-03 6.33264522e-03 9.99976777e-01 -8.24202666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.38719346999999 meters Centerline goodness : 0.911715 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.09, Z:-0.83 [[ 9.99368747e-01 3.46909499e-02 7.65804022e-03 5.62117881e+00] [-3.47038907e-02 9.99396416e-01 1.56343807e-03 -8.79568162e-02] [-7.59918079e-03 -1.82821494e-03 9.99969455e-01 -8.26652889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.417193469999994 meters Centerline goodness : 0.913803 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.09, Z:-0.83 [[ 9.99435163e-01 3.26648672e-02 7.89698092e-03 5.61946854e+00] [-3.26618415e-02 9.99466329e-01 -5.11850131e-04 -8.99811539e-02] [-7.90948605e-03 2.53631080e-04 9.99968687e-01 -8.25095631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.447193469999995 meters Centerline goodness : 0.916372 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.10, Z:-0.83 [[ 9.99511835e-01 3.02685015e-02 7.74013884e-03 5.61980469e+00] [-3.02543902e-02 9.99540361e-01 -1.93379270e-03 -9.64615499e-02] [-7.79511417e-03 1.69867551e-03 9.99968175e-01 -8.25326600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.477193469999996 meters Centerline goodness : 0.913383 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.10, Z:-0.83 [[ 9.99598629e-01 2.73494499e-02 7.38835085e-03 5.62061966e+00] [-2.73166348e-02 9.99616673e-01 -4.50647296e-03 -9.95424135e-02] [-7.50876826e-03 4.30283932e-03 9.99962551e-01 -8.25781813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.50719347 meters Centerline goodness : 0.916863 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.10, Z:-0.83 [[ 0.99966838 0.02465474 0.00743412 5.62045408] [-0.02460515 0.99967486 -0.00669025 -0.10324801] [-0.00759665 0.00650511 0.99994999 -0.8257769 ] [ 0. 0. 0. 1. ]] SLAMing on 55.53719347 meters Centerline goodness : 0.917071 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.11, Z:-0.83 [[ 0.99971083 0.02294071 0.00720935 5.62037744] [-0.02289297 0.9997159 -0.00663616 -0.11396401] [-0.00735954 0.0064692 0.99995199 -0.82524312] [ 0. 0. 0. 1. ]] SLAMing on 55.56719346999999 meters Centerline goodness : 0.917246 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.12, Z:-0.83 [[ 9.99699344e-01 2.34673681e-02 7.10669798e-03 5.62055198e+00] [-2.34327326e-02 9.99713317e-01 -4.91832614e-03 -1.19982193e-01] [-7.22008079e-03 4.75031806e-03 9.99962652e-01 -8.25148835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.59719346999999 meters Centerline goodness : 0.916064 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.13, Z:-0.83 [[ 9.99713728e-01 2.30505491e-02 6.41355775e-03 5.62271960e+00] [-2.30220172e-02 9.99724887e-01 -4.48750302e-03 -1.25290796e-01] [-6.51523271e-03 4.33856534e-03 9.99969364e-01 -8.26338431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.627193469999995 meters Centerline goodness : 0.919237 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.13, Z:-0.83 [[ 9.99745544e-01 2.14655693e-02 6.93377592e-03 5.62191900e+00] [-2.14361363e-02 9.99761008e-01 -4.29166728e-03 -1.34295904e-01] [-7.02424188e-03 4.14194188e-03 9.99966752e-01 -8.26734998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.657193469999996 meters Centerline goodness : 0.917598 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.14, Z:-0.83 [[ 0.99980403 0.01875813 0.0063273 5.62349565] [-0.01871577 0.99980247 -0.00668892 -0.13697783] [-0.00645152 0.00656919 0.99995761 -0.8275956 ] [ 0. 0. 0. 1. ]] SLAMing on 55.68719347 meters Centerline goodness : 0.916776 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.14, Z:-0.83 [[ 9.99822881e-01 1.80031783e-02 5.48570260e-03 5.62672553e+00] [-1.79682085e-02 9.99818339e-01 -6.35869667e-03 -1.41735083e-01] [-5.59918281e-03 6.25900217e-03 9.99964736e-01 -8.30018917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.71719347 meters Centerline goodness : 0.915275 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.15, Z:-0.83 [[ 9.99857411e-01 1.61525467e-02 4.92477131e-03 5.62888709e+00] [-1.61170722e-02 9.99844476e-01 -7.15982046e-03 -1.46987412e-01] [-5.03965472e-03 7.07942666e-03 9.99962241e-01 -8.31816504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.74719346999999 meters Centerline goodness : 0.915955 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.16, Z:-0.83 [[ 9.99924961e-01 1.16229247e-02 3.87049102e-03 5.63209640e+00] [-1.15872377e-02 9.99891289e-01 -9.11847027e-03 -1.58301507e-01] [-3.97605355e-03 9.07293772e-03 9.99950935e-01 -8.34652075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.77719346999999 meters Centerline goodness : 0.914567 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.16, Z:-0.84 [[ 9.99954140e-01 8.90872458e-03 3.51472500e-03 5.63322971e+00] [-8.87087126e-03 9.99904019e-01 -1.06423899e-02 -1.64508133e-01] [-3.60919777e-03 1.06107232e-02 9.99937191e-01 -8.35226831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.807193469999994 meters Centerline goodness : 0.917779 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.17, Z:-0.84 [[ 9.99977453e-01 5.91701520e-03 3.17536445e-03 5.63376542e+00] [-5.87764608e-03 9.99907475e-01 -1.22676233e-02 -1.70999485e-01] [-3.24765836e-03 1.22486831e-02 9.99919708e-01 -8.35070975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.837193469999995 meters Centerline goodness : 0.916663 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.19, Z:-0.83 [[ 9.99999270e-01 -2.43491375e-04 1.18339978e-03 5.63830367e+00] [ 2.51714831e-04 9.99975790e-01 -6.95383590e-03 -1.86115958e-01] [-1.18167793e-03 6.95412871e-03 9.99975122e-01 -8.30908193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.86719347 meters Centerline goodness : 0.918142 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.19, Z:-0.83 [[ 9.99991776e-01 -3.97707895e-03 7.94064430e-04 5.63921431e+00] [ 3.98423566e-03 9.99949517e-01 -9.22433722e-03 -1.91554657e-01] [-7.57338427e-04 9.22742510e-03 9.99957140e-01 -8.30887841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.89719347 meters Centerline goodness : 0.918135 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.20, Z:-0.83 [[ 9.99959537e-01 -8.99464203e-03 1.42522519e-04 5.64151172e+00] [ 8.99574191e-03 9.99871151e-01 -1.32950083e-02 -1.95581084e-01] [-2.29203153e-05 1.32957524e-02 9.99911607e-01 -8.31953729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.92719346999999 meters Centerline goodness : 0.919506 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.20, Z:-0.83 [[ 9.99920868e-01 -1.25799240e-02 5.82398326e-05 5.64168059e+00] [ 1.25792955e-02 9.99798484e-01 -1.56446051e-02 -2.00683789e-01] [ 1.38579846e-04 1.56440997e-02 9.99877614e-01 -8.31636398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.95719346999999 meters Centerline goodness : 0.921786 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.21, Z:-0.83 [[ 0.99976989 -0.0201553 0.00734406 5.6501062 ] [ 0.02025503 0.99970004 -0.01376824 -0.21183458] [-0.00706436 0.01391382 0.99987824 -0.83385474] [ 0. 0. 0. 1. ]] SLAMing on 55.987193469999994 meters Centerline goodness : 0.923801 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.22, Z:-0.83 [[ 0.99976794 -0.02033963 0.00709664 5.65091343] [ 0.02042773 0.99971228 -0.01257203 -0.2166742 ] [-0.00683889 0.01271408 0.99989579 -0.83391576] [ 0. 0. 0. 1. ]] SLAMing on 56.017193469999995 meters Centerline goodness : 0.926215 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.22, Z:-0.83 [[ 9.99763654e-01 -2.11171772e-02 5.16724514e-03 5.67183896e+00] [ 2.11915345e-02 9.99666100e-01 -1.47854012e-02 -2.19602076e-01] [-4.85329386e-03 1.48914086e-02 9.99877338e-01 -8.34300182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.047193469999996 meters Centerline goodness : 0.923734 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.22, Z:-0.83 [[ 9.99771990e-01 -2.08709231e-02 4.51363905e-03 5.67329771e+00] [ 2.09302486e-02 9.99689491e-01 -1.35220733e-02 -2.23540851e-01] [-4.23001937e-03 1.36134617e-02 9.99898385e-01 -8.34433105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.07719347 meters Centerline goodness : 0.921839 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.22, Z:-0.83 [[ 9.99784079e-01 -2.03866534e-02 4.02231775e-03 5.67412334e+00] [ 2.04369712e-02 9.99708015e-01 -1.28924631e-02 -2.24495169e-01] [-3.75830912e-03 1.29718833e-02 9.99908799e-01 -8.34171795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.10719347 meters Centerline goodness : 0.921777 Centerline is valid? [False, False] Translation: X:5.69, Y:-0.22, Z:-0.84 [[ 0.99982788 -0.01606929 0.00927256 5.68602693] [ 0.01622841 0.9997178 -0.01734799 -0.22496809] [-0.00899117 0.01749549 0.99980651 -0.83779668] [ 0. 0. 0. 1. ]] SLAMing on 56.13719346999999 meters Centerline goodness : 0.924234 Centerline is valid? [False, False] Translation: X:5.69, Y:-0.23, Z:-0.84 [[ 0.99986218 -0.0143173 0.00840421 5.68795008] [ 0.01444778 0.99977275 -0.01567498 -0.22588862] [-0.00817787 0.01579424 0.99984182 -0.83825896] [ 0. 0. 0. 1. ]] SLAMing on 56.167193469999994 meters Centerline goodness : 0.924234 Centerline is valid? [False, False] Translation: X:5.69, Y:-0.23, Z:-0.84 [[ 0.99986218 -0.0143173 0.00840421 5.68795008] [ 0.01444778 0.99977275 -0.01567498 -0.22588862] [-0.00817787 0.01579424 0.99984182 -0.83825896] [ 0. 0. 0. 1. ]] SLAMing on 56.197193469999995 meters Centerline goodness : 0.922073 Centerline is valid? [False, False] Translation: X:5.72, Y:-0.23, Z:-0.84 [[ 9.99958171e-01 -5.62812816e-03 7.20969166e-03 5.71762208e+00] [ 5.78403820e-03 9.99745840e-01 -2.17899122e-02 -2.25777136e-01] [-7.08522282e-03 2.18307019e-02 9.99736575e-01 -8.41286596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.227193469999996 meters Centerline goodness : 0.923149 Centerline is valid? [False, False] Translation: X:5.72, Y:-0.23, Z:-0.84 [[ 9.99976137e-01 -2.78408224e-03 6.32257657e-03 5.72114455e+00] [ 2.90294699e-03 9.99817744e-01 -1.88693467e-02 -2.25484163e-01] [-6.26889043e-03 1.88872505e-02 9.99801967e-01 -8.43633062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.25719347 meters Centerline goodness : 0.921592 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.22, Z:-0.85 [[ 9.99993071e-01 4.48360232e-04 3.69558792e-03 5.74257855e+00] [-3.73416963e-04 9.99794778e-01 -2.02549213e-02 -2.24291485e-01] [-3.70391101e-03 2.02534009e-02 9.99788018e-01 -8.45737724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.28719347 meters Centerline goodness : 0.918688 Centerline is valid? [False, False] Translation: X:5.76, Y:-0.22, Z:-0.85 [[ 9.99973266e-01 3.55017039e-03 6.39243948e-03 5.76059540e+00] [-3.38300095e-03 9.99656876e-01 -2.59747055e-02 -2.19220696e-01] [-6.48246072e-03 2.59523855e-02 9.99642162e-01 -8.51771515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.31719346999999 meters Centerline goodness : 0.917832 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.22, Z:-0.86 [[ 9.99924602e-01 5.18794584e-03 1.11298970e-02 5.77338185e+00] [-4.79945174e-03 9.99387892e-01 -3.46526466e-02 -2.15946008e-01] [-1.13028603e-02 3.45966165e-02 9.99337440e-01 -8.56496182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.34719346999999 meters Centerline goodness : 0.918866 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.22, Z:-0.86 [[ 0.99989176 0.00755359 0.01262563 5.79222377] [-0.00709418 0.99932502 -0.03604419 -0.21562368] [-0.01288937 0.03595072 0.99927044 -0.85781174] [ 0. 0. 0. 1. ]] SLAMing on 56.377193469999995 meters Centerline goodness : 0.921846 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.21, Z:-0.86 [[ 0.99988715 0.00825337 0.01255285 5.81198614] [-0.00775771 0.99920772 -0.03903517 -0.21483353] [-0.01286507 0.03893338 0.99915899 -0.85899235] [ 0. 0. 0. 1. ]] SLAMing on 56.407193469999996 meters Centerline goodness : 0.920190 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.22, Z:-0.86 [[ 0.99990736 0.00686207 0.01175537 5.81484526] [-0.00638776 0.9991824 -0.0399216 -0.21500308] [-0.0120197 0.03984282 0.99913366 -0.8606693 ] [ 0. 0. 0. 1. ]] SLAMing on 56.43719347 meters Centerline goodness : 0.922093 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.22, Z:-0.86 [[ 9.99919804e-01 6.06845599e-03 1.11156860e-02 5.81667985e+00] [-5.61696404e-03 9.99175544e-01 -4.02079755e-02 -2.15034965e-01] [-1.13505219e-02 4.01423146e-02 9.99129501e-01 -8.61247086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.46719347 meters Centerline goodness : 0.920776 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.22, Z:-0.86 [[ 9.99874639e-01 2.30190843e-03 1.56654828e-02 5.82837206e+00] [-1.75526131e-03 9.99392068e-01 -3.48197222e-02 -2.15185512e-01] [-1.57361111e-02 3.47878602e-02 9.99270824e-01 -8.64644309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.49719346999999 meters Centerline goodness : 0.922212 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.22, Z:-0.87 [[ 9.99849155e-01 3.44099431e-03 1.70243104e-02 5.84844231e+00] [-2.85305280e-03 9.99402696e-01 -3.44399594e-02 -2.16559263e-01] [-1.71326494e-02 3.43861931e-02 9.99261759e-01 -8.65353523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.52719346999999 meters Centerline goodness : 0.922844 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.22, Z:-0.86 [[ 9.99861230e-01 2.67606175e-03 1.64426402e-02 5.84949485e+00] [-2.10566818e-03 9.99398683e-01 -3.46098074e-02 -2.17056528e-01] [-1.65253710e-02 3.45703819e-02 9.99265631e-01 -8.64911668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.557193469999994 meters Centerline goodness : 0.926842 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.22, Z:-0.86 [[ 9.99870941e-01 -1.15916972e-03 1.60236553e-02 5.85010833e+00] [ 1.76420597e-03 9.99283898e-01 -3.77965345e-02 -2.19910082e-01] [-1.59683682e-02 3.78199256e-02 9.99156977e-01 -8.64550440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.587193469999995 meters Centerline goodness : 0.924723 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.22, Z:-0.87 [[ 9.99879847e-01 -2.62038155e-03 1.52782310e-02 5.85254709e+00] [ 3.20281164e-03 9.99264117e-01 -3.82225900e-02 -2.22593662e-01] [-1.51668302e-02 3.82669307e-02 9.99152445e-01 -8.65633517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.61719347 meters Centerline goodness : 0.927562 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.22, Z:-0.87 [[ 9.99888057e-01 -4.27444307e-03 1.43388219e-02 5.85520507e+00] [ 4.82847950e-03 9.99234184e-01 -3.88295051e-02 -2.24375403e-01] [-1.41618665e-02 3.88943931e-02 9.99142967e-01 -8.66445868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.64719347 meters Centerline goodness : 0.930382 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.23, Z:-0.86 [[ 0.99989415 -0.0063484 0.01309157 5.88170742] [ 0.0067803 0.99942525 -0.03321451 -0.22647825] [-0.01287318 0.03329976 0.9993625 -0.86445919] [ 0. 0. 0. 1. ]] SLAMing on 56.67719346999999 meters Centerline goodness : 0.932183 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.23, Z:-0.86 [[ 0.99989854 -0.00727196 0.01224847 5.88384441] [ 0.00767789 0.99941167 -0.03342694 -0.22675922] [-0.01199818 0.0335176 0.99936611 -0.86487231] [ 0. 0. 0. 1. ]] SLAMing on 56.70719346999999 meters Centerline goodness : 0.929475 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.23, Z:-0.87 [[ 0.99990366 -0.00768511 0.01155887 5.88612782] [ 0.00806749 0.99940928 -0.03340681 -0.2274034 ] [-0.01129531 0.03349684 0.99937499 -0.86609898] [ 0. 0. 0. 1. ]] SLAMing on 56.737193469999994 meters Centerline goodness : 0.930471 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.23, Z:-0.87 [[ 9.99928920e-01 -5.29146452e-03 1.06843511e-02 5.88921298e+00] [ 5.61513619e-03 9.99519154e-01 -3.04947794e-02 -2.28192471e-01] [-1.05178516e-02 3.05526059e-02 9.99477820e-01 -8.67686227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.767193469999995 meters Centerline goodness : 0.930088 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.23, Z:-0.87 [[ 9.99953782e-01 1.14269314e-03 9.54615423e-03 5.89253481e+00] [-9.14245159e-04 9.99713911e-01 -2.39010720e-02 -2.26885016e-01] [-9.57073477e-03 2.38912398e-02 9.99668750e-01 -8.69021660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.797193469999996 meters Centerline goodness : 0.931764 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.22, Z:-0.87 [[ 9.99947285e-01 4.84341161e-03 9.05368873e-03 5.89396939e+00] [-4.65803414e-03 9.99781343e-01 -2.03855002e-02 -2.24916598e-01] [-9.15044444e-03 2.03422531e-02 9.99751200e-01 -8.69358216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.82719347 meters Centerline goodness : 0.930655 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.22, Z:-0.87 [[ 0.99990143 0.00853747 0.01114608 5.91239824] [-0.00828556 0.99971352 -0.0224551 -0.22115362] [-0.0113346 0.02236054 0.99968572 -0.8711408 ] [ 0. 0. 0. 1. ]] SLAMing on 56.85719347 meters Centerline goodness : 0.929713 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.22, Z:-0.87 [[ 0.99982102 0.0130248 0.01372126 5.92929254] [-0.01271323 0.99966478 -0.02255427 -0.21801224] [-0.01401042 0.02237579 0.99965146 -0.87069921] [ 0. 0. 0. 1. ]] SLAMing on 56.88719346999999 meters Centerline goodness : 0.931397 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.20, Z:-0.87 [[ 0.99963424 0.02205901 0.01564533 5.954792 ] [-0.02100522 0.99769079 -0.06459 -0.20362273] [-0.017034 0.06423774 0.99778923 -0.86583512] [ 0. 0. 0. 1. ]] SLAMing on 56.917193469999994 meters Centerline goodness : 0.932286 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.20, Z:-0.87 [[ 0.9995579 0.02558014 0.01515487 5.95589202] [-0.02461737 0.99785676 -0.06062899 -0.20443179] [-0.01667329 0.06022911 0.99804532 -0.86550993] [ 0. 0. 0. 1. ]] SLAMing on 56.947193469999995 meters Centerline goodness : 0.934860 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.21, Z:-0.87 [[ 0.99950525 0.02797783 0.01437024 5.95871973] [-0.0271078 0.99797538 -0.05753521 -0.20547423] [-0.01595086 0.0571172 0.99824005 -0.86672911] [ 0. 0. 0. 1. ]] SLAMing on 56.977193469999996 meters Centerline goodness : 0.931192 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.20, Z:-0.87 [[ 0.99952987 0.02733614 0.0138844 5.96103187] [-0.02648253 0.99794589 -0.05833253 -0.20486871] [-0.01545047 0.05793742 0.99820065 -0.8682151 ] [ 0. 0. 0. 1. ]] SLAMing on 57.00719347 meters Centerline goodness : 0.931931 Centerline is valid? [False, False] Translation: X:5.97, Y:-0.20, Z:-0.87 [[ 0.99950656 0.02639531 0.01702705 5.96889389] [-0.02506317 0.99692829 -0.07420127 -0.1997716 ] [-0.01893331 0.07373791 0.99709791 -0.86928844] [ 0. 0. 0. 1. ]] SLAMing on 57.03719347 meters Centerline goodness : 0.930448 Centerline is valid? [False, False] Translation: X:5.97, Y:-0.20, Z:-0.87 [[ 0.99945658 0.02873232 0.01615523 5.97187896] [-0.02752186 0.9971162 -0.07072361 -0.2015634 ] [-0.01814069 0.07024055 0.99736512 -0.8706989 ] [ 0. 0. 0. 1. ]] SLAMing on 57.06719346999999 meters Centerline goodness : 0.932593 Centerline is valid? [False, False] Translation: X:5.97, Y:-0.20, Z:-0.87 [[ 0.99945404 0.02909883 0.01564893 5.97314319] [-0.02793977 0.99717101 -0.06978076 -0.20391706] [-0.0176352 0.06930543 0.9974396 -0.87089869] [ 0. 0. 0. 1. ]] SLAMing on 57.09719346999999 meters Centerline goodness : 0.930830 Centerline is valid? [False, False] Translation: X:5.98, Y:-0.21, Z:-0.87 [[ 0.99948139 0.02905282 0.01388828 5.97947442] [-0.02814491 0.99770288 -0.06161845 -0.21167603] [-0.01564657 0.06119561 0.99800315 -0.8678577 ] [ 0. 0. 0. 1. ]] SLAMing on 57.127193469999995 meters Centerline goodness : 0.930536 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.22, Z:-0.87 [[ 0.99954318 0.02817552 0.01093452 5.98704349] [-0.02752628 0.99807549 -0.05556639 -0.21585804] [-0.01247909 0.05524002 0.99839512 -0.86542208] [ 0. 0. 0. 1. ]] SLAMing on 57.157193469999996 meters Centerline goodness : 0.933498 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.22, Z:-0.86 [[ 0.99964168 0.02455445 0.01065803 6.00185183] [-0.0240544 0.99870855 -0.04475062 -0.22006524] [-0.01174309 0.04447821 0.99894133 -0.86412981] [ 0. 0. 0. 1. ]] SLAMing on 57.18719347 meters Centerline goodness : 0.931652 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.22, Z:-0.86 [[ 0.99974478 0.01997459 0.01055372 6.01789454] [-0.01960395 0.99922521 -0.03412723 -0.22405352] [-0.01122722 0.03391162 0.99936177 -0.86254063] [ 0. 0. 0. 1. ]] SLAMing on 57.21719347 meters Centerline goodness : 0.929723 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.23, Z:-0.86 [[ 0.99983722 0.01521875 0.00969181 6.01903205] [-0.0148948 0.99935544 -0.03266269 -0.23368076] [-0.01018265 0.03251301 0.99941944 -0.85786354] [ 0. 0. 0. 1. ]] SLAMing on 57.24719346999999 meters Centerline goodness : 0.931502 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.24, Z:-0.86 [[ 0.99989087 0.01143726 0.00935057 6.01961224] [-0.01109932 0.99931063 -0.03542692 -0.23785307] [-0.00974931 0.03531927 0.99932852 -0.85776249] [ 0. 0. 0. 1. ]] SLAMing on 57.27719346999999 meters Centerline goodness : 0.933716 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.24, Z:-0.86 [[ 0.99993185 0.00764015 0.00882716 6.0211596 ] [-0.00729656 0.99923878 -0.03832249 -0.24191251] [-0.00911323 0.03825547 0.99922643 -0.85858346] [ 0. 0. 0. 1. ]] SLAMing on 57.307193469999994 meters Centerline goodness : 0.933393 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.25, Z:-0.86 [[ 9.99977040e-01 4.50825815e-03 5.05908454e-03 6.02954619e+00] [-4.32414813e-03 9.99348507e-01 -3.58310289e-02 -2.46897669e-01] [-5.21732411e-03 3.58083300e-02 9.99345057e-01 -8.57284055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.337193469999995 meters Centerline goodness : 0.932478 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.26, Z:-0.86 [[ 9.99991213e-01 -1.19239594e-04 4.19034982e-03 6.03209359e+00] [ 2.06309754e-04 9.99783959e-01 -2.07844480e-02 -2.55750008e-01] [-4.18696620e-03 2.07851298e-02 9.99775199e-01 -8.58468958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.36719347 meters Centerline goodness : 0.930588 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.26, Z:-0.86 [[ 9.99994353e-01 4.42446241e-04 3.33143606e-03 6.03600687e+00] [-3.77537283e-04 9.99810579e-01 -1.94592601e-02 -2.57994020e-01] [-3.33941470e-03 1.94578924e-02 9.99805100e-01 -8.61301285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.39719347 meters Centerline goodness : 0.929461 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.26, Z:-0.86 [[ 9.99995861e-01 1.06728241e-03 2.67185856e-03 6.03923489e+00] [-1.01847801e-03 9.99833824e-01 -1.82012867e-02 -2.60464159e-01] [-2.69084047e-03 1.81984901e-02 9.99830773e-01 -8.63588433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.42719346999999 meters Centerline goodness : 0.930556 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.27, Z:-0.87 [[ 9.99967467e-01 -6.90688272e-04 8.03662814e-03 6.05085581e+00] [ 7.82813532e-04 9.99933961e-01 -1.14656798e-02 -2.68033837e-01] [-8.02817820e-03 1.14715980e-02 9.99901971e-01 -8.67099645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.45719346999999 meters Centerline goodness : 0.931552 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.27, Z:-0.87 [[ 9.99970435e-01 -1.78960963e-03 7.47835392e-03 6.05264194e+00] [ 1.87941825e-03 9.99925998e-01 -1.20194212e-02 -2.70990331e-01] [-7.45629043e-03 1.20331208e-02 9.99899799e-01 -8.67824913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.487193469999994 meters Centerline goodness : 0.931626 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.27, Z:-0.87 [[ 9.99972459e-01 -1.90805585e-03 7.17220628e-03 6.05345583e+00] [ 1.99067787e-03 9.99931542e-01 -1.15303169e-02 -2.73536391e-01] [-7.14971480e-03 1.15442769e-02 9.99907801e-01 -8.67876530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.517193469999995 meters Centerline goodness : 0.932327 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.28, Z:-0.87 [[ 9.99978712e-01 -3.36786992e-04 6.51627586e-03 6.07434917e+00] [ 4.17156531e-04 9.99923819e-01 -1.23362359e-02 -2.75938218e-01] [-6.51162475e-03 1.23386916e-02 9.99902673e-01 -8.68797007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.547193469999996 meters Centerline goodness : 0.930972 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.28, Z:-0.87 [[ 9.99979026e-01 4.91672561e-04 6.45800516e-03 6.07463024e+00] [-4.19538038e-04 9.99937566e-01 -1.11663932e-02 -2.78245370e-01] [-6.46309217e-03 1.11634497e-02 9.99916799e-01 -8.68955593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.57719347 meters Centerline goodness : 0.932990 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.28, Z:-0.87 [[ 9.99981454e-01 5.71782592e-04 6.06345493e-03 6.07576908e+00] [-5.04784993e-04 9.99938873e-01 -1.10451896e-02 -2.78162872e-01] [-6.06939973e-03 1.10419240e-02 9.99920616e-01 -8.69424350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.60719346999999 meters Centerline goodness : 0.929649 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.28, Z:-0.87 [[ 9.99982738e-01 7.33675594e-04 5.82972107e-03 6.07659432e+00] [-6.70316729e-04 9.99940774e-01 -1.08627809e-02 -2.78463977e-01] [-5.83734556e-03 1.08586856e-02 9.99924004e-01 -8.69877835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.63719346999999 meters Centerline goodness : 0.931413 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.28, Z:-0.87 [[ 9.99975103e-01 1.40631782e-03 6.91487096e-03 6.09640095e+00] [-1.30831195e-03 9.99898924e-01 -1.41573573e-02 -2.78533159e-01] [-6.93408178e-03 1.41479580e-02 9.99875869e-01 -8.71237444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.667193469999994 meters Centerline goodness : 0.929591 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.28, Z:-0.87 [[ 9.99978004e-01 8.95873543e-04 6.57189637e-03 6.09746295e+00] [-8.00240530e-04 9.99893968e-01 -1.45400383e-02 -2.78818750e-01] [-6.58422558e-03 1.45344593e-02 9.99872691e-01 -8.71600295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.697193469999995 meters Centerline goodness : 0.931334 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.28, Z:-0.87 [[ 9.99964866e-01 1.26558133e-03 8.28640518e-03 6.11643476e+00] [-1.11281105e-03 9.99829811e-01 -1.84149804e-02 -2.78673770e-01] [-8.30830057e-03 1.84051122e-02 9.99796091e-01 -8.72938976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.727193469999996 meters Centerline goodness : 0.931426 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.28, Z:-0.87 [[ 9.99967609e-01 9.95838180e-04 7.98684656e-03 6.11729602e+00] [-8.48451641e-04 9.99829685e-01 -1.84358638e-02 -2.79350761e-01] [-8.00384542e-03 1.84284902e-02 9.99798144e-01 -8.73163572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.75719347 meters Centerline goodness : 0.932608 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.28, Z:-0.87 [[ 9.99972286e-01 -2.01718555e-05 7.44491900e-03 6.11958877e+00] [ 1.64366928e-04 9.99812406e-01 -1.93681491e-02 -2.78050994e-01] [-7.44313169e-03 1.93688360e-02 9.99784701e-01 -8.74853411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.78719347 meters Centerline goodness : 0.932422 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.28, Z:-0.88 [[ 9.99984185e-01 2.19220004e-03 5.17918118e-03 6.14267448e+00] [-2.08876130e-03 9.99799919e-01 -1.98937138e-02 -2.77202590e-01] [-5.22175593e-03 1.98825811e-02 9.99788686e-01 -8.76975517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.81719346999999 meters Centerline goodness : 0.930395 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.28, Z:-0.88 [[ 9.99985214e-01 4.24464805e-03 3.39913792e-03 6.16454420e+00] [-4.17250913e-03 9.99771697e-01 -2.09557685e-02 -2.77273887e-01] [-3.48731175e-03 2.09412757e-02 9.99774625e-01 -8.78228060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.84719346999999 meters Centerline goodness : 0.930041 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.28, Z:-0.88 [[ 9.99988931e-01 3.89605461e-03 2.63788973e-03 6.16638427e+00] [-3.83917092e-03 9.99767114e-01 -2.12362383e-02 -2.77564046e-01] [-2.72001295e-03 2.12258759e-02 9.99771006e-01 -8.78653493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.877193469999995 meters Centerline goodness : 0.929374 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.28, Z:-0.88 [[ 9.99987452e-01 4.88005336e-03 1.13183647e-03 6.17063631e+00] [-4.85608813e-03 9.99782359e-01 -2.02892121e-02 -2.79624425e-01] [-1.23060258e-03 2.02834612e-02 9.99793512e-01 -8.80847070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.907193469999996 meters Centerline goodness : 0.930346 Centerline is valid? [False, False] Translation: X:6.19, Y:-0.28, Z:-0.88 [[ 9.99976849e-01 6.71193371e-03 -1.11903836e-03 6.19311407e+00] [-6.73465334e-03 9.99741547e-01 -2.17136783e-02 -2.79629115e-01] [ 9.73008372e-04 2.17207119e-02 9.99763604e-01 -8.83024543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.93719347 meters Centerline goodness : 0.927480 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.28, Z:-0.89 [[ 9.99970611e-01 7.42059073e-03 -1.92668912e-03 6.19669951e+00] [-7.45884533e-03 9.99758499e-01 -2.06714575e-02 -2.79434979e-01] [ 1.77282940e-03 2.06852208e-02 9.99784466e-01 -8.85332832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.96719347 meters Centerline goodness : 0.929915 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.28, Z:-0.89 [[ 9.99972175e-01 7.09995681e-03 -2.28897851e-03 6.19762848e+00] [-7.14598906e-03 9.99758701e-01 -2.07719827e-02 -2.78759598e-01] [ 2.14094600e-03 2.07877618e-02 9.99781619e-01 -8.85414505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.99719346999999 meters Centerline goodness : 0.932687 Centerline is valid? [False, False] Translation: X:6.21, Y:-0.28, Z:-0.89 [[ 9.99977914e-01 2.99013534e-03 5.93549733e-03 6.20584289e+00] [-2.88526128e-03 9.99840953e-01 -1.75995723e-02 -2.80270100e-01] [-5.98717841e-03 1.75820581e-02 9.99827498e-01 -8.87135843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.02719346999999 meters Centerline goodness : 0.930405 Centerline is valid? [False, False] Translation: X:6.21, Y:-0.28, Z:-0.89 [[ 9.99982358e-01 2.46459202e-03 5.40449276e-03 6.20645650e+00] [-2.37132972e-03 9.99849335e-01 -1.71954732e-02 -2.82649759e-01] [-5.44605832e-03 1.71823540e-02 9.99837540e-01 -8.86131324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.057193469999994 meters Centerline goodness : 0.932911 Centerline is valid? [False, False] Translation: X:6.21, Y:-0.28, Z:-0.89 [[ 9.99985754e-01 1.85927470e-03 5.00354717e-03 6.20706839e+00] [-1.77452926e-03 9.99855804e-01 -1.68885413e-02 -2.84842937e-01] [-5.03422611e-03 1.68794218e-02 9.99844859e-01 -8.85459369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.087193469999995 meters Centerline goodness : 0.932911 Centerline is valid? [False, False] Translation: X:6.21, Y:-0.28, Z:-0.89 [[ 9.99985754e-01 1.85927470e-03 5.00354717e-03 6.20706839e+00] [-1.77452926e-03 9.99855804e-01 -1.68885413e-02 -2.84842937e-01] [-5.03422611e-03 1.68794218e-02 9.99844859e-01 -8.85459369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.11719347 meters Centerline goodness : 0.933200 Centerline is valid? [False, False] Translation: X:6.22, Y:-0.29, Z:-0.89 [[ 9.99949236e-01 -2.40433920e-03 9.78489077e-03 6.21761088e+00] [ 2.52252988e-03 9.99923798e-01 -1.20845333e-02 -2.85422770e-01] [-9.75508982e-03 1.21086025e-02 9.99879103e-01 -8.88096275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.14719347 meters Centerline goodness : 0.932160 Centerline is valid? [False, False] Translation: X:6.22, Y:-0.28, Z:-0.89 [[ 9.99956296e-01 -3.70649123e-03 8.58298587e-03 6.22346521e+00] [ 3.81771734e-03 9.99908481e-01 -1.29789880e-02 -2.82102790e-01] [-8.53409386e-03 1.30111882e-02 9.99878932e-01 -8.92440952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.17719346999999 meters Centerline goodness : 0.930647 Centerline is valid? [False, False] Translation: X:6.25, Y:-0.28, Z:-0.90 [[ 9.99981882e-01 -2.43220956e-03 5.50645288e-03 6.24693194e+00] [ 2.50843290e-03 9.99900546e-01 -1.38782238e-02 -2.80897892e-01] [-5.47215049e-03 1.38917849e-02 9.99888531e-01 -8.95105059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.20719346999999 meters Centerline goodness : 0.931848 Centerline is valid? [False, False] Translation: X:6.25, Y:-0.28, Z:-0.90 [[ 9.99981843e-01 -3.44211261e-03 4.94622891e-03 6.24876778e+00] [ 3.51515657e-03 9.99883768e-01 -1.48355888e-02 -2.79264168e-01] [-4.89458824e-03 1.48527062e-02 9.99877713e-01 -8.95922927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.237193469999994 meters Centerline goodness : 0.928397 Centerline is valid? [False, False] Translation: X:6.25, Y:-0.28, Z:-0.90 [[ 9.99970266e-01 -6.73330012e-03 3.75908420e-03 6.25189399e+00] [ 6.79983978e-03 9.99815257e-01 -1.79781555e-02 -2.76389849e-01] [-3.63733741e-03 1.80031821e-02 9.99831313e-01 -8.96754157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.267193469999995 meters Centerline goodness : 0.929204 Centerline is valid? [False, False] Translation: X:6.25, Y:-0.27, Z:-0.90 [[ 9.99964706e-01 -7.76313563e-03 3.21243593e-03 6.25330284e+00] [ 7.82287180e-03 9.99788490e-01 -1.90204751e-02 -2.74550051e-01] [-3.06409794e-03 1.90449343e-02 9.99813934e-01 -8.96999097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.297193469999996 meters Centerline goodness : 0.930468 Centerline is valid? [False, False] Translation: X:6.25, Y:-0.27, Z:-0.90 [[ 9.99957807e-01 -8.76633806e-03 2.74500332e-03 6.25443979e+00] [ 8.82031769e-03 9.99754777e-01 -2.03122454e-02 -2.71321212e-01] [-2.56626617e-03 2.03356002e-02 9.99789917e-01 -8.97064252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.32719347 meters Centerline goodness : 0.929534 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.27, Z:-0.90 [[ 9.99974823e-01 -6.79930313e-03 2.03040543e-03 6.25640689e+00] [ 6.83482205e-03 9.99814059e-01 -1.80314294e-02 -2.68912124e-01] [-1.90742674e-03 1.80448528e-02 9.99835359e-01 -8.97546525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.35719346999999 meters Centerline goodness : 0.928267 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.27, Z:-0.90 [[ 9.99985824e-01 -5.21372457e-03 1.08157091e-03 6.25884517e+00] [ 5.23050231e-03 9.99856101e-01 -1.61374909e-02 -2.65756305e-01] [-9.97278836e-04 1.61429193e-02 9.99869197e-01 -8.97964447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.38719346999999 meters Centerline goodness : 0.925272 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.26, Z:-0.90 [[ 9.99985192e-01 -5.44094355e-03 -1.09329570e-04 6.26130670e+00] [ 5.43837392e-03 9.99846995e-01 -1.66255737e-02 -2.57409076e-01] [ 1.99771650e-04 1.66247330e-02 9.99861780e-01 -8.97787519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.417193469999994 meters Centerline goodness : 0.924538 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.25, Z:-0.90 [[ 9.99988488e-01 -4.73597473e-03 -7.70637968e-04 6.26366579e+00] [ 4.72327636e-03 9.99865272e-01 -1.57203286e-02 -2.54179534e-01] [ 8.44985221e-04 1.57165077e-02 9.99876131e-01 -8.98669844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.447193469999995 meters Centerline goodness : 0.925580 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.25, Z:-0.90 [[ 9.99996410e-01 -2.38345908e-03 -1.22455298e-03 6.26479913e+00] [ 2.36715843e-03 9.99910801e-01 -1.31448407e-02 -2.51781316e-01] [ 1.25577395e-03 1.31418948e-02 9.99912853e-01 -8.98581716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.477193469999996 meters Centerline goodness : 0.926422 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.24, Z:-0.90 [[ 9.99985425e-01 -4.30631210e-03 -3.25672638e-03 6.26931862e+00] [ 4.25846314e-03 9.99884940e-01 -1.45592647e-02 -2.40980273e-01] [ 3.31904840e-03 1.45451838e-02 9.99888705e-01 -8.98343225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.50719347 meters Centerline goodness : 0.924948 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.24, Z:-0.90 [[ 9.99987679e-01 -2.79536080e-03 -4.10212593e-03 6.27212626e+00] [ 2.74145692e-03 9.99910593e-01 -1.30877836e-02 -2.36489938e-01] [ 4.13834425e-03 1.30763765e-02 9.99905937e-01 -8.99493807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.53719347 meters Centerline goodness : 0.922831 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.23, Z:-0.90 [[ 9.99987177e-01 -1.40732871e-03 -4.86465029e-03 6.27509549e+00] [ 1.34892929e-03 9.99927239e-01 -1.19873609e-02 -2.31485285e-01] [ 4.88116649e-03 1.19806451e-02 9.99916316e-01 -9.01082545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.56719346999999 meters Centerline goodness : 0.922927 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.23, Z:-0.90 [[ 9.99984065e-01 1.27457901e-04 -5.64394524e-03 6.27797148e+00] [-1.89841573e-04 9.99938884e-01 -1.10540471e-02 -2.25528859e-01] [ 5.64219138e-03 1.10549424e-02 9.99922974e-01 -9.02562300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.59719346999999 meters Centerline goodness : 0.922484 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.21, Z:-0.91 [[ 9.99985277e-01 2.38544127e-03 -4.87405220e-03 6.29874521e+00] [-2.46952108e-03 9.99846984e-01 -1.73179237e-02 -2.08418356e-01] [ 4.83199550e-03 1.73297053e-02 9.99838153e-01 -9.07513342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.627193469999995 meters Centerline goodness : 0.919769 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.20, Z:-0.91 [[ 9.99984472e-01 4.50299251e-03 -3.28320913e-03 6.31871647e+00] [-4.56889031e-03 9.99782522e-01 -2.03478204e-02 -2.00127618e-01] [ 3.19086902e-03 2.03625051e-02 9.99787571e-01 -9.09914550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.657193469999996 meters Centerline goodness : 0.920152 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.19, Z:-0.91 [[ 9.99971074e-01 6.54744469e-03 -3.87077360e-03 6.32036298e+00] [-6.62191423e-03 9.99786955e-01 -1.95498112e-02 -1.92322711e-01] [ 3.74194764e-03 1.95748777e-02 9.99801391e-01 -9.10032729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.68719347 meters Centerline goodness : 0.919206 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.18, Z:-0.91 [[ 9.99959793e-01 8.61190363e-03 -2.49950052e-03 6.35642827e+00] [-8.67744162e-03 9.99583724e-01 -2.75151084e-02 -1.75665529e-01] [ 2.26150257e-03 2.75356914e-02 9.99618263e-01 -9.12515701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.71719347 meters Centerline goodness : 0.920570 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.17, Z:-0.91 [[ 9.99942062e-01 1.03312970e-02 -3.02270455e-03 6.35860184e+00] [-1.04082439e-02 9.99590465e-01 -2.66565329e-02 -1.68797153e-01] [ 2.74607008e-03 2.66864495e-02 9.99640081e-01 -9.13400675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.74719346999999 meters Centerline goodness : 0.917728 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.16, Z:-0.91 [[ 9.99923229e-01 1.18534547e-02 -3.61006897e-03 6.36076831e+00] [-1.19427572e-02 9.99595493e-01 -2.58112749e-02 -1.62261382e-01] [ 3.30265589e-03 2.58524075e-02 9.99660315e-01 -9.14200885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.77719346999999 meters Centerline goodness : 0.917004 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.16, Z:-0.91 [[ 9.99897403e-01 1.37074747e-02 -4.15783852e-03 6.36265275e+00] [-1.38078191e-02 9.99588319e-01 -2.51503012e-02 -1.56025793e-01] [ 3.81137970e-03 2.52051315e-02 9.99675035e-01 -9.14392685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.807193469999994 meters Centerline goodness : 0.916908 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.14, Z:-0.91 [[ 9.99838070e-01 1.75555222e-02 -3.95447978e-03 6.36244429e+00] [-1.76426647e-02 9.99575158e-01 -2.32000031e-02 -1.44986333e-01] [ 3.54551158e-03 2.32660139e-02 9.99723023e-01 -9.13107450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.837193469999995 meters Centerline goodness : 0.916932 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.14, Z:-0.91 [[ 9.99807784e-01 1.90227080e-02 -4.74683654e-03 6.36538379e+00] [-1.91252551e-02 9.99561996e-01 -2.25840774e-02 -1.39838546e-01] [ 4.31514710e-03 2.26705208e-02 9.99733678e-01 -9.14208690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.86719347 meters Centerline goodness : 0.913704 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.14, Z:-0.91 [[ 9.99748096e-01 2.18995353e-02 -4.91470825e-03 6.36670742e+00] [-2.19954617e-02 9.99550000e-01 -2.03960211e-02 -1.35841655e-01] [ 4.46583324e-03 2.04989845e-02 9.99779900e-01 -9.14947244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.89719347 meters Centerline goodness : 0.914733 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.13, Z:-0.91 [[ 9.99704345e-01 2.35310742e-02 -6.12460036e-03 6.36965253e+00] [-2.36503310e-02 9.99516437e-01 -2.01879704e-02 -1.26149210e-01] [ 5.64659410e-03 2.03268505e-02 9.99777443e-01 -9.14727473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.92719346999999 meters Centerline goodness : 0.912893 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.12, Z:-0.91 [[ 9.99668671e-01 2.50598026e-02 -5.87822448e-03 6.36855248e+00] [-2.51693150e-02 9.99495693e-01 -1.93614555e-02 -1.21905851e-01] [ 5.39006580e-03 1.95029914e-02 9.99795269e-01 -9.13236396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.95719346999999 meters Centerline goodness : 0.912809 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.12, Z:-0.91 [[ 9.99597316e-01 2.77157379e-02 -6.08642010e-03 6.36885045e+00] [-2.78158939e-02 9.99467839e-01 -1.70386195e-02 -1.19052776e-01] [ 5.61094324e-03 1.72010575e-02 9.99836307e-01 -9.12509120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.987193469999994 meters Centerline goodness : 0.913843 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.12, Z:-0.91 [[ 9.99519031e-01 3.03812613e-02 -6.21985350e-03 6.36911201e+00] [-3.04700904e-02 9.99427239e-01 -1.47230387e-02 -1.15816122e-01] [ 5.76898653e-03 1.49054768e-02 9.99872265e-01 -9.11799009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.017193469999995 meters Centerline goodness : 0.912499 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.11, Z:-0.91 [[ 9.99456238e-01 3.28888205e-02 2.35668154e-03 6.37209155e+00] [-3.28789629e-02 9.99450906e-01 -4.10616690e-03 -1.07148716e-01] [-2.49043448e-03 4.02644888e-03 9.99988793e-01 -9.09538211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.047193469999996 meters Centerline goodness : 0.913650 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.10, Z:-0.91 [[ 9.99376514e-01 3.52057374e-02 2.67188320e-03 6.37051934e+00] [-3.51987683e-02 9.99376918e-01 -2.61197553e-03 -1.02255806e-01] [-2.76217492e-03 2.51630000e-03 9.99993019e-01 -9.07578843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.07719347 meters Centerline goodness : 0.914179 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.10, Z:-0.91 [[ 9.99371417e-01 3.53559516e-02 2.59388720e-03 6.37098675e+00] [-3.53456707e-02 9.99367507e-01 -3.90771669e-03 -9.65014339e-02] [-2.73040763e-03 3.81357769e-03 9.99989001e-01 -9.07362647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.10719346999999 meters Centerline goodness : 0.915973 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.09, Z:-0.91 [[ 9.99250686e-01 3.86216334e-02 2.53678337e-03 6.37190318e+00] [-3.86176373e-02 9.99252771e-01 -1.60581441e-03 -9.21207908e-02] [-2.59690698e-03 1.50664657e-03 9.99995493e-01 -9.07664719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.13719346999999 meters Centerline goodness : 0.913206 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.08, Z:-0.91 [[ 9.98858850e-01 4.76494286e-02 -3.24508964e-03 6.36143742e+00] [-4.76583518e-02 9.98859964e-01 -2.73025575e-03 -7.84270731e-02] [ 3.11129499e-03 2.88179574e-03 9.99991008e-01 -9.05040756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.167193469999994 meters Centerline goodness : 0.910203 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.07, Z:-0.91 [[ 9.98683531e-01 5.11909769e-02 -3.26925786e-03 6.36303407e+00] [-5.11936236e-02 9.98688479e-01 -7.31036991e-04 -7.20787123e-02] [ 3.22754767e-03 8.97439760e-04 9.99994389e-01 -9.06226269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.197193469999995 meters Centerline goodness : 0.909196 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.07, Z:-0.91 [[ 9.98455197e-01 5.54801295e-02 -3.02895933e-03 6.36401596e+00] [-5.54736866e-02 9.98457789e-01 2.17128920e-03 -6.63910750e-02] [ 3.14475144e-03 -1.99990744e-03 9.99993055e-01 -9.07093162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.227193469999996 meters Centerline goodness : 0.908437 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.06, Z:-0.91 [[ 9.98034151e-01 6.25842952e-02 -3.32260503e-03 6.36658029e+00] [-6.25615209e-02 9.98019516e-01 6.56523514e-03 -5.67348335e-02] [ 3.72690527e-03 -6.34446166e-03 9.99972929e-01 -9.08492497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.25719347 meters Centerline goodness : 0.907202 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.05, Z:-0.91 [[ 9.97728192e-01 6.72544290e-02 -3.91112273e-03 6.36997579e+00] [-6.72107147e-02 9.97684582e-01 1.04016386e-02 -5.36599118e-02] [ 4.60162311e-03 -1.01151387e-02 9.99938253e-01 -9.10503452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.28719347 meters Centerline goodness : 0.909177 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.05, Z:-0.91 [[ 9.97483457e-01 7.07771490e-02 -4.16520677e-03 6.37148345e+00] [-7.07172066e-02 9.97410238e-01 1.31108323e-02 -5.00661340e-02] [ 5.08236720e-03 -1.27832865e-02 9.99905374e-01 -9.10883817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.31719346999999 meters Centerline goodness : 0.908519 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.05, Z:-0.91 [[ 9.97225501e-01 7.43196670e-02 -4.22940364e-03 6.37251763e+00] [-7.42433072e-02 9.97111715e-01 1.60049690e-02 -4.68282067e-02] [ 5.40667188e-03 -1.56465583e-02 9.99862967e-01 -9.11088182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.34719346999999 meters Centerline goodness : 0.905770 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.04, Z:-0.91 [[ 9.96939611e-01 7.80494097e-02 -4.43870963e-03 6.37429387e+00] [-7.79539241e-02 9.96782031e-01 1.86753451e-02 -4.25168396e-02] [ 5.88202566e-03 -1.82721764e-02 9.99815748e-01 -9.11901617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.377193469999995 meters Centerline goodness : 0.905840 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.04, Z:-0.91 [[ 9.96942755e-01 7.79831545e-02 -4.87552454e-03 6.37601250e+00] [-7.78813836e-02 9.96792653e-01 1.84091644e-02 -4.21847434e-02] [ 6.29549175e-03 -1.79731705e-02 9.99818650e-01 -9.13079655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.407193469999996 meters Centerline goodness : 0.904692 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.04, Z:-0.92 [[ 9.97095395e-01 7.59552063e-02 -5.61964997e-03 6.37876034e+00] [-7.58574175e-02 9.96991216e-01 1.59426007e-02 -4.23473114e-02] [ 6.81366518e-03 -1.54700016e-02 9.99857116e-01 -9.15106317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.43719347 meters Centerline goodness : 0.907818 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.05, Z:-0.92 [[ 9.97355670e-01 7.26697246e-02 8.81971962e-04 6.38990014e+00] [-7.26721882e-02 9.97134392e-01 2.10180322e-02 -4.62844231e-02] [ 6.47930035e-04 -2.10265484e-02 9.99778708e-01 -9.19009304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.46719347 meters Centerline goodness : 0.905775 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.05, Z:-0.92 [[ 9.97599229e-01 6.92484729e-02 6.53447935e-04 6.38975857e+00] [-6.92494281e-02 9.97450201e-01 1.72514899e-02 -4.61014703e-02] [ 5.42857559e-04 -1.72553240e-02 9.99850968e-01 -9.18347168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.49719346999999 meters Centerline goodness : 0.903991 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.05, Z:-0.92 [[ 9.97847607e-01 6.51538706e-02 7.42470104e-03 6.40018301e+00] [-6.52999308e-02 9.97633929e-01 2.15049426e-02 -4.91808148e-02] [-6.00600342e-03 -2.19434880e-02 9.99741172e-01 -9.21751265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.52719346999999 meters Centerline goodness : 0.906568 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.05, Z:-0.92 [[ 9.98081632e-01 6.14938262e-02 7.18084367e-03 6.39974589e+00] [-6.16142430e-02 9.97938367e-01 1.79638724e-02 -5.04868872e-02] [-6.06137216e-03 -1.83718533e-02 9.99812850e-01 -9.20875536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.557193469999994 meters Centerline goodness : 0.906969 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.06, Z:-0.92 [[ 0.99843188 0.05504082 0.01021199 6.42243308] [-0.05542151 0.99758933 0.04176111 -0.06326335] [-0.00788881 -0.04226159 0.99907544 -0.91885476] [ 0. 0. 0. 1. ]] SLAMing on 59.587193469999995 meters Centerline goodness : 0.907822 Centerline is valid? [False, False] Translation: X:6.44, Y:-0.07, Z:-0.92 [[ 0.99870343 0.04926168 0.0128351 6.44088188] [-0.0499039 0.99719656 0.05575502 -0.06883282] [-0.01005253 -0.05632325 0.99836198 -0.91869051] [ 0. 0. 0. 1. ]] SLAMing on 59.61719347 meters Centerline goodness : 0.908075 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.07, Z:-0.92 [[ 0.99883326 0.04552966 0.01609852 6.44856804] [-0.04647916 0.99682965 0.06457817 -0.07285895] [-0.01310726 -0.06525107 0.99778279 -0.91816994] [ 0. 0. 0. 1. ]] SLAMing on 59.64719347 meters Centerline goodness : 0.907857 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.08, Z:-0.92 [[ 0.9988855 0.04429825 0.01629185 6.44775127] [-0.04526414 0.99687926 0.06467529 -0.07500663] [-0.01337601 -0.06534064 0.99777336 -0.91682442] [ 0. 0. 0. 1. ]] SLAMing on 59.67719346999999 meters Centerline goodness : 0.907461 Centerline is valid? [False, False] Translation: X:6.44, Y:-0.08, Z:-0.91 [[ 0.99933813 0.03322308 0.01481633 6.43791237] [-0.03433638 0.99599161 0.08259375 -0.07951664] [-0.01201292 -0.08304783 0.99647315 -0.91212521] [ 0. 0. 0. 1. ]] SLAMing on 59.70719346999999 meters Centerline goodness : 0.907866 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.08, Z:-0.91 [[ 0.99949893 0.03035606 0.00896598 6.42978962] [-0.03090604 0.99711026 0.06939699 -0.07768445] [-0.00683345 -0.06963933 0.99754883 -0.90934147] [ 0. 0. 0. 1. ]] SLAMing on 59.737193469999994 meters Centerline goodness : 0.906349 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.08, Z:-0.91 [[ 9.99579959e-01 2.88378909e-02 2.87781887e-03 6.42091924e+00] [-2.89559424e-02 9.97914155e-01 5.76965600e-02 -7.56684523e-02] [-1.20796909e-03 -5.77556550e-02 9.98330018e-01 -9.06068976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.767193469999995 meters Centerline goodness : 0.906568 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.07, Z:-0.90 [[ 9.99638150e-01 2.68953588e-02 4.56492203e-04 6.40259296e+00] [-2.68812904e-02 9.98207789e-01 5.34659276e-02 -7.29806764e-02] [ 9.82311233e-04 -5.34588521e-02 9.98569570e-01 -9.04964555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.797193469999996 meters Centerline goodness : 0.907738 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.07, Z:-0.90 [[ 9.99642985e-01 2.67135398e-02 5.38502949e-04 6.40209395e+00] [-2.67048209e-02 9.98255055e-01 5.26659005e-02 -7.03352068e-02] [ 8.69329337e-04 -5.26614786e-02 9.98612043e-01 -9.04127898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.82719347 meters Centerline goodness : 0.910192 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.07, Z:-0.90 [[ 9.99641446e-01 2.67756817e-02 -2.04857641e-04 6.40249833e+00] [-2.67274042e-02 9.98243572e-01 5.28716922e-02 -6.77944579e-02] [ 1.62017342e-03 -5.28472595e-02 9.98601293e-01 -9.02488741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.85719346999999 meters Centerline goodness : 0.909691 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.06, Z:-0.90 [[ 9.99561013e-01 2.90649433e-02 -5.74553752e-03 6.39387577e+00] [-2.87797011e-02 9.98586153e-01 4.46925457e-02 -6.39693528e-02] [ 7.03640051e-03 -4.45075714e-02 9.98984267e-01 -8.99914068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.88719346999999 meters Centerline goodness : 0.907854 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.06, Z:-0.90 [[ 0.99948073 0.03021553 -0.01119367 6.38000647] [-0.02968154 0.99853968 0.04513882 -0.06130504] [ 0.01254122 -0.04478313 0.99891801 -0.90096707] [ 0. 0. 0. 1. ]] SLAMing on 59.917193469999994 meters Centerline goodness : 0.907884 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.06, Z:-0.90 [[ 0.99958749 0.02649282 -0.0110898 6.35486844] [-0.02594328 0.99855481 0.04706633 -0.05809674] [ 0.01232069 -0.04675921 0.9988302 -0.9031615 ] [ 0. 0. 0. 1. ]] SLAMing on 59.947193469999995 meters Centerline goodness : 0.905019 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.06, Z:-0.90 [[ 0.99960382 0.02559362 -0.01171196 6.35629847] [-0.02502469 0.9986101 0.04638573 -0.05707907] [ 0.01288286 -0.04607427 0.99885494 -0.90343156] [ 0. 0. 0. 1. ]] SLAMing on 59.977193469999996 meters Centerline goodness : 0.905019 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.06, Z:-0.90 [[ 0.99960499 0.02551379 -0.01178613 6.35634054] [-0.02494327 0.99861838 0.04625104 -0.05648003] [ 0.01294989 -0.04593878 0.99886031 -0.90327506] [ 0. 0. 0. 1. ]] SLAMing on 60.00719347 meters Centerline goodness : 0.906113 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.05, Z:-0.90 [[ 0.99964416 0.02303947 -0.01344362 6.33692769] [-0.02247961 0.9989304 0.04040695 -0.05209682] [ 0.01436019 -0.04009037 0.99909286 -0.90206189] [ 0. 0. 0. 1. ]] SLAMing on 60.03719347 meters Centerline goodness : 0.907057 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.05, Z:-0.90 [[ 0.99966899 0.02216301 -0.01306593 6.33551935] [-0.02164877 0.99903307 0.03826569 -0.04655804] [ 0.01390138 -0.03797016 0.99918217 -0.90081614] [ 0. 0. 0. 1. ]] SLAMing on 60.06719346999999 meters Centerline goodness : 0.908952 Centerline is valid? [False, False] Translation: X:6.33, Y:-0.04, Z:-0.90 [[ 0.99964796 0.02327769 -0.01273243 6.33385797] [-0.02277136 0.9989967 0.03856253 -0.0438904 ] [ 0.0136173 -0.03825902 0.99917507 -0.89919594] [ 0. 0. 0. 1. ]] SLAMing on 60.09719346999999 meters Centerline goodness : 0.907888 Centerline is valid? [False, False] Translation: X:6.33, Y:-0.04, Z:-0.90 [[ 0.99962833 0.02429833 -0.01236082 6.33242473] [-0.02380573 0.9989731 0.03854918 -0.04111492] [ 0.01328481 -0.03824059 0.99918025 -0.89786917] [ 0. 0. 0. 1. ]] SLAMing on 60.127193469999995 meters Centerline goodness : 0.912333 Centerline is valid? [False, False] Translation: X:6.33, Y:-0.03, Z:-0.90 [[ 0.99941678 0.0327514 -0.00966724 6.32907967] [-0.03247049 0.99908293 0.02791002 -0.03358765] [ 0.01057247 -0.02757984 0.99956369 -0.89607366] [ 0. 0. 0. 1. ]] SLAMing on 60.157193469999996 meters Centerline goodness : 0.913402 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.03, Z:-0.90 [[ 9.99331276e-01 3.62851981e-02 -4.51500003e-03 6.33793866e+00] [-3.61847325e-02 9.99132044e-01 2.06354947e-02 -2.83714161e-02] [ 5.25984422e-03 -2.04583212e-02 9.99776871e-01 -8.97889113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.18719347 meters Centerline goodness : 0.913270 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.03, Z:-0.90 [[ 9.99180534e-01 4.01899501e-02 -4.79873634e-03 6.33931315e+00] [-4.00650192e-02 9.98914042e-01 2.37808840e-02 -2.55304997e-02] [ 5.74927765e-03 -2.35691349e-02 9.99705678e-01 -8.98523122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.21719347 meters Centerline goodness : 0.912893 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.02, Z:-0.90 [[ 9.99053781e-01 4.31718839e-02 -5.26600960e-03 6.34191333e+00] [-4.30200942e-02 9.98731738e-01 2.61569787e-02 -2.31203876e-02] [ 6.38857696e-03 -2.59056842e-02 9.99643977e-01 -9.00266993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.24719346999999 meters Centerline goodness : 0.913048 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.02, Z:-0.90 [[ 9.98975913e-01 4.48733488e-02 -5.78855124e-03 6.34488175e+00] [-4.47011505e-02 9.98633716e-01 2.70648781e-02 -2.15002510e-02] [ 6.99513415e-03 -2.67784064e-02 9.99616919e-01 -9.02575422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.27719346999999 meters Centerline goodness : 0.913923 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.02, Z:-0.90 [[ 9.98833837e-01 4.78973624e-02 -6.06705359e-03 6.34727201e+00] [-4.76989256e-02 9.98427246e-01 2.94592356e-02 -1.93098393e-02] [ 7.46853129e-03 -2.91354894e-02 9.99547570e-01 -9.04538606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.307193469999994 meters Centerline goodness : 0.913087 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.02, Z:-0.90 [[ 0.99883705 0.04776881 -0.00653414 6.34851813] [-0.04755915 0.99844254 0.02916548 -0.01870983] [ 0.00791716 -0.0288208 0.99955324 -0.90497555] [ 0. 0. 0. 1. ]] SLAMing on 60.337193469999995 meters Centerline goodness : 0.913866 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.02, Z:-0.91 [[ 0.99893568 0.04549278 -0.00761049 6.35191588] [-0.04527614 0.99862142 0.02655788 -0.01876424] [ 0.00880819 -0.02618504 0.99961831 -0.90691224] [ 0. 0. 0. 1. ]] SLAMing on 60.36719347 meters Centerline goodness : 0.914040 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.02, Z:-0.91 [[ 0.9990168 0.0434808 -0.00865122 6.35535222] [-0.04325675 0.99876135 0.02458886 -0.02033888] [ 0.00970965 -0.02419046 0.99966021 -0.9089311 ] [ 0. 0. 0. 1. ]] SLAMing on 60.39719347 meters Centerline goodness : 0.916440 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.03, Z:-0.91 [[ 0.99921234 0.03834804 -0.01020471 6.38072105] [-0.03801861 0.99880457 0.03072479 -0.02687108] [ 0.01137074 -0.03031262 0.99947579 -0.90720121] [ 0. 0. 0. 1. ]] SLAMing on 60.42719346999999 meters Centerline goodness : 0.916341 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.03, Z:-0.91 [[ 9.99274663e-01 3.79475099e-02 -3.18350181e-03 6.39097847e+00] [-3.78610730e-02 9.98998576e-01 2.38408310e-02 -2.73647180e-02] [ 4.08501395e-03 -2.37030075e-02 9.99710698e-01 -9.09408735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.45719346999999 meters Centerline goodness : 0.919276 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.03, Z:-0.91 [[ 9.99331612e-01 3.63694487e-02 3.68668930e-03 6.40117784e+00] [-3.64659192e-02 9.98860115e-01 3.08011029e-02 -3.03534103e-02] [-2.56226777e-03 -3.09149543e-02 9.99518734e-01 -9.12403318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.487193469999994 meters Centerline goodness : 0.919549 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.03, Z:-0.91 [[ 9.99266077e-01 3.81194783e-02 3.76999236e-03 6.40070554e+00] [-3.82214167e-02 9.98748727e-01 3.22506225e-02 -3.23884094e-02] [-2.53589817e-03 -3.23710475e-02 9.99472703e-01 -9.11326946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.517193469999995 meters Centerline goodness : 0.919581 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.03, Z:-0.91 [[ 0.99913635 0.04087523 0.00746785 6.41018087] [-0.04104433 0.99886663 0.02410036 -0.03325656] [-0.00647428 -0.02438606 0.99968165 -0.91261366] [ 0. 0. 0. 1. ]] SLAMing on 60.547193469999996 meters Centerline goodness : 0.920264 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.04, Z:-0.91 [[ 9.99090245e-01 4.20097742e-02 7.33901210e-03 6.41089026e+00] [-4.21816319e-02 9.98794979e-01 2.50858525e-02 -3.56878287e-02] [-6.27631744e-03 -2.53726021e-02 9.99658361e-01 -9.13021084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.57719347 meters Centerline goodness : 0.920339 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.04, Z:-0.91 [[ 9.99041855e-01 4.31565392e-02 7.27224556e-03 6.41194657e+00] [-4.33327391e-02 9.98719168e-01 2.61208317e-02 -3.80546677e-02] [-6.13564633e-03 -2.64109304e-02 9.99632341e-01 -9.14054081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.60719346999999 meters Centerline goodness : 0.920573 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.04, Z:-0.92 [[ 9.98898435e-01 4.63511796e-02 7.31326873e-03 6.41399178e+00] [-4.65461077e-02 9.98488624e-01 2.92220460e-02 -4.21380407e-02] [-5.94773933e-03 -2.95302602e-02 9.99546191e-01 -9.16362836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.63719346999999 meters Centerline goodness : 0.918181 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.04, Z:-0.92 [[ 9.98868833e-01 4.70059721e-02 7.17584108e-03 6.41500325e+00] [-4.72017826e-02 9.98431021e-01 3.01245255e-02 -4.41110647e-02] [-5.74854974e-03 -3.04291622e-02 9.99520395e-01 -9.17200687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.667193469999994 meters Centerline goodness : 0.918556 Centerline is valid? [False, False] Translation: X:6.44, Y:-0.05, Z:-0.92 [[ 9.98905469e-01 4.64527872e-02 5.47738239e-03 6.43598630e+00] [-4.65968577e-02 9.98462179e-01 3.00334953e-02 -4.71228105e-02] [-4.07381958e-03 -3.02558516e-02 9.99533885e-01 -9.17973610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.697193469999995 meters Centerline goodness : 0.917086 Centerline is valid? [False, False] Translation: X:6.44, Y:-0.05, Z:-0.92 [[ 9.99035125e-01 4.36246939e-02 5.06996796e-03 6.43722925e+00] [-4.37476564e-02 9.98666840e-01 2.73986466e-02 -5.02713483e-02] [-3.86795131e-03 -2.75940096e-02 9.99611729e-01 -9.18801624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.727193469999996 meters Centerline goodness : 0.917577 Centerline is valid? [False, False] Translation: X:6.44, Y:-0.06, Z:-0.92 [[ 9.99207215e-01 3.95772289e-02 4.31089379e-03 6.43909732e+00] [-3.96701180e-02 9.98920680e-01 2.41610607e-02 -6.04349165e-02] [-3.35001313e-03 -2.43129199e-02 9.99698784e-01 -9.19577414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.75719347 meters Centerline goodness : 0.916173 Centerline is valid? [False, False] Translation: X:6.44, Y:-0.06, Z:-0.92 [[ 9.99330778e-01 3.63560502e-02 4.02902335e-03 6.43968990e+00] [-3.64351309e-02 9.99100565e-01 2.16919829e-02 -6.49499755e-02] [-3.23676469e-03 -2.18242641e-02 9.99756583e-01 -9.19777633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.78719347 meters Centerline goodness : 0.918411 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.08, Z:-0.92 [[ 0.99944703 0.03243051 0.0073419 6.4555875 ] [-0.03259246 0.99920101 0.0231318 -0.07728329] [-0.00658586 -0.0233583 0.99970546 -0.92064212] [ 0. 0. 0. 1. ]] SLAMing on 60.81719346999999 meters Centerline goodness : 0.917510 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.08, Z:-0.92 [[ 9.99542295e-01 2.94262017e-02 7.02134266e-03 6.45629721e+00] [-2.95667601e-02 9.99345669e-01 2.08336246e-02 -8.21318270e-02] [-6.40369394e-03 -2.10316873e-02 9.99758301e-01 -9.20841671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.84719346999999 meters Centerline goodness : 0.913730 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.09, Z:-0.92 [[ 0.99960848 0.02693014 0.0075925 6.47584152] [-0.0270836 0.99941486 0.02089057 -0.08911591] [-0.00702547 -0.02108803 0.99975294 -0.92203317] [ 0. 0. 0. 1. ]] SLAMing on 60.877193469999995 meters Centerline goodness : 0.914470 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.09, Z:-0.92 [[ 0.99974417 0.02151536 0.0069769 6.47808837] [-0.02162399 0.99963991 0.01588853 -0.09433775] [-0.00663254 -0.01603534 0.99984943 -0.92360953] [ 0. 0. 0. 1. ]] SLAMing on 60.907193469999996 meters Centerline goodness : 0.917288 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.10, Z:-0.93 [[ 9.99871317e-01 1.46832581e-02 6.46153838e-03 6.48103838e+00] [-1.47520334e-02 9.99833629e-01 1.07280731e-02 -1.04859089e-01] [-6.30294030e-03 -1.08220134e-02 9.99921575e-01 -9.26266545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.93719347 meters Centerline goodness : 0.916529 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.11, Z:-0.93 [[ 9.99912308e-01 1.17754780e-02 6.05931966e-03 6.48321424e+00] [-1.18287563e-02 9.99891020e-01 8.83338123e-03 -1.10047422e-01] [-5.95464203e-03 -8.90428082e-03 9.99942626e-01 -9.27994036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.96719347 meters Centerline goodness : 0.911834 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.12, Z:-0.93 [[ 9.99966296e-01 6.11621377e-03 5.47712059e-03 6.48530782e+00] [-6.13548609e-03 9.99975022e-01 3.50883375e-03 -1.15036044e-01] [-5.45552301e-03 -3.54232028e-03 9.99978844e-01 -9.29287097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.99719346999999 meters Centerline goodness : 0.911680 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.12, Z:-0.93 [[ 9.99987706e-01 -3.39871217e-04 4.94690797e-03 6.48697792e+00] [ 3.49756266e-04 9.99997944e-01 -1.99749996e-03 -1.21105463e-01] [-4.94621891e-03 1.99920562e-03 9.99985769e-01 -9.30345905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.02719346999999 meters Centerline goodness : 0.915284 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.14, Z:-0.93 [[ 9.99959315e-01 -8.23949075e-03 3.67130205e-03 6.48896716e+00] [ 8.24162846e-03 9.99965876e-01 -5.67526801e-04 -1.38279181e-01] [-3.66650064e-03 5.97761218e-04 9.99993100e-01 -9.26863072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.057193469999994 meters Centerline goodness : 0.915645 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.14, Z:-0.93 [[ 9.99906099e-01 -1.33962614e-02 2.88683800e-03 6.49110235e+00] [ 1.34098004e-02 9.99898931e-01 -4.72273482e-03 -1.43765989e-01] [-2.82327924e-03 4.76100327e-03 9.99984681e-01 -9.27385033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.087193469999995 meters Centerline goodness : 0.918796 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.15, Z:-0.93 [[ 9.99847038e-01 -1.73022509e-02 2.55573569e-03 6.49180949e+00] [ 1.73206318e-02 9.99822941e-01 -7.35406166e-03 -1.48582575e-01] [-2.42804136e-03 7.39720373e-03 9.99969693e-01 -9.26993564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.11719347 meters Centerline goodness : 0.922586 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.16, Z:-0.92 [[ 9.99731626e-01 -2.29401432e-02 3.22877848e-03 6.48875390e+00] [ 2.29746470e-02 9.99674547e-01 -1.10890039e-02 -1.56675845e-01] [-2.97334432e-03 1.11602079e-02 9.99933302e-01 -9.23491415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.14719347 meters Centerline goodness : 0.920465 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.16, Z:-0.92 [[ 9.99746153e-01 -2.23093486e-02 3.15009249e-03 6.48786658e+00] [ 2.23371789e-02 9.99709126e-01 -9.09475590e-03 -1.62297920e-01] [-2.94627813e-03 9.16281140e-03 9.99953680e-01 -9.21614363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.17719346999999 meters Centerline goodness : 0.923016 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.17, Z:-0.92 [[ 9.99678677e-01 -2.51644529e-02 3.04843069e-03 6.48748873e+00] [ 2.51980863e-02 9.99615767e-01 -1.15487924e-02 -1.65656788e-01] [-2.75664034e-03 1.16218962e-02 9.99928664e-01 -9.20435270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.20719346999999 meters Centerline goodness : 0.924484 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.17, Z:-0.92 [[ 9.99660003e-01 -2.59542112e-02 2.50153615e-03 6.48934465e+00] [ 2.59820481e-02 9.99592471e-01 -1.18248078e-02 -1.68829617e-01] [-2.19361314e-03 1.18857824e-02 9.99926955e-01 -9.21190022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.237193469999994 meters Centerline goodness : 0.927403 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.17, Z:-0.92 [[ 9.99657627e-01 -2.60783831e-02 2.13235289e-03 6.49068891e+00] [ 2.61014388e-02 9.99591841e-01 -1.16131838e-02 -1.69733283e-01] [-1.82862950e-03 1.16648652e-02 9.99930291e-01 -9.21970114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.267193469999995 meters Centerline goodness : 0.925175 Centerline is valid? [False, False] Translation: X:6.51, Y:-0.17, Z:-0.93 [[ 9.99722691e-01 -2.33380087e-02 3.14291537e-03 6.50715437e+00] [ 2.33887224e-02 9.99578430e-01 -1.72026293e-02 -1.67307886e-01] [-2.74011530e-03 1.72713676e-02 9.99847084e-01 -9.27237168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.297193469999996 meters Centerline goodness : 0.927849 Centerline is valid? [False, False] Translation: X:6.51, Y:-0.17, Z:-0.93 [[ 9.99737737e-01 -2.27910789e-02 2.24144377e-03 6.51143401e+00] [ 2.28251619e-02 9.99601934e-01 -1.65826768e-02 -1.67447185e-01] [-1.86261443e-03 1.66294891e-02 9.99859986e-01 -9.30495559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.32719347 meters Centerline goodness : 0.922556 Centerline is valid? [False, False] Translation: X:6.51, Y:-0.17, Z:-0.93 [[ 9.99764100e-01 -2.16710205e-02 1.45325326e-03 6.51440454e+00] [ 2.16906771e-02 9.99648457e-01 -1.52471989e-02 -1.68960737e-01] [-1.12232002e-03 1.52751241e-02 9.99882699e-01 -9.32319125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.35719346999999 meters Centerline goodness : 0.924053 Centerline is valid? [False, False] Translation: X:6.52, Y:-0.17, Z:-0.93 [[ 9.99761831e-01 -2.18036931e-02 9.38311706e-04 6.51612600e+00] [ 2.18155623e-02 9.99643433e-01 -1.53976683e-02 -1.69349497e-01] [-6.02251100e-04 1.54144709e-02 9.99881009e-01 -9.33204939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.38719346999999 meters Centerline goodness : 0.922468 Centerline is valid? [False, False] Translation: X:6.54, Y:-0.17, Z:-0.94 [[ 9.99805951e-01 -1.96761560e-02 -9.53110826e-04 6.53818798e+00] [ 1.96586114e-02 9.99681384e-01 -1.58325623e-02 -1.69832785e-01] [ 1.26433111e-03 1.58107531e-02 9.99874203e-01 -9.35038868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.417193469999994 meters Centerline goodness : 0.923741 Centerline is valid? [False, False] Translation: X:6.54, Y:-0.17, Z:-0.94 [[ 9.99825381e-01 -1.85954787e-02 -1.84837343e-03 6.54132261e+00] [ 1.85662363e-02 9.99718880e-01 -1.47463794e-02 -1.69782318e-01] [ 2.12206980e-03 1.47094871e-02 9.99889558e-01 -9.36845253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.447193469999995 meters Centerline goodness : 0.925235 Centerline is valid? [False, False] Translation: X:6.55, Y:-0.17, Z:-0.94 [[ 9.99917624e-01 -1.28181136e-02 -6.64427431e-04 6.55327602e+00] [ 1.28032684e-02 9.99739361e-01 -1.89020060e-02 -1.69180521e-01] [ 9.06542316e-04 1.88919421e-02 9.99821120e-01 -9.39251767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.477193469999996 meters Centerline goodness : 0.924634 Centerline is valid? [False, False] Translation: X:6.57, Y:-0.17, Z:-0.94 [[ 9.99974253e-01 -7.15508307e-03 -5.45731912e-04 6.57463994e+00] [ 7.13608838e-03 9.99547737e-01 -2.92129696e-02 -1.66642545e-01] [ 7.54506322e-04 2.92083231e-02 9.99573061e-01 -9.40493860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.50719347 meters Centerline goodness : 0.922810 Centerline is valid? [False, False] Translation: X:6.60, Y:-0.16, Z:-0.94 [[ 9.99999672e-01 7.55506952e-04 -2.92316559e-04 6.60339730e+00] [-7.69414517e-04 9.98701862e-01 -5.09313102e-02 -1.62582584e-01] [ 2.53458133e-04 5.09315184e-02 9.98702116e-01 -9.39359219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.53719347 meters Centerline goodness : 0.925108 Centerline is valid? [False, False] Translation: X:6.62, Y:-0.16, Z:-0.94 [[ 9.99993269e-01 2.26141290e-03 2.88943304e-03 6.61975579e+00] [-2.10329154e-03 9.98560163e-01 -5.36020212e-02 -1.62854337e-01] [-3.00648903e-03 5.35955830e-02 9.98558198e-01 -9.39293504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.56719346999999 meters Centerline goodness : 0.924845 Centerline is valid? [False, False] Translation: X:6.62, Y:-0.17, Z:-0.94 [[ 9.99984363e-01 5.14799021e-03 2.18463125e-03 6.62235921e+00] [-5.03179685e-03 9.98725529e-01 -5.02194993e-02 -1.65278954e-01] [-2.44037649e-03 5.02077214e-02 9.98735816e-01 -9.40778940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.59719346999999 meters Centerline goodness : 0.923772 Centerline is valid? [False, False] Translation: X:6.62, Y:-0.17, Z:-0.94 [[ 9.99964195e-01 8.28149847e-03 1.73944571e-03 6.62488271e+00] [-8.19160283e-03 9.98883204e-01 -4.65321752e-02 -1.67214545e-01] [-2.12285924e-03 4.65162602e-02 9.98915277e-01 -9.42752520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.627193469999995 meters Centerline goodness : 0.920961 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.17, Z:-0.94 [[ 9.99922147e-01 1.23716578e-02 1.62525601e-03 6.62588356e+00] [-1.22935788e-02 9.99062983e-01 -4.14972650e-02 -1.70254311e-01] [-2.13712309e-03 4.14740541e-02 9.99137296e-01 -9.43468032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.657193469999996 meters Centerline goodness : 0.921657 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.17, Z:-0.94 [[ 9.99915187e-01 1.29385282e-02 1.48774635e-03 6.62583867e+00] [-1.28676256e-02 9.99095620e-01 -4.05261286e-02 -1.71701345e-01] [-2.01074932e-03 4.05035477e-02 9.99177371e-01 -9.42940853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.68719347 meters Centerline goodness : 0.922339 Centerline is valid? [False, False] Translation: X:6.62, Y:-0.17, Z:-0.94 [[ 9.99943498e-01 1.04773597e-02 1.79618396e-03 6.62435063e+00] [-1.03898609e-02 9.99009658e-01 -4.32637785e-02 -1.72427021e-01] [-2.24769530e-03 4.32426719e-02 9.99062070e-01 -9.41484594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.71719347 meters Centerline goodness : 0.921396 Centerline is valid? [False, False] Translation: X:6.62, Y:-0.18, Z:-0.94 [[ 9.99935394e-01 1.11550096e-02 2.18475145e-03 6.62249331e+00] [-1.10561300e-02 9.99098642e-01 -4.09837182e-02 -1.79107898e-01] [-2.63995597e-03 4.09569155e-02 9.99157426e-01 -9.39557906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.74719346999999 meters Centerline goodness : 0.921627 Centerline is valid? [False, False] Translation: X:6.62, Y:-0.18, Z:-0.94 [[ 9.99964018e-01 8.16476924e-03 2.30219773e-03 6.62203763e+00] [-8.05566780e-03 9.99000341e-01 -4.39707313e-02 -1.80682165e-01] [-2.65890719e-03 4.39506034e-02 9.99030167e-01 -9.39236748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.77719346999999 meters Centerline goodness : 0.921378 Centerline is valid? [False, False] Translation: X:6.62, Y:-0.18, Z:-0.94 [[ 9.99959869e-01 8.70441209e-03 2.11997173e-03 6.62238502e+00] [-8.60565298e-03 9.99045379e-01 -4.28284282e-02 -1.83377904e-01] [-2.49074425e-03 4.28084657e-02 9.99080193e-01 -9.39227534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.807193469999994 meters Centerline goodness : 0.924331 Centerline is valid? [False, False] Translation: X:6.62, Y:-0.18, Z:-0.94 [[ 9.99957925e-01 8.96673163e-03 1.93537716e-03 6.62329752e+00] [-8.87706585e-03 9.99069289e-01 -4.22108171e-02 -1.84722823e-01] [-2.31206895e-03 4.21918606e-02 9.99106852e-01 -9.39913629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.837193469999995 meters Centerline goodness : 0.922936 Centerline is valid? [False, False] Translation: X:6.62, Y:-0.19, Z:-0.94 [[ 9.99949107e-01 9.92941989e-03 1.78595070e-03 6.62477168e+00] [-9.84838973e-03 9.99120385e-01 -4.07610898e-02 -1.86747503e-01] [-2.18911373e-03 4.07414266e-02 9.99167325e-01 -9.41383750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.86719347 meters Centerline goodness : 0.921099 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.19, Z:-0.94 [[ 9.99945710e-01 1.03008411e-02 1.57179631e-03 6.62575227e+00] [-1.02296970e-02 9.99146421e-01 -4.00222827e-02 -1.88237596e-01] [-1.98271783e-03 4.00040309e-02 9.99197551e-01 -9.42102789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.89719347 meters Centerline goodness : 0.921099 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.19, Z:-0.94 [[ 9.99945710e-01 1.03008411e-02 1.57179631e-03 6.62575227e+00] [-1.02296970e-02 9.99146421e-01 -4.00222827e-02 -1.88237596e-01] [-1.98271783e-03 4.00040309e-02 9.99197551e-01 -9.42102789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.92719346999999 meters Centerline goodness : 0.922401 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.19, Z:-0.94 [[ 9.99942262e-01 1.06588051e-02 1.36462335e-03 6.62640891e+00] [-1.05973105e-02 9.99179107e-01 -3.90999816e-02 -1.90668708e-01] [-1.78026223e-03 3.90832628e-02 9.99234372e-01 -9.42454869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.95719346999999 meters Centerline goodness : 0.921317 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.19, Z:-0.94 [[ 9.99978121e-01 6.59865918e-03 4.64527133e-04 6.62658347e+00] [-6.58362007e-03 9.99609871e-01 -2.71433584e-02 -1.94925586e-01] [-6.43455679e-04 2.71397063e-02 9.99631443e-01 -9.42808990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.987193469999994 meters Centerline goodness : 0.918662 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.20, Z:-0.94 [[ 9.99993460e-01 3.61604151e-03 6.85613450e-05 6.62844874e+00] [-3.61260357e-03 9.99584754e-01 -2.85879023e-02 -2.01660163e-01] [-1.71907917e-04 2.85874676e-02 9.99591280e-01 -9.44254162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.017193469999995 meters Centerline goodness : 0.919505 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.21, Z:-0.94 [[ 9.99999287e-01 -9.54282060e-04 7.18555092e-04 6.62906567e+00] [ 9.65213037e-04 9.99881425e-01 -1.53689568e-02 -2.08363535e-01] [-7.03803570e-04 1.53696394e-02 9.99881632e-01 -9.44509075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.047193469999996 meters Centerline goodness : 0.920239 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.21, Z:-0.94 [[ 9.99990022e-01 -4.43836218e-03 5.05926715e-04 6.62988662e+00] [ 4.44680913e-03 9.99825599e-01 -1.81382796e-02 -2.11687061e-01] [-4.25334227e-04 1.81403484e-02 9.99835360e-01 -9.44896293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.07719347 meters Centerline goodness : 0.922784 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.22, Z:-0.94 [[ 9.99970219e-01 -7.71559376e-03 1.74464338e-04 6.63048302e+00] [ 7.71752776e-03 9.99780883e-01 -1.94583168e-02 -2.18936574e-01] [-2.42936424e-05 1.94590838e-02 9.99810654e-01 -9.44439184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10719346999999 meters Centerline goodness : 0.923685 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.22, Z:-0.94 [[ 9.99970486e-01 -7.68288214e-03 -2.20134981e-05 6.63068588e+00] [ 7.68120850e-03 9.99804808e-01 -1.82028775e-02 -2.22417261e-01] [ 1.61859764e-04 1.82021712e-02 9.99834314e-01 -9.43948318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.13719346999999 meters Centerline goodness : 0.922247 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.23, Z:-0.94 [[ 9.99970391e-01 -7.69014956e-03 -2.80786162e-04 6.63102287e+00] [ 7.68425750e-03 9.99825637e-01 -1.70190322e-02 -2.25853196e-01] [ 4.11616106e-04 1.70163706e-02 9.99855126e-01 -9.43407450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.167193469999994 meters Centerline goodness : 0.924668 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.23, Z:-0.94 [[ 9.99969626e-01 -7.75497503e-03 -7.79242855e-04 6.63167619e+00] [ 7.74165833e-03 9.99844511e-01 -1.58436232e-02 -2.29919751e-01] [ 9.01988594e-04 1.58371093e-02 9.99874178e-01 -9.42666797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.197193469999995 meters Centerline goodness : 0.925429 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.24, Z:-0.94 [[ 9.99935381e-01 -1.13310434e-02 -9.17174966e-04 6.63155877e+00] [ 1.13129098e-02 9.99777269e-01 -1.78165615e-02 -2.37293621e-01] [ 1.11885091e-03 1.78050343e-02 9.99840852e-01 -9.41616688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.227193469999996 meters Centerline goodness : 0.928835 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.24, Z:-0.94 [[ 9.99913809e-01 -1.30381725e-02 -1.54289070e-03 6.63370862e+00] [ 1.30064446e-02 9.99734060e-01 -1.90431483e-02 -2.38457220e-01] [ 1.79076823e-03 1.90214394e-02 9.99817472e-01 -9.42551204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.25719347 meters Centerline goodness : 0.928691 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.24, Z:-0.94 [[ 9.99910950e-01 -1.32131122e-02 -1.87252200e-03 6.63403812e+00] [ 1.31760323e-02 9.99740258e-01 -1.85959139e-02 -2.39225444e-01] [ 2.11774553e-03 1.85695855e-02 9.99825328e-01 -9.41889756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.28719347 meters Centerline goodness : 0.928256 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.24, Z:-0.94 [[ 9.99905514e-01 -1.35614031e-02 -2.24758687e-03 6.63457762e+00] [ 1.35181510e-02 9.99741971e-01 -1.82551765e-02 -2.40376974e-01] [ 2.49457273e-03 1.82230685e-02 9.99830834e-01 -9.41413884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.31719346999999 meters Centerline goodness : 0.927622 Centerline is valid? [False, False] Translation: X:6.64, Y:-0.24, Z:-0.94 [[ 9.99844059e-01 -1.74756812e-02 -2.54125791e-03 6.63514797e+00] [ 1.74170610e-02 9.99617065e-01 -2.15027760e-02 -2.43284168e-01] [ 2.91606043e-03 2.14551616e-02 9.99765559e-01 -9.41077521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.34719346999999 meters Centerline goodness : 0.928280 Centerline is valid? [False, False] Translation: X:6.64, Y:-0.24, Z:-0.94 [[ 9.99838621e-01 -1.77192667e-02 -2.95961998e-03 6.63671335e+00] [ 1.76518780e-02 9.99614624e-01 -2.14246119e-02 -2.44114674e-01] [ 3.33810783e-03 2.13689116e-02 9.99766086e-01 -9.42074799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.377193469999995 meters Centerline goodness : 0.925312 Centerline is valid? [False, False] Translation: X:6.64, Y:-0.24, Z:-0.95 [[ 9.99863651e-01 -1.60519348e-02 -3.87478759e-03 6.64121413e+00] [ 1.59735752e-02 9.99682812e-01 -1.94710285e-02 -2.42181598e-01] [ 4.18610623e-03 1.94064794e-02 9.99802913e-01 -9.45834621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.407193469999996 meters Centerline goodness : 0.924441 Centerline is valid? [False, False] Translation: X:6.64, Y:-0.24, Z:-0.95 [[ 9.99890562e-01 -1.39992570e-02 -4.78377508e-03 6.64441052e+00] [ 1.39167512e-02 9.99760908e-01 -1.68656865e-02 -2.41816997e-01] [ 5.01873839e-03 1.67972662e-02 9.99846320e-01 -9.47535230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.43719347 meters Centerline goodness : 0.925673 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.24, Z:-0.95 [[ 9.99887147e-01 -1.40818014e-02 -5.23416023e-03 6.64551206e+00] [ 1.39910209e-02 9.99757704e-01 -1.69936489e-02 -2.41001687e-01] [ 5.47219320e-03 1.69184999e-02 9.99841897e-01 -9.47792375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.46719347 meters Centerline goodness : 0.922974 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.24, Z:-0.95 [[ 9.99927128e-01 -1.13226019e-02 -4.18784983e-03 6.66453135e+00] [ 1.12523912e-02 9.99801779e-01 -1.64251974e-02 -2.41543443e-01] [ 4.37299568e-03 1.63768772e-02 9.99856327e-01 -9.47845636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.49719346999999 meters Centerline goodness : 0.927173 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.24, Z:-0.95 [[ 9.99960902e-01 -8.60286879e-03 2.04560596e-03 6.67592634e+00] [ 8.64283884e-03 9.99754394e-01 -2.04071798e-02 -2.39215492e-01] [-1.86954325e-03 2.04240618e-02 9.99789659e-01 -9.48730280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.52719346999999 meters Centerline goodness : 0.925979 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.24, Z:-0.95 [[ 9.99978933e-01 -6.36737823e-03 1.26098022e-03 6.67803980e+00] [ 6.38866265e-03 9.99823580e-01 -1.76633743e-02 -2.39090527e-01] [-1.14828837e-03 1.76710581e-02 9.99843195e-01 -9.49221129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.557193469999994 meters Centerline goodness : 0.925189 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.24, Z:-0.95 [[ 9.99992745e-01 -3.72823421e-03 7.80993231e-04 6.69839841e+00] [ 3.74076154e-03 9.99853464e-01 -1.67050324e-02 -2.39561579e-01] [-7.18598513e-04 1.67078327e-02 9.99860156e-01 -9.49494562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.587193469999995 meters Centerline goodness : 0.921479 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.24, Z:-0.95 [[ 9.99997209e-01 -2.34462426e-03 -2.91686577e-04 6.70252579e+00] [ 2.33980184e-03 9.99876196e-01 -1.55601288e-02 -2.38769302e-01] [ 3.28133121e-04 1.55594029e-02 9.99878891e-01 -9.52242378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.61719347 meters Centerline goodness : 0.920876 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.24, Z:-0.95 [[ 9.99996341e-01 1.37373371e-03 -2.33036102e-03 6.72451857e+00] [-1.40843668e-03 9.99887161e-01 -1.49559806e-02 -2.38039634e-01] [ 2.30955253e-03 1.49592081e-02 9.99885437e-01 -9.54203535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.64719347 meters Centerline goodness : 0.920999 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.24, Z:-0.96 [[ 9.99986102e-01 4.47028947e-03 -2.79506575e-03 6.72659095e+00] [-4.50395695e-03 9.99915953e-01 -1.21573539e-02 -2.35951392e-01] [ 2.74048394e-03 1.21697738e-02 9.99922190e-01 -9.55447085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.67719346999999 meters Centerline goodness : 0.918993 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.23, Z:-0.96 [[ 9.99883496e-01 1.46476371e-02 -4.29429439e-03 6.75488309e+00] [-1.47231885e-02 9.99727336e-01 -1.81240400e-02 -2.30779036e-01] [ 4.02764913e-03 1.81851542e-02 9.99826524e-01 -9.56325955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.70719346999999 meters Centerline goodness : 0.916433 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.23, Z:-0.96 [[ 9.99831574e-01 1.83524974e-02 9.71702143e-05 6.76847533e+00] [-1.83446425e-02 9.99533034e-01 -2.44374153e-02 -2.27050758e-01] [-5.45612439e-04 2.44315168e-02 9.99701357e-01 -9.60876578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.737193469999994 meters Centerline goodness : 0.915628 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.22, Z:-0.96 [[ 9.99784711e-01 2.03366083e-02 4.11743340e-03 6.77623610e+00] [-2.01708902e-02 9.99114331e-01 -3.69281613e-02 -2.22118452e-01] [-4.86478027e-03 3.68371588e-02 9.99309440e-01 -9.62012956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.767193469999995 meters Centerline goodness : 0.915782 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.21, Z:-0.96 [[ 9.99598671e-01 2.81846438e-02 2.85014222e-03 6.78859437e+00] [-2.79352617e-02 9.97428402e-01 -6.60015432e-02 -2.14068343e-01] [-4.70304278e-03 6.58954354e-02 9.97815450e-01 -9.57395211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.797193469999996 meters Centerline goodness : 0.917985 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.22, Z:-0.96 [[ 9.99474928e-01 3.22962109e-02 2.61217816e-03 6.78870059e+00] [-3.20748665e-02 9.97594868e-01 -6.14465748e-02 -2.15287273e-01] [-4.59038706e-03 6.13305256e-02 9.98106956e-01 -9.56494117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.82719347 meters Centerline goodness : 0.917948 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.22, Z:-0.96 [[ 9.99356585e-01 3.57905801e-02 2.33450709e-03 6.78949190e+00] [-3.55984671e-02 9.97725742e-01 -5.72371616e-02 -2.16430811e-01] [-4.37774904e-03 5.71172295e-02 9.98357880e-01 -9.56618852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.85719346999999 meters Centerline goodness : 0.918240 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.22, Z:-0.96 [[ 9.99239742e-01 3.89164124e-02 2.33463465e-03 6.78970953e+00] [-3.87374803e-02 9.97834430e-01 -5.31587940e-02 -2.17714554e-01] [-4.39832838e-03 5.30279418e-02 9.98583343e-01 -9.56476118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.88719346999999 meters Centerline goodness : 0.920243 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.22, Z:-0.96 [[ 9.99099036e-01 4.23453400e-02 2.82638898e-03 6.78831023e+00] [-4.21620292e-02 9.97965759e-01 -4.78195363e-02 -2.21892762e-01] [-4.84557394e-03 4.76572863e-02 9.98851993e-01 -9.55418614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.917193469999994 meters Centerline goodness : 0.919333 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.23, Z:-0.96 [[ 9.99084725e-01 4.27290533e-02 1.98488193e-03 6.78963963e+00] [-4.25891363e-02 9.97991551e-01 -4.68938014e-02 -2.25294893e-01] [-3.98462313e-03 4.67663463e-02 9.98897909e-01 -9.55295968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.947193469999995 meters Centerline goodness : 0.919786 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.23, Z:-0.95 [[ 9.99238022e-01 3.88622247e-02 -3.61975075e-03 6.78575933e+00] [-3.89678261e-02 9.98586465e-01 -3.61466580e-02 -2.30944129e-01] [ 2.20989456e-03 3.62601689e-02 9.99339940e-01 -9.50656452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.977193469999996 meters Centerline goodness : 0.921524 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.24, Z:-0.95 [[ 9.99332275e-01 3.62941903e-02 -4.21136605e-03 6.78502615e+00] [-3.64261867e-02 9.98640651e-01 -3.72824736e-02 -2.38110770e-01] [ 2.85250414e-03 3.74109832e-02 9.99295893e-01 -9.48848988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.00719347 meters Centerline goodness : 0.925289 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.24, Z:-0.95 [[ 9.99331336e-01 3.63592711e-02 -3.85807060e-03 6.78373626e+00] [-3.64733860e-02 9.98705392e-01 -3.54574729e-02 -2.42392597e-01] [ 2.56386804e-03 3.55744807e-02 9.99363739e-01 -9.48178536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.03719347 meters Centerline goodness : 0.926009 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.25, Z:-0.95 [[ 9.99345010e-01 3.59629543e-02 -4.02699870e-03 6.78374078e+00] [-3.60786063e-02 9.98778598e-01 -3.37586398e-02 -2.46827594e-01] [ 2.80801969e-03 3.38818168e-02 9.99421902e-01 -9.48148478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.06719346999999 meters Centerline goodness : 0.928430 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.25, Z:-0.95 [[ 9.99390286e-01 3.46230458e-02 -4.50576531e-03 6.78513810e+00] [-3.47536552e-02 9.98845869e-01 -3.31528903e-02 -2.51252772e-01] [ 3.35271103e-03 3.32892683e-02 9.99440135e-01 -9.49435659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.09719346999999 meters Centerline goodness : 0.930094 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.26, Z:-0.95 [[ 9.99559042e-01 2.92359125e-02 -5.19453350e-03 6.78590423e+00] [-2.94035361e-02 9.98925597e-01 -3.58201648e-02 -2.61200687e-01] [ 4.14171727e-03 3.59571072e-02 9.99344752e-01 -9.50350204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.127193469999995 meters Centerline goodness : 0.932362 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.27, Z:-0.95 [[ 9.99657197e-01 2.55335735e-02 -5.79000722e-03 6.78764037e+00] [-2.57376387e-02 9.98929311e-01 -3.84422296e-02 -2.66025781e-01] [ 4.80224042e-03 3.85780727e-02 9.99244050e-01 -9.51381841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.157193469999996 meters Centerline goodness : 0.932428 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.27, Z:-0.95 [[ 9.99739580e-01 2.18794930e-02 -6.48537889e-03 6.79055154e+00] [-2.21275674e-02 9.98912843e-01 -4.10305045e-02 -2.70343964e-01] [ 5.58060163e-03 4.11633250e-02 9.99136846e-01 -9.53525374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.18719347 meters Centerline goodness : 0.931419 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.28, Z:-0.96 [[ 0.99987919 0.01326692 -0.00809958 6.79626845] [-0.01351644 0.99941014 -0.03157024 -0.28017365] [ 0.00767596 0.03167591 0.99946872 -0.95654087] [ 0. 0. 0. 1. ]] SLAMing on 63.21719347 meters Centerline goodness : 0.932814 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.28, Z:-0.96 [[ 0.99989641 0.011499 -0.00865641 6.79878991] [-0.01177249 0.99941098 -0.03223517 -0.28349332] [ 0.00828064 0.03233374 0.99944282 -0.95809858] [ 0. 0. 0. 1. ]] SLAMing on 63.24719346999999 meters Centerline goodness : 0.933283 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.29, Z:-0.96 [[ 0.99989948 0.01070401 -0.0092979 6.80040736] [-0.01099536 0.99943153 -0.03187029 -0.28636727] [ 0.00895147 0.03196932 0.99944876 -0.95834366] [ 0. 0. 0. 1. ]] SLAMing on 63.27719346999999 meters Centerline goodness : 0.937020 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.29, Z:-0.95 [[ 0.9999068 0.00854545 -0.01064705 6.80279451] [-0.00882988 0.99959751 -0.02696001 -0.29258403] [ 0.01041238 0.02705151 0.99957981 -0.95191252] [ 0. 0. 0. 1. ]] SLAMing on 63.307193469999994 meters Centerline goodness : 0.937623 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.30, Z:-0.95 [[ 9.99956816e-01 5.07709031e-03 -7.78394850e-03 6.81058644e+00] [-5.23701718e-03 9.99772742e-01 -2.06649019e-02 -2.95588884e-01] [ 7.67726196e-03 2.07047742e-02 9.99756156e-01 -9.50667559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.337193469999995 meters Centerline goodness : 0.937219 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.30, Z:-0.95 [[ 9.99956727e-01 3.95746471e-03 -8.41919735e-03 6.81224338e+00] [-4.13301338e-03 9.99772258e-01 -2.09368061e-02 -2.97480677e-01] [ 8.33442327e-03 2.09706968e-02 9.99745351e-01 -9.50958445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.36719347 meters Centerline goodness : 0.938352 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.30, Z:-0.95 [[ 9.99955576e-01 3.31994723e-03 -8.82181557e-03 6.81363566e+00] [-3.50364912e-03 9.99775633e-01 -2.08903860e-02 -2.98692947e-01] [ 8.75048127e-03 2.09203665e-02 9.99742851e-01 -9.51571220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.39719347 meters Centerline goodness : 0.937448 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.30, Z:-0.95 [[ 9.99953725e-01 1.64788790e-03 -9.47798098e-03 6.81680655e+00] [-1.85659941e-03 9.99755053e-01 -2.20541959e-02 -2.98844614e-01] [ 9.43931653e-03 2.20707722e-02 9.99711849e-01 -9.53833003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.42719346999999 meters Centerline goodness : 0.935577 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.30, Z:-0.96 [[ 9.99986092e-01 5.43417212e-04 -5.24596103e-03 6.82734697e+00] [-6.19784787e-04 9.99893707e-01 -1.45667718e-02 -2.99077845e-01] [ 5.23748759e-03 1.45698205e-02 9.99880137e-01 -9.56140639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.45719346999999 meters Centerline goodness : 0.935914 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.30, Z:-0.96 [[ 9.99985677e-01 7.07917428e-04 -5.30517898e-03 6.82731089e+00] [-7.86525902e-04 9.99889722e-01 -1.48299005e-02 -2.97360555e-01] [ 5.29409559e-03 1.48338607e-02 9.99875957e-01 -9.55718934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.487193469999994 meters Centerline goodness : 0.936294 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.30, Z:-0.96 [[ 9.99975999e-01 4.02721762e-03 -5.63762251e-03 6.82795449e+00] [-4.09082519e-03 9.99927593e-01 -1.13170033e-02 -2.96507352e-01] [ 5.59163827e-03 1.13397942e-02 9.99920068e-01 -9.55290581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.517193469999995 meters Centerline goodness : 0.935986 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.29, Z:-0.96 [[ 9.99956151e-01 7.36087358e-03 -5.78904267e-03 6.82845625e+00] [-7.41042331e-03 9.99935691e-01 -8.58486792e-03 -2.92599184e-01] [ 5.72547825e-03 8.62739074e-03 9.99946392e-01 -9.55033888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.547193469999996 meters Centerline goodness : 0.936862 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.29, Z:-0.96 [[ 9.99938505e-01 8.94838017e-03 -6.55080816e-03 6.83149310e+00] [-8.99532743e-03 9.99933817e-01 -7.17260001e-03 -2.91723998e-01] [ 6.48619145e-03 7.23108560e-03 9.99952819e-01 -9.56843966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.57719347 meters Centerline goodness : 0.935090 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.29, Z:-0.96 [[ 9.99911261e-01 1.11814173e-02 -7.24194168e-03 6.83431214e+00] [-1.12180101e-02 9.99924414e-01 -5.03215247e-03 -2.91405069e-01] [ 7.18512769e-03 5.11294609e-03 9.99961115e-01 -9.58484121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60719346999999 meters Centerline goodness : 0.934325 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.29, Z:-0.96 [[ 9.99881812e-01 1.51021885e-02 -2.87856797e-03 6.84788765e+00] [-1.51347544e-02 9.99817606e-01 -1.16487607e-02 -2.86353374e-01] [ 2.70212115e-03 1.16909503e-02 9.99928008e-01 -9.62711190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.63719346999999 meters Centerline goodness : 0.934932 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.28, Z:-0.96 [[ 9.99831146e-01 1.80708548e-02 -3.33511314e-03 6.84998503e+00] [-1.81002837e-02 9.99795530e-01 -9.01545445e-03 -2.83857483e-01] [ 3.17151424e-03 9.07429865e-03 9.99953798e-01 -9.63908290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.667193469999994 meters Centerline goodness : 0.935562 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.28, Z:-0.97 [[ 9.99770855e-01 2.10667298e-02 -3.79876995e-03 6.85225675e+00] [-2.10908883e-02 9.99756848e-01 -6.43576210e-03 -2.80926549e-01] [ 3.66226581e-03 6.51440681e-03 9.99972075e-01 -9.65398864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.697193469999995 meters Centerline goodness : 0.931694 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.28, Z:-0.97 [[ 9.99700672e-01 2.40987525e-02 -4.22088858e-03 6.85442759e+00] [-2.41152726e-02 9.99701547e-01 -3.90772055e-03 -2.78060638e-01] [ 4.12545765e-03 4.00833874e-03 9.99983457e-01 -9.66777841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.727193469999996 meters Centerline goodness : 0.930964 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.27, Z:-0.97 [[ 9.99600683e-01 2.78453387e-02 -4.80737444e-03 6.85657738e+00] [-2.78526386e-02 9.99610976e-01 -1.45824486e-03 -2.74603026e-01] [ 4.76489894e-03 1.59156062e-03 9.99987381e-01 -9.67932764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.75719347 meters Centerline goodness : 0.929272 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.27, Z:-0.97 [[ 9.99602513e-01 2.81787226e-02 -8.80948177e-04 6.86923416e+00] [-2.81871496e-02 9.99533296e-01 -1.17760406e-02 -2.72476581e-01] [ 5.48703254e-04 1.17961912e-02 9.99930272e-01 -9.72205040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.78719347 meters Centerline goodness : 0.929272 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.27, Z:-0.97 [[ 9.99602513e-01 2.81787226e-02 -8.80948177e-04 6.86923416e+00] [-2.81871496e-02 9.99533296e-01 -1.17760406e-02 -2.72476581e-01] [ 5.48703254e-04 1.17961912e-02 9.99930272e-01 -9.72205040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.81719346999999 meters Centerline goodness : 0.929074 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.27, Z:-0.97 [[ 9.99698578e-01 2.45198878e-02 -1.23587863e-03 6.86975701e+00] [-2.45366940e-02 9.99567856e-01 -1.61880130e-02 -2.71037420e-01] [ 8.38416294e-04 1.62134579e-02 9.99868202e-01 -9.72218415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.84719346999999 meters Centerline goodness : 0.931093 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.27, Z:-0.97 [[ 9.99712252e-01 2.39342498e-02 -1.60124508e-03 6.87069546e+00] [-2.39576952e-02 9.99573210e-01 -1.67160834e-02 -2.70732542e-01] [ 1.20047476e-03 1.67496355e-02 9.99858994e-01 -9.72332764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.877193469999995 meters Centerline goodness : 0.931891 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.27, Z:-0.97 [[ 9.99834519e-01 1.81873243e-02 -3.94355493e-04 6.88928073e+00] [-1.81900736e-02 9.99796480e-01 -8.72468320e-03 -2.68162421e-01] [ 2.35596591e-04 8.73041279e-03 9.99961861e-01 -9.73448810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.907193469999996 meters Centerline goodness : 0.929499 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.27, Z:-0.97 [[ 9.99843245e-01 1.76902924e-02 -7.34267975e-04 6.89025668e+00] [-1.76962205e-02 9.99802392e-01 -9.05650922e-03 -2.67864464e-01] [ 5.73910582e-04 9.06808334e-03 9.99958719e-01 -9.73741735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.93719347 meters Centerline goodness : 0.929299 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.27, Z:-0.97 [[ 9.99897832e-01 1.42715877e-02 -8.04994848e-04 6.88984331e+00] [-1.42805498e-02 9.99819671e-01 -1.25176165e-02 -2.69048835e-01] [ 6.26203424e-04 1.25278333e-02 9.99921328e-01 -9.72784867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.96719347 meters Centerline goodness : 0.928637 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.27, Z:-0.97 [[ 9.99900405e-01 1.40791729e-02 -9.78370225e-04 6.89013798e+00] [-1.40902028e-02 9.99824223e-01 -1.23688554e-02 -2.70453875e-01] [ 8.04054997e-04 1.23814090e-02 9.99923024e-01 -9.72426749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.99719346999999 meters Centerline goodness : 0.928975 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.27, Z:-0.97 [[ 9.99896605e-01 1.43319779e-02 -1.17207841e-03 6.89050517e+00] [-1.43449398e-02 9.99826046e-01 -1.19206103e-02 -2.71340466e-01] [ 1.00102860e-03 1.19361912e-02 9.99928260e-01 -9.72178592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02719347 meters Centerline goodness : 0.926497 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.27, Z:-0.97 [[ 9.99895243e-01 1.44096444e-02 -1.36581794e-03 6.89119958e+00] [-1.44245347e-02 9.99828627e-01 -1.16038240e-02 -2.71989598e-01] [ 1.19837690e-03 1.16223097e-02 9.99931741e-01 -9.72459631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.05719347 meters Centerline goodness : 0.921398 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.28, Z:-0.97 [[ 9.99916062e-01 1.28334213e-02 -1.78121290e-03 6.89295311e+00] [-1.28545659e-02 9.99840291e-01 -1.24158296e-02 -2.75738589e-01] [ 1.62159085e-03 1.24376842e-02 9.99921334e-01 -9.73438744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08719347 meters Centerline goodness : 0.918980 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.28, Z:-0.97 [[ 9.99931405e-01 1.14830108e-02 -2.30781962e-03 6.89524160e+00] [-1.15122046e-02 9.99848415e-01 -1.30619828e-02 -2.78237553e-01] [ 2.15747890e-03 1.30876549e-02 9.99912025e-01 -9.74807070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.11719347 meters Centerline goodness : 0.918533 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.28, Z:-0.98 [[ 9.99942768e-01 1.03336786e-02 -2.77068283e-03 6.89701895e+00] [-1.03697155e-02 9.99857461e-01 -1.33239134e-02 -2.80589209e-01] [ 2.63260286e-03 1.33518820e-02 9.99907394e-01 -9.75702316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.14719347 meters Centerline goodness : 0.919186 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.28, Z:-0.98 [[ 9.99955807e-01 8.99982627e-03 -2.71789452e-03 6.89756708e+00] [-9.03606006e-03 9.99866314e-01 -1.36273146e-02 -2.83163568e-01] [ 2.59488771e-03 1.36512714e-02 9.99903450e-01 -9.75989474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.17719347 meters Centerline goodness : 0.917246 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.28, Z:-0.98 [[ 9.99983735e-01 4.87853851e-03 -2.95465505e-03 6.89804107e+00] [-4.92856481e-03 9.99840478e-01 -1.71676111e-02 -2.84751417e-01] [ 2.87043086e-03 1.71818941e-02 9.99848260e-01 -9.75873938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.20719347 meters Centerline goodness : 0.914781 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.29, Z:-0.98 [[ 9.99988546e-01 -3.56372884e-03 -3.19487816e-03 6.89905497e+00] [ 3.48315523e-03 9.99684376e-01 -2.48800432e-02 -2.86534631e-01] [ 3.28253551e-03 2.48686299e-02 9.99685339e-01 -9.76324252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.23719347000001 meters Centerline goodness : 0.914004 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.29, Z:-0.98 [[ 9.99980514e-01 -4.97547163e-03 -3.77046802e-03 6.90097626e+00] [ 4.87758219e-03 9.99661872e-01 -2.55411637e-02 -2.87783755e-01] [ 3.89627246e-03 2.55222752e-02 9.99666661e-01 -9.77033020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26719347 meters Centerline goodness : 0.914090 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.29, Z:-0.98 [[ 9.99972282e-01 -6.23580632e-03 -4.06815912e-03 6.90195231e+00] [ 6.12639117e-03 9.99633341e-01 -2.63752083e-02 -2.87542890e-01] [ 4.23113818e-03 2.63495541e-02 9.99643836e-01 -9.76949302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.29719347 meters Centerline goodness : 0.911702 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.29, Z:-0.98 [[ 9.99982880e-01 -3.61621477e-03 -4.60031364e-03 6.90395461e+00] [ 3.50739627e-03 9.99718936e-01 -2.34466972e-02 -2.87237935e-01] [ 4.68380894e-03 2.34301607e-02 9.99714504e-01 -9.78006123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32719347 meters Centerline goodness : 0.909650 Centerline is valid? [False, False] Translation: X:6.91, Y:-0.29, Z:-0.98 [[ 9.99983393e-01 -2.10417148e-03 -5.36531029e-03 6.90732686e+00] [ 1.98654859e-03 9.99759620e-01 -2.18347263e-02 -2.85566293e-01] [ 5.40996459e-03 2.18237053e-02 9.99747197e-01 -9.80159575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.35719347 meters Centerline goodness : 0.908223 Centerline is valid? [False, False] Translation: X:6.91, Y:-0.28, Z:-0.98 [[ 9.99979845e-01 -7.30187774e-04 -6.30687958e-03 6.91185959e+00] [ 5.98080067e-04 9.99780908e-01 -2.09231494e-02 -2.80419312e-01] [ 6.32077562e-03 2.09189556e-02 9.99761194e-01 -9.83450244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38719347 meters Centerline goodness : 0.905420 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.28, Z:-0.99 [[ 9.99975485e-01 3.38155224e-04 -6.99396176e-03 6.91526546e+00] [-4.75749563e-04 9.99806197e-01 -1.96810072e-02 -2.78981412e-01] [ 6.98595108e-03 1.96838521e-02 9.99781847e-01 -9.85792504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.41719347 meters Centerline goodness : 0.906284 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.28, Z:-0.99 [[ 9.99972162e-01 -5.98014076e-04 -7.43763935e-03 6.91697431e+00] [ 4.42286004e-04 9.99781016e-01 -2.09218842e-02 -2.76398680e-01] [ 7.44852220e-03 2.09180122e-02 9.99753448e-01 -9.86810086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44719347 meters Centerline goodness : 0.901763 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.27, Z:-0.99 [[ 9.99965708e-01 -2.45691469e-03 -7.90859540e-03 6.91905669e+00] [ 2.27054204e-03 9.99721513e-01 -2.34891638e-02 -2.69843381e-01] [ 7.96410384e-03 2.34704015e-02 9.99692809e-01 -9.87959852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.47719347 meters Centerline goodness : 0.899447 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.27, Z:-0.99 [[ 9.99963278e-01 -9.86264659e-04 -8.51291497e-03 6.92152184e+00] [ 8.00831954e-04 9.99762935e-01 -2.17585051e-02 -2.67604283e-01] [ 8.53235650e-03 2.17508887e-02 9.99727012e-01 -9.89123113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.50719347 meters Centerline goodness : 0.899702 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.27, Z:-0.99 [[ 9.99958308e-01 9.39065569e-05 -9.13092762e-03 6.92366137e+00] [-2.80592640e-04 9.99790912e-01 -2.04463365e-02 -2.65123029e-01] [ 9.12709841e-03 2.04480461e-02 9.99749255e-01 -9.89765231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.53719347 meters Centerline goodness : 0.899864 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.26, Z:-0.99 [[ 9.99952432e-01 2.79265784e-03 -9.34534413e-03 6.92407266e+00] [-2.95745815e-03 9.99839546e-01 -1.76673769e-02 -2.63210176e-01] [ 9.29450569e-03 1.76941749e-02 9.99800244e-01 -9.89276910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.56719347 meters Centerline goodness : 0.899108 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.25, Z:-0.99 [[ 9.99944669e-01 4.39304024e-03 -9.55820926e-03 6.92509474e+00] [-4.56131026e-03 9.99833738e-01 -1.76547747e-02 -2.54077072e-01] [ 9.47906195e-03 1.76973959e-02 9.99798454e-01 -9.89269128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.59719347000001 meters Centerline goodness : 0.899654 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.25, Z:-0.99 [[ 9.99926587e-01 6.79023515e-03 -1.00356515e-02 6.92688667e+00] [-6.95075228e-03 9.99847074e-01 -1.60473145e-02 -2.48630518e-01] [ 9.92515177e-03 1.61158918e-02 9.99820869e-01 -9.90063373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62719347000001 meters Centerline goodness : 0.896873 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.24, Z:-0.99 [[ 0.99990131 0.00928065 -0.010547 6.92863843] [-0.00943242 0.99985136 -0.01443198 -0.24307239] [ 0.0104115 0.01453004 0.99984023 -0.99069345] [ 0. 0. 0. 1. ]] SLAMing on 64.65719347 meters Centerline goodness : 0.895839 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.23, Z:-0.99 [[ 9.99904606e-01 1.23859371e-02 -6.11283148e-03 6.94201586e+00] [-1.25106502e-02 9.99705301e-01 -2.08037431e-02 -2.31506301e-01] [ 5.85335617e-03 2.08782341e-02 9.99764891e-01 -9.93304467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68719347 meters Centerline goodness : 0.894287 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.23, Z:-0.99 [[ 9.99870387e-01 1.46857297e-02 -6.59838868e-03 6.94392096e+00] [-1.48104860e-02 9.99704542e-01 -1.92737478e-02 -2.27183920e-01] [ 6.31339009e-03 1.93689750e-02 9.99792470e-01 -9.94102477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.71719347 meters Centerline goodness : 0.894171 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.22, Z:-1.00 [[ 9.99853865e-01 1.67763139e-02 -3.28698851e-03 6.96058595e+00] [-1.68476473e-02 9.99592779e-01 -2.30311156e-02 -2.20882924e-01] [ 2.89927276e-03 2.30831280e-02 9.99729345e-01 -9.95916930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74719347 meters Centerline goodness : 0.895350 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.21, Z:-1.00 [[ 9.99805360e-01 1.94207658e-02 -3.47500592e-03 6.96208356e+00] [-1.94912439e-02 9.99577768e-01 -2.15494316e-02 -2.14938898e-01] [ 3.05503220e-03 2.16129694e-02 9.99761745e-01 -9.96798764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.77719347 meters Centerline goodness : 0.894656 Centerline is valid? [False, False] Translation: X:6.98, Y:-0.20, Z:-1.00 [[ 9.99714786e-01 2.38571556e-02 -1.08745951e-03 6.98106243e+00] [-2.38766095e-02 9.99416320e-01 -2.44321042e-02 -2.01596935e-01] [ 5.03944274e-04 2.44511007e-02 9.99700900e-01 -9.99768123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.80719347 meters Centerline goodness : 0.896768 Centerline is valid? [False, False] Translation: X:6.98, Y:-0.20, Z:-1.00 [[ 9.99614123e-01 2.77287520e-02 -1.64985575e-03 6.98247332e+00] [-2.77584089e-02 9.99371530e-01 -2.20457570e-02 -1.97861893e-01] [ 1.03751754e-03 2.20830475e-02 9.99755601e-01 -9.99304033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.83719347 meters Centerline goodness : 0.895026 Centerline is valid? [False, False] Translation: X:6.98, Y:-0.19, Z:-1.00 [[ 9.99519721e-01 3.09049203e-02 -2.28303393e-03 6.98462692e+00] [-3.09457222e-02 9.99305343e-01 -2.07651873e-02 -1.93262314e-01] [ 1.63970155e-03 2.08258644e-02 9.99781774e-01 -9.99468979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.86719347 meters Centerline goodness : 0.894359 Centerline is valid? [False, False] Translation: X:6.99, Y:-0.18, Z:-1.00 [[ 9.99220168e-01 3.92844762e-02 -3.97320687e-03 6.98848461e+00] [-3.93482519e-02 9.99072283e-01 -1.75010941e-02 -1.83102409e-01] [ 3.28199954e-03 1.76437850e-02 9.99838950e-01 -9.99330894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.89719347 meters Centerline goodness : 0.895626 Centerline is valid? [False, False] Translation: X:6.99, Y:-0.18, Z:-1.00 [[ 9.99045579e-01 4.34569268e-02 -4.40763638e-03 6.98984384e+00] [-4.35195572e-02 9.98935734e-01 -1.52789834e-02 -1.78357583e-01] [ 3.73896782e-03 1.54562192e-02 9.99873555e-01 -9.98839239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.92719347 meters Centerline goodness : 0.895732 Centerline is valid? [False, False] Translation: X:6.99, Y:-0.17, Z:-1.00 [[ 9.98858102e-01 4.75314084e-02 -4.82260361e-03 6.99107625e+00] [-4.75892371e-02 9.98786459e-01 -1.26835934e-02 -1.74767197e-01] [ 4.21388213e-03 1.28986141e-02 9.99907930e-01 -9.98371054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.95719347 meters Centerline goodness : 0.897187 Centerline is valid? [False, False] Translation: X:6.99, Y:-0.17, Z:-1.00 [[ 9.98611259e-01 5.24524299e-02 -4.92905777e-03 6.99175648e+00] [-5.24994091e-02 9.98571472e-01 -9.94123592e-03 -1.69293427e-01] [ 4.40057450e-03 1.01862027e-02 9.99938436e-01 -9.97293662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98719347000001 meters Centerline goodness : 0.894948 Centerline is valid? [False, False] Translation: X:6.99, Y:-0.17, Z:-1.00 [[ 9.98586465e-01 5.29200726e-02 -4.95353994e-03 6.99151812e+00] [-5.29671387e-02 9.98547095e-01 -9.90867873e-03 -1.68311760e-01] [ 4.42197491e-03 1.01570473e-02 9.99938638e-01 -9.96549366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.01719347 meters Centerline goodness : 0.897403 Centerline is valid? [False, False] Translation: X:6.99, Y:-0.17, Z:-1.00 [[ 9.98597083e-01 5.27089980e-02 -5.06236904e-03 6.99156045e+00] [-5.27577362e-02 9.98556950e-01 -1.00319117e-02 -1.68801973e-01] [ 4.52629178e-03 1.02849169e-02 9.99936865e-01 -9.96122824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04719347 meters Centerline goodness : 0.898804 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.17, Z:-1.00 [[ 9.98926565e-01 4.61869739e-02 -3.53280945e-03 7.00875472e+00] [-4.61900803e-02 9.98932346e-01 -8.02773490e-04 -1.72001319e-01] [ 3.49195995e-03 9.65092517e-04 9.99993437e-01 -9.96674471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.07719347 meters Centerline goodness : 0.897703 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.17, Z:-1.00 [[ 9.99059755e-01 4.33537244e-02 -2.44646333e-04 7.00274554e+00] [-4.33524841e-02 9.99052615e-01 3.79936870e-03 -1.73470659e-01] [ 4.09131342e-04 -3.78519034e-03 9.99992752e-01 -1.00029710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10719347 meters Centerline goodness : 0.895698 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.17, Z:-1.00 [[ 9.99158653e-01 4.09948936e-02 -1.18542892e-03 7.00608083e+00] [-4.09930614e-02 9.99158259e-01 1.53067904e-03 -1.74644785e-01] [ 1.24718112e-03 -1.48079685e-03 9.99998126e-01 -1.00270807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.13719347 meters Centerline goodness : 0.893874 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.18, Z:-1.00 [[ 9.99274717e-01 3.80349191e-02 -1.83987916e-03 7.00834536e+00] [-3.80373143e-02 9.99275494e-01 -1.28478877e-03 -1.76356445e-01] [ 1.78967932e-03 1.35384100e-03 9.99997482e-01 -1.00455093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.16719347 meters Centerline goodness : 0.892793 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.18, Z:-1.01 [[ 9.99388589e-01 3.48328015e-02 -3.02061516e-03 7.01233271e+00] [-3.48431757e-02 9.99386828e-01 -3.45266754e-03 -1.81330970e-01] [ 2.89849692e-03 3.55580437e-03 9.99989477e-01 -1.00767852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.19719347 meters Centerline goodness : 0.893624 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.18, Z:-1.01 [[ 9.99389354e-01 3.47925660e-02 -3.22443110e-03 7.01314440e+00] [-3.48012463e-02 9.99390670e-01 -2.67617362e-03 -1.83228601e-01] [ 3.12935541e-03 2.78675365e-03 9.99991221e-01 -1.00848231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.22719347 meters Centerline goodness : 0.892912 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.18, Z:-1.01 [[ 9.99392321e-01 3.46536866e-02 -3.75631162e-03 7.01449672e+00] [-3.46617526e-02 9.99396886e-01 -2.10390147e-03 -1.84862118e-01] [ 3.68113820e-03 2.23282331e-03 9.99990732e-01 -1.00917182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.25719347 meters Centerline goodness : 0.893406 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.19, Z:-1.01 [[ 9.99527905e-01 3.03883425e-02 -4.52948927e-03 7.01546797e+00] [-3.04099683e-02 9.99526059e-01 -4.78457774e-03 -1.89942985e-01] [ 4.38194717e-03 4.92006059e-03 9.99978296e-01 -1.00908489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.28719347 meters Centerline goodness : 0.890677 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.19, Z:-1.01 [[ 9.99631487e-01 2.67101805e-02 -4.84319566e-03 7.01547289e+00] [-2.67455164e-02 9.99615001e-01 -7.38420481e-03 -1.93871966e-01] [ 4.64409759e-03 7.51101741e-03 9.99961008e-01 -1.00878647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.31719347 meters Centerline goodness : 0.892269 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.20, Z:-1.01 [[ 9.99727515e-01 2.28026472e-02 -4.99357731e-03 7.01535502e+00] [-2.28517203e-02 9.99688839e-01 -1.00011836e-02 -1.97965612e-01] [ 4.76397004e-03 1.01125703e-02 9.99937518e-01 -1.00876641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34719347000001 meters Centerline goodness : 0.892496 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.20, Z:-1.01 [[ 9.99811413e-01 1.87091073e-02 -5.20643732e-03 7.01579854e+00] [-1.87744567e-02 9.99741814e-01 -1.27993949e-02 -2.01236492e-01] [ 4.96562784e-03 1.28947291e-02 9.99904530e-01 -1.00932566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.37719347000001 meters Centerline goodness : 0.890828 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.20, Z:-1.01 [[ 9.99965187e-01 8.21772020e-03 -1.44709469e-03 7.01931603e+00] [-8.22930652e-03 9.99932587e-01 -8.19145504e-03 -2.04611072e-01] [ 1.37968205e-03 8.20307845e-03 9.99965402e-01 -1.01088901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40719347 meters Centerline goodness : 0.891348 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.21, Z:-1.01 [[ 9.99980718e-01 5.86571131e-03 -2.03888567e-03 7.02185520e+00] [-5.88545065e-03 9.99934520e-01 -9.81415803e-03 -2.05996179e-01] [ 1.98118515e-03 9.82596856e-03 9.99949761e-01 -1.01245457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.43719347 meters Centerline goodness : 0.887982 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.21, Z:-1.01 [[ 9.99983609e-01 5.19184364e-03 -2.41368946e-03 7.02278358e+00] [-5.21425305e-03 9.99942481e-01 -9.37260829e-03 -2.08448988e-01] [ 2.36488952e-03 9.38504025e-03 9.99953163e-01 -1.01248397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46719347 meters Centerline goodness : 0.885201 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.21, Z:-1.01 [[ 9.99997113e-01 1.17830428e-04 -2.40000171e-03 7.02270042e+00] [-1.50384865e-04 9.99907930e-01 -1.35686787e-02 -2.09757799e-01] [ 2.39818194e-03 1.35690004e-02 9.99905061e-01 -1.01202305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.49719347 meters Centerline goodness : 0.886100 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.21, Z:-1.01 [[ 9.99996171e-01 -7.17234840e-04 -2.67279870e-03 7.02329600e+00] [ 6.79731583e-04 9.99901679e-01 -1.40060457e-02 -2.09976497e-01] [ 2.68258154e-03 1.40041753e-02 9.99898338e-01 -1.01189566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52719347 meters Centerline goodness : 0.883106 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.21, Z:-1.01 [[ 9.99992650e-01 -3.09001434e-03 2.26960207e-03 7.03222189e+00] [ 3.10488949e-03 9.99973531e-01 -6.58006231e-03 -2.10899360e-01] [-2.24920951e-03 6.58706081e-03 9.99975776e-01 -1.01326476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.55719347 meters Centerline goodness : 0.885699 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.21, Z:-1.01 [[ 9.99988452e-01 -4.34855519e-03 2.04607967e-03 7.03286521e+00] [ 4.36455627e-03 9.99959412e-01 -7.88199181e-03 -2.08119393e-01] [-2.01172134e-03 7.89083102e-03 9.99966843e-01 -1.01314414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58719347 meters Centerline goodness : 0.884305 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.21, Z:-1.01 [[ 9.99994577e-01 -2.90564839e-03 1.55029969e-03 7.03534435e+00] [ 2.91552344e-03 9.99975231e-01 -6.40599007e-03 -2.05927488e-01] [-1.53164774e-03 6.41047526e-03 9.99978280e-01 -1.01496532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.61719347 meters Centerline goodness : 0.882316 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.20, Z:-1.02 [[ 9.99996992e-01 -2.25930584e-03 9.54632437e-04 7.03836933e+00] [ 2.26508828e-03 9.99978828e-01 -6.10020997e-03 -2.02110903e-01] [-9.40829985e-04 6.10235394e-03 9.99980938e-01 -1.01722261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.64719347 meters Centerline goodness : 0.882123 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.19, Z:-1.02 [[ 9.99999042e-01 -1.26871937e-03 5.52877055e-04 7.04087084e+00] [ 1.27219948e-03 9.99979091e-01 -6.34033272e-03 -1.94496696e-01] [-5.44821392e-04 6.34103001e-03 9.99979747e-01 -1.01918076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.67719347 meters Centerline goodness : 0.879646 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.19, Z:-1.02 [[ 9.99999780e-01 -6.57610462e-04 8.87181509e-05 7.04340766e+00] [ 6.58161124e-04 9.99979580e-01 -6.35659414e-03 -1.91336931e-01] [-8.45361765e-05 6.35665113e-03 9.99979793e-01 -1.02113431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.70719347 meters Centerline goodness : 0.881432 Centerline is valid? [False, False] Translation: X:7.05, Y:-0.19, Z:-1.02 [[ 9.99988251e-01 1.99361445e-03 4.41849439e-03 7.05452394e+00] [-1.93274172e-03 9.99903754e-01 -1.37385184e-02 -1.87359476e-01] [-4.44545844e-03 1.37298172e-02 9.99895860e-01 -1.02438039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.73719347000001 meters Centerline goodness : 0.881432 Centerline is valid? [False, False] Translation: X:7.05, Y:-0.19, Z:-1.02 [[ 9.99988251e-01 1.99361445e-03 4.41849439e-03 7.05452394e+00] [-1.93274172e-03 9.99903754e-01 -1.37385184e-02 -1.87359476e-01] [-4.44545844e-03 1.37298172e-02 9.99895860e-01 -1.02438039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76719347 meters Centerline goodness : 0.880813 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.18, Z:-1.03 [[ 9.99978941e-01 3.17265086e-03 5.66136234e-03 7.07381708e+00] [-3.07327623e-03 9.99842554e-01 -1.74763295e-02 -1.75782070e-01] [-5.71591728e-03 1.74585626e-02 9.99831249e-01 -1.02633365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.79719347 meters Centerline goodness : 0.879010 Centerline is valid? [False, False] Translation: X:7.08, Y:-0.17, Z:-1.03 [[ 9.99969994e-01 5.66336437e-03 5.28565026e-03 7.07569546e+00] [-5.57894920e-03 9.99858800e-01 -1.58510124e-02 -1.69839182e-01] [-5.37467399e-03 1.58210484e-02 9.99860394e-01 -1.02746862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82719347 meters Centerline goodness : 0.880318 Centerline is valid? [False, False] Translation: X:7.08, Y:-0.16, Z:-1.03 [[ 9.99953046e-01 8.36581508e-03 4.89073118e-03 7.07731265e+00] [-8.29502600e-03 9.99863062e-01 -1.43195308e-02 -1.63638049e-01] [-5.00985600e-03 1.42782897e-02 9.99885509e-01 -1.02816527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.85719347 meters Centerline goodness : 0.877994 Centerline is valid? [False, False] Translation: X:7.08, Y:-0.16, Z:-1.03 [[ 9.99929403e-01 1.10242472e-02 4.43330021e-03 7.07915505e+00] [-1.09660583e-02 9.99856112e-01 -1.29422294e-02 -1.57557492e-01] [-4.57534065e-03 1.28926999e-02 9.99906418e-01 -1.02906534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88719347 meters Centerline goodness : 0.876444 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.14, Z:-1.03 [[ 0.99988641 0.01295337 0.00770612 7.09583378] [-0.01281009 0.99974937 -0.01836025 -0.14464437] [-0.00794202 0.01825945 0.99980174 -1.0314537 ] [ 0. 0. 0. 1. ]] SLAMing on 65.91719347 meters Centerline goodness : 0.878794 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.14, Z:-1.03 [[ 0.99984623 0.01569407 0.00782405 7.09597804] [-0.0155655 0.9997471 -0.01623128 -0.14043728] [-0.0080768 0.016107 0.99983765 -1.03136564] [ 0. 0. 0. 1. ]] SLAMing on 65.94719347 meters Centerline goodness : 0.882789 Centerline is valid? [False, False] Translation: X:7.09, Y:-0.13, Z:-1.03 [[ 0.99978805 0.01874576 0.0085115 7.09341754] [-0.01862115 0.9997216 -0.01449077 -0.12811725] [-0.00878077 0.01432921 0.99985878 -1.02829124] [ 0. 0. 0. 1. ]] SLAMing on 65.97719347 meters Centerline goodness : 0.880815 Centerline is valid? [False, False] Translation: X:7.09, Y:-0.12, Z:-1.03 [[ 0.99974022 0.02121483 0.00833169 7.09440651] [-0.02110658 0.99969436 -0.0128724 -0.12247513] [-0.00860223 0.0126932 0.99988244 -1.02861658] [ 0. 0. 0. 1. ]] SLAMing on 66.00719347 meters Centerline goodness : 0.880879 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.11, Z:-1.03 [[ 0.99966935 0.0244521 0.00795481 7.09557163] [-0.02436357 0.99964217 -0.0110427 -0.11243827] [-0.00822199 0.01084524 0.99990739 -1.02854263] [ 0. 0. 0. 1. ]] SLAMing on 66.03719347 meters Centerline goodness : 0.880896 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.11, Z:-1.03 [[ 0.99959562 0.02731937 0.00789018 7.09636323] [-0.02724976 0.99958993 -0.00879916 -0.10874858] [-0.00812733 0.00858059 0.99993016 -1.0289879 ] [ 0. 0. 0. 1. ]] SLAMing on 66.06719347 meters Centerline goodness : 0.881491 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.10, Z:-1.03 [[ 9.99505260e-01 3.04523040e-02 7.86712192e-03 7.09702924e+00] [-3.04035168e-02 9.99518176e-01 -6.24833089e-03 -1.04602335e-01] [-8.05360743e-03 6.00605142e-03 9.99949532e-01 -1.02926909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.09719347000001 meters Centerline goodness : 0.881782 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.10, Z:-1.03 [[ 9.99418839e-01 3.32139297e-02 7.66933534e-03 7.09834802e+00] [-3.31817507e-02 9.99440146e-01 -4.28564131e-03 -9.96186518e-02] [-7.80738462e-03 4.02866869e-03 9.99961407e-01 -1.02993656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12719347000001 meters Centerline goodness : 0.880518 Centerline is valid? [False, False] Translation: X:7.09, Y:-0.09, Z:-1.03 [[ 9.99173552e-01 4.06419196e-02 -6.69432833e-04 7.09271059e+00] [-4.06453181e-02 9.99154049e-01 -6.25654775e-03 -8.89413594e-02] [ 4.14588415e-04 6.27858635e-03 9.99980204e-01 -1.02741936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.15719347 meters Centerline goodness : 0.878330 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.09, Z:-1.03 [[ 9.99054220e-01 4.34635606e-02 -1.25874884e-03 7.09580233e+00] [-4.34688143e-02 9.99044648e-01 -4.50034435e-03 -8.50902390e-02] [ 1.06194530e-03 4.55080433e-03 9.99989081e-01 -1.02949011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18719347 meters Centerline goodness : 0.878037 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.08, Z:-1.03 [[ 9.98914077e-01 4.65500190e-02 -1.93984848e-03 7.09928484e+00] [-4.65545997e-02 9.98912894e-01 -2.38716564e-03 -8.18770697e-02] [ 1.82661706e-03 2.47488223e-03 9.99995269e-01 -1.03182165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.21719347 meters Centerline goodness : 0.878012 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.08, Z:-1.03 [[ 9.98756464e-01 4.97994554e-02 -2.35386077e-03 7.10192473e+00] [-4.97998055e-02 9.98759216e-01 -9.03285962e-05 -7.79269264e-02] [ 2.34644182e-03 2.07438078e-04 9.99997226e-01 -1.03356883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24719347 meters Centerline goodness : 0.877224 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.07, Z:-1.03 [[ 9.98162159e-01 6.05612423e-02 -2.15428648e-03 7.10368622e+00] [-6.05380018e-02 9.98119914e-01 9.58059339e-03 -7.14952169e-02] [ 2.73044887e-03 -9.43256958e-03 9.99951784e-01 -1.03426414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.27719347 meters Centerline goodness : 0.876445 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.07, Z:-1.03 [[ 9.98114605e-01 6.13385565e-02 -2.19492901e-03 7.10396626e+00] [-6.13161513e-02 9.98076655e-01 9.12796106e-03 -6.74345413e-02] [ 2.75060336e-03 -8.97616664e-03 9.99955930e-01 -1.03404933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.30719347 meters Centerline goodness : 0.874855 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.07, Z:-1.03 [[ 9.98095921e-01 6.16359486e-02 -2.35415809e-03 7.10444036e+00] [-6.16133805e-02 9.98062282e-01 8.68748601e-03 -6.57479665e-02] [ 2.88505784e-03 -8.52589671e-03 9.99959492e-01 -1.03397944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.33719347 meters Centerline goodness : 0.875146 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.07, Z:-1.03 [[ 9.98273643e-01 5.86899184e-02 -2.28632347e-03 7.10408754e+00] [-5.86781781e-02 9.98264915e-01 4.90209051e-03 -6.53046328e-02] [ 2.57005980e-03 -4.75947045e-03 9.99985371e-01 -1.03385125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.36719347 meters Centerline goodness : 0.876369 Centerline is valid? [False, False] Translation: X:7.11, Y:-0.07, Z:-1.04 [[ 9.98404104e-01 5.63895865e-02 -3.07566633e-03 7.10671829e+00] [-5.63814144e-02 9.98405700e-01 2.68207298e-03 -6.55762086e-02] [ 3.22200378e-03 -2.50438225e-03 9.99991673e-01 -1.03554354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.39719347 meters Centerline goodness : 0.873676 Centerline is valid? [False, False] Translation: X:7.11, Y:-0.07, Z:-1.04 [[ 9.98522627e-01 5.42081255e-02 -3.74727259e-03 7.10924749e+00] [-5.42049285e-02 9.98529381e-01 9.49589869e-04 -6.67591968e-02] [ 3.79323727e-03 -7.45066327e-04 9.99992528e-01 -1.03732829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.42719347 meters Centerline goodness : 0.870161 Centerline is valid? [False, False] Translation: X:7.13, Y:-0.07, Z:-1.04 [[ 9.99133710e-01 4.13365397e-02 -4.80835564e-03 7.12585446e+00] [-4.13042423e-02 9.99124600e-01 6.63279396e-03 -7.16484691e-02] [ 5.07832315e-03 -6.42844255e-03 9.99966442e-01 -1.03568413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.45719347 meters Centerline goodness : 0.871414 Centerline is valid? [False, False] Translation: X:7.13, Y:-0.08, Z:-1.04 [[ 9.99431008e-01 3.37274780e-02 -3.42425465e-04 7.13488752e+00] [-3.37222130e-02 9.99378870e-01 1.02316052e-02 -7.70081959e-02] [ 6.87299014e-04 -1.02142361e-02 9.99947597e-01 -1.03730404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48719347000001 meters Centerline goodness : 0.870328 Centerline is valid? [False, False] Translation: X:7.15, Y:-0.08, Z:-1.04 [[ 9.99723871e-01 2.33950983e-02 2.20263451e-03 7.15268499e+00] [-2.34280974e-02 9.99591221e-01 1.63864589e-02 -8.25273050e-02] [-1.81837130e-03 -1.64335377e-02 9.99863307e-01 -1.03725824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.51719347 meters Centerline goodness : 0.872738 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.09, Z:-1.03 [[ 9.99823714e-01 1.78891596e-02 5.70247710e-03 7.15898899e+00] [-1.80259430e-02 9.99527093e-01 2.49129599e-02 -8.98197423e-02] [-5.25410845e-03 -2.50113606e-02 9.99673360e-01 -1.03488914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54719347 meters Centerline goodness : 0.873281 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.10, Z:-1.03 [[ 9.99973602e-01 5.20870401e-03 5.06607055e-03 7.15872703e+00] [-5.46375008e-03 9.98647394e-01 5.17061819e-02 -9.99608595e-02] [-4.78989596e-03 -5.17324967e-02 9.98649491e-01 -1.03229402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.57719347 meters Centerline goodness : 0.874073 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.10, Z:-1.03 [[ 9.99987775e-01 1.32389227e-03 4.76410731e-03 7.15949624e+00] [-1.55151438e-03 9.98841489e-01 4.80964996e-02 -9.98612822e-02] [-4.69491346e-03 -4.81033032e-02 9.98831332e-01 -1.03236587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60719347 meters Centerline goodness : 0.874359 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.10, Z:-1.03 [[ 9.99988480e-01 -1.08618949e-03 4.67544211e-03 7.15852126e+00] [ 8.70299454e-04 9.98944181e-01 4.59321788e-02 -9.94034718e-02] [-4.72039674e-03 -4.59275806e-02 9.98933619e-01 -1.03076806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.63719347 meters Centerline goodness : 0.872818 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.10, Z:-1.03 [[ 9.99974504e-01 -5.04471885e-03 5.05395651e-03 7.15796275e+00] [ 4.82964726e-03 9.99118521e-01 4.16995890e-02 -9.81657093e-02] [-5.25986425e-03 -4.16741170e-02 9.99117411e-01 -1.03038017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.66719347 meters Centerline goodness : 0.874070 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.10, Z:-1.03 [[ 9.99950482e-01 -8.71036520e-03 4.81284833e-03 7.15896906e+00] [ 8.52353834e-03 9.99257910e-01 3.75630062e-02 -9.70104426e-02] [-5.13646426e-03 -3.75201237e-02 9.99282671e-01 -1.03102956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.69719347 meters Centerline goodness : 0.873364 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.10, Z:-1.03 [[ 9.99905476e-01 -1.28649698e-02 4.85090188e-03 7.15972029e+00] [ 1.26986679e-02 9.99378565e-01 3.28820412e-02 -9.55236339e-02] [-5.27091382e-03 -3.28173331e-02 9.99447467e-01 -1.03195976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.72719347 meters Centerline goodness : 0.870360 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.09, Z:-1.04 [[ 9.99866138e-01 -1.57798981e-02 4.32442022e-03 7.16339538e+00] [ 1.56447920e-02 9.99437211e-01 2.96732565e-02 -9.17463798e-02] [-4.79022745e-03 -2.96016297e-02 9.99550298e-01 -1.03534055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.75719347 meters Centerline goodness : 0.866658 Centerline is valid? [False, False] Translation: X:7.17, Y:-0.09, Z:-1.04 [[ 9.99839447e-01 -1.74872395e-02 3.90863552e-03 7.16585149e+00] [ 1.73729352e-02 9.99468614e-01 2.75802540e-02 -8.78274830e-02] [-4.38886104e-03 -2.75079215e-02 9.99611951e-01 -1.03751095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.78719347 meters Centerline goodness : 0.863925 Centerline is valid? [False, False] Translation: X:7.17, Y:-0.08, Z:-1.04 [[ 9.99771869e-01 -2.10937037e-02 3.35648561e-03 7.16899901e+00] [ 2.10078312e-02 9.99495067e-01 2.38386641e-02 -8.22292048e-02] [-3.85763652e-03 -2.37627132e-02 9.99710184e-01 -1.04009276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.81719347 meters Centerline goodness : 0.862856 Centerline is valid? [False, False] Translation: X:7.17, Y:-0.08, Z:-1.04 [[ 9.99673301e-01 -2.53513518e-02 3.25579187e-03 7.16953165e+00] [ 2.52854278e-02 9.99501519e-01 1.89040056e-02 -7.90594180e-02] [-3.73341101e-03 -1.88155056e-02 9.99816002e-01 -1.04034346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84719347000001 meters Centerline goodness : 0.860983 Centerline is valid? [False, False] Translation: X:7.17, Y:-0.08, Z:-1.04 [[ 9.99613339e-01 -2.76578247e-02 2.86641731e-03 7.17162086e+00] [ 2.76073495e-02 9.99484908e-01 1.63631354e-02 -7.63112223e-02] [-3.31750957e-03 -1.62776743e-02 9.99862006e-01 -1.04188682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.87719347000001 meters Centerline goodness : 0.864136 Centerline is valid? [False, False] Translation: X:7.17, Y:-0.07, Z:-1.04 [[ 9.99584486e-01 -2.86891097e-02 2.79120796e-03 7.17201911e+00] [ 2.86440109e-02 9.99476509e-01 1.50408957e-02 -7.34825448e-02] [-3.22125669e-03 -1.49546946e-02 9.99882983e-01 -1.04210481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90719347 meters Centerline goodness : 0.865860 Centerline is valid? [False, False] Translation: X:7.17, Y:-0.06, Z:-1.04 [[ 9.99586677e-01 -2.85871316e-02 3.04156144e-03 7.17055597e+00] [ 2.85408536e-02 9.99490292e-01 1.43030155e-02 -6.42743359e-02] [-3.44889331e-03 -1.42102949e-02 9.99893081e-01 -1.04073137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.93719347 meters Centerline goodness : 0.864277 Centerline is valid? [False, False] Translation: X:7.17, Y:-0.06, Z:-1.04 [[ 9.99593127e-01 -2.83553223e-02 3.09124275e-03 7.16997008e+00] [ 2.83105273e-02 9.99505541e-01 1.36816204e-02 -5.89875406e-02] [-3.47766101e-03 -1.35885390e-02 9.99901624e-01 -1.04017787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96719347 meters Centerline goodness : 0.866798 Centerline is valid? [False, False] Translation: X:7.17, Y:-0.05, Z:-1.04 [[ 9.99656984e-01 -2.59373638e-02 3.62870561e-03 7.16850593e+00] [ 2.58843156e-02 9.99567287e-01 1.39728774e-02 -4.99987956e-02] [-3.98955502e-03 -1.38741579e-02 9.99895790e-01 -1.03925248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.99719347 meters Centerline goodness : 0.868547 Centerline is valid? [False, False] Translation: X:7.17, Y:-0.04, Z:-1.04 [[ 9.99660862e-01 -2.57934775e-02 3.58563512e-03 7.16861747e+00] [ 2.57462102e-02 9.99588387e-01 1.26566027e-02 -4.46457488e-02] [-3.91061702e-03 -1.25599939e-02 9.99913473e-01 -1.03915232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.02719347 meters Centerline goodness : 0.868947 Centerline is valid? [False, False] Translation: X:7.17, Y:-0.04, Z:-1.04 [[ 9.99738608e-01 -2.25775864e-02 3.60103221e-03 7.16866297e+00] [ 2.25217105e-02 9.99635792e-01 1.48679390e-02 -4.01221921e-02] [-3.93540287e-03 -1.47829513e-02 9.99882982e-01 -1.03935743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.05719347 meters Centerline goodness : 0.867460 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.03, Z:-1.04 [[ 9.99886136e-01 -1.48671666e-02 -2.58521255e-03 7.15893969e+00] [ 1.49037094e-02 9.99780242e-01 1.47426733e-02 -3.46453702e-02] [ 2.36546265e-03 -1.47795239e-02 9.99887979e-01 -1.03609547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08719347 meters Centerline goodness : 0.864876 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.02, Z:-1.04 [[ 9.99977489e-01 -5.77292172e-03 -3.41969916e-03 7.16203411e+00] [ 5.84406195e-03 9.99758771e-01 2.11718224e-02 -2.36870352e-02] [ 3.29665095e-03 -2.11913308e-02 9.99770003e-01 -1.03936170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.11719347 meters Centerline goodness : 0.865221 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.02, Z:-1.04 [[ 9.99988830e-01 -2.87502340e-03 -3.75146836e-03 7.16399583e+00] [ 2.95995366e-03 9.99734899e-01 2.28335585e-02 -1.90686365e-02] [ 3.68482683e-03 -2.28444076e-02 9.99732242e-01 -1.04108607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.14719347 meters Centerline goodness : 0.864485 Centerline is valid? [False, False] Translation: X:7.17, Y:-0.02, Z:-1.04 [[ 9.99992384e-01 4.56841805e-04 -3.87594525e-03 7.16504174e+00] [-3.59116464e-04 9.99682954e-01 2.51766290e-02 -1.56542420e-02] [ 3.88621814e-03 -2.51750454e-02 9.99675505e-01 -1.04206018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.17719347 meters Centerline goodness : 0.870370 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.01, Z:-1.04 [[ 9.99986161e-01 4.14912079e-03 -3.23449341e-03 7.16370889e+00] [-4.06235584e-03 9.99643598e-01 2.63850961e-02 -7.42376235e-03] [ 3.34281559e-03 -2.63715913e-02 9.99646620e-01 -1.04111630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.20719347 meters Centerline goodness : 0.868997 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.00, Z:-1.04 [[ 9.99969313e-01 7.19198852e-03 -3.10612429e-03 7.16269868e+00] [-7.09869923e-03 9.99552248e-01 2.90673805e-02 -4.40525223e-03] [ 3.31378579e-03 -2.90444391e-02 9.99572628e-01 -1.03986436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.23719347000001 meters Centerline goodness : 0.871548 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.00, Z:-1.04 [[ 9.99941751e-01 1.03214179e-02 -3.15654848e-03 7.16284065e+00] [-1.02152925e-02 9.99436710e-01 3.19673475e-02 -2.20942902e-03] [ 3.48471878e-03 -3.19332403e-02 9.99483929e-01 -1.03959510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26719347 meters Centerline goodness : 0.871904 Centerline is valid? [False, False] Translation: X:7.17, Y:0.00, Z:-1.04 [[ 9.99892065e-01 1.46911976e-02 -1.62122215e-04 7.16999776e+00] [-1.46823700e-02 9.99570939e-01 2.53449363e-02 3.01185983e-03] [ 5.34400123e-04 -2.53398203e-02 9.99678752e-01 -1.03848188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.29719347 meters Centerline goodness : 0.872446 Centerline is valid? [False, False] Translation: X:7.17, Y:0.01, Z:-1.04 [[ 9.99888184e-01 1.49510001e-02 -2.94988453e-04 7.17059389e+00] [-1.49390811e-02 9.99580568e-01 2.48095026e-02 5.07101754e-03] [ 6.65791602e-04 -2.48023217e-02 9.99692153e-01 -1.03881015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32719347 meters Centerline goodness : 0.870678 Centerline is valid? [False, False] Translation: X:7.17, Y:0.01, Z:-1.04 [[ 9.99879517e-01 1.55114988e-02 -5.87628170e-04 7.17174075e+00] [-1.54922742e-02 9.99575313e-01 2.46816507e-02 6.26535645e-03] [ 9.70228007e-04 -2.46695733e-02 9.99695189e-01 -1.03949569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.35719347 meters Centerline goodness : 0.868667 Centerline is valid? [False, False] Translation: X:7.17, Y:0.01, Z:-1.04 [[ 9.99872479e-01 1.59386359e-02 -9.92606423e-04 7.17323293e+00] [-1.59094563e-02 9.99571678e-01 2.45631899e-02 7.01188446e-03] [ 1.38368501e-03 -2.45442657e-02 9.99697787e-01 -1.04044072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38719347 meters Centerline goodness : 0.870661 Centerline is valid? [False, False] Translation: X:7.18, Y:0.01, Z:-1.04 [[ 9.99862131e-01 1.65209031e-02 -1.66673488e-03 7.17760256e+00] [-1.64745566e-02 9.99557169e-01 2.47801326e-02 6.18677011e-03] [ 2.07538697e-03 -2.47492575e-02 9.99691536e-01 -1.04428898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.41719347 meters Centerline goodness : 0.867504 Centerline is valid? [False, False] Translation: X:7.18, Y:0.01, Z:-1.05 [[ 9.99874220e-01 1.57177851e-02 -2.12029628e-03 7.18016887e+00] [-1.56624574e-02 9.99589695e-01 2.39818605e-02 5.69168814e-03] [ 2.49636804e-03 -2.39456350e-02 9.99710145e-01 -1.04636226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.44719347 meters Centerline goodness : 0.869033 Centerline is valid? [False, False] Translation: X:7.18, Y:0.00, Z:-1.05 [[ 9.99869917e-01 1.59583888e-02 -2.34082956e-03 7.18120584e+00] [-1.58964118e-02 9.99574446e-01 2.44587513e-02 4.21232444e-03] [ 2.73015568e-03 -2.44183588e-02 9.99698099e-01 -1.04705122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.47719347 meters Centerline goodness : 0.867646 Centerline is valid? [False, False] Translation: X:7.18, Y:0.00, Z:-1.05 [[ 9.99887066e-01 1.47654522e-02 -2.79926801e-03 7.18378186e+00] [-1.46956580e-02 9.99615832e-01 2.34995050e-02 3.74256514e-04] [ 3.14517344e-03 -2.34557140e-02 9.99719929e-01 -1.04893771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.50719347 meters Centerline goodness : 0.868678 Centerline is valid? [False, False] Translation: X:7.19, Y:-0.00, Z:-1.05 [[ 9.99904491e-01 1.33542329e-02 -3.55989405e-03 7.18662385e+00] [-1.32727188e-02 9.99669547e-01 2.20143658e-02 -1.42505670e-03] [ 3.85270264e-03 -2.19650138e-02 9.99751317e-01 -1.05059264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.53719347 meters Centerline goodness : 0.864337 Centerline is valid? [False, False] Translation: X:7.19, Y:-0.00, Z:-1.05 [[ 9.99897644e-01 1.37859112e-02 -3.82748509e-03 7.18783828e+00] [-1.36951776e-02 9.99646284e-01 2.27980187e-02 -3.68280680e-03] [ 4.14042270e-03 -2.27432671e-02 9.99732765e-01 -1.05138364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.56719347 meters Centerline goodness : 0.866700 Centerline is valid? [False, False] Translation: X:7.19, Y:-0.01, Z:-1.05 [[ 9.99890218e-01 1.42249960e-02 -4.14737955e-03 7.18908979e+00] [-1.41235174e-02 9.99622923e-01 2.35486410e-02 -5.70929446e-03] [ 4.48079499e-03 -2.34874802e-02 9.99714090e-01 -1.05209128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.59719347000001 meters Centerline goodness : 0.867632 Centerline is valid? [False, False] Translation: X:7.21, Y:-0.01, Z:-1.05 [[ 9.99907179e-01 1.28821509e-02 -4.43670881e-03 7.20948095e+00] [-1.27677349e-02 9.99607978e-01 2.49173597e-02 -1.08470714e-02] [ 4.75595871e-03 -2.48584001e-02 9.99679669e-01 -1.05296813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62719347000001 meters Centerline goodness : 0.867632 Centerline is valid? [False, False] Translation: X:7.21, Y:-0.01, Z:-1.05 [[ 9.99907179e-01 1.28821509e-02 -4.43670881e-03 7.20948095e+00] [-1.27677349e-02 9.99607978e-01 2.49173597e-02 -1.08470714e-02] [ 4.75595871e-03 -2.48584001e-02 9.99679669e-01 -1.05296813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.65719347 meters Centerline goodness : 0.868322 Centerline is valid? [False, False] Translation: X:7.21, Y:-0.01, Z:-1.05 [[ 9.99936418e-01 1.01762864e-02 -4.85840761e-03 7.21051299e+00] [-1.00657880e-02 9.99701747e-01 2.22507777e-02 -1.28869096e-02] [ 5.08338886e-03 -2.22004592e-02 9.99740616e-01 -1.05310689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68719347 meters Centerline goodness : 0.869818 Centerline is valid? [False, False] Translation: X:7.21, Y:-0.02, Z:-1.05 [[ 9.99955960e-01 7.65459305e-03 -5.43005919e-03 7.21211373e+00] [-7.54426093e-03 9.99770389e-01 2.00562804e-02 -1.60008397e-02] [ 5.58233505e-03 -2.00144314e-02 9.99784107e-01 -1.05364247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.71719347 meters Centerline goodness : 0.872387 Centerline is valid? [False, False] Translation: X:7.23, Y:-0.02, Z:-1.06 [[ 9.99994164e-01 3.16795754e-03 -1.27871520e-03 7.22729510e+00] [-3.13627116e-03 9.99705488e-01 2.40645254e-02 -2.43057239e-02] [ 1.35457400e-03 -2.40603746e-02 9.99709590e-01 -1.05742876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74719347 meters Centerline goodness : 0.873203 Centerline is valid? [False, False] Translation: X:7.25, Y:-0.03, Z:-1.06 [[ 9.99999622e-01 7.96272633e-04 3.49481940e-04 7.24501679e+00] [-8.04891995e-04 9.99677092e-01 2.53981079e-02 -2.78926245e-02] [-3.29145271e-04 -2.53983796e-02 9.99677355e-01 -1.05759582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.77719347 meters Centerline goodness : 0.876953 Centerline is valid? [False, False] Translation: X:7.26, Y:-0.03, Z:-1.06 [[ 9.99993372e-01 -2.30234911e-03 2.82058994e-03 7.26244274e+00] [ 2.23100747e-03 9.99683950e-01 2.50404247e-02 -3.07737736e-02] [-2.87735029e-03 -2.50339659e-02 9.99682460e-01 -1.05750912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.80719347 meters Centerline goodness : 0.878869 Centerline is valid? [False, False] Translation: X:7.28, Y:-0.04, Z:-1.05 [[ 9.99971371e-01 -7.45984161e-03 1.26811514e-03 7.27857160e+00] [ 7.39729439e-03 9.99016992e-01 4.37073224e-02 -4.20268556e-02] [-1.59291828e-03 -4.36966905e-02 9.99043574e-01 -1.05491211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.83719347 meters Centerline goodness : 0.877640 Centerline is valid? [False, False] Translation: X:7.30, Y:-0.05, Z:-1.05 [[ 9.99945328e-01 -1.02618280e-02 2.00900767e-03 7.29666041e+00] [ 1.01589637e-02 9.98896963e-01 4.58437920e-02 -4.63249513e-02] [-2.47723277e-03 -4.58208762e-02 9.98946600e-01 -1.05446108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.86719347 meters Centerline goodness : 0.878638 Centerline is valid? [False, False] Translation: X:7.30, Y:-0.05, Z:-1.06 [[ 9.99792009e-01 -2.03420915e-02 1.46237335e-03 7.29990505e+00] [ 2.02750745e-02 9.99125996e-01 3.65535954e-02 -5.03493497e-02] [-2.20467181e-03 -3.65163428e-02 9.99330624e-01 -1.05650217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.89719347 meters Centerline goodness : 0.879713 Centerline is valid? [False, False] Translation: X:7.30, Y:-0.05, Z:-1.06 [[ 9.99699933e-01 -2.44746370e-02 1.01742543e-03 7.30152978e+00] [ 2.44273976e-02 9.99150326e-01 3.31953030e-02 -5.28727463e-02] [-1.82900395e-03 -3.31604892e-02 9.99448366e-01 -1.05704845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.92719347 meters Centerline goodness : 0.881586 Centerline is valid? [False, False] Translation: X:7.30, Y:-0.05, Z:-1.06 [[ 9.99524173e-01 -3.08181720e-02 1.29151338e-03 7.30133191e+00] [ 3.07726099e-02 9.99168041e-01 2.67632637e-02 -5.40859360e-02] [-2.11523376e-03 -2.67107858e-02 9.99640965e-01 -1.05681483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.95719347 meters Centerline goodness : 0.887127 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.06, Z:-1.05 [[ 9.99424036e-01 -3.37973537e-02 3.05550330e-03 7.31711144e+00] [ 3.37686613e-02 9.99389159e-01 8.99921703e-03 -5.78108510e-02] [-3.35778659e-03 -8.89085355e-03 9.99954838e-01 -1.05446756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98719347000001 meters Centerline goodness : 0.890033 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.06, Z:-1.05 [[ 9.99425790e-01 -3.37584026e-02 2.90853161e-03 7.31679470e+00] [ 3.37286859e-02 9.99383729e-01 9.72303691e-03 -6.01321186e-02] [-3.23497336e-03 -9.61935291e-03 9.99948500e-01 -1.05344177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.01719347 meters Centerline goodness : 0.890916 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.06, Z:-1.05 [[ 9.99336367e-01 -3.63399436e-02 2.49670052e-03 7.31762840e+00] [ 3.63220470e-02 9.99316494e-01 6.87407762e-03 -5.98620147e-02] [-2.74479761e-03 -6.77883049e-03 9.99973256e-01 -1.05317920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04719347 meters Centerline goodness : 0.895579 Centerline is valid? [False, False] Translation: X:7.33, Y:-0.06, Z:-1.05 [[ 9.99496623e-01 -3.15983691e-02 2.83629074e-03 7.33287213e+00] [ 3.16090972e-02 9.99493005e-01 -3.82084471e-03 -5.96753624e-02] [-2.71412029e-03 3.90857398e-03 9.99988678e-01 -1.05127906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.07719347 meters Centerline goodness : 0.892390 Centerline is valid? [False, False] Translation: X:7.33, Y:-0.06, Z:-1.05 [[ 9.99614999e-01 -2.76235272e-02 2.60651764e-03 7.33362037e+00] [ 2.76224342e-02 9.99618324e-01 4.54417811e-04 -6.06815108e-02] [-2.61807541e-03 -3.82244498e-04 9.99996500e-01 -1.05177647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10719347 meters Centerline goodness : 0.893720 Centerline is valid? [False, False] Translation: X:7.35, Y:-0.06, Z:-1.05 [[ 9.99772626e-01 -2.11459645e-02 2.74660630e-03 7.34913915e+00] [ 2.11702047e-02 9.99734302e-01 -9.11857242e-03 -5.80719065e-02] [-2.55305552e-03 9.17464531e-03 9.99954653e-01 -1.05087279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.13719347 meters Centerline goodness : 0.893082 Centerline is valid? [False, False] Translation: X:7.35, Y:-0.06, Z:-1.05 [[ 9.99849915e-01 -1.71383775e-02 2.53450481e-03 7.35004710e+00] [ 1.71509047e-02 9.99840379e-01 -5.00639290e-03 -5.84282066e-02] [-2.44829880e-03 5.04911056e-03 9.99984256e-01 -1.05165712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.16719347 meters Centerline goodness : 0.892813 Centerline is valid? [False, False] Translation: X:7.35, Y:-0.06, Z:-1.05 [[ 9.99911327e-01 -1.31292406e-02 2.22732677e-03 7.35118853e+00] [ 1.31309524e-02 9.99913500e-01 -7.55686568e-04 -5.92947633e-02] [-2.21721252e-03 7.84866481e-04 9.99997234e-01 -1.05245650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.19719347 meters Centerline goodness : 0.891963 Centerline is valid? [False, False] Translation: X:7.35, Y:-0.06, Z:-1.05 [[ 9.99921734e-01 -1.23245473e-02 2.15201656e-03 7.35162642e+00] [ 1.23257076e-02 9.99923897e-01 -5.26738298e-04 -5.84503000e-02] [-2.14536097e-03 5.53222199e-04 9.99997546e-01 -1.05285035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.22719347 meters Centerline goodness : 0.894269 Centerline is valid? [False, False] Translation: X:7.35, Y:-0.06, Z:-1.05 [[ 9.99966617e-01 -8.03284242e-03 1.49583475e-03 7.35354815e+00] [ 8.02683944e-03 9.99959877e-01 3.97679598e-03 -5.93612446e-02] [-1.52771970e-03 -3.96465640e-03 9.99990974e-01 -1.05389108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.25719347 meters Centerline goodness : 0.891785 Centerline is valid? [False, False] Translation: X:7.35, Y:-0.06, Z:-1.05 [[ 9.99969254e-01 -7.76131764e-03 1.11905698e-03 7.35487590e+00] [ 7.75634029e-03 9.99960302e-01 4.38559024e-03 -5.98562044e-02] [-1.15305052e-03 -4.37677562e-03 9.99989757e-01 -1.05461499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.28719347 meters Centerline goodness : 0.889849 Centerline is valid? [False, False] Translation: X:7.36, Y:-0.06, Z:-1.06 [[ 9.99969244e-01 -7.78377827e-03 9.60801605e-04 7.35575423e+00] [ 7.77911589e-03 9.99958391e-01 4.76452718e-03 -6.13075927e-02] [-9.97847650e-04 -4.75690645e-03 9.99988188e-01 -1.05528947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.31719347 meters Centerline goodness : 0.889000 Centerline is valid? [False, False] Translation: X:7.37, Y:-0.06, Z:-1.05 [[ 9.99949952e-01 -9.33284705e-03 -3.60447304e-03 7.36557342e+00] [ 9.36715879e-03 9.99909827e-01 9.62262938e-03 -6.22343887e-02] [ 3.51434148e-03 -9.65591145e-03 9.99947205e-01 -1.05435470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34719347000001 meters Centerline goodness : 0.889467 Centerline is valid? [False, False] Translation: X:7.37, Y:-0.06, Z:-1.06 [[ 9.99930223e-01 -1.12155460e-02 -3.70964128e-03 7.36740387e+00] [ 1.12440915e-02 9.99906627e-01 7.76575007e-03 -6.40333815e-02] [ 3.62219778e-03 -7.80691974e-03 9.99962965e-01 -1.05615018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.37719347000001 meters Centerline goodness : 0.891564 Centerline is valid? [False, False] Translation: X:7.37, Y:-0.07, Z:-1.06 [[ 9.99932951e-01 -1.09440823e-02 -3.78427716e-03 7.36748267e+00] [ 1.09762915e-02 9.99902793e-01 8.59798428e-03 -6.61774343e-02] [ 3.68981226e-03 -8.63894513e-03 9.99955876e-01 -1.05582801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40719347 meters Centerline goodness : 0.889943 Centerline is valid? [False, False] Translation: X:7.37, Y:-0.07, Z:-1.06 [[ 9.99915239e-01 -1.22719586e-02 -4.34892662e-03 7.36983769e+00] [ 1.23043552e-02 9.99896152e-01 7.50256853e-03 -6.75308891e-02] [ 4.25640378e-03 -7.55544334e-03 9.99962398e-01 -1.05721156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.43719347 meters Centerline goodness : 0.892084 Centerline is valid? [False, False] Translation: X:7.37, Y:-0.07, Z:-1.06 [[ 9.99914203e-01 -1.22223026e-02 -4.71193399e-03 7.37063619e+00] [ 1.22599085e-02 9.99892549e-01 8.03647325e-03 -6.92236416e-02] [ 4.61320348e-03 -8.09355162e-03 9.99956605e-01 -1.05727559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46719347 meters Centerline goodness : 0.887613 Centerline is valid? [False, False] Translation: X:7.37, Y:-0.07, Z:-1.06 [[ 9.99889034e-01 -1.39185086e-02 -5.30983771e-03 7.37357089e+00] [ 1.39529703e-02 9.99881465e-01 6.50927610e-03 -7.07862209e-02] [ 5.21860889e-03 -6.58264180e-03 9.99964717e-01 -1.05926995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.49719347 meters Centerline goodness : 0.889775 Centerline is valid? [False, False] Translation: X:7.37, Y:-0.07, Z:-1.06 [[ 9.99888802e-01 -1.38359570e-02 -5.56320930e-03 7.37428405e+00] [ 1.38755774e-02 9.99878184e-01 7.14747005e-03 -7.28410170e-02] [ 5.46363952e-03 -7.22386801e-03 9.99958981e-01 -1.05943593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52719347 meters Centerline goodness : 0.889404 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.07, Z:-1.06 [[ 9.99852736e-01 -1.60254654e-02 -6.13933629e-03 7.37673778e+00] [ 1.60573818e-02 9.99857627e-01 5.18513110e-03 -7.49482205e-02] [ 6.05536808e-03 -5.28294919e-03 9.99967711e-01 -1.06091013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.55719347 meters Centerline goodness : 0.891545 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.08, Z:-1.06 [[ 9.99789665e-01 -1.96563626e-02 -5.85261878e-03 7.37573295e+00] [ 1.96726557e-02 9.99802722e-01 2.73946745e-03 -8.03737059e-02] [ 5.79761622e-03 -2.85402779e-03 9.99979121e-01 -1.05981272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58719347 meters Centerline goodness : 0.892282 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.08, Z:-1.06 [[ 9.99784025e-01 -1.98933834e-02 -6.01303542e-03 7.37615637e+00] [ 1.99147287e-02 9.99795517e-01 3.51105016e-03 -8.32880173e-02] [ 5.94195919e-03 -3.63003983e-03 9.99975758e-01 -1.05978723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.61719347 meters Centerline goodness : 0.892379 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.09, Z:-1.06 [[ 9.99760047e-01 -2.10869457e-02 -5.93206037e-03 7.37598711e+00] [ 2.11114563e-02 9.99768721e-01 4.10005602e-03 -8.67367068e-02] [ 5.84423075e-03 -4.22430663e-03 9.99974000e-01 -1.05935614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.64719347 meters Centerline goodness : 0.894825 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.09, Z:-1.06 [[ 9.99677232e-01 -2.46993314e-02 -5.94773212e-03 7.37595674e+00] [ 2.47032632e-02 9.99694655e-01 5.88497176e-04 -8.72648394e-02] [ 5.93138052e-03 -7.35235620e-04 9.99982139e-01 -1.05884057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.67719347 meters Centerline goodness : 0.892186 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.09, Z:-1.06 [[ 9.99584484e-01 -2.81998639e-02 -5.96886465e-03 7.37620199e+00] [ 2.81834741e-02 9.99598811e-01 -2.81242472e-03 -8.82350489e-02] [ 6.04578000e-03 2.64303276e-03 9.99978231e-01 -1.05869374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.70719347 meters Centerline goodness : 0.892632 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.09, Z:-1.06 [[ 9.99529677e-01 -2.99768763e-02 -6.46626630e-03 7.37866414e+00] [ 2.99485749e-02 9.99541623e-01 -4.43010545e-03 -8.98238756e-02] [ 6.59610304e-03 4.23436641e-03 9.99969280e-01 -1.06026097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.73719347000001 meters Centerline goodness : 0.894458 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.09, Z:-1.06 [[ 9.99536545e-01 -2.97137805e-02 -6.61720415e-03 7.37993817e+00] [ 2.96860287e-02 9.99550223e-01 -4.25335805e-03 -8.99000818e-02] [ 6.74061123e-03 4.05494829e-03 9.99969060e-01 -1.06142076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76719347 meters Centerline goodness : 0.891240 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.09, Z:-1.06 [[ 9.99637467e-01 -2.59889352e-02 -7.03627041e-03 7.38123707e+00] [ 2.59857262e-02 9.99662164e-01 -5.47112670e-04 -8.93028068e-02] [ 7.04811218e-03 3.64071727e-04 9.99975095e-01 -1.06229844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.79719347 meters Centerline goodness : 0.890366 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.09, Z:-1.06 [[ 9.99687665e-01 -2.37048177e-02 -7.91541236e-03 7.38421918e+00] [ 2.37150988e-02 9.99718028e-01 1.20753129e-03 -8.72427394e-02] [ 7.88455613e-03 -1.39486892e-03 9.99967944e-01 -1.06394622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82719347 meters Centerline goodness : 0.889723 Centerline is valid? [False, False] Translation: X:7.39, Y:-0.09, Z:-1.06 [[ 9.99770857e-01 -1.97086570e-02 -8.35481327e-03 7.38524090e+00] [ 1.97508768e-02 9.99792423e-01 5.00131392e-03 -8.66539116e-02] [ 8.25450983e-03 -5.16518279e-03 9.99952591e-01 -1.06436313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.85719347 meters Centerline goodness : 0.887062 Centerline is valid? [False, False] Translation: X:7.39, Y:-0.08, Z:-1.06 [[ 9.99837390e-01 -1.32836858e-02 -1.21958241e-02 7.39398635e+00] [ 1.33292268e-02 9.99904462e-01 3.66048377e-03 -8.40914594e-02] [ 1.21460343e-02 -3.82244944e-03 9.99918928e-01 -1.06194457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88719347 meters Centerline goodness : 0.887456 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.08, Z:-1.06 [[ 9.99845670e-01 -1.19911087e-02 -1.28393549e-02 7.39661809e+00] [ 1.20487742e-02 9.99917627e-01 4.42341488e-03 -8.20400655e-02] [ 1.27852556e-02 -4.57743070e-03 9.99907788e-01 -1.06361816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.91719347 meters Centerline goodness : 0.887084 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.08, Z:-1.06 [[ 9.99845273e-01 -1.18411597e-02 -1.30083775e-02 7.39717955e+00] [ 1.18944543e-02 9.99921149e-01 4.02724285e-03 -8.00176206e-02] [ 1.29596645e-02 -4.18134728e-03 9.99907277e-01 -1.06390300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94719347 meters Centerline goodness : 0.884091 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.08, Z:-1.06 [[ 9.99841171e-01 -1.19096624e-02 -1.32587054e-02 7.39828432e+00] [ 1.19562029e-02 9.99922617e-01 3.43646443e-03 -7.75852718e-02] [ 1.32167523e-02 -3.59444240e-03 9.99906194e-01 -1.06475978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.97719347 meters Centerline goodness : 0.885245 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.08, Z:-1.06 [[ 9.99838590e-01 -1.19379911e-02 -1.34267738e-02 7.39865010e+00] [ 1.19836768e-02 9.99922657e-01 3.32728779e-03 -7.68026471e-02] [ 1.33860142e-02 -3.48765285e-03 9.99904321e-01 -1.06481111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.00719347 meters Centerline goodness : 0.886324 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.08, Z:-1.06 [[ 9.99830593e-01 -1.22817092e-02 -1.37093282e-02 7.39927466e+00] [ 1.23235093e-02 9.99919656e-01 2.96871594e-03 -7.61419133e-02] [ 1.36717659e-02 -3.13716005e-03 9.99901616e-01 -1.06482624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.03719347 meters Centerline goodness : 0.884598 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.08, Z:-1.06 [[ 9.99828604e-01 -1.21960769e-02 -1.39290475e-02 7.39941544e+00] [ 1.22397854e-02 9.99920418e-01 3.05701208e-03 -7.59665327e-02] [ 1.38906555e-02 -3.22697667e-03 9.99898313e-01 -1.06444262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.06719347 meters Centerline goodness : 0.883986 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.08, Z:-1.06 [[ 9.99832186e-01 -1.16021404e-02 -1.41770956e-02 7.40007957e+00] [ 1.16537722e-02 9.99925738e-01 3.56474767e-03 -7.59846407e-02] [ 1.41346841e-02 -3.72936610e-03 9.99893146e-01 -1.06460841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.09719347000001 meters Centerline goodness : 0.883058 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.08, Z:-1.06 [[ 9.99835514e-01 -1.13051722e-02 -1.41823061e-02 7.40018477e+00] [ 1.13586041e-02 9.99928671e-01 3.69262155e-03 -7.55828893e-02] [ 1.41395487e-02 -3.85310536e-03 9.99892608e-01 -1.06462965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12719347000001 meters Centerline goodness : 0.883236 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.08, Z:-1.06 [[ 9.99861763e-01 -8.94218695e-03 -1.40176025e-02 7.39867878e+00] [ 9.03161749e-03 9.99939181e-01 6.32960479e-03 -7.58261487e-02] [ 1.39601494e-02 -6.45533143e-03 9.99881714e-01 -1.06316129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.15719347 meters Centerline goodness : 0.882492 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.08, Z:-1.06 [[ 9.99857656e-01 -8.99864003e-03 -1.42720646e-02 7.39927838e+00] [ 9.08619880e-03 9.99940223e-01 6.08204314e-03 -7.50422969e-02] [ 1.42164813e-02 -6.21085621e-03 9.99879651e-01 -1.06321375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18719347 meters Centerline goodness : 0.883684 Centerline is valid? [False, False] Translation: X:7.41, Y:-0.08, Z:-1.06 [[ 9.99919898e-01 -6.80346592e-03 -1.06728370e-02 7.41465506e+00] [ 6.90435389e-03 9.99931563e-01 9.44458646e-03 -7.64606342e-02] [ 1.06078507e-02 -9.51751898e-03 9.99898440e-01 -1.06100637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.21719347 meters Centerline goodness : 0.885005 Centerline is valid? [False, False] Translation: X:7.41, Y:-0.08, Z:-1.06 [[ 9.99936466e-01 -3.61407599e-03 -1.06771718e-02 7.41438730e+00] [ 3.75796873e-03 9.99901978e-01 1.34874898e-02 -7.90398505e-02] [ 1.06273804e-02 -1.35267573e-02 9.99852032e-01 -1.06044013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24719347 meters Centerline goodness : 0.882702 Centerline is valid? [False, False] Translation: X:7.42, Y:-0.08, Z:-1.06 [[ 9.99969644e-01 -3.42493983e-03 -6.99862241e-03 7.42371840e+00] [ 3.60271874e-03 9.99667072e-01 2.55492857e-02 -8.19098983e-02] [ 6.90878760e-03 -2.55737242e-02 9.99649065e-01 -1.06143203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.27719347 meters Centerline goodness : 0.884359 Centerline is valid? [False, False] Translation: X:7.43, Y:-0.09, Z:-1.06 [[ 9.99986477e-01 -4.41824975e-03 -2.74329830e-03 7.43328980e+00] [ 4.51404485e-03 9.99343207e-01 3.59552356e-02 -8.55407202e-02] [ 2.58263731e-03 -3.59671327e-02 9.99349636e-01 -1.06342688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30719347 meters Centerline goodness : 0.882702 Centerline is valid? [False, False] Translation: X:7.43, Y:-0.09, Z:-1.06 [[ 9.99985416e-01 -4.41675956e-03 -3.10797762e-03 7.43444122e+00] [ 4.52796165e-03 9.99314897e-01 3.67319227e-02 -8.74051652e-02] [ 2.94361226e-03 -3.67454598e-02 9.99320322e-01 -1.06371869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.33719347 meters Centerline goodness : 0.880670 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.09, Z:-1.07 [[ 9.99981848e-01 -5.95596613e-03 -9.10780698e-04 7.44591160e+00] [ 5.99215324e-03 9.98879847e-01 4.69376852e-02 -9.04377569e-02] [ 6.30201220e-04 -4.69422908e-02 9.98897404e-01 -1.06575751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.36719347 meters Centerline goodness : 0.882703 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.10, Z:-1.06 [[ 9.99972271e-01 -5.54174747e-03 -4.97459055e-03 7.43907698e+00] [ 5.83748122e-03 9.98087096e-01 6.15473202e-02 -9.52095767e-02] [ 4.62399493e-03 -6.15746527e-02 9.98091770e-01 -1.06336930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.39719347 meters Centerline goodness : 0.881654 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.10, Z:-1.06 [[ 9.99970415e-01 -5.50082090e-03 -5.37683918e-03 7.43981286e+00] [ 5.82395826e-03 9.98055735e-01 6.20550671e-02 -9.53848721e-02] [ 5.02503137e-03 -6.20845457e-02 9.98058244e-01 -1.06288778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.42719347 meters Centerline goodness : 0.880282 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.10, Z:-1.06 [[ 9.99980147e-01 -2.08414157e-03 -5.94657688e-03 7.44140519e+00] [ 2.47713535e-03 9.97758987e-01 6.68645514e-02 -9.76627512e-02] [ 5.79389533e-03 -6.68779544e-02 9.97744341e-01 -1.06287841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.45719347 meters Centerline goodness : 0.877534 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.10, Z:-1.06 [[ 9.99979153e-01 -1.77638303e-03 -6.20790493e-03 7.44233962e+00] [ 2.18888283e-03 9.97744831e-01 6.70854682e-02 -9.80968561e-02] [ 6.07473557e-03 -6.70976580e-02 9.97727920e-01 -1.06315294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48719347000001 meters Centerline goodness : 0.879553 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.10, Z:-1.06 [[ 9.99987702e-01 2.49620454e-03 -4.28544822e-03 7.45027175e+00] [-2.23484238e-03 9.98199136e-01 5.99457299e-02 -9.78612367e-02] [ 4.42736751e-03 -5.99354154e-02 9.98192439e-01 -1.06200051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.51719347 meters Centerline goodness : 0.879553 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.10, Z:-1.06 [[ 9.99987747e-01 2.50526638e-03 -4.26968067e-03 7.45025168e+00] [-2.24485019e-03 9.98199346e-01 5.99418538e-02 -9.78442191e-02] [ 4.41216276e-03 -5.99315345e-02 9.98192739e-01 -1.06199988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54719347 meters Centerline goodness : 0.878757 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.10, Z:-1.06 [[ 9.99986360e-01 2.92392968e-03 -4.32795174e-03 7.44992487e+00] [-2.65835970e-03 9.98186139e-01 6.01445345e-02 -9.81569282e-02] [ 4.49595983e-03 -6.01322088e-02 9.98180296e-01 -1.06125657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.57719347 meters Centerline goodness : 0.879588 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.10, Z:-1.06 [[ 9.99984805e-01 3.27923667e-03 -4.43120634e-03 7.45036645e+00] [-3.00515769e-03 9.98163478e-01 6.05032209e-02 -9.92214600e-02] [ 4.62147271e-03 -6.04889851e-02 9.98158166e-01 -1.06129772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60719347 meters Centerline goodness : 0.878109 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.10, Z:-1.06 [[ 9.99983002e-01 3.55925825e-03 -4.61806044e-03 7.45116872e+00] [-3.27115253e-03 9.98134776e-01 6.09612000e-02 -1.00592611e-01] [ 4.82642338e-03 -6.09450574e-02 9.98129453e-01 -1.06171094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.63719347 meters Centerline goodness : 0.878956 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.10, Z:-1.06 [[ 9.99972584e-01 5.49046443e-03 -4.96845044e-03 7.45339958e+00] [-5.16536731e-03 9.97985332e-01 6.32344565e-02 -1.02781907e-01] [ 5.30562719e-03 -6.32070590e-02 9.97986332e-01 -1.06318651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66719347 meters Centerline goodness : 0.877603 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.10, Z:-1.06 [[ 9.99968472e-01 5.96000939e-03 -5.24717241e-03 7.45416538e+00] [-5.61319320e-03 9.97947064e-01 6.37977226e-02 -1.04000554e-01] [ 5.61663533e-03 -6.37662578e-02 9.97949056e-01 -1.06322740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.69719347 meters Centerline goodness : 0.877375 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.11, Z:-1.06 [[ 9.99930963e-01 7.51590709e-03 -9.03222427e-03 7.46294796e+00] [-6.98448518e-03 9.98321485e-01 5.74928738e-02 -1.05940533e-01] [ 9.44917464e-03 -5.74258192e-02 9.98305058e-01 -1.05983031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.72719347 meters Centerline goodness : 0.875796 Centerline is valid? [False, False] Translation: X:7.48, Y:-0.11, Z:-1.06 [[ 0.99988158 0.01093945 -0.01082372 7.4837111 ] [-0.01045104 0.99896824 0.04419534 -0.11353997] [ 0.01129602 -0.04407699 0.99896427 -1.05995003] [ 0. 0. 0. 1. ]] SLAMing on 69.75719347 meters Centerline goodness : 0.874429 Centerline is valid? [False, False] Translation: X:7.49, Y:-0.12, Z:-1.06 [[ 0.99988132 0.0103342 -0.01142605 7.48654966] [-0.00982462 0.99899251 0.0437886 -0.11685683] [ 0.01186706 -0.04367115 0.99897548 -1.06189239] [ 0. 0. 0. 1. ]] SLAMing on 69.78719347 meters Centerline goodness : 0.874966 Centerline is valid? [False, False] Translation: X:7.49, Y:-0.12, Z:-1.06 [[ 0.99987615 0.01065103 -0.01158584 7.48749892] [-0.01012474 0.99895483 0.04457281 -0.11930416] [ 0.01204847 -0.04444999 0.99893895 -1.06248256] [ 0. 0. 0. 1. ]] SLAMing on 69.81719347 meters Centerline goodness : 0.872332 Centerline is valid? [False, False] Translation: X:7.49, Y:-0.12, Z:-1.06 [[ 0.99986622 0.01079194 -0.01229097 7.48887083] [-0.01022885 0.99893506 0.04499027 -0.12133759] [ 0.01276342 -0.04485853 0.99891181 -1.06245753] [ 0. 0. 0. 1. ]] SLAMing on 69.84719347000001 meters Centerline goodness : 0.872223 Centerline is valid? [False, False] Translation: X:7.49, Y:-0.13, Z:-1.06 [[ 0.99981559 0.01123433 -0.01557499 7.49341644] [-0.01054816 0.99899953 0.04345883 -0.12834997] [ 0.01604764 -0.04328653 0.99893381 -1.05962164] [ 0. 0. 0. 1. ]] SLAMing on 69.87719347 meters Centerline goodness : 0.872708 Centerline is valid? [False, False] Translation: X:7.49, Y:-0.13, Z:-1.06 [[ 0.99983362 0.00885091 -0.01594944 7.49494531] [-0.00817996 0.99909867 0.04165253 -0.13311934] [ 0.01630373 -0.04151513 0.99900485 -1.06037256] [ 0. 0. 0. 1. ]] SLAMing on 69.90719347 meters Centerline goodness : 0.870685 Centerline is valid? [False, False] Translation: X:7.49, Y:-0.14, Z:-1.06 [[ 9.99858955e-01 6.70848066e-03 -1.53969537e-02 7.48719938e+00] [-6.23948972e-03 9.99521117e-01 3.03084903e-02 -1.37147138e-01] [ 1.55929043e-02 -3.02081463e-02 9.99421998e-01 -1.06228143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.93719347 meters Centerline goodness : 0.871495 Centerline is valid? [False, False] Translation: X:7.49, Y:-0.14, Z:-1.06 [[ 9.99872175e-01 2.69586973e-03 -1.57595994e-02 7.48929161e+00] [-2.27045016e-03 9.99634200e-01 2.69501542e-02 -1.41631761e-01] [ 1.58264887e-02 -2.69109280e-02 9.99512543e-01 -1.06377434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96719347 meters Centerline goodness : 0.871350 Centerline is valid? [False, False] Translation: X:7.49, Y:-0.15, Z:-1.07 [[ 9.99864466e-01 -3.60351724e-03 -1.60643998e-02 7.49202394e+00] [ 3.95680802e-03 9.99749813e-01 2.20148934e-02 -1.48455496e-01] [ 1.59810496e-02 -2.20754733e-02 9.99628571e-01 -1.06607277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.99719347 meters Centerline goodness : 0.870356 Centerline is valid? [False, False] Translation: X:7.49, Y:-0.15, Z:-1.07 [[ 9.99844145e-01 -6.09091219e-03 -1.65706675e-02 7.49496977e+00] [ 6.42552314e-03 9.99775003e-01 2.02152348e-02 -1.51243988e-01] [ 1.64438099e-02 -2.03185594e-02 9.99658320e-01 -1.06826079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.02719347 meters Centerline goodness : 0.868635 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.16, Z:-1.07 [[ 0.99977801 -0.01290529 -0.01665471 7.49662037] [ 0.01315572 0.9998007 0.01501607 -0.15882577] [ 0.01645761 -0.01523184 0.99974854 -1.06952604] [ 0. 0. 0. 1. ]] SLAMing on 70.05719347 meters Centerline goodness : 0.866654 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.16, Z:-1.07 [[ 0.99967423 -0.01882644 -0.01723389 7.49907695] [ 0.01899872 0.99977062 0.00988765 -0.16396951] [ 0.01704378 -0.01021185 0.99980259 -1.0708098 ] [ 0. 0. 0. 1. ]] SLAMing on 70.08719347 meters Centerline goodness : 0.867514 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.17, Z:-1.07 [[ 9.99568172e-01 -2.37147121e-02 -1.73517252e-02 7.50035748e+00] [ 2.38203963e-02 9.99698788e-01 5.90956401e-03 -1.69481949e-01] [ 1.72063551e-02 -6.32033706e-03 9.99831983e-01 -1.07155486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.11719347 meters Centerline goodness : 0.868857 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.17, Z:-1.07 [[ 9.99465202e-01 -2.76028597e-02 -1.75326069e-02 7.50098442e+00] [ 2.76668528e-02 9.99611356e-01 3.41789432e-03 -1.74394627e-01] [ 1.74314493e-02 -3.90113850e-03 9.99840450e-01 -1.07135708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.14719347 meters Centerline goodness : 0.872334 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.18, Z:-1.07 [[ 9.99349944e-01 -3.14777719e-02 -1.75738217e-02 7.50136278e+00] [ 3.14973089e-02 9.99503487e-01 8.35960590e-04 -1.78298176e-01] [ 1.75387819e-02 -1.38894526e-03 9.99845219e-01 -1.07111855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.17719347 meters Centerline goodness : 0.872743 Centerline is valid? [False, False] Translation: X:7.51, Y:-0.19, Z:-1.07 [[ 9.99159668e-01 -3.95510157e-02 -1.07552277e-02 7.50823067e+00] [ 3.95906098e-02 9.99209877e-01 3.49364686e-03 -1.85077285e-01] [ 1.06085524e-02 -3.91651705e-03 9.99936058e-01 -1.07165608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.20719347 meters Centerline goodness : 0.873892 Centerline is valid? [False, False] Translation: X:7.51, Y:-0.19, Z:-1.07 [[ 9.99100723e-01 -4.09472264e-02 -1.10031504e-02 7.50987922e+00] [ 4.09829901e-02 9.99155206e-01 3.04463334e-03 -1.87514379e-01] [ 1.08691857e-02 -3.49283737e-03 9.99934828e-01 -1.07261736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.23719347000001 meters Centerline goodness : 0.875557 Centerline is valid? [False, False] Translation: X:7.51, Y:-0.19, Z:-1.07 [[ 9.98920776e-01 -4.52551188e-02 -1.04526779e-02 7.50926797e+00] [ 4.52504096e-02 9.98975440e-01 -6.86714388e-04 -1.89193428e-01] [ 1.04730458e-02 2.12985313e-04 9.99945133e-01 -1.07218745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26719347 meters Centerline goodness : 0.878653 Centerline is valid? [False, False] Translation: X:7.52, Y:-0.19, Z:-1.08 [[ 9.98969385e-01 -4.52920608e-02 -2.96596246e-03 7.51918205e+00] [ 4.52655702e-02 9.98939159e-01 -8.46075635e-03 -1.88873308e-01] [ 3.34602114e-03 8.31778059e-03 9.99959809e-01 -1.07512249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.29719347 meters Centerline goodness : 0.879666 Centerline is valid? [False, False] Translation: X:7.52, Y:-0.19, Z:-1.08 [[ 9.98950646e-01 -4.56957432e-02 -3.08326298e-03 7.51951314e+00] [ 4.56674346e-02 9.98918814e-01 -8.69995181e-03 -1.88919497e-01] [ 3.47748016e-03 8.55001777e-03 9.99957401e-01 -1.07513734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32719347 meters Centerline goodness : 0.877592 Centerline is valid? [False, False] Translation: X:7.52, Y:-0.18, Z:-1.08 [[ 9.98984556e-01 -4.49033375e-02 -3.68058621e-03 7.52303993e+00] [ 4.48742076e-02 9.98963370e-01 -7.64796166e-03 -1.84445454e-01] [ 4.02018980e-03 7.47503220e-03 9.99963980e-01 -1.07823753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.35719347 meters Centerline goodness : 0.878717 Centerline is valid? [False, False] Translation: X:7.53, Y:-0.18, Z:-1.08 [[ 9.99061409e-01 -4.30865717e-02 -4.45519498e-03 7.52582776e+00] [ 4.30614308e-02 9.99056771e-01 -5.59290247e-03 -1.81705347e-01] [ 4.69197170e-03 5.39580595e-03 9.99974435e-01 -1.08016908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38719347 meters Centerline goodness : 0.877237 Centerline is valid? [False, False] Translation: X:7.53, Y:-0.18, Z:-1.08 [[ 9.99123869e-01 -4.15126125e-02 -5.31012746e-03 7.52881373e+00] [ 4.14919425e-02 9.99131049e-01 -3.94527216e-03 -1.78883850e-01] [ 5.46929177e-03 3.72148808e-03 9.99978118e-01 -1.08209923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.41719347 meters Centerline goodness : 0.875653 Centerline is valid? [False, False] Translation: X:7.53, Y:-0.18, Z:-1.08 [[ 9.99119535e-01 -4.14935829e-02 -6.19975973e-03 7.53281371e+00] [ 4.14670070e-02 9.99130381e-01 -4.35541388e-03 -1.75661553e-01] [ 6.37509002e-03 4.09449361e-03 9.99971296e-01 -1.08497506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44719347 meters Centerline goodness : 0.872980 Centerline is valid? [False, False] Translation: X:7.54, Y:-0.17, Z:-1.09 [[ 9.99056629e-01 -4.27855926e-02 -7.43273337e-03 7.53855470e+00] [ 4.27314602e-02 9.99059959e-01 -7.29526915e-03 -1.66571396e-01] [ 7.73787871e-03 6.97077545e-03 9.99945765e-01 -1.08972120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.47719347 meters Centerline goodness : 0.872177 Centerline is valid? [False, False] Translation: X:7.54, Y:-0.16, Z:-1.09 [[ 0.99905479 -0.04272387 -0.00801275 7.5415066 ] [ 0.04266009 0.99905786 -0.00796874 -0.16180071] [ 0.00834566 0.00761938 0.99993615 -1.0920477 ] [ 0. 0. 0. 1. ]] SLAMing on 70.50719347 meters Centerline goodness : 0.871579 Centerline is valid? [False, False] Translation: X:7.56, Y:-0.16, Z:-1.09 [[ 9.99097375e-01 -4.19066831e-02 -6.94727343e-03 7.56077807e+00] [ 4.18297904e-02 9.99065655e-01 -1.08667075e-02 -1.55932383e-01] [ 7.39616995e-03 1.05662960e-02 9.99916822e-01 -1.09366108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.53719347 meters Centerline goodness : 0.870867 Centerline is valid? [False, False] Translation: X:7.56, Y:-0.15, Z:-1.09 [[ 9.99169169e-01 -4.00563626e-02 -7.51393900e-03 7.56247137e+00] [ 3.99835923e-02 9.99154246e-01 -9.59710982e-03 -1.51139530e-01] [ 7.89200937e-03 9.28870198e-03 9.99925715e-01 -1.09457351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.56719347 meters Centerline goodness : 0.872739 Centerline is valid? [False, False] Translation: X:7.57, Y:-0.15, Z:-1.10 [[ 9.99319837e-01 -3.68292561e-02 -1.86267238e-03 7.57412223e+00] [ 3.67982614e-02 9.99216322e-01 -1.45818359e-02 -1.45374201e-01] [ 2.39825082e-03 1.45033748e-02 9.99891944e-01 -1.09773415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.59719347000001 meters Centerline goodness : 0.875257 Centerline is valid? [False, False] Translation: X:7.57, Y:-0.14, Z:-1.10 [[ 9.99392245e-01 -3.47857709e-02 -2.25610167e-03 7.57437969e+00] [ 3.47505123e-02 9.99296049e-01 -1.41353795e-02 -1.35689517e-01] [ 2.74622356e-03 1.40483879e-02 9.99897545e-01 -1.09718109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62719347 meters Centerline goodness : 0.877521 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.13, Z:-1.10 [[ 9.99525744e-01 -3.07704161e-02 1.21167643e-03 7.58624019e+00] [ 3.07883235e-02 9.99331852e-01 -1.96958814e-02 -1.31140991e-01] [-6.04816383e-04 1.97238460e-02 9.99805283e-01 -1.10035270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.65719347 meters Centerline goodness : 0.876866 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.13, Z:-1.10 [[ 9.99588716e-01 -2.86738323e-02 4.57960108e-04 7.58895427e+00] [ 2.86774303e-02 9.99426842e-01 -1.79887023e-02 -1.27408503e-01] [ 5.81074073e-05 1.79944369e-02 9.99838085e-01 -1.10210112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68719347 meters Centerline goodness : 0.875928 Centerline is valid? [False, False] Translation: X:7.60, Y:-0.12, Z:-1.11 [[ 9.99687037e-01 -2.45902925e-02 4.59846088e-03 7.60077981e+00] [ 2.46942274e-02 9.99404354e-01 -2.41066725e-02 -1.19394795e-01] [-4.00293170e-03 2.42126835e-02 9.99698816e-01 -1.10578698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.71719347 meters Centerline goodness : 0.879301 Centerline is valid? [False, False] Translation: X:7.62, Y:-0.12, Z:-1.11 [[ 9.99731352e-01 -2.23585920e-02 6.10878233e-03 7.62004859e+00] [ 2.24964659e-02 9.99470232e-01 -2.35194419e-02 -1.15995361e-01] [-5.57968449e-03 2.36505495e-02 9.99704716e-01 -1.10686210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74719347 meters Centerline goodness : 0.877737 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.11, Z:-1.11 [[ 0.99979795 -0.01665415 0.01125582 7.63044273] [ 0.01696755 0.99945415 -0.02834623 -0.10504281] [-0.01077759 0.02853149 0.99953479 -1.10963213] [ 0. 0. 0. 1. ]] SLAMing on 70.77719347 meters Centerline goodness : 0.881499 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.10, Z:-1.11 [[ 0.99985429 -0.01294384 0.01112903 7.63053564] [ 0.01322696 0.99958081 -0.02575368 -0.1008855 ] [-0.01079102 0.02589713 0.99960637 -1.10892052] [ 0. 0. 0. 1. ]] SLAMing on 70.80719347 meters Centerline goodness : 0.879295 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.10, Z:-1.11 [[ 9.99924467e-01 -5.86252716e-03 1.08023398e-02 7.63096433e+00] [ 6.06305775e-03 9.99808149e-01 -1.86253504e-02 -9.93650625e-02] [-1.06910758e-02 1.86894388e-02 9.99768176e-01 -1.10860109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.83719347 meters Centerline goodness : 0.882531 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.09, Z:-1.11 [[ 9.99943076e-01 6.10000707e-04 1.06523877e-02 7.63000505e+00] [-4.59967760e-04 9.99900749e-01 -1.40812175e-02 -9.21136479e-02] [-1.06599200e-02 1.40755162e-02 9.99844111e-01 -1.10648395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.86719347 meters Centerline goodness : 0.879698 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.09, Z:-1.11 [[ 9.99936080e-01 4.17295320e-03 1.05082161e-02 7.62992246e+00] [-4.05736436e-03 9.99931297e-01 -1.09972512e-02 -8.95150484e-02] [-1.05533851e-02 1.09539126e-02 9.99884312e-01 -1.10583903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.89719347 meters Centerline goodness : 0.882695 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.09, Z:-1.11 [[ 9.99933660e-01 4.67129069e-03 1.05287106e-02 7.62944515e+00] [-4.54905550e-03 9.99922325e-01 -1.16039021e-02 -8.57245868e-02] [-1.05820980e-02 1.15552367e-02 9.99877240e-01 -1.10518935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.92719347 meters Centerline goodness : 0.883462 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.08, Z:-1.11 [[ 9.99904767e-01 9.69362280e-03 9.82298488e-03 7.63168667e+00] [-9.62525408e-03 9.99929289e-01 -6.98361313e-03 -7.95599643e-02] [-9.88998680e-03 6.88839933e-03 9.99927366e-01 -1.10624270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.95719347 meters Centerline goodness : 0.881283 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.08, Z:-1.11 [[ 9.99874782e-01 1.25293576e-02 9.66624645e-03 7.63220725e+00] [-1.24913013e-02 9.99914030e-01 -3.98741050e-03 -7.78843894e-02] [-9.71537513e-03 3.86616721e-03 9.99945331e-01 -1.10630600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98719347000001 meters Centerline goodness : 0.884066 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.08, Z:-1.11 [[ 9.99837780e-01 1.52340228e-02 9.60931425e-03 7.63263905e+00] [-1.52261576e-02 9.99883678e-01 -8.91129728e-04 -7.78352060e-02] [-9.62177197e-03 7.44672235e-04 9.99953432e-01 -1.10656576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.01719347 meters Centerline goodness : 0.883261 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.08, Z:-1.11 [[ 9.99840221e-01 1.51912520e-02 9.42121239e-03 7.63298405e+00] [-1.51819797e-02 9.99884191e-01 -1.05493567e-03 -7.72567541e-02] [-9.43614712e-03 9.11734458e-04 9.99955063e-01 -1.10643614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04719347 meters Centerline goodness : 0.886980 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.08, Z:-1.11 [[ 9.99783527e-01 1.85058045e-02 9.50973162e-03 7.63322997e+00] [-1.85280297e-02 9.99825800e-01 2.25433317e-03 -7.65826586e-02] [-9.46635677e-03 -2.43004176e-03 9.99952240e-01 -1.10677707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.07719347 meters Centerline goodness : 0.884145 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.08, Z:-1.11 [[ 9.99707995e-01 2.22499747e-02 9.42676772e-03 7.63390462e+00] [-2.23103926e-02 9.99730905e-01 6.35323257e-03 -7.63585672e-02] [-9.28287176e-03 -6.56169228e-03 9.99935384e-01 -1.10707728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10719347 meters Centerline goodness : 0.885670 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.07, Z:-1.11 [[ 9.99709801e-01 2.23127979e-02 9.08040660e-03 7.63476933e+00] [-2.23669979e-02 9.99732348e-01 5.91175903e-03 -7.41651125e-02] [-8.94606833e-03 -6.11314487e-03 9.99941297e-01 -1.10733975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.13719347 meters Centerline goodness : 0.885271 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.07, Z:-1.11 [[ 0.99965823 0.02478091 0.00832593 7.63747051] [-0.02485449 0.99965188 0.00885302 -0.07407603] [-0.00810365 -0.00905693 0.99992615 -1.10891144] [ 0. 0. 0. 1. ]] SLAMing on 71.16719347 meters Centerline goodness : 0.886012 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.08, Z:-1.11 [[ 0.9996402 0.02554049 0.00819459 7.63796376] [-0.02562046 0.99962363 0.00980731 -0.07545959] [-0.00794102 -0.01001373 0.99991833 -1.10900706] [ 0. 0. 0. 1. ]] SLAMing on 71.19719347 meters Centerline goodness : 0.886050 Centerline is valid? [False, False] Translation: X:7.65, Y:-0.08, Z:-1.11 [[ 0.99967695 0.02318981 0.01040328 7.64891001] [-0.02337655 0.99956101 0.01820236 -0.07803609] [-0.00997661 -0.01843968 0.9997802 -1.11124558] [ 0. 0. 0. 1. ]] SLAMing on 71.22719347 meters Centerline goodness : 0.884991 Centerline is valid? [False, False] Translation: X:7.65, Y:-0.08, Z:-1.11 [[ 0.99967079 0.02349351 0.01031318 7.64928164] [-0.02368511 0.99954142 0.01886701 -0.07982817] [-0.0098652 -0.01910507 0.99976881 -1.11142236] [ 0. 0. 0. 1. ]] SLAMing on 71.25719347 meters Centerline goodness : 0.888291 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.08, Z:-1.11 [[ 0.99965126 0.02351131 0.01202377 7.65664286] [-0.02387503 0.99923237 0.03105882 -0.08366207] [-0.0112843 -0.03133506 0.99944524 -1.10977289] [ 0. 0. 0. 1. ]] SLAMing on 71.28719347 meters Centerline goodness : 0.886750 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.08, Z:-1.11 [[ 0.99965618 0.02344683 0.01173777 7.65721053] [-0.02380129 0.99923504 0.03102963 -0.0834811 ] [-0.01100125 -0.03129834 0.99944954 -1.10965098] [ 0. 0. 0. 1. ]] SLAMing on 71.31719347 meters Centerline goodness : 0.887362 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.08, Z:-1.11 [[ 0.99965539 0.02366433 0.01136237 7.65817441] [-0.02401503 0.99920601 0.03179038 -0.08419496] [-0.01060105 -0.0320523 0.99942997 -1.10952365] [ 0. 0. 0. 1. ]] SLAMing on 71.34719347000001 meters Centerline goodness : 0.887782 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.09, Z:-1.11 [[ 0.99966417 0.023528 0.01086162 7.65957043] [-0.02386758 0.9991941 0.03227212 -0.0858704 ] [-0.01009356 -0.03252053 0.9994201 -1.10987908] [ 0. 0. 0. 1. ]] SLAMing on 71.37719347 meters Centerline goodness : 0.886550 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.09, Z:-1.11 [[ 0.99967107 0.02338146 0.01053807 7.66104745] [-0.02371742 0.99917483 0.03297174 -0.08808303] [-0.00975845 -0.03321083 0.99940073 -1.11072768] [ 0. 0. 0. 1. ]] SLAMing on 71.40719347 meters Centerline goodness : 0.886550 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.09, Z:-1.11 [[ 0.99967035 0.02340625 0.0105515 7.66102407] [-0.02374273 0.99917396 0.03297992 -0.0880022 ] [-0.00977084 -0.03321957 0.99940032 -1.11066443] [ 0. 0. 0. 1. ]] SLAMing on 71.43719347 meters Centerline goodness : 0.886939 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.09, Z:-1.11 [[ 0.99972957 0.02101889 0.00994956 7.66327005] [-0.02131703 0.99929598 0.03087281 -0.08878691] [-0.00929365 -0.03107655 0.9994738 -1.11203805] [ 0. 0. 0. 1. ]] SLAMing on 71.46719347 meters Centerline goodness : 0.891549 Centerline is valid? [False, False] Translation: X:7.65, Y:-0.09, Z:-1.11 [[ 0.99984791 0.01256782 0.01209183 7.65270396] [-0.01317862 0.99856867 0.05183572 -0.09404717] [-0.01142306 -0.05198719 0.99858242 -1.10942506] [ 0. 0. 0. 1. ]] SLAMing on 71.49719347 meters Centerline goodness : 0.891604 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.09, Z:-1.11 [[ 0.99991477 0.01017577 0.0081801 7.6422366 ] [-0.01049199 0.99916085 0.03959178 -0.09230527] [-0.00777036 -0.03967423 0.99918245 -1.10554077] [ 0. 0. 0. 1. ]] SLAMing on 71.52719347 meters Centerline goodness : 0.890827 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.09, Z:-1.10 [[ 9.99972008e-01 5.80222732e-03 4.72402267e-03 7.62551223e+00] [-5.96806166e-03 9.99338215e-01 3.58819419e-02 -9.14328267e-02] [-4.51270120e-03 -3.59091308e-02 9.99344870e-01 -1.10475676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.55719347 meters Centerline goodness : 0.886942 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.09, Z:-1.11 [[ 9.99988526e-01 -2.43793339e-03 4.12360476e-03 7.62736014e+00] [ 2.32390378e-03 9.99620882e-01 2.74352220e-02 -8.97225300e-02] [-4.18892667e-03 -2.74253243e-02 9.99615078e-01 -1.10598935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58719347 meters Centerline goodness : 0.885930 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.09, Z:-1.11 [[ 9.99969948e-01 -6.62244042e-03 4.03072494e-03 7.62803756e+00] [ 6.52856573e-03 9.99717049e-01 2.28735679e-02 -8.80372222e-02] [-4.18106328e-03 -2.28465657e-02 9.99730240e-01 -1.10654522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.61719347 meters Centerline goodness : 0.887990 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.09, Z:-1.11 [[ 9.99936655e-01 -1.05070032e-02 4.03585933e-03 7.62808422e+00] [ 1.04307645e-02 9.99775034e-01 1.84683708e-02 -8.59829145e-02] [-4.22899863e-03 -1.84251038e-02 9.99821300e-01 -1.10647515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.64719347 meters Centerline goodness : 0.887536 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.08, Z:-1.11 [[ 9.99891459e-01 -1.41662323e-02 4.04834201e-03 7.62801405e+00] [ 1.41074284e-02 9.99799615e-01 1.42024749e-02 -8.39697419e-02] [-4.24872635e-03 -1.41438216e-02 9.99890944e-01 -1.10615816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.67719347 meters Centerline goodness : 0.889921 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.08, Z:-1.11 [[ 9.99876847e-01 -1.51024660e-02 4.26683021e-03 7.62738082e+00] [ 1.50475196e-02 9.99807024e-01 1.26288284e-02 -8.04549416e-02] [-4.45673327e-03 -1.25630679e-02 9.99911149e-01 -1.10562391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.70719347 meters Centerline goodness : 0.888444 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.08, Z:-1.11 [[ 9.99873126e-01 -1.53987182e-02 4.07561404e-03 7.62824565e+00] [ 1.53499776e-02 9.99813355e-01 1.17317479e-02 -7.72855051e-02] [-4.25550723e-03 -1.16676988e-02 9.99922875e-01 -1.10618298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.73719347000001 meters Centerline goodness : 0.889003 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.07, Z:-1.11 [[ 9.99869368e-01 -1.56081579e-02 4.19904424e-03 7.62839752e+00] [ 1.55619419e-02 9.99820333e-01 1.08225891e-02 -7.39778453e-02] [-4.36721049e-03 -1.07558300e-02 9.99932618e-01 -1.10661385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76719347 meters Centerline goodness : 0.889158 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.07, Z:-1.11 [[ 9.99868903e-01 -1.56558937e-02 4.13147550e-03 7.62826166e+00] [ 1.56170032e-02 9.99834951e-01 9.28333393e-03 -6.90454046e-02] [-4.27613250e-03 -9.21759565e-03 9.99948374e-01 -1.10614608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.79719347 meters Centerline goodness : 0.889508 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.07, Z:-1.11 [[ 9.99870045e-01 -1.55751963e-02 4.16018525e-03 7.62786477e+00] [ 1.55390987e-02 9.99842510e-01 8.57271141e-03 -6.60578249e-02] [-4.29305173e-03 -8.50695181e-03 9.99954600e-01 -1.10556906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82719347 meters Centerline goodness : 0.895701 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.06, Z:-1.11 [[ 9.99872964e-01 -1.54523151e-02 3.90911738e-03 7.62824597e+00] [ 1.54217898e-02 9.99851259e-01 7.72194273e-03 -6.17176363e-02] [-4.02785783e-03 -7.66067618e-03 9.99962544e-01 -1.10533977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.85719347 meters Centerline goodness : 0.893463 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.05, Z:-1.11 [[ 9.99952870e-01 -9.05852445e-03 3.49285425e-03 7.62905364e+00] [ 9.01190539e-03 9.99873063e-01 1.31393765e-02 -5.43091133e-02] [-3.61143424e-03 -1.31072799e-02 9.99907574e-01 -1.10563580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88719347 meters Centerline goodness : 0.892787 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.05, Z:-1.11 [[ 9.99953283e-01 -9.10206521e-03 3.25341181e-03 7.63044965e+00] [ 9.06247539e-03 9.99887132e-01 1.19830715e-02 -4.95446586e-02] [-3.36211530e-03 -1.19530277e-02 9.99922908e-01 -1.10680556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.91719347 meters Centerline goodness : 0.890292 Centerline is valid? [False, False] Translation: X:7.62, Y:-0.05, Z:-1.10 [[ 9.99985021e-01 -4.93538673e-03 -2.36634793e-03 7.62101201e+00] [ 4.94960402e-03 9.99969507e-01 6.04038162e-03 -4.54140654e-02] [ 2.33646415e-03 -6.05200363e-03 9.99978957e-01 -1.10401887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94719347 meters Centerline goodness : 0.892073 Centerline is valid? [False, False] Translation: X:7.62, Y:-0.04, Z:-1.10 [[ 9.99982783e-01 -5.23003498e-03 -2.66092488e-03 7.62173389e+00] [ 5.24307858e-03 9.99974158e-01 4.91877443e-03 -4.15808541e-02] [ 2.63513076e-03 -4.93264118e-03 9.99984362e-01 -1.10410963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.97719347 meters Centerline goodness : 0.894267 Centerline is valid? [False, False] Translation: X:7.60, Y:-0.04, Z:-1.10 [[ 9.99991103e-01 -3.46391555e-03 -2.40717633e-03 7.60200156e+00] [ 3.47283276e-03 9.99987087e-01 3.71017504e-03 -3.54224017e-02] [ 2.39429352e-03 -3.71850176e-03 9.99990220e-01 -1.10375501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.00719347 meters Centerline goodness : 0.893191 Centerline is valid? [False, False] Translation: X:7.60, Y:-0.03, Z:-1.10 [[ 9.99989085e-01 -3.88428397e-03 -2.59640632e-03 7.60247159e+00] [ 3.89151398e-03 9.99988549e-01 2.78539296e-03 -3.23218965e-02] [ 2.58555733e-03 -2.79546651e-03 9.99992750e-01 -1.10383483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.03719347 meters Centerline goodness : 0.894040 Centerline is valid? [False, False] Translation: X:7.60, Y:-0.03, Z:-1.10 [[ 9.99994170e-01 -2.36440855e-03 -2.46366813e-03 7.60150186e+00] [ 2.37504678e-03 9.99987831e-01 4.32410607e-03 -3.00591948e-02] [ 2.45341419e-03 -4.32993219e-03 9.99987616e-01 -1.10292960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.06719347 meters Centerline goodness : 0.893622 Centerline is valid? [False, False] Translation: X:7.60, Y:-0.03, Z:-1.10 [[ 9.99993976e-01 -1.79544339e-03 -2.97042439e-03 7.60369243e+00] [ 1.80991431e-03 9.99986473e-01 4.87617185e-03 -2.73166202e-02] [ 2.96162932e-03 -4.88151870e-03 9.99983700e-01 -1.10434608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.09719347000001 meters Centerline goodness : 0.892467 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.02, Z:-1.11 [[ 9.99969075e-01 -8.67267032e-04 -7.81639188e-03 7.58980438e+00] [ 8.99633388e-04 9.99991033e-01 4.13826649e-03 -2.07876656e-02] [ 7.81273281e-03 -4.14517041e-03 9.99960889e-01 -1.10634021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12719347 meters Centerline goodness : 0.893216 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.02, Z:-1.11 [[ 9.99964940e-01 -1.29661731e-03 -8.27265890e-03 7.59116706e+00] [ 1.32503239e-03 9.99993239e-01 3.43026335e-03 -1.85811938e-02] [ 8.26815523e-03 -3.44110463e-03 9.99959897e-01 -1.10701614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.15719347 meters Centerline goodness : 0.892592 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.02, Z:-1.11 [[ 9.99961527e-01 -1.97415254e-03 -8.54680616e-03 7.59216871e+00] [ 1.99621837e-03 9.99994695e-01 2.57400185e-03 -1.67704672e-02] [ 8.54167935e-03 -2.59096411e-03 9.99960163e-01 -1.10761484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18719347 meters Centerline goodness : 0.894698 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.01, Z:-1.11 [[ 9.99955645e-01 -3.94530691e-03 -8.55235861e-03 7.59188395e+00] [ 3.94796581e-03 9.99992164e-01 2.94035843e-04 -1.17656646e-02] [ 8.55113152e-03 -3.27787220e-04 9.99963385e-01 -1.10716841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.21719347 meters Centerline goodness : 0.894386 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.01, Z:-1.11 [[ 9.99951015e-01 -4.81462920e-03 -8.64795748e-03 7.59168772e+00] [ 4.80918587e-03 9.99988224e-01 -6.50120164e-04 -9.55282818e-03] [ 8.65098573e-03 6.08498683e-04 9.99962394e-01 -1.10655040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24719347 meters Centerline goodness : 0.894786 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.01, Z:-1.11 [[ 9.99945574e-01 -5.68655452e-03 -8.74714499e-03 7.59165785e+00] [ 5.67478177e-03 9.99982960e-01 -1.37012855e-03 -8.60826968e-03] [ 8.75478724e-03 1.32041584e-03 9.99960804e-01 -1.10614958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.27719347 meters Centerline goodness : 0.898393 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.01, Z:-1.11 [[ 9.99899276e-01 -1.09614559e-02 -9.01579622e-03 7.59225681e+00] [ 1.09014251e-02 9.99918260e-01 -6.68080845e-03 -5.82194929e-03] [ 9.08829065e-03 6.58185051e-03 9.99937039e-01 -1.10617485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.30719347 meters Centerline goodness : 0.897257 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.01, Z:-1.11 [[ 9.99886193e-01 -1.18197978e-02 -9.37518732e-03 7.59349025e+00] [ 1.17531121e-02 9.99905463e-01 -7.13648473e-03 -5.02404100e-03] [ 9.45865283e-03 7.02548491e-03 9.99930586e-01 -1.10687101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.33719347 meters Centerline goodness : 0.897831 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.00, Z:-1.11 [[ 9.99875122e-01 -1.25204143e-02 -9.64257301e-03 7.59468877e+00] [ 1.24464979e-02 9.99892985e-01 -7.68786228e-03 -3.84375711e-03] [ 9.73779633e-03 7.56688597e-03 9.99923956e-01 -1.10767100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.36719347 meters Centerline goodness : 0.895946 Centerline is valid? [False, False] Translation: X:7.60, Y:-0.00, Z:-1.11 [[ 9.99862177e-01 -1.35247939e-02 -9.62849057e-03 7.59508316e+00] [ 1.34379079e-02 9.99868914e-01 -9.03206108e-03 -9.11352090e-05] [ 9.74938517e-03 8.90142948e-03 9.99912853e-01 -1.10805464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.39719347 meters Centerline goodness : 0.898238 Centerline is valid? [False, False] Translation: X:7.60, Y:0.00, Z:-1.11 [[ 9.99898074e-01 -1.03983925e-02 -9.78342345e-03 7.59501259e+00] [ 1.03425342e-02 9.99930023e-01 -5.74285991e-03 1.15102671e-03] [ 9.84245535e-03 5.64108917e-03 9.99935650e-01 -1.10754276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.42719347 meters Centerline goodness : 0.901913 Centerline is valid? [False, False] Translation: X:7.59, Y:0.00, Z:-1.11 [[ 9.99927525e-01 -7.06542053e-03 -9.74808620e-03 7.59439968e+00] [ 7.03901518e-03 9.99971471e-01 -2.74042907e-03 3.82412991e-03] [ 9.76717038e-03 2.67161353e-03 9.99948731e-01 -1.10674243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.45719347 meters Centerline goodness : 0.904933 Centerline is valid? [False, False] Translation: X:7.59, Y:0.01, Z:-1.10 [[ 9.99955931e-01 -8.40019427e-04 -9.35037420e-03 7.59225936e+00] [ 8.52517850e-04 9.99998748e-01 1.33277080e-03 1.33364857e-02] [ 9.34924294e-03 -1.34068343e-03 9.99955396e-01 -1.10437268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48719347000001 meters Centerline goodness : 0.904845 Centerline is valid? [False, False] Translation: X:7.59, Y:0.02, Z:-1.10 [[ 9.99952971e-01 2.71955103e-03 -9.30914803e-03 7.59197256e+00] [-2.68597275e-03 9.99989849e-01 3.61762359e-03 1.85985448e-02] [ 9.31889184e-03 -3.59244934e-03 9.99950125e-01 -1.10372462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.51719347 meters Centerline goodness : 0.905241 Centerline is valid? [False, False] Translation: X:7.59, Y:0.02, Z:-1.10 [[ 9.99940180e-01 5.79906012e-03 -9.27397309e-03 7.59187265e+00] [-5.74789604e-03 9.99968167e-01 5.53412374e-03 2.39954560e-02] [ 9.30577059e-03 -5.48048686e-03 9.99941682e-01 -1.10339232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54719347 meters Centerline goodness : 0.906233 Centerline is valid? [False, False] Translation: X:7.59, Y:0.03, Z:-1.10 [[ 9.99920288e-01 8.43647389e-03 -9.39375355e-03 7.59269066e+00] [-8.37010689e-03 9.99939891e-01 7.08205587e-03 2.98985829e-02] [ 9.45293648e-03 -7.00286463e-03 9.99930799e-01 -1.10384191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.57719347 meters Centerline goodness : 0.906787 Centerline is valid? [False, False] Translation: X:7.59, Y:0.04, Z:-1.10 [[ 0.99989463 0.01101466 -0.00945563 7.59319166] [-0.0109334 0.99990322 0.00860253 0.03629827] [ 0.00954947 -0.00849824 0.99991829 -1.1040535 ] [ 0. 0. 0. 1. ]] SLAMing on 72.60719347 meters Centerline goodness : 0.906558 Centerline is valid? [False, False] Translation: X:7.59, Y:0.04, Z:-1.10 [[ 0.99986729 0.01325602 -0.00946962 7.5933526 ] [-0.01316221 0.99986435 0.00990116 0.04267278] [ 0.00959959 -0.00977521 0.99990614 -1.10398325] [ 0. 0. 0. 1. ]] SLAMing on 72.63719347 meters Centerline goodness : 0.905454 Centerline is valid? [False, False] Translation: X:7.61, Y:0.05, Z:-1.10 [[ 9.99922092e-01 1.01877469e-02 -7.21242589e-03 7.61042197e+00] [-1.01548705e-02 9.99937948e-01 4.58034708e-03 5.46978312e-02] [ 7.25864176e-03 -4.50674899e-03 9.99963500e-01 -1.10429683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66719347 meters Centerline goodness : 0.905391 Centerline is valid? [False, False] Translation: X:7.61, Y:0.06, Z:-1.10 [[ 9.99928771e-01 9.32485614e-03 -7.44988141e-03 7.61100492e+00] [-9.30216717e-03 9.99952008e-01 3.07441687e-03 5.88188489e-02] [ 7.47819237e-03 -3.00489784e-03 9.99967523e-01 -1.10425835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.69719347 meters Centerline goodness : 0.905204 Centerline is valid? [False, False] Translation: X:7.61, Y:0.06, Z:-1.10 [[ 9.99936765e-01 8.36708848e-03 -7.51382083e-03 7.61113729e+00] [-8.35707935e-03 9.99964151e-01 1.36250655e-03 6.32666927e-02] [ 7.52495168e-03 -1.29962680e-03 9.99970843e-01 -1.10411060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.72719347 meters Centerline goodness : 0.905464 Centerline is valid? [False, False] Translation: X:7.61, Y:0.07, Z:-1.11 [[ 9.99943473e-01 7.01748106e-03 -7.98787092e-03 7.61283367e+00] [-7.02267050e-03 9.99975147e-01 -6.21802116e-04 7.34506757e-02] [ 7.98330891e-03 6.77863153e-04 9.99967903e-01 -1.10519850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.75719347 meters Centerline goodness : 0.904049 Centerline is valid? [False, False] Translation: X:7.62, Y:0.08, Z:-1.11 [[ 9.99937575e-01 7.03227643e-03 -8.68295264e-03 7.61547064e+00] [-7.04007455e-03 9.99974842e-01 -8.67857229e-04 7.73164088e-02] [ 8.67663118e-03 9.28931687e-04 9.99961926e-01 -1.10680534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.78719347 meters Centerline goodness : 0.904248 Centerline is valid? [False, False] Translation: X:7.62, Y:0.08, Z:-1.11 [[ 9.99937293e-01 6.56254085e-03 -9.07435372e-03 7.61720068e+00] [-6.57879006e-03 9.99976807e-01 -1.76198483e-03 8.10370395e-02] [ 9.06258016e-03 1.82157261e-03 9.99957275e-01 -1.10794471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.81719347 meters Centerline goodness : 0.901511 Centerline is valid? [False, False] Translation: X:7.62, Y:0.09, Z:-1.11 [[ 9.99919037e-01 7.96905191e-03 -9.92039296e-03 7.61960227e+00] [-7.98021310e-03 9.99967568e-01 -1.08599887e-03 8.95213485e-02] [ 9.91141684e-03 1.16507780e-03 9.99950202e-01 -1.10892608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84719347000001 meters Centerline goodness : 0.901961 Centerline is valid? [False, False] Translation: X:7.62, Y:0.09, Z:-1.11 [[ 9.99899141e-01 1.03096596e-02 -9.76820321e-03 7.61890919e+00] [-1.03030995e-02 9.99946661e-01 7.21665464e-04 9.36242082e-02] [ 9.77512231e-03 -6.20949908e-04 9.99952030e-01 -1.10828444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.87719347 meters Centerline goodness : 0.902912 Centerline is valid? [False, False] Translation: X:7.62, Y:0.10, Z:-1.11 [[ 9.99873175e-01 1.26655712e-02 -9.65488604e-03 7.61823144e+00] [-1.26398867e-02 9.99916423e-01 2.71665430e-03 9.73768253e-02] [ 9.68848710e-03 -2.59427309e-03 9.99949700e-01 -1.10750775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90719347 meters Centerline goodness : 0.902814 Centerline is valid? [False, False] Translation: X:7.62, Y:0.11, Z:-1.11 [[ 9.99838416e-01 1.53059403e-02 -9.42704847e-03 7.61751066e+00] [-1.52753320e-02 9.99877845e-01 3.31034509e-03 1.07244480e-01] [ 9.47656486e-03 -3.16580889e-03 9.99950085e-01 -1.10630750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.93719347 meters Centerline goodness : 0.905003 Centerline is valid? [False, False] Translation: X:7.62, Y:0.11, Z:-1.11 [[ 9.99789185e-01 1.82309556e-02 -9.44554851e-03 7.61744270e+00] [-1.81798219e-02 9.99819763e-01 5.47140816e-03 1.11541782e-01] [ 9.54359507e-03 -5.29853632e-03 9.99940421e-01 -1.10586969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96719347 meters Centerline goodness : 0.903875 Centerline is valid? [False, False] Translation: X:7.62, Y:0.12, Z:-1.11 [[ 9.99732029e-01 2.11326104e-02 -9.44894345e-03 7.61728772e+00] [-2.10614029e-02 9.99749501e-01 7.57308597e-03 1.15607757e-01] [ 9.60661558e-03 -7.37204860e-03 9.99926680e-01 -1.10532597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.99719347 meters Centerline goodness : 0.904938 Centerline is valid? [False, False] Translation: X:7.62, Y:0.12, Z:-1.11 [[ 0.9996681 0.02400934 -0.0093407 7.61751562] [-0.02393049 0.99967779 0.0084644 0.12411014] [ 0.00954091 -0.00823806 0.99992055 -1.10515524] [ 0. 0. 0. 1. ]] SLAMing on 73.02719347 meters Centerline goodness : 0.906760 Centerline is valid? [False, False] Translation: X:7.62, Y:0.13, Z:-1.11 [[ 0.99957966 0.0274098 -0.00944456 7.61809466] [-0.02730529 0.99956637 0.01102261 0.12819056] [ 0.00974259 -0.01076009 0.99989465 -1.10528157] [ 0. 0. 0. 1. ]] SLAMing on 73.05719347 meters Centerline goodness : 0.907047 Centerline is valid? [False, False] Translation: X:7.62, Y:0.13, Z:-1.11 [[ 0.99947752 0.03088624 -0.00952512 7.61850645] [-0.03075633 0.99943579 0.01349604 0.13296363] [ 0.00993659 -0.01319603 0.99986356 -1.10509728] [ 0. 0. 0. 1. ]] SLAMing on 73.08719347 meters Centerline goodness : 0.907725 Centerline is valid? [False, False] Translation: X:7.62, Y:0.14, Z:-1.11 [[ 0.99935062 0.03467874 -0.00978397 7.61952137] [-0.03451755 0.99927296 0.01618924 0.13758579] [ 0.01033828 -0.015841 0.99982108 -1.10516679] [ 0. 0. 0. 1. ]] SLAMing on 73.11719347 meters Centerline goodness : 0.908703 Centerline is valid? [False, False] Translation: X:7.63, Y:0.14, Z:-1.10 [[ 0.99896201 0.04372386 -0.01277213 7.62677558] [-0.04345809 0.99884708 0.02039362 0.14492051] [ 0.01364909 -0.0198174 0.99971044 -1.10461354] [ 0. 0. 0. 1. ]] SLAMing on 73.14719347 meters Centerline goodness : 0.910117 Centerline is valid? [False, False] Translation: X:7.63, Y:0.15, Z:-1.10 [[ 0.99876473 0.04795895 -0.01299853 7.6280277 ] [-0.04764485 0.99858826 0.02348313 0.14789136] [ 0.01410641 -0.02283481 0.99963973 -1.10495313] [ 0. 0. 0. 1. ]] SLAMing on 73.17719347 meters Centerline goodness : 0.912501 Centerline is valid? [False, False] Translation: X:7.63, Y:0.15, Z:-1.10 [[ 0.99847252 0.05288772 -0.01598473 7.6344767 ] [-0.05249132 0.99832625 0.02427688 0.15148113] [ 0.01724192 -0.02340074 0.99957747 -1.10291513] [ 0. 0. 0. 1. ]] SLAMing on 73.20719347 meters Centerline goodness : 0.910986 Centerline is valid? [False, False] Translation: X:7.64, Y:0.15, Z:-1.10 [[ 0.99825164 0.05688447 -0.0160565 7.63519289] [-0.05643158 0.99803109 0.02737539 0.15481886] [ 0.01758212 -0.02642144 0.99949626 -1.10289451] [ 0. 0. 0. 1. ]] SLAMing on 73.23719347000001 meters Centerline goodness : 0.911792 Centerline is valid? [False, False] Translation: X:7.64, Y:0.16, Z:-1.10 [[ 0.99800288 0.06108832 -0.01607676 7.63540443] [-0.06058362 0.99770608 0.03020266 0.15980296] [ 0.01788491 -0.02916835 0.9994145 -1.10203477] [ 0. 0. 0. 1. ]] SLAMing on 73.26719347 meters Centerline goodness : 0.910370 Centerline is valid? [False, False] Translation: X:7.64, Y:0.16, Z:-1.10 [[ 0.99799601 0.06111389 -0.0164028 7.63631382] [-0.06060232 0.99770935 0.03005695 0.16006808] [ 0.01820213 -0.02900267 0.99941359 -1.10231756] [ 0. 0. 0. 1. ]] SLAMing on 73.29719347 meters Centerline goodness : 0.910139 Centerline is valid? [False, False] Translation: X:7.64, Y:0.16, Z:-1.10 [[ 0.99817588 0.05789934 -0.01710498 7.63822074] [-0.05743449 0.99799694 0.0265213 0.15992169] [ 0.01860628 -0.0254905 0.9995019 -1.10337893] [ 0. 0. 0. 1. ]] SLAMing on 73.32719347 meters Centerline goodness : 0.910139 Centerline is valid? [False, False] Translation: X:7.64, Y:0.16, Z:-1.10 [[ 0.99817588 0.05789934 -0.01710498 7.63822074] [-0.05743449 0.99799694 0.0265213 0.15992169] [ 0.01860628 -0.0254905 0.9995019 -1.10337893] [ 0. 0. 0. 1. ]] SLAMing on 73.35719347 meters Centerline goodness : 0.907835 Centerline is valid? [False, False] Translation: X:7.66, Y:0.16, Z:-1.11 [[ 0.99845069 0.0519352 -0.01997364 7.66177852] [-0.05143236 0.99836564 0.024915 0.1550722 ] [ 0.02123496 -0.02384911 0.99949002 -1.10689745] [ 0. 0. 0. 1. ]] SLAMing on 73.38719347 meters Centerline goodness : 0.906866 Centerline is valid? [False, False] Translation: X:7.67, Y:0.15, Z:-1.11 [[ 0.99873778 0.04786881 -0.01521253 7.67494642] [-0.04739363 0.99841977 0.03019627 0.15206742] [ 0.01663395 -0.02943718 0.99942822 -1.1112998 ] [ 0. 0. 0. 1. ]] SLAMing on 73.41719347 meters Centerline goodness : 0.906506 Centerline is valid? [False, False] Translation: X:7.68, Y:0.15, Z:-1.11 [[ 0.9988402 0.04539606 -0.0160456 7.677107 ] [-0.04493881 0.99860306 0.02779273 0.15057009] [ 0.01728487 -0.02703943 0.99948492 -1.1121025 ] [ 0. 0. 0. 1. ]] SLAMing on 73.44719347 meters Centerline goodness : 0.904942 Centerline is valid? [False, False] Translation: X:7.69, Y:0.14, Z:-1.11 [[ 0.99905654 0.04156512 -0.01258476 7.6925769 ] [-0.04116715 0.99869018 0.03038389 0.1439107 ] [ 0.01383119 -0.02983714 0.99945908 -1.11186202] [ 0. 0. 0. 1. ]] SLAMing on 73.47719347 meters Centerline goodness : 0.905052 Centerline is valid? [False, False] Translation: X:7.71, Y:0.14, Z:-1.11 [[ 0.99925883 0.03735777 -0.00928344 7.70874157] [-0.03704589 0.99880879 0.03175859 0.13917369] [ 0.01045881 -0.03139114 0.99945245 -1.11213913] [ 0. 0. 0. 1. ]] SLAMing on 73.50719347 meters Centerline goodness : 0.904814 Centerline is valid? [False, False] Translation: X:7.73, Y:0.13, Z:-1.11 [[ 9.99440132e-01 3.27609381e-02 -6.79289362e-03 7.72553866e+00] [-3.25140232e-02 9.98901869e-01 3.37326968e-02 1.33422244e-01] [ 7.89054892e-03 -3.34929467e-02 9.99407806e-01 -1.11332814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.53719347 meters Centerline goodness : 0.905543 Centerline is valid? [False, False] Translation: X:7.74, Y:0.13, Z:-1.11 [[ 9.99618152e-01 2.73224906e-02 -4.12703183e-03 7.74236528e+00] [-2.71621968e-02 9.99022308e-01 3.48804244e-02 1.28237219e-01] [ 5.07601693e-03 -3.47550061e-02 9.99382971e-01 -1.11477915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.56719347 meters Centerline goodness : 0.906695 Centerline is valid? [False, False] Translation: X:7.76, Y:0.12, Z:-1.12 [[ 9.99792080e-01 2.02562039e-02 -2.34168861e-03 7.76076686e+00] [-2.01589645e-02 9.99149843e-01 3.59611815e-02 1.18302595e-01] [ 3.06813483e-03 -3.59064984e-02 9.99350444e-01 -1.11685931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.59719347000001 meters Centerline goodness : 0.905601 Centerline is valid? [False, False] Translation: X:7.78, Y:0.11, Z:-1.12 [[ 9.99892404e-01 1.46430508e-02 -8.72691758e-04 7.77887641e+00] [-1.46005100e-02 9.99202476e-01 3.71650099e-02 1.13426540e-01] [ 1.41620489e-03 -3.71482694e-02 9.99308761e-01 -1.11869828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62719347 meters Centerline goodness : 0.904765 Centerline is valid? [False, False] Translation: X:7.80, Y:0.11, Z:-1.12 [[ 9.99958863e-01 9.03730910e-03 7.74419730e-04 7.79708997e+00] [-9.06021008e-03 9.99236769e-01 3.79972546e-02 1.08944848e-01] [-4.30435735e-04 -3.80027079e-02 9.99277543e-01 -1.12068256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.65719347 meters Centerline goodness : 0.904076 Centerline is valid? [False, False] Translation: X:7.82, Y:0.10, Z:-1.12 [[ 9.99999417e-01 -9.83235365e-04 -4.46573137e-04 7.82078569e+00] [ 1.01071893e-03 9.97792410e-01 6.64024525e-02 9.55431776e-02] [ 3.80298047e-04 -6.64028651e-02 9.97792822e-01 -1.12174352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68719347 meters Centerline goodness : 0.905171 Centerline is valid? [False, False] Translation: X:7.82, Y:0.09, Z:-1.12 [[ 9.99989062e-01 -4.61711444e-03 -7.47176492e-04 7.82201240e+00] [ 4.65527743e-03 9.97966123e-01 6.35763036e-02 9.27565191e-02] [ 4.52117758e-04 -6.35790865e-02 9.97976701e-01 -1.12205395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.71719347 meters Centerline goodness : 0.903977 Centerline is valid? [False, False] Translation: X:7.82, Y:0.09, Z:-1.12 [[ 9.99966591e-01 -8.12570115e-03 -8.88239595e-04 7.82262979e+00] [ 8.16462545e-03 9.98124194e-01 6.06748066e-02 9.02837757e-02] [ 3.93548084e-04 -6.06800317e-02 9.98157191e-01 -1.12198632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74719347 meters Centerline goodness : 0.906388 Centerline is valid? [False, False] Translation: X:7.82, Y:0.09, Z:-1.12 [[ 9.99928383e-01 -1.19277906e-02 -9.78433740e-04 7.82266270e+00] [ 1.19641376e-02 9.98308814e-01 5.68891194e-02 8.93277925e-02] [ 2.98217522e-04 -5.68967513e-02 9.98380023e-01 -1.12131957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.77719347 meters Centerline goodness : 0.905294 Centerline is valid? [False, False] Translation: X:7.82, Y:0.09, Z:-1.12 [[ 9.99877727e-01 -1.55824503e-02 -1.31061066e-03 7.82289677e+00] [ 1.56304434e-02 9.98424236e-01 5.38955820e-02 8.59576936e-02] [ 4.68720211e-04 -5.39094775e-02 9.98545717e-01 -1.12032423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.80719347 meters Centerline goodness : 0.905818 Centerline is valid? [False, False] Translation: X:7.81, Y:0.09, Z:-1.12 [[ 9.99894745e-01 -1.42277385e-02 -2.84088915e-03 7.81222401e+00] [ 1.43374534e-02 9.98959173e-01 4.33013739e-02 8.56016883e-02] [ 2.22185165e-03 -4.33375473e-02 9.99058017e-01 -1.11778302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.83719347 meters Centerline goodness : 0.904964 Centerline is valid? [False, False] Translation: X:7.81, Y:0.08, Z:-1.12 [[ 9.99865005e-01 -1.62582179e-02 -2.37538649e-03 7.81081352e+00] [ 1.63420140e-02 9.99024462e-01 4.10251430e-02 8.46439935e-02] [ 1.70607350e-03 -4.10584234e-02 9.99155291e-01 -1.11650014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.86719347 meters Centerline goodness : 0.907015 Centerline is valid? [False, False] Translation: X:7.81, Y:0.08, Z:-1.12 [[ 9.99862692e-01 -1.64307231e-02 -2.15143944e-03 7.80994044e+00] [ 1.65061607e-02 9.98994153e-01 4.16920772e-02 8.21857255e-02] [ 1.46424444e-03 -4.17218646e-02 9.99128191e-01 -1.11548629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.89719347 meters Centerline goodness : 0.906412 Centerline is valid? [False, False] Translation: X:7.80, Y:0.08, Z:-1.11 [[ 9.99894681e-01 -1.36470382e-02 -4.93814829e-03 7.79898149e+00] [ 1.38025020e-02 9.99361623e-01 3.29520501e-02 8.28886003e-02] [ 4.48529800e-03 -3.30167384e-02 9.99444734e-01 -1.11233476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.92719347 meters Centerline goodness : 0.907272 Centerline is valid? [False, False] Translation: X:7.80, Y:0.08, Z:-1.11 [[ 9.99891737e-01 -1.37513156e-02 -5.23596641e-03 7.79981871e+00] [ 1.39166734e-02 9.99359242e-01 3.29762245e-02 8.26825050e-02] [ 4.77914495e-03 -3.30455216e-02 9.99442421e-01 -1.11266017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.95719347 meters Centerline goodness : 0.906350 Centerline is valid? [False, False] Translation: X:7.78, Y:0.08, Z:-1.11 [[ 0.99990495 -0.01012473 -0.00935882 7.78491361] [ 0.01044094 0.9993543 0.03437976 0.0809915 ] [ 0.0090047 -0.03447421 0.99936502 -1.11376749] [ 0. 0. 0. 1. ]] SLAMing on 73.98719347000001 meters Centerline goodness : 0.901720 Centerline is valid? [False, False] Translation: X:7.79, Y:0.08, Z:-1.11 [[ 0.99990443 -0.01013553 -0.0094018 7.78543808] [ 0.01045532 0.99934609 0.03461337 0.0790551 ] [ 0.00904483 -0.03470836 0.99935655 -1.11419202] [ 0. 0. 0. 1. ]] SLAMing on 74.01719347 meters Centerline goodness : 0.904320 Centerline is valid? [False, False] Translation: X:7.79, Y:0.08, Z:-1.11 [[ 0.99990017 -0.01037045 -0.00959714 7.78570299] [ 0.01069476 0.99935154 0.03438213 0.07879178] [ 0.00923435 -0.03448134 0.99936268 -1.11394302] [ 0. 0. 0. 1. ]] SLAMing on 74.04719347 meters Centerline goodness : 0.906997 Centerline is valid? [False, False] Translation: X:7.79, Y:0.08, Z:-1.11 [[ 0.99990079 -0.01018678 -0.00972778 7.78606134] [ 0.01051416 0.99935911 0.03421728 0.07973837] [ 0.00937298 -0.03431616 0.99936707 -1.11396358] [ 0. 0. 0. 1. ]] SLAMing on 74.07719347 meters Centerline goodness : 0.905654 Centerline is valid? [False, False] Translation: X:7.79, Y:0.08, Z:-1.11 [[ 0.99990268 -0.00980875 -0.0099207 7.78658073] [ 0.01013895 0.9993772 0.03379972 0.08252632] [ 0.00958299 -0.03389701 0.99937939 -1.11390323] [ 0. 0. 0. 1. ]] SLAMing on 74.10719347 meters Centerline goodness : 0.905946 Centerline is valid? [False, False] Translation: X:7.78, Y:0.09, Z:-1.11 [[ 9.99937517e-01 -1.99751595e-03 -1.09986993e-02 7.78162448e+00] [ 2.25295159e-03 9.99726888e-01 2.32609697e-02 9.04814749e-02] [ 1.09492313e-02 -2.32842958e-02 9.99668923e-01 -1.11114450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.13719347 meters Centerline goodness : 0.907229 Centerline is valid? [False, False] Translation: X:7.79, Y:0.09, Z:-1.11 [[ 9.99983912e-01 5.31727251e-04 -5.64740978e-03 7.79220075e+00] [-4.39039444e-04 9.99865398e-01 1.64010230e-02 9.44203660e-02] [ 5.65537050e-03 -1.63982797e-02 9.99849545e-01 -1.11374855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16719347 meters Centerline goodness : 0.906591 Centerline is valid? [False, False] Translation: X:7.79, Y:0.10, Z:-1.11 [[ 9.99978035e-01 2.37448518e-03 -6.18801512e-03 7.79448079e+00] [-2.26755624e-03 9.99848979e-01 1.72301053e-02 9.66897360e-02] [ 6.22799323e-03 -1.72156952e-02 9.99832402e-01 -1.11495471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.19719347 meters Centerline goodness : 0.908797 Centerline is valid? [False, False] Translation: X:7.79, Y:0.10, Z:-1.11 [[ 9.99959955e-01 6.40486424e-03 -6.25021792e-03 7.79441790e+00] [-6.28105473e-03 9.99787556e-01 1.96313720e-02 1.01181688e-01] [ 6.37462637e-03 -1.95913279e-02 9.99787749e-01 -1.11410726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.22719347 meters Centerline goodness : 0.909842 Centerline is valid? [False, False] Translation: X:7.79, Y:0.10, Z:-1.11 [[ 9.99956572e-01 6.62286953e-03 -6.55676165e-03 7.79486100e+00] [-6.49734309e-03 9.99798671e-01 1.89842528e-02 1.04682074e-01] [ 6.68117181e-03 -1.89408268e-02 9.99798283e-01 -1.11360111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.25719347 meters Centerline goodness : 0.909068 Centerline is valid? [False, False] Translation: X:7.80, Y:0.11, Z:-1.11 [[ 9.99952971e-01 6.73778761e-03 -6.97550517e-03 7.79529626e+00] [-6.60996531e-03 9.99812733e-01 1.81881288e-02 1.08582306e-01] [ 7.09674663e-03 -1.81411656e-02 9.99810249e-01 -1.11276031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.28719347 meters Centerline goodness : 0.908695 Centerline is valid? [False, False] Translation: X:7.80, Y:0.11, Z:-1.11 [[ 9.99949113e-01 6.88151729e-03 -7.37674481e-03 7.79615223e+00] [-6.75227522e-03 9.99825735e-01 1.74042159e-02 1.12307488e-01] [ 7.49522672e-03 -1.73535204e-02 9.99821322e-01 -1.11255141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.31719347 meters Centerline goodness : 0.907561 Centerline is valid? [False, False] Translation: X:7.80, Y:0.11, Z:-1.11 [[ 0.99993017 0.00856393 -0.00814311 7.79939216] [-0.00841648 0.99980307 0.01797163 0.1148239 ] [ 0.00829541 -0.01790184 0.99980534 -1.11449788] [ 0. 0. 0. 1. ]] SLAMing on 74.34719347000001 meters Centerline goodness : 0.905678 Centerline is valid? [False, False] Translation: X:7.80, Y:0.12, Z:-1.12 [[ 9.99936634e-01 7.25127499e-03 -8.61092128e-03 7.80233609e+00] [-7.11124773e-03 9.99843769e-01 1.61823561e-02 1.15639357e-01] [ 8.72691870e-03 -1.61200963e-02 9.99831978e-01 -1.11686883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.37719347 meters Centerline goodness : 0.906416 Centerline is valid? [False, False] Translation: X:7.81, Y:0.12, Z:-1.12 [[ 9.99940682e-01 5.85268617e-03 -9.18581970e-03 7.80514347e+00] [-5.71892461e-03 9.99878209e-01 1.45210760e-02 1.16270484e-01] [ 9.26968825e-03 -1.44676817e-02 9.99852369e-01 -1.11884829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40719347 meters Centerline goodness : 0.905205 Centerline is valid? [False, False] Translation: X:7.82, Y:0.12, Z:-1.12 [[ 9.99971814e-01 1.53521901e-03 -7.34942286e-03 7.81591934e+00] [-1.37686251e-03 9.99767823e-01 2.15035757e-02 1.15925959e-01] [ 7.38072919e-03 -2.14928504e-02 9.99741758e-01 -1.12083419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.43719347 meters Centerline goodness : 0.904558 Centerline is valid? [False, False] Translation: X:7.82, Y:0.12, Z:-1.12 [[ 9.99967517e-01 -1.05752583e-03 -7.99038004e-03 7.81792184e+00] [ 1.20679579e-03 9.99824420e-01 1.86995418e-02 1.16173394e-01] [ 7.96920184e-03 -1.87085771e-02 9.99793219e-01 -1.12150160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46719347 meters Centerline goodness : 0.902650 Centerline is valid? [False, False] Translation: X:7.82, Y:0.12, Z:-1.12 [[ 9.99957881e-01 -3.07961042e-03 -8.64588736e-03 7.82043937e+00] [ 3.22287347e-03 9.99856928e-01 1.66053426e-02 1.15756487e-01] [ 8.59351239e-03 -1.66325078e-02 9.99824740e-01 -1.12277617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.49719347 meters Centerline goodness : 0.902201 Centerline is valid? [False, False] Translation: X:7.82, Y:0.11, Z:-1.13 [[ 9.99949356e-01 -3.54656659e-03 -9.41841475e-03 7.82421712e+00] [ 3.69916381e-03 9.99861372e-01 1.62343166e-02 1.13583941e-01] [ 9.35953301e-03 -1.62683347e-02 9.99823855e-01 -1.12524501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52719347 meters Centerline goodness : 0.902412 Centerline is valid? [False, False] Translation: X:7.83, Y:0.11, Z:-1.13 [[ 9.99946990e-01 -2.85621502e-03 -9.89241314e-03 7.82642281e+00] [ 3.02586513e-03 9.99847882e-01 1.71772226e-02 1.11864786e-01] [ 9.84184648e-03 -1.72062452e-02 9.99803522e-01 -1.12686206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.55719347 meters Centerline goodness : 0.901484 Centerline is valid? [False, False] Translation: X:7.83, Y:0.11, Z:-1.13 [[ 9.99937606e-01 -3.79434495e-03 -1.05065096e-02 7.82969961e+00] [ 3.96391892e-03 9.99861458e-01 1.61663897e-02 1.10615046e-01] [ 1.04437131e-02 -1.62070279e-02 9.99814113e-01 -1.12922419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58719347 meters Centerline goodness : 0.902264 Centerline is valid? [False, False] Translation: X:7.83, Y:0.11, Z:-1.13 [[ 9.99925457e-01 -5.08715697e-03 -1.10995911e-02 7.83251632e+00] [ 5.25023940e-03 9.99877969e-01 1.47133211e-02 1.09706365e-01] [ 1.10233876e-02 -1.47704998e-02 9.99830144e-01 -1.13101217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.61719347 meters Centerline goodness : 0.901186 Centerline is valid? [False, False] Translation: X:7.83, Y:0.11, Z:-1.13 [[ 9.99924523e-01 -4.61141117e-03 -1.13878646e-02 7.83342086e+00] [ 4.78754742e-03 9.99868584e-01 1.54884968e-02 1.07880849e-01] [ 1.13149442e-02 -1.55418477e-02 9.99815194e-01 -1.13135573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.64719347 meters Centerline goodness : 0.900649 Centerline is valid? [False, False] Translation: X:7.85, Y:0.10, Z:-1.13 [[ 9.99948804e-01 -5.84225867e-03 -8.26174534e-03 7.85073411e+00] [ 6.00584621e-03 9.99783610e-01 1.99164059e-02 1.03740741e-01] [ 8.14360078e-03 -1.99650050e-02 9.99767513e-01 -1.13203148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.67719347 meters Centerline goodness : 0.901112 Centerline is valid? [False, False] Translation: X:7.85, Y:0.10, Z:-1.13 [[ 0.99991998 -0.00931404 -0.00856068 7.85135852] [ 0.00945563 0.99981665 0.01665076 0.10239504] [ 0.00840402 -0.01673038 0.99982472 -1.13173883] [ 0. 0. 0. 1. ]] SLAMing on 74.70719347 meters Centerline goodness : 0.900654 Centerline is valid? [False, False] Translation: X:7.86, Y:0.10, Z:-1.14 [[ 9.99919248e-01 -1.21320485e-02 -3.78284242e-03 7.86396555e+00] [ 1.22197801e-02 9.99634810e-01 2.41023435e-02 9.72862813e-02] [ 3.48905017e-03 -2.41466227e-02 9.99702339e-01 -1.13587853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.73719347000001 meters Centerline goodness : 0.902878 Centerline is valid? [False, False] Translation: X:7.89, Y:0.09, Z:-1.14 [[ 9.99802297e-01 -1.98734866e-02 6.41268800e-04 7.89214036e+00] [ 1.98414405e-02 9.99256641e-01 3.30527336e-02 8.90017580e-02] [-1.29766517e-03 -3.30334753e-02 9.99453403e-01 -1.13974311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76719347 meters Centerline goodness : 0.903984 Centerline is valid? [False, False] Translation: X:7.91, Y:0.09, Z:-1.14 [[ 9.99743627e-01 -2.23215538e-02 3.79859843e-03 7.90898239e+00] [ 2.21696610e-02 9.99099042e-01 3.61885382e-02 8.65360011e-02] [-4.60296045e-03 -3.60950468e-02 9.99337761e-01 -1.14116323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.79719347 meters Centerline goodness : 0.903498 Centerline is valid? [False, False] Translation: X:7.93, Y:0.09, Z:-1.14 [[ 9.99674465e-01 -2.48086920e-02 5.95760601e-03 7.92724193e+00] [ 2.45654465e-02 9.98978813e-01 3.79192613e-02 8.54235512e-02] [-6.89224946e-03 -3.77605660e-02 9.99263047e-01 -1.14217205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82719347 meters Centerline goodness : 0.902548 Centerline is valid? [False, False] Translation: X:7.93, Y:0.08, Z:-1.14 [[ 9.99602693e-01 -2.76099709e-02 5.66973888e-03 7.92848554e+00] [ 2.73931914e-02 9.99001550e-01 3.52918783e-02 8.33099565e-02] [-6.63848566e-03 -3.51225443e-02 9.99360965e-01 -1.14217262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.85719347 meters Centerline goodness : 0.905209 Centerline is valid? [False, False] Translation: X:7.93, Y:0.08, Z:-1.14 [[ 9.99534363e-01 -3.00760301e-02 5.14687604e-03 7.93058401e+00] [ 2.98924986e-02 9.99020142e-01 3.26373307e-02 8.25209198e-02] [-6.12343418e-03 -3.24682806e-02 9.99454008e-01 -1.14316840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88719347 meters Centerline goodness : 0.903556 Centerline is valid? [False, False] Translation: X:7.93, Y:0.08, Z:-1.14 [[ 9.99489982e-01 -3.15870802e-02 4.69376759e-03 7.93297756e+00] [ 3.14262031e-02 9.99021893e-01 3.11070908e-02 8.21782016e-02] [-5.67175875e-03 -3.09437184e-02 9.99505036e-01 -1.14466995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.91719347 meters Centerline goodness : 0.904428 Centerline is valid? [False, False] Translation: X:7.93, Y:0.08, Z:-1.15 [[ 9.99496660e-01 -3.14293067e-02 4.31580338e-03 7.93415461e+00] [ 3.12784159e-02 9.99015975e-01 3.14442621e-02 8.16003120e-02] [-5.29982788e-03 -3.12934435e-02 9.99496189e-01 -1.14515909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94719347 meters Centerline goodness : 0.904376 Centerline is valid? [False, False] Translation: X:7.94, Y:0.08, Z:-1.15 [[ 9.99520904e-01 -3.07170967e-02 3.79757362e-03 7.93597192e+00] [ 3.05793320e-02 9.99014675e-01 3.21649493e-02 8.11223996e-02] [-4.78184564e-03 -3.20334119e-02 9.99475360e-01 -1.14615642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.97719347 meters Centerline goodness : 0.902037 Centerline is valid? [False, False] Translation: X:7.94, Y:0.08, Z:-1.15 [[ 9.99557911e-01 -2.95264664e-02 3.48848953e-03 7.93689233e+00] [ 2.93975638e-02 9.99038155e-01 3.25353224e-02 8.15774942e-02] [-4.44578725e-03 -3.24183859e-02 9.99464498e-01 -1.14631742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.00719347 meters Centerline goodness : 0.903337 Centerline is valid? [False, False] Translation: X:7.94, Y:0.08, Z:-1.15 [[ 9.99578082e-01 -2.88611725e-02 3.26972776e-03 7.93743646e+00] [ 2.87397701e-02 9.99057767e-01 3.25208363e-02 8.26985152e-02] [-4.20523638e-03 -3.24131439e-02 9.99465709e-01 -1.14620550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.03719347 meters Centerline goodness : 0.900795 Centerline is valid? [False, False] Translation: X:7.94, Y:0.08, Z:-1.15 [[ 9.99618466e-01 -2.74744236e-02 2.84210574e-03 7.93903576e+00] [ 2.73661199e-02 9.99083301e-01 3.29188970e-02 8.44529689e-02] [-3.74392810e-03 -3.28285599e-02 9.99453985e-01 -1.14719907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.06719347 meters Centerline goodness : 0.901858 Centerline is valid? [False, False] Translation: X:7.94, Y:0.09, Z:-1.15 [[ 9.99815066e-01 -1.88594926e-02 3.76221062e-03 7.94084577e+00] [ 1.87675671e-02 9.99556247e-01 2.31319801e-02 8.82462235e-02] [-4.19679853e-03 -2.30570946e-02 9.99725341e-01 -1.14855253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.09719347000001 meters Centerline goodness : 0.900367 Centerline is valid? [False, False] Translation: X:7.94, Y:0.09, Z:-1.15 [[ 9.99842240e-01 -1.74853945e-02 3.12361906e-03 7.94344816e+00] [ 1.74050181e-02 9.99557248e-01 2.41324271e-02 8.86012813e-02] [-3.54420107e-03 -2.40742533e-02 9.99703891e-01 -1.15038919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12719347 meters Centerline goodness : 0.898216 Centerline is valid? [False, False] Translation: X:7.95, Y:0.09, Z:-1.15 [[ 9.99858826e-01 -1.66100939e-02 2.53622386e-03 7.94572258e+00] [ 1.65417377e-02 9.99552100e-01 2.49393418e-02 8.81581229e-02] [-2.94933269e-03 -2.48938675e-02 9.99685749e-01 -1.15192000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.15719347 meters Centerline goodness : 0.895915 Centerline is valid? [False, False] Translation: X:7.95, Y:0.09, Z:-1.15 [[ 9.99828204e-01 -1.84384594e-02 1.89365514e-03 7.94896489e+00] [ 1.83900157e-02 9.99565790e-01 2.30225877e-02 8.75127411e-02] [-2.31733395e-03 -2.29838082e-02 9.99733152e-01 -1.15436571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18719347 meters Centerline goodness : 0.894924 Centerline is valid? [False, False] Translation: X:7.95, Y:0.09, Z:-1.16 [[ 9.99777362e-01 -2.10526337e-02 1.41888430e-03 7.95147201e+00] [ 2.10188344e-02 9.99565377e-01 2.06704215e-02 8.57145357e-02] [-1.85343444e-03 -2.06359961e-02 9.99785337e-01 -1.15613562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.21719347 meters Centerline goodness : 0.894924 Centerline is valid? [False, False] Translation: X:7.95, Y:0.09, Z:-1.16 [[ 9.99777362e-01 -2.10526337e-02 1.41888430e-03 7.95147201e+00] [ 2.10188344e-02 9.99565377e-01 2.06704215e-02 8.57145357e-02] [-1.85343444e-03 -2.06359961e-02 9.99785337e-01 -1.15613562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24719347 meters Centerline goodness : 0.893312 Centerline is valid? [False, False] Translation: X:7.97, Y:0.08, Z:-1.16 [[ 9.99606183e-01 -2.75990504e-02 5.07657211e-03 7.96822996e+00] [ 2.74847611e-02 9.99394165e-01 2.13515873e-02 8.03022247e-02] [-5.66278008e-03 -2.12036503e-02 9.99759140e-01 -1.15793304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.27719347 meters Centerline goodness : 0.891754 Centerline is valid? [False, False] Translation: X:7.97, Y:0.08, Z:-1.16 [[ 9.99506112e-01 -3.10183819e-02 5.03908481e-03 7.96884810e+00] [ 3.09224640e-02 9.99357678e-01 1.81116842e-02 7.90016683e-02] [-5.59764323e-03 -1.79469182e-02 9.99823272e-01 -1.15779302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.30719347 meters Centerline goodness : 0.891427 Centerline is valid? [False, False] Translation: X:7.97, Y:0.08, Z:-1.16 [[ 9.99436659e-01 -3.32603613e-02 4.48476110e-03 7.97135782e+00] [ 3.31855183e-02 9.99323665e-01 1.58408930e-02 7.79824283e-02] [-5.00860172e-03 -1.56831401e-02 9.99864467e-01 -1.15915219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.33719347 meters Centerline goodness : 0.890386 Centerline is valid? [False, False] Translation: X:7.97, Y:0.08, Z:-1.16 [[ 9.99443808e-01 -3.30833580e-02 4.19125229e-03 7.97216655e+00] [ 3.30109704e-02 9.99322056e-01 1.63004514e-02 7.69374329e-02] [-4.72768452e-03 -1.61530279e-02 9.99858354e-01 -1.15918714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.36719347 meters Centerline goodness : 0.891266 Centerline is valid? [False, False] Translation: X:7.97, Y:0.08, Z:-1.16 [[ 9.99358015e-01 -3.56421937e-02 3.63208082e-03 7.97431383e+00] [ 3.55901339e-02 9.99275137e-01 1.35108257e-02 7.72872245e-02] [-4.11100353e-03 -1.33728857e-02 9.99902128e-01 -1.16007017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.39719347 meters Centerline goodness : 0.890992 Centerline is valid? [False, False] Translation: X:7.98, Y:0.08, Z:-1.16 [[ 9.99357634e-01 -3.56731858e-02 3.42683130e-03 7.97529223e+00] [ 3.56234198e-02 9.99272391e-01 1.36257485e-02 7.68437626e-02] [-3.91041177e-03 -1.34949203e-02 9.99901293e-01 -1.16082316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.42719347 meters Centerline goodness : 0.888728 Centerline is valid? [False, False] Translation: X:7.98, Y:0.08, Z:-1.16 [[ 9.99360929e-01 -3.56054164e-02 3.16021797e-03 7.97642942e+00] [ 3.55591855e-02 9.99274416e-01 1.36449642e-02 7.70392647e-02] [-3.64375960e-03 -1.35238693e-02 9.99901909e-01 -1.16165556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.45719347 meters Centerline goodness : 0.888774 Centerline is valid? [False, False] Translation: X:7.98, Y:0.08, Z:-1.16 [[ 9.99388354e-01 -3.48691538e-02 2.65693753e-03 7.97873690e+00] [ 3.48288382e-02 9.99295910e-01 1.39512044e-02 7.83832120e-02] [-3.14153350e-03 -1.38501332e-02 9.99899147e-01 -1.16346325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48719347000001 meters Centerline goodness : 0.885319 Centerline is valid? [False, False] Translation: X:7.98, Y:0.08, Z:-1.16 [[ 9.99420208e-01 -3.39821683e-02 2.11178308e-03 7.98094088e+00] [ 3.39477323e-02 9.99316539e-01 1.46289384e-02 7.86392016e-02] [-2.60746281e-03 -1.45487664e-02 9.99890761e-01 -1.16499120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.51719347 meters Centerline goodness : 0.884937 Centerline is valid? [False, False] Translation: X:7.98, Y:0.08, Z:-1.17 [[ 9.99446824e-01 -3.32208792e-02 1.55540217e-03 7.98322141e+00] [ 3.31933792e-02 9.99332816e-01 1.52355326e-02 7.89777876e-02] [-2.06050222e-03 -1.51754756e-02 9.99882723e-01 -1.16660776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54719347 meters Centerline goodness : 0.880824 Centerline is valid? [False, False] Translation: X:7.99, Y:0.08, Z:-1.17 [[ 9.99472830e-01 -3.24561468e-02 8.13080830e-04 7.98600604e+00] [ 3.24390220e-02 9.99345900e-01 1.59837923e-02 7.89143021e-02] [-1.33132130e-03 -1.59489905e-02 9.99871920e-01 -1.16852419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.57719347 meters Centerline goodness : 0.879899 Centerline is valid? [False, False] Translation: X:7.99, Y:0.08, Z:-1.17 [[ 9.99496898e-01 -3.17166440e-02 -7.48843898e-05 7.98937542e+00] [ 3.17135957e-02 9.99362060e-01 1.64231787e-02 8.12120218e-02] [-4.46051493e-04 -1.64172910e-02 9.99865128e-01 -1.17087157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60719347 meters Centerline goodness : 0.880499 Centerline is valid? [False, False] Translation: X:7.99, Y:0.08, Z:-1.17 [[ 9.99524435e-01 -3.08310904e-02 -5.89496059e-04 7.99127496e+00] [ 3.08366672e-02 9.99377047e-01 1.71644594e-02 8.22817637e-02] [ 5.99298320e-05 -1.71744747e-02 9.99852506e-01 -1.17197509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.63719347 meters Centerline goodness : 0.878609 Centerline is valid? [False, False] Translation: X:7.99, Y:0.08, Z:-1.17 [[ 9.99516878e-01 -3.10685364e-02 -8.69931313e-04 7.99174693e+00] [ 3.10787526e-02 9.99376639e-01 1.67464603e-02 8.34142019e-02] [ 3.49101021e-04 -1.67654061e-02 9.99859390e-01 -1.17171320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66719347 meters Centerline goodness : 0.879820 Centerline is valid? [False, False] Translation: X:7.99, Y:0.08, Z:-1.17 [[ 9.99513740e-01 -3.11620368e-02 -1.10052571e-03 7.99205443e+00] [ 3.11761297e-02 9.99372940e-01 1.67861605e-02 8.33000279e-02] [ 5.76744665e-04 -1.68123082e-02 9.99858497e-01 -1.17133963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.69719347 meters Centerline goodness : 0.878386 Centerline is valid? [False, False] Translation: X:8.00, Y:0.08, Z:-1.17 [[ 9.99420392e-01 -3.36435891e-02 5.19516967e-03 8.00157100e+00] [ 3.35070400e-02 9.99139394e-01 2.44489075e-02 8.03812784e-02] [-6.01324767e-03 -2.42606620e-02 9.99687582e-01 -1.17392039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.72719347 meters Centerline goodness : 0.876309 Centerline is valid? [False, False] Translation: X:8.00, Y:0.08, Z:-1.17 [[ 9.99421408e-01 -3.36250171e-02 5.11937735e-03 8.00187222e+00] [ 3.34891767e-02 9.99135299e-01 2.46399831e-02 8.00702652e-02] [-5.94347048e-03 -2.44542828e-02 9.99683281e-01 -1.17401301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.75719347 meters Centerline goodness : 0.877489 Centerline is valid? [False, False] Translation: X:8.00, Y:0.08, Z:-1.17 [[ 9.99439440e-01 -3.30961321e-02 5.04490453e-03 8.00222005e+00] [ 3.29637476e-02 9.99158988e-01 2.43866568e-02 8.25307854e-02] [-5.84776572e-03 -2.42066877e-02 9.99689872e-01 -1.17399995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.78719347 meters Centerline goodness : 0.874243 Centerline is valid? [False, False] Translation: X:8.00, Y:0.08, Z:-1.17 [[ 9.99471453e-01 -3.21928054e-02 4.52082300e-03 8.00345026e+00] [ 3.20729763e-02 9.99186172e-01 2.44605425e-02 8.48617237e-02] [-5.30459731e-03 -2.43026177e-02 9.99690574e-01 -1.17427427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.81719347 meters Centerline goodness : 0.875773 Centerline is valid? [False, False] Translation: X:8.00, Y:0.09, Z:-1.17 [[ 9.99591558e-01 -2.82797113e-02 4.12004447e-03 8.00398573e+00] [ 2.81537682e-02 9.99212632e-01 2.79549779e-02 8.62987134e-02] [-4.90735919e-03 -2.78275652e-02 9.99600692e-01 -1.17424470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84719347000001 meters Centerline goodness : 0.873535 Centerline is valid? [False, False] Translation: X:8.00, Y:0.09, Z:-1.17 [[ 9.99701566e-01 -2.41308807e-02 3.80531067e-03 8.00474865e+00] [ 2.39990164e-02 9.99213997e-01 3.15505064e-02 8.78068189e-02] [-4.56366119e-03 -3.14497669e-02 9.99494915e-01 -1.17467186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.87719347 meters Centerline goodness : 0.872779 Centerline is valid? [False, False] Translation: X:8.00, Y:0.09, Z:-1.17 [[ 9.99842530e-01 -1.73066540e-02 3.92364237e-03 8.00337130e+00] [ 1.72270135e-02 9.99661512e-01 1.94959561e-02 9.17047990e-02] [-4.25972403e-03 -1.94252934e-02 9.99802237e-01 -1.17395390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90719347 meters Centerline goodness : 0.871986 Centerline is valid? [False, False] Translation: X:8.01, Y:0.10, Z:-1.17 [[ 9.99989409e-01 -3.44231228e-03 3.05478434e-03 8.01406751e+00] [ 3.41453277e-03 9.99953192e-01 9.05286380e-03 9.66885054e-02] [-3.08580414e-03 -9.04233726e-03 9.99954356e-01 -1.17477656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.93719347 meters Centerline goodness : 0.873363 Centerline is valid? [False, False] Translation: X:8.02, Y:0.10, Z:-1.18 [[ 9.99995962e-01 7.09998095e-04 2.75163272e-03 8.01529204e+00] [-7.45265331e-04 9.99917324e-01 1.28370791e-02 9.79027676e-02] [-2.74229092e-03 -1.28390780e-02 9.99913815e-01 -1.17566877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96719347 meters Centerline goodness : 0.869775 Centerline is valid? [False, False] Translation: X:8.02, Y:0.10, Z:-1.18 [[ 9.99996084e-01 1.35943768e-03 2.44635752e-03 8.01626813e+00] [-1.39055596e-03 9.99917572e-01 1.27638287e-02 9.95592092e-02] [-2.42880424e-03 -1.27671806e-02 9.99915546e-01 -1.17599671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.99719347 meters Centerline goodness : 0.870080 Centerline is valid? [False, False] Translation: X:8.02, Y:0.10, Z:-1.18 [[ 9.99996615e-01 -7.38595556e-04 2.49492226e-03 8.01633945e+00] [ 7.14272020e-04 9.99952348e-01 9.73607856e-03 9.92297376e-02] [-2.50199439e-03 -9.73426355e-03 9.99949491e-01 -1.17552956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02719347 meters Centerline goodness : 0.870130 Centerline is valid? [False, False] Translation: X:8.02, Y:0.10, Z:-1.18 [[ 9.99996475e-01 -1.77244199e-03 1.97678340e-03 8.01884036e+00] [ 1.75483166e-03 9.99959076e-01 8.87501510e-03 9.75419731e-02] [-1.99243295e-03 -8.87151490e-03 9.99958662e-01 -1.17726142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.05719347 meters Centerline goodness : 0.869154 Centerline is valid? [False, False] Translation: X:8.02, Y:0.10, Z:-1.18 [[ 9.99994594e-01 -2.94371519e-03 1.46519548e-03 8.02162722e+00] [ 2.93196584e-03 9.99964040e-01 7.95753583e-03 9.56387597e-02] [-1.48856751e-03 -7.95319691e-03 9.99967265e-01 -1.17937642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08719347 meters Centerline goodness : 0.865696 Centerline is valid? [False, False] Translation: X:8.03, Y:0.09, Z:-1.18 [[ 9.99995846e-01 -2.79886883e-03 6.88742103e-04 8.02533206e+00] [ 2.79267203e-03 9.99957031e-01 8.83950630e-03 9.01472132e-02] [-7.13453127e-04 -8.83754615e-03 9.99960694e-01 -1.18208006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.11719347 meters Centerline goodness : 0.866678 Centerline is valid? [False, False] Translation: X:8.03, Y:0.09, Z:-1.18 [[ 9.99990530e-01 -4.35089556e-03 9.80782957e-05 8.02844866e+00] [ 4.35002337e-03 9.99961591e-01 7.60885405e-03 8.71696999e-02] [-1.31179858e-04 -7.60835535e-03 9.99971047e-01 -1.18450340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.14719347 meters Centerline goodness : 0.864119 Centerline is valid? [False, False] Translation: X:8.03, Y:0.08, Z:-1.19 [[ 9.99980036e-01 -6.29412459e-03 -5.58274359e-04 8.03128355e+00] [ 6.29749480e-03 9.99960602e-01 6.25580637e-03 8.29101280e-02] [ 5.18877540e-04 -6.25919721e-03 9.99980276e-01 -1.18644354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.17719347 meters Centerline goodness : 0.863445 Centerline is valid? [False, False] Translation: X:8.03, Y:0.08, Z:-1.19 [[ 9.99963144e-01 -8.53849897e-03 -8.96586641e-04 8.03326424e+00] [ 8.54270597e-03 9.99951999e-01 4.79820298e-03 7.78579987e-02] [ 8.55574152e-04 -4.80568542e-03 9.99988087e-01 -1.18789556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.20719347 meters Centerline goodness : 0.862306 Centerline is valid? [False, False] Translation: X:8.05, Y:0.07, Z:-1.19 [[ 9.99909706e-01 -1.33189506e-02 1.78503210e-03 8.05047133e+00] [ 1.33027021e-02 9.99872573e-01 8.82471710e-03 6.51803317e-02] [-1.90234061e-03 -8.80017453e-03 9.99959468e-01 -1.19017116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.23719347000001 meters Centerline goodness : 0.862663 Centerline is valid? [False, False] Translation: X:8.06, Y:0.06, Z:-1.19 [[ 9.99814918e-01 -1.80429247e-02 6.67694683e-03 8.06373191e+00] [ 1.79479562e-02 9.99740622e-01 1.40199464e-02 5.83315154e-02] [-6.92817582e-03 -1.38975140e-02 9.99879422e-01 -1.19386043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26719347 meters Centerline goodness : 0.861281 Centerline is valid? [False, False] Translation: X:8.06, Y:0.05, Z:-1.19 [[ 9.99750138e-01 -2.13843531e-02 6.50928401e-03 8.06484747e+00] [ 2.13018006e-02 9.99694972e-01 1.24978718e-02 5.15062232e-02] [-6.77455740e-03 -1.23560896e-02 9.99900711e-01 -1.19437798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.29719347 meters Centerline goodness : 0.859706 Centerline is valid? [False, False] Translation: X:8.08, Y:0.04, Z:-1.20 [[ 0.99960157 -0.02605092 0.01086535 8.07938193] [ 0.02586281 0.99951908 0.0171089 0.04341586] [-0.01130583 -0.01682107 0.99979459 -1.19846962] [ 0. 0. 0. 1. ]] SLAMing on 76.32719347 meters Centerline goodness : 0.862859 Centerline is valid? [False, False] Translation: X:8.11, Y:0.02, Z:-1.20 [[ 0.99929826 -0.0348361 0.0137634 8.11371229] [ 0.03389485 0.99740331 0.06354354 0.02180286] [-0.01594127 -0.06303244 0.99788416 -1.19659891] [ 0. 0. 0. 1. ]] SLAMing on 76.35719347 meters Centerline goodness : 0.861579 Centerline is valid? [False, False] Translation: X:8.11, Y:0.02, Z:-1.20 [[ 0.99917486 -0.03832139 0.01345606 8.11422618] [ 0.0374218 0.99739171 0.06172017 0.01863351] [-0.01578617 -0.06116569 0.99800278 -1.19514664] [ 0. 0. 0. 1. ]] SLAMing on 76.38719347 meters Centerline goodness : 0.860905 Centerline is valid? [False, False] Translation: X:8.11, Y:0.02, Z:-1.19 [[ 0.99891994 -0.04424463 0.0141906 8.11278323] [ 0.04338628 0.99748975 0.05596283 0.01635599] [-0.01663103 -0.05528671 0.998332 -1.19376872] [ 0. 0. 0. 1. ]] SLAMing on 76.41719347 meters Centerline goodness : 0.863857 Centerline is valid? [False, False] Translation: X:8.11, Y:0.01, Z:-1.19 [[ 0.99876022 -0.04776402 0.01402207 8.11372966] [ 0.04694677 0.9974503 0.05374848 0.01237811] [-0.01655356 -0.05302356 0.99845605 -1.193412 ] [ 0. 0. 0. 1. ]] SLAMing on 76.44719347 meters Centerline goodness : 0.865459 Centerline is valid? [False, False] Translation: X:8.11, Y:0.01, Z:-1.19 [[ 0.99841544 -0.05417756 0.01521219 8.11191653] [ 0.05341533 0.99747999 0.04669563 0.01144466] [-0.01770371 -0.04580908 0.99879333 -1.19265006] [ 0. 0. 0. 1. ]] SLAMing on 76.47719347 meters Centerline goodness : 0.865439 Centerline is valid? [False, False] Translation: X:8.11, Y:0.01, Z:-1.19 [[ 0.99818764 -0.05805283 0.01585259 8.11067969] [ 0.05731058 0.9973938 0.04383043 0.00896149] [-0.01835576 -0.04284247 0.9989132 -1.19087405] [ 0. 0. 0. 1. ]] SLAMing on 76.50719347 meters Centerline goodness : 0.865856 Centerline is valid? [False, False] Translation: X:8.11, Y:0.01, Z:-1.19 [[ 0.99816092 -0.05859814 0.01552535 8.11088208] [ 0.05786701 0.99735567 0.04396676 0.00877989] [-0.01806067 -0.0429875 0.99891235 -1.18996583] [ 0. 0. 0. 1. ]] SLAMing on 76.53719347 meters Centerline goodness : 0.866235 Centerline is valid? [False, False] Translation: X:8.11, Y:0.01, Z:-1.19 [[ 0.99792627 -0.06238429 0.01585449 8.11027818] [ 0.06172464 0.99732493 0.03915421 0.01141597] [-0.01825468 -0.0380944 0.99910739 -1.18952323] [ 0. 0. 0. 1. ]] SLAMing on 76.56719347 meters Centerline goodness : 0.864445 Centerline is valid? [False, False] Translation: X:8.11, Y:0.01, Z:-1.19 [[ 0.9977265 -0.06553159 0.01573046 8.11127535] [ 0.06495086 0.99727598 0.03495729 0.01394729] [-0.01797842 -0.03385611 0.999265 -1.1904317 ] [ 0. 0. 0. 1. ]] SLAMing on 76.59719347000001 meters Centerline goodness : 0.863587 Centerline is valid? [False, False] Translation: X:8.12, Y:0.02, Z:-1.19 [[ 0.99751201 -0.06887159 0.01504982 8.11512602] [ 0.06839499 0.99720201 0.03017085 0.01743669] [-0.01708562 -0.02906645 0.99943145 -1.19432177] [ 0. 0. 0. 1. ]] SLAMing on 76.62719347 meters Centerline goodness : 0.863435 Centerline is valid? [False, False] Translation: X:8.12, Y:0.02, Z:-1.20 [[ 0.99724039 -0.07260967 0.01547362 8.11550842] [ 0.07220922 0.99707531 0.02503313 0.02023863] [-0.01724601 -0.02384671 0.99956686 -1.19574233] [ 0. 0. 0. 1. ]] SLAMing on 76.65719347 meters Centerline goodness : 0.864345 Centerline is valid? [False, False] Translation: X:8.12, Y:0.02, Z:-1.20 [[ 0.9972022 -0.07325269 0.01489318 8.11713474] [ 0.07288073 0.99704828 0.02414797 0.02220248] [-0.01661812 -0.02299498 0.99959745 -1.19679338] [ 0. 0. 0. 1. ]] SLAMing on 76.68719347 meters Centerline goodness : 0.861278 Centerline is valid? [False, False] Translation: X:8.11, Y:0.03, Z:-1.19 [[ 9.97408312e-01 -7.17764573e-02 4.97983237e-03 8.11493672e+00] [ 7.16857644e-02 9.97291171e-01 1.64764202e-02 2.83752676e-02] [-6.14896193e-03 -1.60767354e-02 9.99851853e-01 -1.19457626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.71719347 meters Centerline goodness : 0.861718 Centerline is valid? [False, False] Translation: X:8.12, Y:0.03, Z:-1.20 [[ 9.97335500e-01 -7.28159290e-02 4.44303024e-03 8.11622816e+00] [ 7.27404973e-02 9.97234013e-01 1.52690430e-02 3.04002964e-02] [-5.54257043e-03 -1.49051704e-02 9.99873550e-01 -1.19512089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74719347 meters Centerline goodness : 0.861062 Centerline is valid? [False, False] Translation: X:8.12, Y:0.03, Z:-1.20 [[ 9.97306961e-01 -7.32392484e-02 3.85194928e-03 8.11764319e+00] [ 7.31739805e-02 9.97206545e-01 1.49891970e-02 3.11103388e-02] [-4.93898655e-03 -1.46669681e-02 9.99880236e-01 -1.19552107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.77719347 meters Centerline goodness : 0.861688 Centerline is valid? [False, False] Translation: X:8.12, Y:0.03, Z:-1.20 [[ 9.97265274e-01 -7.38154558e-02 3.64028954e-03 8.11788239e+00] [ 7.37565954e-02 9.97174088e-01 1.42759319e-02 3.23395556e-02] [-4.68378683e-03 -1.39683958e-02 9.99891467e-01 -1.19529747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.80719347 meters Centerline goodness : 0.864937 Centerline is valid? [False, False] Translation: X:8.12, Y:0.04, Z:-1.19 [[ 9.97199714e-01 -7.47260763e-02 2.95691895e-03 8.11867545e+00] [ 7.46825396e-02 9.97125211e-01 1.27996516e-02 3.80737628e-02] [-3.90488618e-03 -1.25429787e-02 9.99913709e-01 -1.19497412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.83719347 meters Centerline goodness : 0.864924 Centerline is valid? [False, False] Translation: X:8.12, Y:0.04, Z:-1.19 [[ 9.97145200e-01 -7.54723253e-02 2.31902305e-03 8.11956102e+00] [ 7.54407082e-02 9.97083114e-01 1.15742603e-02 4.25197724e-02] [-3.18579506e-03 -1.13662693e-02 9.99930327e-01 -1.19481009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.86719347 meters Centerline goodness : 0.866058 Centerline is valid? [False, False] Translation: X:8.12, Y:0.05, Z:-1.19 [[ 9.97083635e-01 -7.62912627e-02 1.96650444e-03 8.11944708e+00] [ 7.62679567e-02 9.97037096e-01 1.00113735e-02 4.73689605e-02] [-2.72445820e-03 -9.83219539e-03 9.99947951e-01 -1.19404938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.89719347 meters Centerline goodness : 0.866237 Centerline is valid? [False, False] Translation: X:8.12, Y:0.05, Z:-1.19 [[ 9.97055503e-01 -7.66667026e-02 1.59375211e-03 8.11953983e+00] [ 7.66502666e-02 9.97020827e-01 8.61431384e-03 5.17055233e-02] [-2.24943509e-03 -8.46678750e-03 9.99961626e-01 -1.19355731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.92719347 meters Centerline goodness : 0.864921 Centerline is valid? [False, False] Translation: X:8.11, Y:0.06, Z:-1.19 [[ 9.97652765e-01 -6.84747981e-02 -4.03142612e-04 8.10956093e+00] [ 6.84758685e-02 9.97644631e-01 4.03063696e-03 5.79135215e-02] [ 1.26196011e-04 -4.04878165e-03 9.99991796e-01 -1.19116228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.95719347 meters Centerline goodness : 0.866616 Centerline is valid? [False, False] Translation: X:8.11, Y:0.06, Z:-1.19 [[ 9.97879008e-01 -6.50914612e-02 -7.65599711e-04 8.11002504e+00] [ 6.50947278e-02 9.97863516e-01 5.57486708e-03 6.29067559e-02] [ 4.01087775e-04 -5.61287934e-03 9.99984167e-01 -1.19224442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98719347000001 meters Centerline goodness : 0.866831 Centerline is valid? [False, False] Translation: X:8.10, Y:0.07, Z:-1.19 [[ 9.98475169e-01 -5.48301929e-02 -6.40209489e-03 8.10322567e+00] [ 5.48616277e-02 9.98482226e-01 4.84214687e-03 6.73186197e-02] [ 6.12688211e-03 -5.18599276e-03 9.99967783e-01 -1.19022621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.01719347 meters Centerline goodness : 0.864935 Centerline is valid? [False, False] Translation: X:8.10, Y:0.08, Z:-1.19 [[ 9.99121591e-01 -3.97032420e-02 -1.34051745e-02 8.09797299e+00] [ 3.97222734e-02 9.99210090e-01 1.15634794e-03 8.23413350e-02] [ 1.33486749e-02 -1.68781620e-03 9.99909478e-01 -1.18621212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04719347 meters Centerline goodness : 0.862806 Centerline is valid? [False, False] Translation: X:8.10, Y:0.09, Z:-1.19 [[ 9.99311856e-01 -3.42010100e-02 -1.43563705e-02 8.10074503e+00] [ 3.42823274e-02 9.99397291e-01 5.45677124e-03 8.81290054e-02] [ 1.41610907e-02 -5.94518599e-03 9.99882052e-01 -1.18798619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.07719347 meters Centerline goodness : 0.863465 Centerline is valid? [False, False] Translation: X:8.10, Y:0.09, Z:-1.19 [[ 0.99945096 -0.02955216 -0.01498147 8.10273459] [ 0.02968571 0.99952079 0.00877194 0.09349375] [ 0.01471506 -0.00921186 0.99984929 -1.18924421] [ 0. 0. 0. 1. ]] SLAMing on 77.10719347 meters Centerline goodness : 0.862722 Centerline is valid? [False, False] Translation: X:8.10, Y:0.10, Z:-1.19 [[ 0.99955808 -0.02535559 -0.01551565 8.10376698] [ 0.02553908 0.99960483 0.01174437 0.09789528] [ 0.01521173 -0.01213543 0.99981065 -1.18959676] [ 0. 0. 0. 1. ]] SLAMing on 77.13719347 meters Centerline goodness : 0.862722 Centerline is valid? [False, False] Translation: X:8.10, Y:0.10, Z:-1.19 [[ 0.99955808 -0.02535559 -0.01551565 8.10376698] [ 0.02553908 0.99960483 0.01174437 0.09789528] [ 0.01521173 -0.01213543 0.99981065 -1.18959676] [ 0. 0. 0. 1. ]] SLAMing on 77.16719347 meters Centerline goodness : 0.861237 Centerline is valid? [False, False] Translation: X:8.11, Y:0.11, Z:-1.19 [[ 9.99731393e-01 -2.01055291e-02 -1.15286050e-02 8.11292547e+00] [ 2.01841000e-02 9.99773562e-01 6.73992897e-03 1.06542900e-01] [ 1.13904847e-02 -6.97081309e-03 9.99910828e-01 -1.19064740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.19719347 meters Centerline goodness : 0.862928 Centerline is valid? [False, False] Translation: X:8.12, Y:0.11, Z:-1.19 [[ 9.99735805e-01 -1.95213039e-02 -1.21341961e-02 8.11506446e+00] [ 1.96063328e-02 9.99783771e-01 6.92835411e-03 1.09022823e-01] [ 1.19963218e-02 -7.16443076e-03 9.99902375e-01 -1.19189295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.22719347 meters Centerline goodness : 0.860294 Centerline is valid? [False, False] Translation: X:8.12, Y:0.11, Z:-1.19 [[ 9.99724818e-01 -1.98839746e-02 -1.24465460e-02 8.11595802e+00] [ 1.99643709e-02 9.99780407e-01 6.36873822e-03 1.10871584e-01] [ 1.23171770e-02 -6.61547312e-03 9.99902257e-01 -1.19224537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.25719347 meters Centerline goodness : 0.860726 Centerline is valid? [False, False] Translation: X:8.12, Y:0.11, Z:-1.19 [[ 9.99708000e-01 -2.04880614e-02 -1.28122298e-02 8.11709406e+00] [ 2.05629930e-02 9.99772057e-01 5.74429995e-03 1.12015386e-01] [ 1.26916198e-02 -6.00608041e-03 9.99901420e-01 -1.19280057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.28719347 meters Centerline goodness : 0.858665 Centerline is valid? [False, False] Translation: X:8.12, Y:0.11, Z:-1.19 [[ 9.99663195e-01 -2.22302392e-02 -1.33908059e-02 8.11972154e+00] [ 2.22860708e-02 9.99743493e-01 4.03468456e-03 1.13208885e-01] [ 1.32976790e-02 -4.33175411e-03 9.99902199e-01 -1.19460727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.31719347 meters Centerline goodness : 0.859883 Centerline is valid? [False, False] Translation: X:8.13, Y:0.11, Z:-1.20 [[ 9.99637363e-01 -2.56206158e-02 -8.29019047e-03 8.13158619e+00] [ 2.57083642e-02 9.99612679e-01 1.06570519e-02 1.12618446e-01] [ 8.01393927e-03 -1.08663145e-02 9.99908846e-01 -1.19893978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34719347000001 meters Centerline goodness : 0.860060 Centerline is valid? [False, False] Translation: X:8.14, Y:0.11, Z:-1.20 [[ 9.99594478e-01 -2.83261918e-02 -2.91662052e-03 8.14345488e+00] [ 2.83750138e-02 9.99429117e-01 1.83384321e-02 1.11294893e-01] [ 2.39549753e-03 -1.84137546e-02 9.99827583e-01 -1.20319947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.37719347 meters Centerline goodness : 0.861332 Centerline is valid? [False, False] Translation: X:8.14, Y:0.11, Z:-1.20 [[ 9.99591632e-01 -2.83900947e-02 -3.25128763e-03 8.14425113e+00] [ 2.84450947e-02 9.99426961e-01 1.83473938e-02 1.11777077e-01] [ 2.72854027e-03 -1.84323845e-02 9.99826386e-01 -1.20332899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40719347 meters Centerline goodness : 0.859805 Centerline is valid? [False, False] Translation: X:8.15, Y:0.11, Z:-1.20 [[ 9.99582667e-01 -2.86620111e-02 -3.60297379e-03 8.14516896e+00] [ 2.87227562e-02 9.99423136e-01 1.81217644e-02 1.12116863e-01] [ 3.08148915e-03 -1.82176890e-02 9.99829296e-01 -1.20360047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.43719347 meters Centerline goodness : 0.859963 Centerline is valid? [False, False] Translation: X:8.15, Y:0.11, Z:-1.20 [[ 9.99479964e-01 -3.19613190e-02 -4.27497003e-03 8.14780631e+00] [ 3.20218941e-02 9.99375446e-01 1.49437690e-02 1.11725137e-01] [ 3.79467751e-03 -1.50728904e-02 9.99879197e-01 -1.20480577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46719347 meters Centerline goodness : 0.860712 Centerline is valid? [False, False] Translation: X:8.15, Y:0.11, Z:-1.21 [[ 9.99374294e-01 -3.50498857e-02 -4.74620196e-03 8.15017299e+00] [ 3.51045448e-02 9.99311965e-01 1.19694730e-02 1.10954821e-01] [ 4.32340774e-03 -1.21285969e-02 9.99917099e-01 -1.20632862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.49719347 meters Centerline goodness : 0.862853 Centerline is valid? [False, False] Translation: X:8.15, Y:0.11, Z:-1.21 [[ 9.99252066e-01 -3.83358060e-02 -5.06708778e-03 8.15221593e+00] [ 3.83794071e-02 9.99224424e-01 8.80745871e-03 1.10586757e-01] [ 4.72551684e-03 -8.99534313e-03 9.99948375e-01 -1.20765413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52719347 meters Centerline goodness : 0.863879 Centerline is valid? [False, False] Translation: X:8.16, Y:0.11, Z:-1.21 [[ 9.99061595e-01 -4.33119567e-02 6.40705564e-05 8.16094715e+00] [ 4.33043063e-02 9.98910829e-01 1.73750765e-02 1.08423388e-01] [-8.16549334e-04 -1.73559971e-02 9.99849040e-01 -1.21047068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.55719347 meters Centerline goodness : 0.865243 Centerline is valid? [False, False] Translation: X:8.16, Y:0.11, Z:-1.21 [[ 9.99041176e-01 -4.37795713e-02 2.79460019e-04 8.16056624e+00] [ 4.37682156e-02 9.98892322e-01 1.72763456e-02 1.08628074e-01] [-1.03550147e-03 -1.72475491e-02 9.99850714e-01 -1.20992112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.58719347 meters Centerline goodness : 0.865754 Centerline is valid? [False, False] Translation: X:8.16, Y:0.11, Z:-1.21 [[ 9.99158639e-01 -4.10120992e-02 1.50343819e-04 8.16046723e+00] [ 4.10001039e-02 9.98942646e-01 2.07986167e-02 1.08113963e-01] [-1.00317979e-03 -2.07749535e-02 9.99783674e-01 -1.20965592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.61719347 meters Centerline goodness : 0.866348 Centerline is valid? [False, False] Translation: X:8.16, Y:0.11, Z:-1.21 [[ 9.99162382e-01 -4.09207234e-02 -1.68620845e-04 8.16130474e+00] [ 4.09155738e-02 9.98952142e-01 2.05069254e-02 1.09906147e-01] [-6.70714069e-04 -2.04966477e-02 9.99789697e-01 -1.20983609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.64719347 meters Centerline goodness : 0.869551 Centerline is valid? [False, False] Translation: X:8.16, Y:0.11, Z:-1.21 [[ 9.99251257e-01 -3.86795477e-02 -9.03972022e-04 8.16405067e+00] [ 3.86900544e-02 9.99016513e-01 2.16584010e-02 1.13882407e-01] [ 6.53458229e-05 -2.16771591e-02 9.99765021e-01 -1.21157805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.67719347 meters Centerline goodness : 0.869623 Centerline is valid? [False, False] Translation: X:8.16, Y:0.11, Z:-1.21 [[ 9.99405017e-01 -3.44685856e-02 -1.23668057e-03 8.16499427e+00] [ 3.44889354e-02 9.99078609e-01 2.55430169e-02 1.14580489e-01] [ 3.55109436e-04 -2.55704711e-02 9.99672959e-01 -1.21232932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.70719347 meters Centerline goodness : 0.869873 Centerline is valid? [False, False] Translation: X:8.17, Y:0.12, Z:-1.21 [[ 9.99535431e-01 -3.04371592e-02 -1.58150495e-03 8.16554358e+00] [ 3.04701855e-02 9.99117075e-01 2.89247019e-02 1.16540275e-01] [ 6.99722840e-04 -2.89594532e-02 9.99580342e-01 -1.21243580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.73719347000001 meters Centerline goodness : 0.870379 Centerline is valid? [False, False] Translation: X:8.17, Y:0.12, Z:-1.21 [[ 9.99654748e-01 -2.62031253e-02 -1.94440810e-03 8.16651450e+00] [ 2.62523361e-02 9.99131891e-01 3.23462263e-02 1.18995701e-01] [ 1.09514793e-03 -3.23861039e-02 9.99474833e-01 -1.21297847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76719347 meters Centerline goodness : 0.869912 Centerline is valid? [False, False] Translation: X:8.16, Y:0.13, Z:-1.21 [[ 9.99859116e-01 -1.67742829e-02 -6.09433725e-04 8.16254362e+00] [ 1.67837901e-02 9.99602000e-01 2.26747731e-02 1.26373962e-01] [ 2.28838111e-04 -2.26818072e-02 9.99742709e-01 -1.21166112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.79719347 meters Centerline goodness : 0.870777 Centerline is valid? [False, False] Translation: X:8.16, Y:0.13, Z:-1.21 [[ 9.99876311e-01 -1.56885933e-02 -1.10898518e-03 8.16440411e+00] [ 1.57100308e-02 9.99609723e-01 2.30997097e-02 1.27949719e-01] [ 7.46150413e-04 -2.31142748e-02 9.99732551e-01 -1.21265318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82719347 meters Centerline goodness : 0.871860 Centerline is valid? [False, False] Translation: X:8.16, Y:0.13, Z:-1.21 [[ 9.99880569e-01 -1.54060625e-02 -1.22517385e-03 8.16497710e+00] [ 1.54301106e-02 9.99618063e-01 2.29268572e-02 1.29322616e-01] [ 8.71493310e-04 -2.29430236e-02 9.99736394e-01 -1.21292853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.85719347 meters Centerline goodness : 0.870476 Centerline is valid? [False, False] Translation: X:8.17, Y:0.13, Z:-1.21 [[ 9.99881184e-01 -1.53643727e-02 -1.24632455e-03 8.16539560e+00] [ 1.53885913e-02 9.99626969e-01 2.25635772e-02 1.30787602e-01] [ 8.99184425e-04 -2.25800754e-02 9.99744633e-01 -1.21317705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88719347 meters Centerline goodness : 0.871505 Centerline is valid? [False, False] Translation: X:8.17, Y:0.13, Z:-1.22 [[ 9.99855216e-01 -1.69399539e-02 -1.60805315e-03 8.16782868e+00] [ 1.69699464e-02 9.99636416e-01 2.09536583e-02 1.31237512e-01] [ 1.25251449e-03 -2.09779131e-02 9.99779155e-01 -1.21508968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.91719347 meters Centerline goodness : 0.866438 Centerline is valid? [False, False] Translation: X:8.17, Y:0.13, Z:-1.22 [[ 9.99813134e-01 -1.92203999e-02 -2.06710539e-03 8.17013616e+00] [ 1.92554838e-02 9.99642366e-01 1.85571236e-02 1.30851894e-01] [ 1.70969078e-03 -1.85934590e-02 9.99825665e-01 -1.21656372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94719347 meters Centerline goodness : 0.867473 Centerline is valid? [False, False] Translation: X:8.17, Y:0.13, Z:-1.22 [[ 9.99758911e-01 -2.18237372e-02 -2.41762099e-03 8.17224985e+00] [ 2.18598490e-02 9.99631696e-01 1.60816590e-02 1.29622426e-01] [ 2.06576867e-03 -1.61306307e-02 9.99867759e-01 -1.21810019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.97719347 meters Centerline goodness : 0.867924 Centerline is valid? [False, False] Translation: X:8.17, Y:0.13, Z:-1.22 [[ 9.99678419e-01 -2.52610967e-02 -2.22164507e-03 8.17290597e+00] [ 2.52887416e-02 9.99589733e-01 1.34478366e-02 1.25880746e-01] [ 1.88102651e-03 -1.34996946e-02 9.99907106e-01 -1.21871468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.00719347 meters Centerline goodness : 0.868867 Centerline is valid? [False, False] Translation: X:8.17, Y:0.12, Z:-1.22 [[ 9.99679153e-01 -2.52269013e-02 -2.27905443e-03 8.17336997e+00] [ 2.52564663e-02 9.99582421e-01 1.40390414e-02 1.24025016e-01] [ 1.92394124e-03 -1.40920979e-02 9.99898850e-01 -1.21906243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.03719347 meters Centerline goodness : 0.870767 Centerline is valid? [False, False] Translation: X:8.17, Y:0.12, Z:-1.22 [[ 9.99670429e-01 -2.55593524e-02 -2.39842040e-03 8.17355920e+00] [ 2.55906573e-02 9.99573302e-01 1.40830638e-02 1.23158397e-01] [ 2.03744301e-03 -1.41397996e-02 9.99897952e-01 -1.21892538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.06719347 meters Centerline goodness : 0.872084 Centerline is valid? [False, False] Translation: X:8.17, Y:0.12, Z:-1.22 [[ 9.99673223e-01 -2.54401346e-02 -2.49950577e-03 8.17408678e+00] [ 2.54736925e-02 9.99570860e-01 1.44632916e-02 1.22174267e-01] [ 2.13048505e-03 -1.45222369e-02 9.99892277e-01 -1.21924980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.09719347000001 meters Centerline goodness : 0.872628 Centerline is valid? [False, False] Translation: X:8.19, Y:0.12, Z:-1.22 [[ 9.99558058e-01 -2.96822983e-02 1.62775193e-03 8.18890048e+00] [ 2.96449632e-02 9.99370236e-01 1.95014899e-02 1.19269327e-01] [-2.20557587e-03 -1.94446168e-02 9.99808503e-01 -1.22384357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12719347 meters Centerline goodness : 0.873643 Centerline is valid? [False, False] Translation: X:8.19, Y:0.12, Z:-1.23 [[ 9.99457078e-01 -3.29197753e-02 1.35587234e-03 8.19089276e+00] [ 3.28932517e-02 9.99325155e-01 1.63483569e-02 1.18806956e-01] [-1.89314157e-03 -1.62948820e-02 9.99865437e-01 -1.22535992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.15719347 meters Centerline goodness : 0.874599 Centerline is valid? [False, False] Translation: X:8.19, Y:0.12, Z:-1.23 [[ 9.99335531e-01 -3.64317780e-02 1.10588224e-03 8.19289018e+00] [ 3.64143397e-02 9.99252094e-01 1.30095688e-02 1.18777789e-01] [-1.57901686e-03 -1.29606544e-02 9.99914760e-01 -1.22695847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18719347 meters Centerline goodness : 0.872512 Centerline is valid? [False, False] Translation: X:8.19, Y:0.12, Z:-1.23 [[ 9.99308380e-01 -3.71726067e-02 9.79152235e-04 8.19382047e+00] [ 3.71567278e-02 9.99224574e-01 1.30241388e-02 1.18178351e-01] [-1.46253416e-03 -1.29787490e-02 9.99914703e-01 -1.22784100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.21719347 meters Centerline goodness : 0.873669 Centerline is valid? [False, False] Translation: X:8.21, Y:0.12, Z:-1.23 [[ 9.98982287e-01 -4.50290683e-02 -2.60256618e-03 8.21452439e+00] [ 4.50859674e-02 9.98555591e-01 2.92230533e-02 1.19349662e-01] [ 1.28292015e-03 -2.93106518e-02 9.99569527e-01 -1.22906111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24719347 meters Centerline goodness : 0.874673 Centerline is valid? [False, False] Translation: X:8.22, Y:0.12, Z:-1.23 [[ 9.99080646e-01 -4.27499331e-02 -3.21029133e-03 8.21590282e+00] [ 4.28341446e-02 9.98510115e-01 3.38051298e-02 1.17944397e-01] [ 1.76034133e-03 -3.39115610e-02 9.99423287e-01 -1.22928026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.27719347 meters Centerline goodness : 0.874075 Centerline is valid? [False, False] Translation: X:8.22, Y:0.12, Z:-1.23 [[ 9.99061136e-01 -4.31694552e-02 -3.63923811e-03 8.21749271e+00] [ 4.32680508e-02 9.98490270e-01 3.38386888e-02 1.17331964e-01] [ 2.17294608e-03 -3.39643816e-02 9.99420682e-01 -1.23041679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.30719347 meters Centerline goodness : 0.875136 Centerline is valid? [False, False] Translation: X:8.22, Y:0.12, Z:-1.23 [[ 9.99048577e-01 -4.34318079e-02 -3.95201607e-03 8.21870882e+00] [ 4.35409645e-02 9.98477241e-01 3.38730634e-02 1.16837175e-01] [ 2.47482972e-03 -3.40129104e-02 9.99418329e-01 -1.23125471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.33719347 meters Centerline goodness : 0.876527 Centerline is valid? [False, False] Translation: X:8.22, Y:0.12, Z:-1.23 [[ 9.99162817e-01 -4.07005492e-02 -4.13878757e-03 8.21881120e+00] [ 4.08245104e-02 9.98502293e-01 3.64215707e-02 1.19469785e-01] [ 2.65021095e-03 -3.65600432e-02 9.99327944e-01 -1.23125095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.36719347 meters Centerline goodness : 0.876565 Centerline is valid? [False, False] Translation: X:8.22, Y:0.12, Z:-1.23 [[ 9.99308816e-01 -3.68770011e-02 -4.68802092e-03 8.21955548e+00] [ 3.70367528e-02 9.98494583e-01 4.04579503e-02 1.21354949e-01] [ 3.18899562e-03 -4.06036154e-02 9.99170244e-01 -1.23116460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.39719347 meters Centerline goodness : 0.876711 Centerline is valid? [False, False] Translation: X:8.22, Y:0.12, Z:-1.23 [[ 9.99430748e-01 -3.33817975e-02 -4.88206726e-03 8.21979896e+00] [ 3.35628811e-02 9.98489105e-01 4.35090815e-02 1.23823335e-01] [ 3.42227962e-03 -4.36481701e-02 9.99041103e-01 -1.23130326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.42719347 meters Centerline goodness : 0.877471 Centerline is valid? [False, False] Translation: X:8.22, Y:0.13, Z:-1.23 [[ 9.99465164e-01 -3.22316237e-02 -5.52341186e-03 8.22199077e+00] [ 3.24419436e-02 9.98524516e-01 4.35466476e-02 1.26844479e-01] [ 4.11168300e-03 -4.37025476e-02 9.99036126e-01 -1.23254877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.45719347 meters Centerline goodness : 0.876363 Centerline is valid? [False, False] Translation: X:8.23, Y:0.13, Z:-1.23 [[ 9.99585675e-01 -2.79168156e-02 -7.00922420e-03 8.22921704e+00] [ 2.81760575e-02 9.98798022e-01 4.01076137e-02 1.30762218e-01] [ 5.88112242e-03 -4.02884884e-02 9.99170781e-01 -1.22983280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48719347000001 meters Centerline goodness : 0.878477 Centerline is valid? [False, False] Translation: X:8.24, Y:0.13, Z:-1.23 [[ 9.99687643e-01 -2.48578676e-02 -2.58912691e-03 8.23693635e+00] [ 2.49313742e-02 9.99114868e-01 3.38807663e-02 1.33308283e-01] [ 1.74463159e-03 -3.39347339e-02 9.99422528e-01 -1.23038678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.51719347 meters Centerline goodness : 0.881046 Centerline is valid? [False, False] Translation: X:8.24, Y:0.14, Z:-1.23 [[ 9.99698364e-01 -2.44179980e-02 -2.63491277e-03 8.23739974e+00] [ 2.44926279e-02 9.99138427e-01 3.35039433e-02 1.35876608e-01] [ 1.81454338e-03 -3.35583733e-02 9.99435112e-01 -1.23057332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54719347 meters Centerline goodness : 0.883085 Centerline is valid? [False, False] Translation: X:8.24, Y:0.14, Z:-1.23 [[ 9.99700059e-01 -2.43390944e-02 -2.72042734e-03 8.23739388e+00] [ 2.44152719e-02 9.99164025e-01 3.27894162e-02 1.39211670e-01] [ 1.92008843e-03 -3.28460013e-02 9.99458580e-01 -1.22995741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.57719347 meters Centerline goodness : 0.884765 Centerline is valid? [False, False] Translation: X:8.24, Y:0.14, Z:-1.23 [[ 9.99768795e-01 -2.13595562e-02 -2.47485804e-03 8.23585741e+00] [ 2.14324833e-02 9.99170598e-01 3.46231967e-02 1.44724275e-01] [ 1.73326927e-03 -3.46682340e-02 9.99397373e-01 -1.22823947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60719347 meters Centerline goodness : 0.883758 Centerline is valid? [False, False] Translation: X:8.24, Y:0.15, Z:-1.23 [[ 9.99777367e-01 -2.08916709e-02 -2.95889867e-03 8.23757350e+00] [ 2.09808885e-02 9.99192082e-01 3.42780545e-02 1.47555932e-01] [ 2.24038229e-03 -3.43325033e-02 9.99407955e-01 -1.22921672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.63719347 meters Centerline goodness : 0.885757 Centerline is valid? [False, False] Translation: X:8.24, Y:0.15, Z:-1.23 [[ 9.99775979e-01 -2.09310971e-02 -3.14342135e-03 8.23857265e+00] [ 2.10248807e-02 9.99215530e-01 3.35600747e-02 1.50108117e-01] [ 2.43850625e-03 -3.36186466e-02 9.99431759e-01 -1.23002055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66719347 meters Centerline goodness : 0.884730 Centerline is valid? [False, False] Translation: X:8.24, Y:0.15, Z:-1.23 [[ 9.99771378e-01 -2.11308298e-02 -3.26797222e-03 8.23923656e+00] [ 2.12261860e-02 9.99243535e-01 3.25853789e-02 1.52730942e-01] [ 2.57694402e-03 -3.26472958e-02 9.99463613e-01 -1.23056273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.69719347 meters Centerline goodness : 0.886048 Centerline is valid? [False, False] Translation: X:8.25, Y:0.16, Z:-1.23 [[ 9.99790204e-01 -2.04634798e-02 -8.91320453e-04 8.24809100e+00] [ 2.04787083e-02 9.99518050e-01 2.33300391e-02 1.60877895e-01] [ 4.13477098e-04 -2.33433976e-02 9.99727420e-01 -1.23062679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.72719347 meters Centerline goodness : 0.886239 Centerline is valid? [False, False] Translation: X:8.25, Y:0.17, Z:-1.23 [[ 9.99783624e-01 -2.07628608e-02 -1.26866850e-03 8.24908409e+00] [ 2.07859479e-02 9.99536648e-01 2.22358696e-02 1.65043762e-01] [ 8.06400398e-04 -2.22574288e-02 9.99751948e-01 -1.23100140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.75719347 meters Centerline goodness : 0.885411 Centerline is valid? [False, False] Translation: X:8.25, Y:0.17, Z:-1.23 [[ 9.99778764e-01 -2.09695194e-02 -1.64383258e-03 8.25009166e+00] [ 2.09996995e-02 9.99554280e-01 2.12191656e-02 1.69019610e-01] [ 1.19814419e-03 -2.12489912e-02 9.99773497e-01 -1.23138938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.78719347 meters Centerline goodness : 0.886178 Centerline is valid? [False, False] Translation: X:8.25, Y:0.18, Z:-1.23 [[ 9.99756238e-01 -2.20133983e-02 -1.69572397e-03 8.25065114e+00] [ 2.20416557e-02 9.99576665e-01 1.89909758e-02 1.75570756e-01] [ 1.27695019e-03 -1.90237231e-02 9.99818217e-01 -1.23181313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.81719347 meters Centerline goodness : 0.884292 Centerline is valid? [False, False] Translation: X:8.25, Y:0.18, Z:-1.23 [[ 9.99747727e-01 -2.23756891e-02 -1.95227017e-03 8.25163412e+00] [ 2.24076818e-02 9.99581659e-01 1.82866715e-02 1.77385502e-01] [ 1.54227658e-03 -1.83258041e-02 9.99830879e-01 -1.23245556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84719347000001 meters Centerline goodness : 0.885895 Centerline is valid? [False, False] Translation: X:8.25, Y:0.18, Z:-1.23 [[ 9.99747956e-01 -2.23391546e-02 -2.23325212e-03 8.25316187e+00] [ 2.23757831e-02 9.99587544e-01 1.80018474e-02 1.79017136e-01] [ 1.83018495e-03 -1.80472809e-02 9.99835460e-01 -1.23373437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.87719347 meters Centerline goodness : 0.887803 Centerline is valid? [False, False] Translation: X:8.26, Y:0.18, Z:-1.24 [[ 9.99761919e-01 -2.16300517e-02 -2.87145305e-03 8.25557327e+00] [ 2.16788597e-02 9.99598923e-01 1.82214143e-02 1.81048375e-01] [ 2.47617124e-03 -1.82793260e-02 9.99829853e-01 -1.23530056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90719347 meters Centerline goodness : 0.886019 Centerline is valid? [False, False] Translation: X:8.26, Y:0.18, Z:-1.24 [[ 9.99777684e-01 -2.07925767e-02 -3.50031007e-03 8.25786147e+00] [ 2.08533862e-02 9.99614333e-01 1.83390770e-02 1.83709876e-01] [ 3.11764345e-03 -1.84079932e-02 9.99825698e-01 -1.23667129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.93719347 meters Centerline goodness : 0.884358 Centerline is valid? [False, False] Translation: X:8.26, Y:0.19, Z:-1.24 [[ 9.99940298e-01 -1.03579445e-02 -3.48042688e-03 8.25938560e+00] [ 1.03980735e-02 9.99877292e-01 1.17167088e-02 1.87283290e-01] [ 3.35863878e-03 -1.17521990e-02 9.99925300e-01 -1.23882217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96719347 meters Centerline goodness : 0.884664 Centerline is valid? [False, False] Translation: X:8.26, Y:0.19, Z:-1.24 [[ 9.99975651e-01 -5.84322532e-03 -3.81492629e-03 8.26051567e+00] [ 5.90295893e-03 9.99857130e-01 1.58390223e-02 1.88022336e-01] [ 3.72183028e-03 -1.58611559e-02 9.99867277e-01 -1.23946968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.99719347 meters Centerline goodness : 0.885483 Centerline is valid? [False, False] Translation: X:8.26, Y:0.19, Z:-1.24 [[ 9.99991577e-01 -1.26653647e-03 -3.90412715e-03 8.26057492e+00] [ 1.34344837e-03 9.99803832e-01 1.97608938e-02 1.89010881e-01] [ 3.87833339e-03 -1.97659723e-02 9.99797112e-01 -1.23904955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02719347 meters Centerline goodness : 0.885483 Centerline is valid? [False, False] Translation: X:8.26, Y:0.19, Z:-1.24 [[ 9.99991577e-01 -1.26653647e-03 -3.90412715e-03 8.26057492e+00] [ 1.34344837e-03 9.99803832e-01 1.97608938e-02 1.89010881e-01] [ 3.87833339e-03 -1.97659723e-02 9.99797112e-01 -1.23904955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.05719347 meters Centerline goodness : 0.886451 Centerline is valid? [False, False] Translation: X:8.26, Y:0.19, Z:-1.24 [[ 9.99985843e-01 3.39109971e-03 -4.10057831e-03 8.26125057e+00] [-3.29234154e-03 9.99709996e-01 2.38554988e-02 1.89812158e-01] [ 4.18028550e-03 -2.38416605e-02 9.99707007e-01 -1.23917325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08719347 meters Centerline goodness : 0.882446 Centerline is valid? [False, False] Translation: X:8.26, Y:0.19, Z:-1.24 [[ 9.99878428e-01 1.48038560e-02 -4.89646105e-03 8.25902244e+00] [-1.47253814e-02 9.99768431e-01 1.56922995e-02 1.89926173e-01] [ 5.12763372e-03 -1.56182895e-02 9.99864879e-01 -1.23653305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.11719347 meters Centerline goodness : 0.880502 Centerline is valid? [False, False] Translation: X:8.26, Y:0.19, Z:-1.24 [[ 9.99862225e-01 1.57460046e-02 -5.25311446e-03 8.26025006e+00] [-1.56577112e-02 9.99742156e-01 1.64456094e-02 1.88412733e-01] [ 5.51071262e-03 -1.63610918e-02 9.99850962e-01 -1.23706747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.14719347 meters Centerline goodness : 0.880023 Centerline is valid? [False, False] Translation: X:8.26, Y:0.19, Z:-1.24 [[ 9.99898568e-01 1.31315552e-02 -5.51509485e-03 8.26114847e+00] [-1.30559472e-02 9.99823245e-01 1.35285562e-02 1.86737169e-01] [ 5.69177101e-03 -1.34551791e-02 9.99893275e-01 -1.23730525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.17719347 meters Centerline goodness : 0.880074 Centerline is valid? [False, False] Translation: X:8.26, Y:0.18, Z:-1.24 [[ 9.99931568e-01 1.01443075e-02 -5.82694879e-03 8.26196182e+00] [-1.00807058e-02 9.99890402e-01 1.08426870e-02 1.83365310e-01] [ 5.93630171e-03 -1.07832053e-02 9.99924239e-01 -1.23746244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.20719347 meters Centerline goodness : 0.878343 Centerline is valid? [False, False] Translation: X:8.27, Y:0.18, Z:-1.24 [[ 9.99988786e-01 4.72813198e-03 -2.67779496e-04 8.27408116e+00] [-4.72356713e-03 9.99875608e-01 1.50484786e-02 1.78184389e-01] [ 3.38897379e-04 -1.50470449e-02 9.99886729e-01 -1.24105721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.23719347000001 meters Centerline goodness : 0.878433 Centerline is valid? [False, False] Translation: X:8.29, Y:0.16, Z:-1.24 [[ 9.99993966e-01 -2.11168372e-03 2.75847633e-03 8.29125223e+00] [ 2.06145458e-03 9.99834298e-01 1.80866758e-02 1.64752386e-01] [-2.79621258e-03 -1.80808802e-02 9.99832617e-01 -1.24476124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26719347 meters Centerline goodness : 0.875786 Centerline is valid? [False, False] Translation: X:8.29, Y:0.16, Z:-1.25 [[ 9.99966487e-01 -7.93120708e-03 2.03004257e-03 8.29385854e+00] [ 7.90402686e-03 9.99883422e-01 1.30640151e-02 1.59540955e-01] [-2.13341932e-03 -1.30475318e-02 9.99912601e-01 -1.24603465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.29719347 meters Centerline goodness : 0.875087 Centerline is valid? [False, False] Translation: X:8.30, Y:0.15, Z:-1.25 [[ 9.99938901e-01 -1.09309570e-02 1.64551837e-03 8.29552768e+00] [ 1.09113388e-02 9.99874417e-01 1.14931273e-02 1.53014863e-01] [-1.77094260e-03 -1.14744703e-02 9.99932598e-01 -1.24704710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32719347 meters Centerline goodness : 0.873644 Centerline is valid? [False, False] Translation: X:8.30, Y:0.15, Z:-1.25 [[ 9.99897534e-01 -1.42661312e-02 1.18318863e-03 8.29688067e+00] [ 1.42543848e-02 9.99854178e-01 9.40398040e-03 1.47114742e-01] [-1.31717451e-03 -9.38615118e-03 9.99955082e-01 -1.24742797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.35719347 meters Centerline goodness : 0.875484 Centerline is valid? [False, False] Translation: X:8.30, Y:0.14, Z:-1.25 [[ 9.99846371e-01 -1.75024233e-02 9.48225908e-04 8.29747611e+00] [ 1.74951006e-02 9.99820684e-01 7.24720431e-03 1.41675852e-01] [-1.07489951e-03 -7.22950162e-03 9.99973289e-01 -1.24728109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38719347 meters Centerline goodness : 0.875774 Centerline is valid? [False, False] Translation: X:8.31, Y:0.13, Z:-1.25 [[ 9.99719191e-01 -2.33258725e-02 4.17634378e-03 8.31478562e+00] [ 2.32854239e-02 9.99683861e-01 9.48513528e-03 1.28617628e-01] [-4.39627253e-03 -9.38522384e-03 9.99946294e-01 -1.24906853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.41719347 meters Centerline goodness : 0.877495 Centerline is valid? [False, False] Translation: X:8.32, Y:0.12, Z:-1.25 [[ 9.99641636e-01 -2.64829704e-02 3.90528995e-03 8.31597432e+00] [ 2.64539023e-02 9.99623263e-01 7.31601034e-03 1.23551744e-01] [-4.09756837e-03 -7.21007839e-03 9.99965612e-01 -1.24947740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.44719347 meters Centerline goodness : 0.877578 Centerline is valid? [False, False] Translation: X:8.33, Y:0.12, Z:-1.25 [[ 9.99523578e-01 -2.98167717e-02 7.97350087e-03 8.33042132e+00] [ 2.97037026e-02 9.99461514e-01 1.39417693e-02 1.17394928e-01] [-8.38490580e-03 -1.36982846e-02 9.99871017e-01 -1.25385620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.47719347 meters Centerline goodness : 0.876679 Centerline is valid? [False, False] Translation: X:8.35, Y:0.11, Z:-1.26 [[ 0.9992864 -0.03581926 0.01198648 8.34507602] [ 0.03557222 0.99916243 0.02022505 0.1077724 ] [-0.01270089 -0.01978424 0.9997236 -1.25907136] [ 0. 0. 0. 1. ]] SLAMing on 79.50719347 meters Centerline goodness : 0.876713 Centerline is valid? [False, False] Translation: X:8.36, Y:0.10, Z:-1.26 [[ 0.99909128 -0.03943422 0.01617287 8.35953335] [ 0.03897863 0.99885938 0.02757919 0.10183068] [-0.01724199 -0.02692373 0.99948878 -1.26463817] [ 0. 0. 0. 1. ]] SLAMing on 79.53719347 meters Centerline goodness : 0.875081 Centerline is valid? [False, False] Translation: X:8.39, Y:0.08, Z:-1.27 [[ 0.99890137 -0.04581051 0.00987135 8.38994158] [ 0.0450915 0.99694979 0.06370148 0.08402075] [-0.01275943 -0.06318638 0.99792018 -1.26621507] [ 0. 0. 0. 1. ]] SLAMing on 79.56719347 meters Centerline goodness : 0.874151 Centerline is valid? [False, False] Translation: X:8.39, Y:0.08, Z:-1.27 [[ 0.99869717 -0.05011875 0.00959592 8.39090007] [ 0.04944662 0.99692941 0.06071881 0.08178808] [-0.0126096 -0.06016522 0.99810878 -1.26566524] [ 0. 0. 0. 1. ]] SLAMing on 79.59719347000001 meters Centerline goodness : 0.874400 Centerline is valid? [False, False] Translation: X:8.39, Y:0.08, Z:-1.26 [[ 0.99849555 -0.0540994 0.00893849 8.39251188] [ 0.05348717 0.99685559 0.05846414 0.07968617] [-0.01207326 -0.05789809 0.99824949 -1.2648495 ] [ 0. 0. 0. 1. ]] SLAMing on 79.62719347 meters Centerline goodness : 0.872550 Centerline is valid? [False, False] Translation: X:8.39, Y:0.08, Z:-1.26 [[ 0.99826033 -0.05834206 0.00851535 8.39310757] [ 0.05777868 0.99676768 0.05581945 0.07793289] [-0.01174445 -0.05523033 0.99840457 -1.26314803] [ 0. 0. 0. 1. ]] SLAMing on 79.65719347 meters Centerline goodness : 0.873540 Centerline is valid? [False, False] Translation: X:8.39, Y:0.07, Z:-1.26 [[ 9.97763624e-01 -6.63879797e-02 7.77088759e-03 8.39483144e+00] [ 6.59134593e-02 9.96545551e-01 5.05211007e-02 7.41813182e-02] [-1.10980373e-02 -4.98959104e-02 9.98692761e-01 -1.26103817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68719347 meters Centerline goodness : 0.873682 Centerline is valid? [False, False] Translation: X:8.40, Y:0.07, Z:-1.26 [[ 9.97489821e-01 -7.04227126e-02 7.39585362e-03 8.39631351e+00] [ 6.99959687e-02 9.96421361e-01 4.73817987e-02 7.25566647e-02] [-1.07061413e-02 -4.67451820e-02 9.98849471e-01 -1.26102482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.71719347 meters Centerline goodness : 0.871755 Centerline is valid? [False, False] Translation: X:8.40, Y:0.07, Z:-1.26 [[ 9.97211575e-01 -7.42788175e-02 7.19249232e-03 8.39759322e+00] [ 7.38900870e-02 9.96282101e-01 4.42970652e-02 7.10807033e-02] [-1.04560850e-02 -4.36420922e-02 9.98992512e-01 -1.26114517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74719347 meters Centerline goodness : 0.873846 Centerline is valid? [False, False] Translation: X:8.40, Y:0.07, Z:-1.26 [[ 9.96845688e-01 -7.90439433e-02 7.12241622e-03 8.39765350e+00] [ 7.86875003e-02 9.96052413e-01 4.10836760e-02 6.97206593e-02] [-1.03417156e-02 -4.03936402e-02 9.99130323e-01 -1.25924808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.77719347 meters Centerline goodness : 0.876986 Centerline is valid? [False, False] Translation: X:8.40, Y:0.07, Z:-1.26 [[ 9.96785289e-01 -7.98292651e-02 6.80993006e-03 8.39755243e+00] [ 7.94857533e-02 9.95992841e-01 4.09911640e-02 7.03762921e-02] [-1.00549361e-02 -4.03180968e-02 9.99136302e-01 -1.25788950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.80719347 meters Centerline goodness : 0.875776 Centerline is valid? [False, False] Translation: X:8.40, Y:0.07, Z:-1.26 [[ 9.96741646e-01 -8.03952936e-02 6.53359420e-03 8.39731501e+00] [ 8.00664477e-02 9.95962937e-01 4.05856050e-02 7.19708221e-02] [-9.77010931e-03 -3.99302411e-02 9.99154703e-01 -1.25670126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.83719347 meters Centerline goodness : 0.877284 Centerline is valid? [False, False] Translation: X:8.40, Y:0.07, Z:-1.26 [[ 9.96707693e-01 -8.08288488e-02 6.36174077e-03 8.39698493e+00] [ 8.05153926e-02 9.95963999e-01 3.96608768e-02 7.47752067e-02] [-9.54180779e-03 -3.90180829e-02 9.99192946e-01 -1.25596538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.86719347 meters Centerline goodness : 0.877541 Centerline is valid? [False, False] Translation: X:8.40, Y:0.08, Z:-1.26 [[ 9.96710174e-01 -8.07994579e-02 6.34639639e-03 8.39627952e+00] [ 8.04953334e-02 9.96001727e-01 3.87435396e-02 7.79376228e-02] [-9.45147876e-03 -3.81052248e-02 9.99229034e-01 -1.25522140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.89719347 meters Centerline goodness : 0.879175 Centerline is valid? [False, False] Translation: X:8.39, Y:0.09, Z:-1.25 [[ 9.96974583e-01 -7.74833881e-02 6.16480398e-03 8.39473292e+00] [ 7.71813818e-02 9.96233343e-01 3.95241756e-02 8.54434330e-02] [-9.20405031e-03 -3.89287904e-02 9.99199597e-01 -1.25388511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.92719347 meters Centerline goodness : 0.881924 Centerline is valid? [False, False] Translation: X:8.39, Y:0.09, Z:-1.25 [[ 9.97008123e-01 -7.70104041e-02 6.64829794e-03 8.39324575e+00] [ 7.67095301e-02 9.96348706e-01 3.74820539e-02 9.10502993e-02] [-9.51053116e-03 -3.68599244e-02 9.99275185e-01 -1.25392617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.95719347 meters Centerline goodness : 0.883352 Centerline is valid? [False, False] Translation: X:8.39, Y:0.09, Z:-1.25 [[ 9.97255296e-01 -7.37658521e-02 6.36183690e-03 8.39290967e+00] [ 7.34580470e-02 9.96510997e-01 3.96200556e-02 9.49721781e-02] [-9.26224759e-03 -3.90439821e-02 9.99194565e-01 -1.25398853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98719347000001 meters Centerline goodness : 0.884042 Centerline is valid? [False, False] Translation: X:8.39, Y:0.10, Z:-1.25 [[ 9.97480500e-01 -7.07121463e-02 5.69602109e-03 8.39345905e+00] [ 7.04165546e-02 9.96653932e-01 4.15023946e-02 9.94818300e-02] [-8.61168522e-03 -4.09967352e-02 9.99122168e-01 -1.25437921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.01719347 meters Centerline goodness : 0.885649 Centerline is valid? [False, False] Translation: X:8.39, Y:0.11, Z:-1.25 [[ 9.98258979e-01 -5.89610792e-02 1.61321128e-03 8.38860318e+00] [ 5.88672964e-02 9.97638953e-01 3.53717606e-02 1.08227746e-01] [-3.69495959e-03 -3.52152123e-02 9.99372921e-01 -1.25139781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04719347 meters Centerline goodness : 0.886132 Centerline is valid? [False, False] Translation: X:8.39, Y:0.11, Z:-1.25 [[ 9.98491963e-01 -5.48762322e-02 1.54917648e-03 8.38829308e+00] [ 5.47793685e-02 9.97790670e-01 3.75898825e-02 1.12329143e-01] [-3.60854495e-03 -3.74483326e-02 9.99292050e-01 -1.25214729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.07719347 meters Centerline goodness : 0.888968 Centerline is valid? [False, False] Translation: X:8.39, Y:0.12, Z:-1.25 [[ 9.98704166e-01 -5.08707572e-02 1.46776080e-03 8.38757510e+00] [ 5.07726271e-02 9.97922167e-01 3.96672243e-02 1.17100147e-01] [-3.48261277e-03 -3.95413001e-02 9.99211868e-01 -1.25235237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10719347 meters Centerline goodness : 0.887192 Centerline is valid? [False, False] Translation: X:8.38, Y:0.13, Z:-1.25 [[ 9.99222921e-01 -3.91917570e-02 -4.19045295e-03 8.38203103e+00] [ 3.93114250e-02 9.98652952e-01 3.38658186e-02 1.25925291e-01] [ 2.85754727e-03 -3.40042349e-02 9.99417604e-01 -1.24959161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.13719347 meters Centerline goodness : 0.882538 Centerline is valid? [False, False] Translation: X:8.39, Y:0.13, Z:-1.25 [[ 9.99276179e-01 -3.77159759e-02 -4.96225965e-03 8.38558299e+00] [ 3.78647947e-02 9.98689694e-01 3.44260320e-02 1.28470474e-01] [ 3.65734618e-03 -3.45890086e-02 9.99394929e-01 -1.25240320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16719347 meters Centerline goodness : 0.883422 Centerline is valid? [False, False] Translation: X:8.39, Y:0.13, Z:-1.26 [[ 9.99319421e-01 -3.64511851e-02 -5.65740702e-03 8.38904583e+00] [ 3.66273302e-02 9.98715773e-01 3.50034724e-02 1.30350067e-01] [ 4.37422358e-03 -3.51868654e-02 9.99371178e-01 -1.25533179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.19719347 meters Centerline goodness : 0.883694 Centerline is valid? [False, False] Translation: X:8.39, Y:0.13, Z:-1.26 [[ 9.99354859e-01 -3.53590285e-02 -6.29320461e-03 8.39206129e+00] [ 3.55610380e-02 9.98734487e-01 3.55645433e-02 1.31953577e-01] [ 5.02771278e-03 -3.57653921e-02 9.99347567e-01 -1.25777584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.22719347 meters Centerline goodness : 0.884932 Centerline is valid? [False, False] Translation: X:8.39, Y:0.13, Z:-1.26 [[ 9.99346871e-01 -3.55797085e-02 -6.31786110e-03 8.39227039e+00] [ 3.57785980e-02 9.98753617e-01 3.48009297e-02 1.34279488e-01] [ 5.07177969e-03 -3.50042444e-02 9.99374294e-01 -1.25783269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.25719347 meters Centerline goodness : 0.887355 Centerline is valid? [False, False] Translation: X:8.39, Y:0.14, Z:-1.26 [[ 9.99232403e-01 -3.86085589e-02 -6.63210511e-03 8.39355354e+00] [ 3.87978575e-02 9.98757133e-01 3.12876143e-02 1.35630399e-01] [ 5.41589259e-03 -3.15209095e-02 9.99488419e-01 -1.25813325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.28719347 meters Centerline goodness : 0.884759 Centerline is valid? [False, False] Translation: X:8.39, Y:0.14, Z:-1.26 [[ 9.99074615e-01 -4.24692755e-02 -6.80258587e-03 8.39414812e+00] [ 4.26393107e-02 9.98720693e-01 2.71821171e-02 1.36906744e-01] [ 5.63947846e-03 -2.74470207e-02 9.99607352e-01 -1.25796374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.31719347 meters Centerline goodness : 0.885207 Centerline is valid? [False, False] Translation: X:8.40, Y:0.14, Z:-1.26 [[ 9.98933223e-01 -4.56187745e-02 -7.16543713e-03 8.39639383e+00] [ 4.57787071e-02 9.98662838e-01 2.40176003e-02 1.36824473e-01] [ 6.06020228e-03 -2.43200034e-02 9.99685856e-01 -1.25941675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34719347000001 meters Centerline goodness : 0.884897 Centerline is valid? [False, False] Translation: X:8.41, Y:0.13, Z:-1.26 [[ 9.98655207e-01 -5.17153058e-02 -3.64744137e-03 8.41223057e+00] [ 5.17977108e-02 9.98260556e-01 2.81577633e-02 1.32706654e-01] [ 2.18490951e-03 -2.83088261e-02 9.99596837e-01 -1.26448286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.37719347 meters Centerline goodness : 0.885036 Centerline is valid? [False, False] Translation: X:8.41, Y:0.13, Z:-1.26 [[ 9.98449243e-01 -5.55508280e-02 -3.63532866e-03 8.41275653e+00] [ 5.56224128e-02 9.98162284e-01 2.40458228e-02 1.33502021e-01] [ 2.29288260e-03 -2.42107393e-02 9.99704248e-01 -1.26442465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40719347 meters Centerline goodness : 0.888859 Centerline is valid? [False, False] Translation: X:8.42, Y:0.13, Z:-1.27 [[ 9.98352942e-01 -5.73367033e-02 1.97622485e-03 8.42299953e+00] [ 5.72391193e-02 9.97803296e-01 3.33506337e-02 1.32235110e-01] [-3.88409906e-03 -3.31825859e-02 9.99441759e-01 -1.26781777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.43719347 meters Centerline goodness : 0.889837 Centerline is valid? [False, False] Translation: X:8.42, Y:0.13, Z:-1.27 [[ 9.98302981e-01 -5.82215951e-02 1.18523830e-03 8.42297978e+00] [ 5.81483947e-02 9.97735799e-01 3.37940720e-02 1.33128407e-01] [-3.15009946e-03 -3.36678031e-02 9.99428114e-01 -1.26518391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46719347 meters Centerline goodness : 0.891256 Centerline is valid? [False, False] Translation: X:8.42, Y:0.14, Z:-1.26 [[ 9.98259646e-01 -5.89718428e-02 2.05938321e-05 8.42376101e+00] [ 5.89360724e-02 9.97666174e-01 3.44781709e-02 1.36181210e-01] [-2.05378705e-03 -3.44169530e-02 9.99405451e-01 -1.26291684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.49719347 meters Centerline goodness : 0.893776 Centerline is valid? [False, False] Translation: X:8.42, Y:0.14, Z:-1.26 [[ 9.98260731e-01 -5.89534849e-02 5.92583420e-06 8.42430786e+00] [ 5.89189766e-02 9.97679830e-01 3.41102796e-02 1.37702184e-01] [-2.01683194e-03 -3.40506035e-02 9.99418075e-01 -1.26335216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52719347 meters Centerline goodness : 0.892722 Centerline is valid? [False, False] Translation: X:8.42, Y:0.14, Z:-1.26 [[ 9.98232861e-01 -5.94232019e-02 -1.95905310e-04 8.42471314e+00] [ 5.93969781e-02 9.97682957e-01 3.31770577e-02 1.39170788e-01] [-1.77603561e-03 -3.31300654e-02 9.99449471e-01 -1.26363236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.55719347 meters Centerline goodness : 0.891315 Centerline is valid? [False, False] Translation: X:8.43, Y:0.14, Z:-1.26 [[ 9.98240639e-01 -5.92913463e-02 -4.04562727e-04 8.42531550e+00] [ 5.92732988e-02 9.97715676e-01 3.24053251e-02 1.41101002e-01] [-1.51771678e-03 -3.23722922e-02 9.99474728e-01 -1.26438634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58719347 meters Centerline goodness : 0.896975 Centerline is valid? [False, False] Translation: X:8.42, Y:0.15, Z:-1.26 [[ 9.98405499e-01 -5.64426535e-02 -8.28743660e-04 8.42487724e+00] [ 5.64380251e-02 9.97822442e-01 3.41338934e-02 1.46779448e-01] [-1.09966849e-03 -3.41262395e-02 9.99416925e-01 -1.26364795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.61719347 meters Centerline goodness : 0.895741 Centerline is valid? [False, False] Translation: X:8.43, Y:0.15, Z:-1.26 [[ 9.98402911e-01 -5.64852958e-02 -1.01880497e-03 8.42531271e+00] [ 5.64880004e-02 9.97852819e-01 3.31490120e-02 1.50225396e-01] [-8.55814334e-04 -3.31536203e-02 9.99449901e-01 -1.26377536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.64719347 meters Centerline goodness : 0.895639 Centerline is valid? [False, False] Translation: X:8.43, Y:0.15, Z:-1.26 [[ 9.98410493e-01 -5.63443673e-02 -1.34166194e-03 8.42613247e+00] [ 5.63582010e-02 9.97882369e-01 3.24735458e-02 1.52863252e-01] [-4.90880600e-04 -3.24975426e-02 9.99471695e-01 -1.26402109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.67719347 meters Centerline goodness : 0.892952 Centerline is valid? [False, False] Translation: X:8.43, Y:0.16, Z:-1.27 [[ 9.98420581e-01 -5.61732448e-02 -9.53842068e-04 8.42573088e+00] [ 5.61766380e-02 9.97973371e-01 2.98887438e-02 1.57686039e-01] [-7.27038740e-04 -2.98951206e-02 9.99552777e-01 -1.26554979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.70719347 meters Centerline goodness : 0.892031 Centerline is valid? [False, False] Translation: X:8.43, Y:0.16, Z:-1.27 [[ 9.98465203e-01 -5.53600198e-02 -1.58348509e-03 8.42868213e+00] [ 5.53825774e-02 9.98005605e-01 3.02916158e-02 1.59281326e-01] [-9.66174551e-05 -3.03328218e-02 9.99539849e-01 -1.26801132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.73719347000001 meters Centerline goodness : 0.890811 Centerline is valid? [False, False] Translation: X:8.43, Y:0.16, Z:-1.27 [[ 9.98515200e-01 -5.44275982e-02 -2.24315014e-03 8.43169682e+00] [ 5.44708678e-02 9.98041954e-01 3.07438382e-02 1.61202093e-01] [ 5.65444672e-04 -3.08203761e-02 9.99524779e-01 -1.27057171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76719347 meters Centerline goodness : 0.891866 Centerline is valid? [False, False] Translation: X:8.43, Y:0.16, Z:-1.27 [[ 9.98567205e-01 -5.34353230e-02 -2.86403605e-03 8.43417976e+00] [ 5.34987442e-02 9.98080746e-01 3.11882942e-02 1.63327453e-01] [ 1.19198266e-03 -3.12968302e-02 9.99509423e-01 -1.27238912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.79719347 meters Centerline goodness : 0.889548 Centerline is valid? [False, False] Translation: X:8.44, Y:0.17, Z:-1.27 [[ 9.98768571e-01 -4.95588568e-02 -2.29370068e-03 8.43716144e+00] [ 4.96026564e-02 9.98407321e-01 2.68774467e-02 1.69555533e-01] [ 9.58032017e-04 -2.69581227e-02 9.99636105e-01 -1.26744138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82719347 meters Centerline goodness : 0.890110 Centerline is valid? [False, False] Translation: X:8.44, Y:0.17, Z:-1.27 [[ 9.98808514e-01 -4.87283243e-02 -2.66497809e-03 8.43790334e+00] [ 4.87821127e-02 9.98454139e-01 2.66390199e-02 1.71918715e-01] [ 1.36278360e-03 -2.67372832e-02 9.99641566e-01 -1.26726147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.85719347 meters Centerline goodness : 0.890852 Centerline is valid? [False, False] Translation: X:8.44, Y:0.17, Z:-1.27 [[ 9.98873685e-01 -4.73368986e-02 -3.25254886e-03 8.43981700e+00] [ 4.74079020e-02 9.98506640e-01 2.71473945e-02 1.73021283e-01] [ 1.96261817e-03 -2.72710145e-02 9.99626150e-01 -1.26817313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88719347 meters Centerline goodness : 0.890831 Centerline is valid? [False, False] Translation: X:8.45, Y:0.17, Z:-1.27 [[ 9.99385162e-01 -3.50191900e-02 -1.71902806e-03 8.44751990e+00] [ 3.50433955e-02 9.99241059e-01 1.70078343e-02 1.73757010e-01] [ 1.12212283e-03 -1.70576178e-02 9.99853879e-01 -1.26858308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.91719347 meters Centerline goodness : 0.890453 Centerline is valid? [False, False] Translation: X:8.45, Y:0.17, Z:-1.27 [[ 9.99522186e-01 -3.08478085e-02 -1.95257628e-03 8.44811415e+00] [ 3.08822447e-02 9.99299233e-01 2.11501674e-02 1.73711899e-01] [ 1.29877167e-03 -2.12003615e-02 9.99774403e-01 -1.26913667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.94719347 meters Centerline goodness : 0.890453 Centerline is valid? [False, False] Translation: X:8.45, Y:0.17, Z:-1.27 [[ 9.99522186e-01 -3.08478085e-02 -1.95257628e-03 8.44811415e+00] [ 3.08822447e-02 9.99299233e-01 2.11501674e-02 1.73711899e-01] [ 1.29877167e-03 -2.12003615e-02 9.99774403e-01 -1.26913667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.97719347 meters Centerline goodness : 0.890695 Centerline is valid? [False, False] Translation: X:8.45, Y:0.17, Z:-1.27 [[ 9.99565177e-01 -2.93608741e-02 -2.71943900e-03 8.45055603e+00] [ 2.94139685e-02 9.99322087e-01 2.21401021e-02 1.74739722e-01] [ 2.06754271e-03 -2.22104645e-02 9.99751179e-01 -1.27045085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.00719347 meters Centerline goodness : 0.890672 Centerline is valid? [False, False] Translation: X:8.45, Y:0.17, Z:-1.27 [[ 9.99595313e-01 -2.82546962e-02 -3.29871389e-03 8.45245941e+00] [ 2.83234036e-02 9.99332537e-01 2.30708805e-02 1.74530419e-01] [ 2.64465140e-03 -2.31549748e-02 9.99728390e-01 -1.27148370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.03719347 meters Centerline goodness : 0.888517 Centerline is valid? [False, False] Translation: X:8.46, Y:0.17, Z:-1.27 [[ 9.99554954e-01 -2.95851199e-02 -3.82302020e-03 8.45567340e+00] [ 2.96607707e-02 9.99328000e-01 2.15357376e-02 1.71584033e-01] [ 3.18331375e-03 -2.16395469e-02 9.99760770e-01 -1.27372181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.06719347 meters Centerline goodness : 0.889179 Centerline is valid? [False, False] Translation: X:8.46, Y:0.17, Z:-1.28 [[ 9.99483435e-01 -3.18450478e-02 -4.33087372e-03 8.45826272e+00] [ 3.19229704e-02 9.99303915e-01 1.93030861e-02 1.69294563e-01] [ 3.71315136e-03 -1.94313692e-02 9.99804298e-01 -1.27548861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.09719347000001 meters Centerline goodness : 0.891833 Centerline is valid? [False, False] Translation: X:8.46, Y:0.17, Z:-1.28 [[ 9.99409760e-01 -3.40231013e-02 -4.74983824e-03 8.46057316e+00] [ 3.41000576e-02 9.99270593e-01 1.71891719e-02 1.67009361e-01] [ 4.16154474e-03 -1.73409959e-02 9.99840973e-01 -1.27702446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12719347 meters Centerline goodness : 0.890999 Centerline is valid? [False, False] Translation: X:8.46, Y:0.17, Z:-1.28 [[ 9.99347402e-01 -3.57463891e-02 -5.19287232e-03 8.46269335e+00] [ 3.58218946e-02 9.99241700e-01 1.52583501e-02 1.65551792e-01] [ 4.64350365e-03 -1.54344111e-02 9.99870100e-01 -1.27806604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.15719347 meters Centerline goodness : 0.894344 Centerline is valid? [False, False] Translation: X:8.46, Y:0.16, Z:-1.28 [[ 9.99409352e-01 -3.39510479e-02 -5.31724600e-03 8.46311197e+00] [ 3.40386062e-02 9.99269958e-01 1.73471807e-02 1.61892014e-01] [ 4.72440922e-03 -1.75179263e-02 9.99835388e-01 -1.27773189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18719347 meters Centerline goodness : 0.893476 Centerline is valid? [False, False] Translation: X:8.46, Y:0.16, Z:-1.28 [[ 9.99443126e-01 -3.28812571e-02 -5.67981933e-03 8.46407090e+00] [ 3.29819015e-02 9.99282075e-01 1.86421206e-02 1.59416015e-01] [ 5.06276529e-03 -1.88190705e-02 9.99810087e-01 -1.27794238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.21719347 meters Centerline goodness : 0.892893 Centerline is valid? [False, False] Translation: X:8.47, Y:0.16, Z:-1.28 [[ 9.99382120e-01 -3.46064783e-02 -6.14569723e-03 8.46611075e+00] [ 3.47053349e-02 9.99256677e-01 1.67819331e-02 1.56664337e-01] [ 5.56036539e-03 -1.69848523e-02 9.99840286e-01 -1.27887630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24719347 meters Centerline goodness : 0.892288 Centerline is valid? [False, False] Translation: X:8.47, Y:0.15, Z:-1.28 [[ 9.99309260e-01 -3.65647490e-02 -6.63492491e-03 8.46846270e+00] [ 3.66619449e-02 9.99212546e-01 1.51720003e-02 1.51935159e-01] [ 6.07493983e-03 -1.54047696e-02 9.99862885e-01 -1.28016416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.27719347 meters Centerline goodness : 0.894309 Centerline is valid? [False, False] Translation: X:8.47, Y:0.14, Z:-1.28 [[ 9.99116615e-01 -4.12544391e-02 -8.00374844e-03 8.47347849e+00] [ 4.13426676e-02 9.99082360e-01 1.11902166e-02 1.38515416e-01] [ 7.53475778e-03 -1.15112276e-02 9.99905355e-01 -1.28115969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.30719347 meters Centerline goodness : 0.892261 Centerline is valid? [False, False] Translation: X:8.47, Y:0.13, Z:-1.28 [[ 9.98980063e-01 -4.44188262e-02 -8.11182033e-03 8.47485467e+00] [ 4.44968915e-02 9.98962324e-01 9.71096458e-03 1.31785949e-01] [ 7.67205324e-03 -1.00620108e-02 9.99919945e-01 -1.28203037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.33719347 meters Centerline goodness : 0.895063 Centerline is valid? [False, False] Translation: X:8.48, Y:0.13, Z:-1.28 [[ 9.98823670e-01 -4.77934152e-02 -8.18933190e-03 8.47604749e+00] [ 4.78588798e-02 9.98822122e-01 7.99351548e-03 1.25777390e-01] [ 7.79764846e-03 -8.37604472e-03 9.99934517e-01 -1.28274046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.36719347 meters Centerline goodness : 0.889462 Centerline is valid? [False, False] Translation: X:8.47, Y:0.11, Z:-1.28 [[ 0.99844121 -0.05231251 -0.01945647 8.47408425] [ 0.05250154 0.99857721 0.00933478 0.1085519 ] [ 0.01894046 -0.01034173 0.99976713 -1.27940137] [ 0. 0. 0. 1. ]] SLAMing on 81.39719347 meters Centerline goodness : 0.887861 Centerline is valid? [False, False] Translation: X:8.48, Y:0.10, Z:-1.28 [[ 0.99822164 -0.05609602 -0.02016894 8.47747208] [ 0.05628539 0.99837463 0.0089472 0.10081341] [ 0.01963425 -0.0100665 0.99975655 -1.28040413] [ 0. 0. 0. 1. ]] SLAMing on 81.42719347 meters Centerline goodness : 0.888775 Centerline is valid? [False, False] Translation: X:8.48, Y:0.09, Z:-1.28 [[ 9.98011656e-01 -5.96815795e-02 -2.02692785e-02 8.47944686e+00] [ 5.98624635e-02 9.98170977e-01 8.43719356e-03 9.23535468e-02] [ 1.97286605e-02 -9.63378646e-03 9.99758956e-01 -1.28083024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.45719347 meters Centerline goodness : 0.891143 Centerline is valid? [False, False] Translation: X:8.47, Y:0.08, Z:-1.28 [[ 0.99777802 -0.05990219 -0.02916754 8.47258029] [ 0.06026023 0.99811583 0.01155426 0.08037255] [ 0.02842045 -0.01328623 0.99950776 -1.27741558] [ 0. 0. 0. 1. ]] SLAMing on 81.48719347000001 meters Centerline goodness : 0.894248 Centerline is valid? [False, False] Translation: X:8.47, Y:0.07, Z:-1.28 [[ 0.99751502 -0.06392551 -0.02961938 8.47440923] [ 0.06426548 0.99787578 0.01067079 0.07380907] [ 0.02887432 -0.01254778 0.99950429 -1.27683682] [ 0. 0. 0. 1. ]] SLAMing on 81.51719347 meters Centerline goodness : 0.891455 Centerline is valid? [False, False] Translation: X:8.48, Y:0.06, Z:-1.28 [[ 0.99691832 -0.07038924 -0.03462979 8.48242945] [ 0.07090873 0.99738445 0.01400739 0.06433028] [ 0.03355324 -0.01641978 0.99930204 -1.27566711] [ 0. 0. 0. 1. ]] SLAMing on 81.54719347 meters Centerline goodness : 0.895393 Centerline is valid? [False, False] Translation: X:8.49, Y:0.06, Z:-1.28 [[ 0.99679816 -0.07155033 -0.03569295 8.48506947] [ 0.07213341 0.99727728 0.01532327 0.06074532] [ 0.03449938 -0.01784887 0.99924532 -1.27552404] [ 0. 0. 0. 1. ]] SLAMing on 81.57719347 meters Centerline goodness : 0.891874 Centerline is valid? [False, False] Translation: X:8.49, Y:0.06, Z:-1.28 [[ 0.99654002 -0.07523611 -0.0353202 8.48515 ] [ 0.07570658 0.9970558 0.01217527 0.05897663] [ 0.03430019 -0.01480711 0.99930188 -1.2755181 ] [ 0. 0. 0. 1. ]] SLAMing on 81.60719347 meters Centerline goodness : 0.892345 Centerline is valid? [False, False] Translation: X:8.49, Y:0.06, Z:-1.28 [[ 0.99631751 -0.07849626 -0.0344928 8.48507571] [ 0.07886883 0.99683902 0.00957483 0.05503764] [ 0.03363218 -0.01225998 0.99935908 -1.27605553] [ 0. 0. 0. 1. ]] SLAMing on 81.63719347 meters Centerline goodness : 0.893422 Centerline is valid? [False, False] Translation: X:8.49, Y:0.05, Z:-1.28 [[ 0.99633083 -0.07838042 -0.03437128 8.48532803] [ 0.07876014 0.99684509 0.00983426 0.05433721] [ 0.03349203 -0.01250527 0.99936075 -1.27651023] [ 0. 0. 0. 1. ]] SLAMing on 81.66719347 meters Centerline goodness : 0.894179 Centerline is valid? [False, False] Translation: X:8.49, Y:0.06, Z:-1.28 [[ 0.99633458 -0.07834887 -0.0343344 8.48529235] [ 0.07872672 0.99684814 0.00979253 0.05507646] [ 0.03345895 -0.01245967 0.99936242 -1.27651853] [ 0. 0. 0. 1. ]] SLAMing on 81.69719347 meters Centerline goodness : 0.893537 Centerline is valid? [False, False] Translation: X:8.49, Y:0.06, Z:-1.28 [[ 0.9964722 -0.07612293 -0.0353336 8.48572188] [ 0.07661585 0.99697839 0.01281053 0.0580363 ] [ 0.03425166 -0.01547245 0.99929346 -1.27501761] [ 0. 0. 0. 1. ]] SLAMing on 81.72719347 meters Centerline goodness : 0.893534 Centerline is valid? [False, False] Translation: X:8.49, Y:0.06, Z:-1.28 [[ 0.9964119 -0.07680281 -0.03556197 8.48622656] [ 0.07725684 0.99694407 0.01157197 0.06079407] [ 0.03456453 -0.01427786 0.99930047 -1.27534005] [ 0. 0. 0. 1. ]] SLAMing on 81.75719347 meters Centerline goodness : 0.889811 Centerline is valid? [False, False] Translation: X:8.49, Y:0.06, Z:-1.28 [[ 0.99638517 -0.07719358 -0.03546477 8.48680008] [ 0.07761224 0.99692746 0.01058209 0.06231907] [ 0.03453894 -0.01329634 0.9993149 -1.27658383] [ 0. 0. 0. 1. ]] SLAMing on 81.78719347 meters Centerline goodness : 0.891872 Centerline is valid? [False, False] Translation: X:8.49, Y:0.06, Z:-1.28 [[ 0.99639183 -0.07688715 -0.03594002 8.48965999] [ 0.0773033 0.99695406 0.0103345 0.06345967] [ 0.03503596 -0.0130755 0.99930051 -1.27939141] [ 0. 0. 0. 1. ]] SLAMing on 81.81719347 meters Centerline goodness : 0.890975 Centerline is valid? [False, False] Translation: X:8.49, Y:0.07, Z:-1.28 [[ 9.96274752e-01 -7.83980774e-02 -3.59215934e-02 8.49108359e+00] [ 7.87050803e-02 9.96871860e-01 7.21145756e-03 6.86250460e-02] [ 3.52438612e-02 -1.00118050e-02 9.99328592e-01 -1.28184605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84719347000001 meters Centerline goodness : 0.889109 Centerline is valid? [False, False] Translation: X:8.49, Y:0.07, Z:-1.28 [[ 9.96254600e-01 -7.82845813e-02 -3.67191661e-02 8.49410718e+00] [ 7.85922769e-02 9.96882195e-01 7.01029374e-03 7.06192994e-02] [ 3.60558850e-02 -9.86988026e-03 9.99301035e-01 -1.28401999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.87719347 meters Centerline goodness : 0.888566 Centerline is valid? [False, False] Translation: X:8.50, Y:0.07, Z:-1.28 [[ 9.96191480e-01 -7.88838767e-02 -3.71465801e-02 8.49547436e+00] [ 7.91718454e-02 9.96840797e-01 6.34382331e-03 7.23303759e-02] [ 3.65288011e-02 -9.26062603e-03 9.99289691e-01 -1.28488539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90719347 meters Centerline goodness : 0.887688 Centerline is valid? [False, False] Translation: X:8.50, Y:0.08, Z:-1.28 [[ 0.99617723 -0.0781612 -0.03900958 8.49856718] [ 0.07856127 0.9968702 0.00882806 0.07504451] [ 0.03819747 -0.01185896 0.99919984 -1.28453313] [ 0. 0. 0. 1. ]] SLAMing on 81.93719347 meters Centerline goodness : 0.885885 Centerline is valid? [False, False] Translation: X:8.50, Y:0.08, Z:-1.28 [[ 9.96073335e-01 -7.92533233e-02 -3.94565739e-02 8.49903540e+00] [ 7.96063536e-02 9.96798496e-01 7.45560639e-03 7.87433644e-02] [ 3.87393720e-02 -1.05673247e-02 9.99193471e-01 -1.28419129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96719347 meters Centerline goodness : 0.885342 Centerline is valid? [False, False] Translation: X:8.50, Y:0.08, Z:-1.28 [[ 0.99610161 -0.07788982 -0.04140962 8.50224874] [ 0.07836124 0.99687604 0.00988321 0.08123724] [ 0.04051046 -0.01308959 0.99909337 -1.28409198] [ 0. 0. 0. 1. ]] SLAMing on 81.99719347 meters Centerline goodness : 0.886496 Centerline is valid? [False, False] Translation: X:8.51, Y:0.08, Z:-1.29 [[ 0.99609564 -0.0775395 -0.04220311 8.50506859] [ 0.07800302 0.99690836 0.00944684 0.0848755 ] [ 0.04134013 -0.01270192 0.99906439 -1.28622338] [ 0. 0. 0. 1. ]] SLAMing on 82.02719347 meters Centerline goodness : 0.884650 Centerline is valid? [False, False] Translation: X:8.51, Y:0.09, Z:-1.29 [[ 0.99637322 -0.07329665 -0.04322047 8.50820942] [ 0.07385204 0.99720412 0.01139427 0.09083585] [ 0.04226447 -0.01454487 0.99900058 -1.28946419] [ 0. 0. 0. 1. ]] SLAMing on 82.05719347 meters Centerline goodness : 0.884788 Centerline is valid? [False, False] Translation: X:8.50, Y:0.09, Z:-1.29 [[ 9.96775037e-01 -6.57327219e-02 -4.60297158e-02 8.49902787e+00] [ 6.60964418e-02 9.97792564e-01 6.42328836e-03 9.43424485e-02] [ 4.55058879e-02 -9.44497393e-03 9.98919419e-01 -1.28840787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.08719347 meters Centerline goodness : 0.885669 Centerline is valid? [False, False] Translation: X:8.50, Y:0.10, Z:-1.29 [[ 0.99701617 -0.06172511 -0.0463548 8.49881518] [ 0.06218471 0.99802814 0.00853788 0.1000864 ] [ 0.04573639 -0.01139496 0.99888855 -1.28872301] [ 0. 0. 0. 1. ]] SLAMing on 82.11719347 meters Centerline goodness : 0.886828 Centerline is valid? [False, False] Translation: X:8.50, Y:0.11, Z:-1.29 [[ 0.99737929 -0.05494053 -0.04707536 8.49856529] [ 0.05565733 0.99835103 0.01405264 0.1057366 ] [ 0.04622568 -0.0166359 0.99879249 -1.28821497] [ 0. 0. 0. 1. ]] SLAMing on 82.14719347 meters Centerline goodness : 0.887071 Centerline is valid? [False, False] Translation: X:8.49, Y:0.12, Z:-1.29 [[ 0.99811699 -0.0448579 -0.04183589 8.48918907] [ 0.04539069 0.99889875 0.01187297 0.12174466] [ 0.04125722 -0.01374957 0.99905395 -1.28501118] [ 0. 0. 0. 1. ]] SLAMing on 82.17719347 meters Centerline goodness : 0.889232 Centerline is valid? [False, False] Translation: X:8.49, Y:0.13, Z:-1.28 [[ 0.99826424 -0.04154982 -0.04173879 8.48789857] [ 0.04215393 0.99901721 0.01369894 0.12742228] [ 0.04112858 -0.01543461 0.99903464 -1.2839184 ] [ 0. 0. 0. 1. ]] SLAMing on 82.20719347 meters Centerline goodness : 0.890417 Centerline is valid? [False, False] Translation: X:8.49, Y:0.13, Z:-1.28 [[ 0.9983908 -0.03810504 -0.04199774 8.48830453] [ 0.0388107 0.9991166 0.01611675 0.13129533] [ 0.04134651 -0.01772078 0.99898771 -1.28417282] [ 0. 0. 0. 1. ]] SLAMing on 82.23719347000001 meters Centerline goodness : 0.889892 Centerline is valid? [False, False] Translation: X:8.49, Y:0.14, Z:-1.29 [[ 0.99847495 -0.03543992 -0.04232956 8.49019435] [ 0.03619647 0.99919594 0.01724183 0.13769781] [ 0.04168448 -0.01874771 0.99895492 -1.28580495] [ 0. 0. 0. 1. ]] SLAMing on 82.26719347 meters Centerline goodness : 0.889228 Centerline is valid? [False, False] Translation: X:8.49, Y:0.14, Z:-1.29 [[ 0.99846693 -0.03479869 -0.04304466 8.49306096] [ 0.03557168 0.99921696 0.01732381 0.14015659] [ 0.04240811 -0.01882842 0.99892294 -1.28762126] [ 0. 0. 0. 1. ]] SLAMing on 82.29719347 meters Centerline goodness : 0.890633 Centerline is valid? [False, False] Translation: X:8.50, Y:0.14, Z:-1.29 [[ 0.99846151 -0.03424709 -0.04360905 8.49571793] [ 0.03503913 0.9992322 0.01752925 0.14253027] [ 0.04297524 -0.0190303 0.99889488 -1.28951254] [ 0. 0. 0. 1. ]] SLAMing on 82.32719347 meters Centerline goodness : 0.888384 Centerline is valid? [False, False] Translation: X:8.50, Y:0.14, Z:-1.29 [[ 0.99845557 -0.03359875 -0.04424479 8.49850868] [ 0.03441779 0.99924755 0.01788153 0.14437718] [ 0.0436107 -0.01937672 0.99886068 -1.29136157] [ 0. 0. 0. 1. ]] SLAMing on 82.35719347 meters Centerline goodness : 0.886152 Centerline is valid? [False, False] Translation: X:8.50, Y:0.15, Z:-1.29 [[ 0.99840228 -0.03477506 -0.04453743 8.50120897] [ 0.03554277 0.99923089 0.01656295 0.1472645 ] [ 0.04392719 -0.01811947 0.99887041 -1.29371101] [ 0. 0. 0. 1. ]] SLAMing on 82.38719347 meters Centerline goodness : 0.884036 Centerline is valid? [False, False] Translation: X:8.50, Y:0.15, Z:-1.30 [[ 0.99826871 -0.03780273 -0.04506143 8.50402359] [ 0.0384335 0.99917378 0.01321432 0.1487984 ] [ 0.04452466 -0.01492331 0.99889682 -1.29543234] [ 0. 0. 0. 1. ]] SLAMing on 82.41719347 meters Centerline goodness : 0.882299 Centerline is valid? [False, False] Translation: X:8.51, Y:0.15, Z:-1.30 [[ 0.9981397 -0.04046875 -0.04560074 8.50707888] [ 0.04097729 0.99910727 0.01027278 0.1494561 ] [ 0.0451443 -0.01212227 0.99890692 -1.2975003 ] [ 0. 0. 0. 1. ]] SLAMing on 82.44719347 meters Centerline goodness : 0.882441 Centerline is valid? [False, False] Translation: X:8.51, Y:0.15, Z:-1.30 [[ 9.98028514e-01 -4.23950896e-02 -4.62789450e-02 8.51219242e+00] [ 4.28138301e-02 9.99050278e-01 8.09433409e-03 1.51028346e-01] [ 4.58918329e-02 -1.00597551e-02 9.98895761e-01 -1.30162531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.47719347 meters Centerline goodness : 0.881669 Centerline is valid? [False, False] Translation: X:8.51, Y:0.15, Z:-1.30 [[ 9.98018644e-01 -4.20467696e-02 -4.68065719e-02 8.51471161e+00] [ 4.24799250e-02 9.99062862e-01 8.29779210e-03 1.52449433e-01] [ 4.64138124e-02 -1.02696909e-02 9.98869507e-01 -1.30340436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.50719347 meters Centerline goodness : 0.879962 Centerline is valid? [False, False] Translation: X:8.52, Y:0.15, Z:-1.30 [[ 9.98016842e-01 -4.16513175e-02 -4.71969408e-02 8.51681833e+00] [ 4.20969410e-02 9.99077483e-01 8.48704785e-03 1.53992625e-01] [ 4.67999041e-02 -1.04570635e-02 9.98849548e-01 -1.30497975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.53719347 meters Centerline goodness : 0.879608 Centerline is valid? [False, False] Translation: X:8.53, Y:0.15, Z:-1.31 [[ 0.99813304 -0.04361953 -0.04275234 8.529341 ] [ 0.04435203 0.99888238 0.01633701 0.15426946] [ 0.04199195 -0.01820267 0.99895212 -1.30929902] [ 0. 0. 0. 1. ]] SLAMing on 82.56719347 meters Centerline goodness : 0.879893 Centerline is valid? [False, False] Translation: X:8.53, Y:0.16, Z:-1.31 [[ 0.99799156 -0.04626275 -0.04327355 8.53195034] [ 0.0468822 0.9988104 0.01341061 0.15620719] [ 0.04260166 -0.01541243 0.99897325 -1.31081877] [ 0. 0. 0. 1. ]] SLAMing on 82.59719347000001 meters Centerline goodness : 0.880622 Centerline is valid? [False, False] Translation: X:8.55, Y:0.16, Z:-1.31 [[ 0.99792723 -0.04895475 -0.04176924 8.55149893] [ 0.04969153 0.99862353 0.01678666 0.15645695] [ 0.04088996 -0.01882744 0.99898626 -1.31330469] [ 0. 0. 0. 1. ]] SLAMing on 82.62719347 meters Centerline goodness : 0.880205 Centerline is valid? [False, False] Translation: X:8.56, Y:0.16, Z:-1.32 [[ 0.99790319 -0.0528018 -0.03743257 8.56493912] [ 0.05367489 0.99830006 0.02271561 0.15578968] [ 0.03616952 -0.02467717 0.99904094 -1.31745691] [ 0. 0. 0. 1. ]] SLAMing on 82.65719347 meters Centerline goodness : 0.879430 Centerline is valid? [False, False] Translation: X:8.58, Y:0.15, Z:-1.32 [[ 0.99787662 -0.05509433 -0.03474011 8.58252254] [ 0.0560533 0.99805552 0.02726192 0.15432249] [ 0.03317058 -0.02915133 0.99902448 -1.31971021] [ 0. 0. 0. 1. ]] SLAMing on 82.68719347 meters Centerline goodness : 0.879566 Centerline is valid? [False, False] Translation: X:8.59, Y:0.15, Z:-1.32 [[ 0.99794126 -0.05690808 -0.02957562 8.59310783] [ 0.05797651 0.99764612 0.03661877 0.15222223] [ 0.0274221 -0.03825807 0.99889156 -1.32321673] [ 0. 0. 0. 1. ]] SLAMing on 82.71719347 meters Centerline goodness : 0.879946 Centerline is valid? [False, False] Translation: X:8.60, Y:0.15, Z:-1.33 [[ 0.99796441 -0.0589048 -0.02443887 8.60220889] [ 0.05999213 0.99711791 0.04644145 0.15131689] [ 0.02163281 -0.04781306 0.99862202 -1.32581863] [ 0. 0. 0. 1. ]] SLAMing on 82.74719347 meters Centerline goodness : 0.880252 Centerline is valid? [False, False] Translation: X:8.60, Y:0.15, Z:-1.33 [[ 0.9979416 -0.05916267 -0.02474538 8.60277545] [ 0.06025707 0.99711753 0.04610549 0.15246793] [ 0.02194633 -0.04750167 0.99863004 -1.32578063] [ 0. 0. 0. 1. ]] SLAMing on 82.77719347 meters Centerline goodness : 0.879284 Centerline is valid? [False, False] Translation: X:8.60, Y:0.15, Z:-1.33 [[ 0.99788301 -0.05993346 -0.02524854 8.60359153] [ 0.06104421 0.9970839 0.04579638 0.15323534] [ 0.02243018 -0.0472407 0.99863167 -1.32551426] [ 0. 0. 0. 1. ]] SLAMing on 82.80719347 meters Centerline goodness : 0.880043 Centerline is valid? [False, False] Translation: X:8.60, Y:0.15, Z:-1.33 [[ 0.99806783 -0.05674031 -0.02532089 8.6035572 ] [ 0.05793552 0.99710367 0.04927213 0.15295114] [ 0.02245184 -0.05064391 0.99846438 -1.32561193] [ 0. 0. 0. 1. ]] SLAMing on 82.83719347 meters Centerline goodness : 0.880043 Centerline is valid? [False, False] Translation: X:8.60, Y:0.15, Z:-1.33 [[ 0.99807434 -0.0566642 -0.02523444 8.60343197] [ 0.05784981 0.99712029 0.049036 0.15339521] [ 0.02238319 -0.05040139 0.99847819 -1.32566921] [ 0. 0. 0. 1. ]] SLAMing on 82.86719347 meters Centerline goodness : 0.879611 Centerline is valid? [False, False] Translation: X:8.60, Y:0.15, Z:-1.33 [[ 0.9980765 -0.05655015 -0.02540442 8.60444021] [ 0.05773687 0.99714327 0.04870075 0.15462366] [ 0.02257781 -0.05007385 0.99849029 -1.32629518] [ 0. 0. 0. 1. ]] SLAMing on 82.89719347 meters Centerline goodness : 0.880915 Centerline is valid? [False, False] Translation: X:8.61, Y:0.16, Z:-1.33 [[ 0.99805443 -0.05668548 -0.02596353 8.60573184] [ 0.05788697 0.99716208 0.04813411 0.15603595] [ 0.02316134 -0.04954342 0.99850338 -1.32659901] [ 0. 0. 0. 1. ]] SLAMing on 82.92719347 meters Centerline goodness : 0.880441 Centerline is valid? [False, False] Translation: X:8.61, Y:0.16, Z:-1.33 [[ 0.99802224 -0.05712085 -0.02624546 8.60632401] [ 0.05829693 0.9972169 0.04647491 0.16133043] [ 0.02351773 -0.04791303 0.99857461 -1.32672799] [ 0. 0. 0. 1. ]] SLAMing on 82.95719347 meters Centerline goodness : 0.880700 Centerline is valid? [False, False] Translation: X:8.61, Y:0.16, Z:-1.33 [[ 0.99800175 -0.05714551 -0.02696122 8.60833452] [ 0.05834177 0.99724124 0.04589287 0.16442739] [ 0.02426427 -0.04737413 0.99858246 -1.32766267] [ 0. 0. 0. 1. ]] SLAMing on 82.98719347000001 meters Centerline goodness : 0.879303 Centerline is valid? [False, False] Translation: X:8.61, Y:0.17, Z:-1.33 [[ 0.9980074 -0.05688189 -0.02730726 8.61015105] [ 0.05809116 0.99726256 0.0457472 0.16716482] [ 0.02463032 -0.04724235 0.99857975 -1.32900184] [ 0. 0. 0. 1. ]] SLAMing on 83.01719347 meters Centerline goodness : 0.880314 Centerline is valid? [False, False] Translation: X:8.61, Y:0.17, Z:-1.33 [[ 0.99783838 -0.05956905 -0.02775051 8.61317943] [ 0.06071777 0.99724655 0.04257547 0.17015112] [ 0.02513792 -0.04416839 0.99870778 -1.33157226] [ 0. 0. 0. 1. ]] SLAMing on 83.04719347 meters Centerline goodness : 0.878370 Centerline is valid? [False, False] Translation: X:8.62, Y:0.17, Z:-1.33 [[ 0.99762261 -0.06278038 -0.02842092 8.61634033] [ 0.06386438 0.99719659 0.03899104 0.17187164] [ 0.02589337 -0.04071343 0.9988353 -1.33338993] [ 0. 0. 0. 1. ]] SLAMing on 83.07719347 meters Centerline goodness : 0.879508 Centerline is valid? [False, False] Translation: X:8.62, Y:0.17, Z:-1.33 [[ 0.99757621 -0.06336715 -0.02874545 8.61743976] [ 0.0644478 0.99718317 0.03836938 0.17343156] [ 0.02623312 -0.04012896 0.99885008 -1.33395209] [ 0. 0. 0. 1. ]] SLAMing on 83.10719347 meters Centerline goodness : 0.881568 Centerline is valid? [False, False] Translation: X:8.62, Y:0.18, Z:-1.33 [[ 0.99751016 -0.06447013 -0.02858467 8.61660714] [ 0.06549057 0.99719167 0.03632849 0.17968796] [ 0.0261623 -0.03811006 0.99893101 -1.33325158] [ 0. 0. 0. 1. ]] SLAMing on 83.13719347 meters Centerline goodness : 0.879655 Centerline is valid? [False, False] Translation: X:8.62, Y:0.18, Z:-1.33 [[ 0.99749287 -0.06474549 -0.02856578 8.61617755] [ 0.0657327 0.99722005 0.035091 0.18387392] [ 0.02621439 -0.03688073 0.99897578 -1.33258569] [ 0. 0. 0. 1. ]] SLAMing on 83.16719347 meters Centerline goodness : 0.881843 Centerline is valid? [False, False] Translation: X:8.62, Y:0.19, Z:-1.33 [[ 0.99768981 -0.06160864 -0.02862548 8.61588303] [ 0.0626677 0.99732203 0.03770317 0.18614972] [ 0.02622598 -0.03940996 0.9988789 -1.33254578] [ 0. 0. 0. 1. ]] SLAMing on 83.19719347 meters Centerline goodness : 0.884606 Centerline is valid? [False, False] Translation: X:8.62, Y:0.19, Z:-1.33 [[ 0.99771499 -0.06098159 -0.02908695 8.61741212] [ 0.06204133 0.99738604 0.03703995 0.1897494 ] [ 0.02675216 -0.03875991 0.99889038 -1.33324817] [ 0. 0. 0. 1. ]] SLAMing on 83.22719347 meters Centerline goodness : 0.884685 Centerline is valid? [False, False] Translation: X:8.62, Y:0.20, Z:-1.33 [[ 0.99837671 -0.0510793 -0.02519633 8.61836308] [ 0.05178198 0.99826379 0.02807202 0.19843057] [ 0.02371869 -0.02933116 0.9992883 -1.3348956 ] [ 0. 0. 0. 1. ]] SLAMing on 83.25719347 meters Centerline goodness : 0.886505 Centerline is valid? [False, False] Translation: X:8.62, Y:0.20, Z:-1.33 [[ 0.99855643 -0.04726715 -0.02551227 8.61857017] [ 0.04804288 0.99837333 0.03070138 0.20306044] [ 0.02401961 -0.03188274 0.99920296 -1.3348172 ] [ 0. 0. 0. 1. ]] SLAMing on 83.28719347 meters Centerline goodness : 0.887530 Centerline is valid? [False, False] Translation: X:8.62, Y:0.21, Z:-1.34 [[ 0.99871842 -0.04344863 -0.02595649 8.619295 ] [ 0.04431126 0.99845129 0.03363818 0.20667739] [ 0.02445476 -0.03474523 0.99909696 -1.33508562] [ 0. 0. 0. 1. ]] SLAMing on 83.31719347 meters Centerline goodness : 0.891271 Centerline is valid? [False, False] Translation: X:8.62, Y:0.21, Z:-1.34 [[ 0.99874769 -0.04234784 -0.02664056 8.62177708] [ 0.04323507 0.99849775 0.03365955 0.21035129] [ 0.02517513 -0.03476921 0.99907823 -1.33655083] [ 0. 0. 0. 1. ]] SLAMing on 83.34719347000001 meters Centerline goodness : 0.890023 Centerline is valid? [False, False] Translation: X:8.63, Y:0.21, Z:-1.34 [[ 0.99872099 -0.0412976 -0.0291702 8.6293716 ] [ 0.04223759 0.99858279 0.03237893 0.2133582 ] [ 0.02779169 -0.03356959 0.9990499 -1.3391794 ] [ 0. 0. 0. 1. ]] SLAMing on 83.37719347 meters Centerline goodness : 0.889173 Centerline is valid? [False, False] Translation: X:8.63, Y:0.21, Z:-1.34 [[ 0.99865223 -0.04241738 -0.02990808 8.63322742] [ 0.04334003 0.99858219 0.03090711 0.2143633 ] [ 0.02855468 -0.03216168 0.9990747 -1.34196181] [ 0. 0. 0. 1. ]] SLAMing on 83.40719347 meters Centerline goodness : 0.888537 Centerline is valid? [False, False] Translation: X:8.64, Y:0.21, Z:-1.34 [[ 0.99864483 -0.04204267 -0.03067439 8.63596636] [ 0.04299995 0.99858635 0.03124575 0.21452395] [ 0.02931737 -0.0325224 0.99904093 -1.34365897] [ 0. 0. 0. 1. ]] SLAMing on 83.43719347 meters Centerline goodness : 0.888792 Centerline is valid? [False, False] Translation: X:8.64, Y:0.22, Z:-1.35 [[ 0.99865864 -0.04101366 -0.03160392 8.63932201] [ 0.0420169 0.99861191 0.03176219 0.21696823] [ 0.03025737 -0.03304749 0.99899567 -1.34561217] [ 0. 0. 0. 1. ]] SLAMing on 83.46719347 meters Centerline goodness : 0.889853 Centerline is valid? [False, False] Translation: X:8.64, Y:0.22, Z:-1.35 [[ 0.99865537 -0.04064828 -0.03217397 8.64081244] [ 0.04166811 0.99862887 0.03168843 0.21858567] [ 0.03084178 -0.03298645 0.99897982 -1.34605315] [ 0. 0. 0. 1. ]] SLAMing on 83.49719347 meters Centerline goodness : 0.890165 Centerline is valid? [False, False] Translation: X:8.64, Y:0.22, Z:-1.35 [[ 0.99865513 -0.04020783 -0.03272999 8.64236132] [ 0.04124722 0.99864513 0.03172635 0.21982897] [ 0.03141 -0.0330337 0.99896055 -1.34658113] [ 0. 0. 0. 1. ]] SLAMing on 83.52719347 meters Centerline goodness : 0.889063 Centerline is valid? [False, False] Translation: X:8.64, Y:0.22, Z:-1.35 [[ 0.9986498 -0.04003768 -0.03309913 8.64330122] [ 0.04108457 0.99865654 0.0315781 0.22058099] [ 0.03179035 -0.03289533 0.99895309 -1.34677179] [ 0. 0. 0. 1. ]] SLAMing on 83.55719347 meters Centerline goodness : 0.891592 Centerline is valid? [False, False] Translation: X:8.65, Y:0.22, Z:-1.35 [[ 0.99868652 -0.03842449 -0.0338938 8.64611438] [ 0.03952123 0.9986964 0.03230429 0.22123484] [ 0.03260834 -0.03360138 0.99890322 -1.34815376] [ 0. 0. 0. 1. ]] SLAMing on 83.58719347 meters Centerline goodness : 0.890288 Centerline is valid? [False, False] Translation: X:8.65, Y:0.22, Z:-1.35 [[ 0.99869324 -0.03772451 -0.03447727 8.64817696] [ 0.03884953 0.99871429 0.03256493 0.22205686] [ 0.03320445 -0.0338618 0.99887479 -1.34929816] [ 0. 0. 0. 1. ]] SLAMing on 83.61719347 meters Centerline goodness : 0.893253 Centerline is valid? [False, False] Translation: X:8.65, Y:0.22, Z:-1.35 [[ 0.99869799 -0.03693102 -0.03519124 8.65044789] [ 0.03809116 0.99873294 0.03288737 0.22318345] [ 0.03393208 -0.03418502 0.99883933 -1.35038402] [ 0. 0. 0. 1. ]] SLAMing on 83.64719347 meters Centerline goodness : 0.893265 Centerline is valid? [False, False] Translation: X:8.65, Y:0.23, Z:-1.35 [[ 0.99868762 -0.03674624 -0.03567555 8.65149253] [ 0.0379062 0.99875587 0.03240126 0.22542919] [ 0.03444054 -0.03371106 0.99883803 -1.35050781] [ 0. 0. 0. 1. ]] SLAMing on 83.67719347 meters Centerline goodness : 0.893129 Centerline is valid? [False, False] Translation: X:8.65, Y:0.23, Z:-1.35 [[ 0.99853542 -0.04043414 -0.0359458 8.65219261] [ 0.04146187 0.99873863 0.02832083 0.22662094] [ 0.03475533 -0.02976974 0.99895237 -1.35014323] [ 0. 0. 0. 1. ]] SLAMing on 83.70719347 meters Centerline goodness : 0.896514 Centerline is valid? [False, False] Translation: X:8.65, Y:0.23, Z:-1.35 [[ 0.99835867 -0.04444356 -0.03612116 8.65247217] [ 0.04533854 0.99867494 0.02434723 0.22633101] [ 0.03499122 -0.02594495 0.99905079 -1.34943992] [ 0. 0. 0. 1. ]] SLAMing on 83.73719347000001 meters Centerline goodness : 0.897713 Centerline is valid? [False, False] Translation: X:8.65, Y:0.23, Z:-1.35 [[ 0.99816199 -0.04854123 -0.03628223 8.65291973] [ 0.04930781 0.9985724 0.02054009 0.22535336] [ 0.03523339 -0.02229133 0.99913047 -1.34897521] [ 0. 0. 0. 1. ]] SLAMing on 83.76719347 meters Centerline goodness : 0.899081 Centerline is valid? [False, False] Translation: X:8.67, Y:0.22, Z:-1.35 [[ 0.99791238 -0.05559574 -0.03286319 8.6687643 ] [ 0.05636846 0.99814339 0.02307323 0.22076934] [ 0.0315194 -0.02487751 0.99919349 -1.35162627] [ 0. 0. 0. 1. ]] SLAMing on 83.79719347 meters Centerline goodness : 0.901601 Centerline is valid? [False, False] Translation: X:8.67, Y:0.22, Z:-1.35 [[ 0.99768024 -0.0594631 -0.03314031 8.67008844] [ 0.06013343 0.99799769 0.0196105 0.21943894] [ 0.03190785 -0.02155785 0.9992583 -1.3518811 ] [ 0. 0. 0. 1. ]] SLAMing on 83.82719347 meters Centerline goodness : 0.901397 Centerline is valid? [False, False] Translation: X:8.69, Y:0.22, Z:-1.35 [[ 0.99755548 -0.06274681 -0.03075547 8.68764138] [ 0.0635084 0.99768189 0.02444435 0.21609782] [ 0.02915037 -0.02633782 0.99922799 -1.35456734] [ 0. 0. 0. 1. ]] SLAMing on 83.85719347 meters Centerline goodness : 0.899023 Centerline is valid? [False, False] Translation: X:8.70, Y:0.21, Z:-1.36 [[ 0.997448 -0.06598252 -0.02727254 8.70290749] [ 0.06681887 0.99728389 0.03098525 0.2128361 ] [ 0.02515398 -0.0327285 0.9991477 -1.35896439] [ 0. 0. 0. 1. ]] SLAMing on 83.88719347 meters Centerline goodness : 0.900884 Centerline is valid? [False, False] Translation: X:8.71, Y:0.21, Z:-1.36 [[ 0.99696796 -0.07219587 -0.02902834 8.70695588] [ 0.0730753 0.99686086 0.03046996 0.20799084] [ 0.02673741 -0.03249882 0.99911408 -1.3572644 ] [ 0. 0. 0. 1. ]] SLAMing on 83.91719347 meters Centerline goodness : 0.900396 Centerline is valid? [False, False] Translation: X:8.71, Y:0.21, Z:-1.36 [[ 0.99678058 -0.07416708 -0.03045838 8.70980769] [ 0.07512706 0.99667047 0.03168451 0.20612866] [ 0.02800702 -0.03387075 0.99903372 -1.35612628] [ 0. 0. 0. 1. ]] SLAMing on 83.94719347 meters Centerline goodness : 0.899793 Centerline is valid? [False, False] Translation: X:8.72, Y:0.20, Z:-1.36 [[ 0.99680383 -0.07519516 -0.02697785 8.72427245] [ 0.07626423 0.99624151 0.04106855 0.20345267] [ 0.0237883 -0.04299473 0.99879206 -1.36095403] [ 0. 0. 0. 1. ]] SLAMing on 83.97719347 meters Centerline goodness : 0.901895 Centerline is valid? [False, False] Translation: X:8.72, Y:0.20, Z:-1.36 [[ 0.99648423 -0.07381142 -0.03963648 8.72261702] [ 0.07546775 0.99626092 0.04205697 0.19750011] [ 0.03638399 -0.04490038 0.99832868 -1.35666837] [ 0. 0. 0. 1. ]] SLAMing on 84.00719347 meters Centerline goodness : 0.905187 Centerline is valid? [False, False] Translation: X:8.72, Y:0.20, Z:-1.36 [[ 0.99630886 -0.07625004 -0.03942827 8.72329276] [ 0.07775862 0.99623791 0.03825742 0.19791627] [ 0.03636281 -0.0411821 0.99848975 -1.35799799] [ 0. 0. 0. 1. ]] SLAMing on 84.03719347 meters Centerline goodness : 0.906651 Centerline is valid? [False, False] Translation: X:8.73, Y:0.20, Z:-1.36 [[ 0.9963402 -0.07555134 -0.03997744 8.72546033] [ 0.07710404 0.99626637 0.03883668 0.19728309] [ 0.03689402 -0.04177697 0.99844555 -1.35958201] [ 0. 0. 0. 1. ]] SLAMing on 84.06719347 meters Centerline goodness : 0.908236 Centerline is valid? [False, False] Translation: X:8.73, Y:0.20, Z:-1.36 [[ 0.99665276 -0.0706779 -0.04108416 8.72686124] [ 0.07242376 0.99646018 0.04268387 0.1988675 ] [ 0.03792192 -0.04551647 0.99824355 -1.35948792] [ 0. 0. 0. 1. ]] SLAMing on 84.09719347000001 meters Centerline goodness : 0.909011 Centerline is valid? [False, False] Translation: X:8.73, Y:0.20, Z:-1.36 [[ 0.99676066 -0.06921514 -0.0409566 8.72529084] [ 0.07096349 0.99655616 0.04289529 0.20086192] [ 0.03784654 -0.04566276 0.99823973 -1.35829634] [ 0. 0. 0. 1. ]] SLAMing on 84.12719347 meters Centerline goodness : 0.912392 Centerline is valid? [False, False] Translation: X:8.73, Y:0.20, Z:-1.36 [[ 0.99677421 -0.06871368 -0.04146816 8.72611261] [ 0.07047614 0.99660122 0.04265115 0.20235395] [ 0.0383965 -0.04543608 0.99822907 -1.35802784] [ 0. 0. 0. 1. ]] SLAMing on 84.15719347 meters Centerline goodness : 0.913503 Centerline is valid? [False, False] Translation: X:8.73, Y:0.20, Z:-1.36 [[ 0.99672948 -0.06899982 -0.04206385 8.7276856 ] [ 0.07075169 0.99662249 0.04168709 0.20346594] [ 0.03904538 -0.04452684 0.99824487 -1.35844663] [ 0. 0. 0. 1. ]] SLAMing on 84.18719347 meters Centerline goodness : 0.915680 Centerline is valid? [False, False] Translation: X:8.73, Y:0.20, Z:-1.36 [[ 0.99649906 -0.07185813 -0.04273203 8.73001393] [ 0.07348816 0.99657637 0.03788176 0.20480082] [ 0.03986362 -0.04088943 0.99836814 -1.35890356] [ 0. 0. 0. 1. ]] SLAMing on 84.21719347 meters Centerline goodness : 0.917505 Centerline is valid? [False, False] Translation: X:8.73, Y:0.20, Z:-1.36 [[ 0.99638357 -0.07302682 -0.04343811 8.7307197 ] [ 0.07470034 0.99647266 0.03823748 0.20484809] [ 0.04049253 -0.04134404 0.99832411 -1.35749236] [ 0. 0. 0. 1. ]] SLAMing on 84.24719347 meters Centerline goodness : 0.920920 Centerline is valid? [False, False] Translation: X:8.73, Y:0.21, Z:-1.36 [[ 0.99628809 -0.07359097 -0.04465886 8.73220044] [ 0.07537049 0.99637043 0.03956328 0.20511476] [ 0.04158527 -0.04278239 0.99821858 -1.3558028 ] [ 0. 0. 0. 1. ]] SLAMing on 84.27719347 meters Centerline goodness : 0.920243 Centerline is valid? [False, False] Translation: X:8.73, Y:0.21, Z:-1.35 [[ 0.99615182 -0.07510973 -0.04516716 8.7315475 ] [ 0.07690451 0.99625949 0.0394045 0.20632058] [ 0.04203855 -0.04272642 0.99820199 -1.35315888] [ 0. 0. 0. 1. ]] SLAMing on 84.30719347 meters Centerline goodness : 0.919756 Centerline is valid? [False, False] Translation: X:8.73, Y:0.21, Z:-1.35 [[ 0.99599158 -0.07655273 -0.04626511 8.73302136] [ 0.07837821 0.99615976 0.03902046 0.20823172] [ 0.04310032 -0.04249023 0.99816679 -1.35216452] [ 0. 0. 0. 1. ]] SLAMing on 84.33719347 meters Centerline goodness : 0.918197 Centerline is valid? [False, False] Translation: X:8.73, Y:0.21, Z:-1.35 [[ 0.99595989 -0.07677384 -0.04657976 8.7339219 ] [ 0.07859507 0.99615851 0.03861384 0.20907718] [ 0.04343629 -0.04211877 0.99816797 -1.35270865] [ 0. 0. 0. 1. ]] SLAMing on 84.36719347 meters Centerline goodness : 0.919133 Centerline is valid? [False, False] Translation: X:8.73, Y:0.21, Z:-1.35 [[ 0.99581678 -0.07891111 -0.04606491 8.73302047] [ 0.0805279 0.99615983 0.03436362 0.21137352] [ 0.04317634 -0.03792938 0.99834722 -1.35305688] [ 0. 0. 0. 1. ]] SLAMing on 84.39719347 meters Centerline goodness : 0.919255 Centerline is valid? [False, False] Translation: X:8.73, Y:0.22, Z:-1.35 [[ 0.99570615 -0.07999171 -0.04658954 8.73435174] [ 0.08152725 0.99615581 0.03204537 0.21582426] [ 0.04384708 -0.03570609 0.99839997 -1.35426169] [ 0. 0. 0. 1. ]] SLAMing on 84.42719347 meters Centerline goodness : 0.916269 Centerline is valid? [False, False] Translation: X:8.74, Y:0.22, Z:-1.35 [[ 0.99565443 -0.08008215 -0.04753009 8.73630729] [ 0.08162962 0.99616294 0.03155938 0.21878884] [ 0.04482037 -0.03530209 0.99837112 -1.35491031] [ 0. 0. 0. 1. ]] SLAMing on 84.45719347 meters Centerline goodness : 0.916897 Centerline is valid? [False, False] Translation: X:8.74, Y:0.22, Z:-1.36 [[ 0.99569139 -0.07910186 -0.04838949 8.73903282] [ 0.08068284 0.99623757 0.03163837 0.22157546] [ 0.04570478 -0.03540626 0.99832734 -1.35639787] [ 0. 0. 0. 1. ]] SLAMing on 84.48719347 meters Centerline goodness : 0.916229 Centerline is valid? [False, False] Translation: X:8.74, Y:0.22, Z:-1.36 [[ 0.99565839 -0.07941358 -0.04855765 8.73937263] [ 0.08093292 0.99626299 0.03016478 0.22474344] [ 0.0459807 -0.03396373 0.99836478 -1.3570244 ] [ 0. 0. 0. 1. ]] SLAMing on 84.51719347 meters Centerline goodness : 0.914966 Centerline is valid? [False, False] Translation: X:8.74, Y:0.23, Z:-1.36 [[ 0.99565375 -0.079621 -0.04831265 8.73946464] [ 0.08099908 0.99634113 0.02726742 0.22936611] [ 0.04596483 -0.03106219 0.99846 -1.35889759] [ 0. 0. 0. 1. ]] SLAMing on 84.54719347 meters Centerline goodness : 0.917161 Centerline is valid? [False, False] Translation: X:8.74, Y:0.23, Z:-1.36 [[ 0.99568107 -0.07931811 -0.04824776 8.73947373] [ 0.08064538 0.99639815 0.02621181 0.23125776] [ 0.04599491 -0.02998956 0.99849141 -1.35959742] [ 0. 0. 0. 1. ]] SLAMing on 84.57719347 meters Centerline goodness : 0.916821 Centerline is valid? [False, False] Translation: X:8.74, Y:0.23, Z:-1.36 [[ 0.99567967 -0.07927872 -0.04834136 8.739308 ] [ 0.08055753 0.99643381 0.02510283 0.23377021] [ 0.04617884 -0.02888863 0.99851538 -1.35965227] [ 0. 0. 0. 1. ]] SLAMing on 84.60719347 meters Centerline goodness : 0.918303 Centerline is valid? [False, False] Translation: X:8.74, Y:0.24, Z:-1.36 [[ 0.99563156 -0.0785972 -0.05040112 8.74105622] [ 0.08004503 0.99641518 0.02737854 0.24019463] [ 0.04806856 -0.0312933 0.99835372 -1.35743895] [ 0. 0. 0. 1. ]] SLAMing on 84.63719347 meters Centerline goodness : 0.918043 Centerline is valid? [False, False] Translation: X:8.74, Y:0.24, Z:-1.36 [[ 0.99560698 -0.07853961 -0.05097316 8.74234581] [ 0.07997468 0.99643791 0.0267496 0.2435669 ] [ 0.04869069 -0.03070865 0.99834172 -1.35774715] [ 0. 0. 0. 1. ]] SLAMing on 84.66719347 meters Centerline goodness : 0.916106 Centerline is valid? [False, False] Translation: X:8.74, Y:0.25, Z:-1.36 [[ 0.99556944 -0.07877284 -0.05134518 8.74346999] [ 0.08018037 0.99644246 0.02595232 0.246117 ] [ 0.04911818 -0.02995421 0.9983437 -1.35824982] [ 0. 0. 0. 1. ]] SLAMing on 84.69719347 meters Centerline goodness : 0.914838 Centerline is valid? [False, False] Translation: X:8.74, Y:0.25, Z:-1.36 [[ 0.9955599 -0.07873238 -0.05159156 8.74422004] [ 0.08009555 0.99647596 0.0249071 0.24923465] [ 0.04944875 -0.02892877 0.99835762 -1.35843111] [ 0. 0. 0. 1. ]] SLAMing on 84.72719347 meters Centerline goodness : 0.916714 Centerline is valid? [False, False] Translation: X:8.74, Y:0.25, Z:-1.36 [[ 0.99552001 -0.07915744 -0.05171086 8.74397848] [ 0.08048024 0.99646682 0.02401666 0.25125138] [ 0.04962706 -0.02807077 0.99837327 -1.3577643 ] [ 0. 0. 0. 1. ]] SLAMing on 84.75719347 meters Centerline goodness : 0.916971 Centerline is valid? [False, False] Translation: X:8.74, Y:0.25, Z:-1.36 [[ 0.99546268 -0.07969307 -0.05199104 8.74395659] [ 0.08097746 0.99644866 0.02308078 0.25355664] [ 0.04996702 -0.02718616 0.99838079 -1.35699443] [ 0. 0. 0. 1. ]] SLAMing on 84.78719347 meters Centerline goodness : 0.916971 Centerline is valid? [False, False] Translation: X:8.74, Y:0.25, Z:-1.36 [[ 0.99546268 -0.07969307 -0.05199104 8.74395659] [ 0.08097746 0.99644866 0.02308078 0.25355664] [ 0.04996702 -0.02718616 0.99838079 -1.35699443] [ 0. 0. 0. 1. ]] SLAMing on 84.81719347 meters Centerline goodness : 0.917545 Centerline is valid? [False, False] Translation: X:8.74, Y:0.26, Z:-1.35 [[ 0.99537637 -0.08075297 -0.05200805 8.74223729] [ 0.08195687 0.99640515 0.02144387 0.25751214] [ 0.05008943 -0.02560714 0.99841641 -1.35478049] [ 0. 0. 0. 1. ]] SLAMing on 84.84719347000001 meters Centerline goodness : 0.915206 Centerline is valid? [False, False] Translation: X:8.74, Y:0.26, Z:-1.35 [[ 0.99535034 -0.08072882 -0.05254098 8.74345788] [ 0.08194273 0.99640787 0.02137175 0.25811904] [ 0.05062693 -0.02557773 0.99839005 -1.35499736] [ 0. 0. 0. 1. ]] SLAMing on 84.87719347 meters Centerline goodness : 0.914808 Centerline is valid? [False, False] Translation: X:8.75, Y:0.26, Z:-1.36 [[ 0.9951613 -0.08272905 -0.05300845 8.74711351] [ 0.08384275 0.99629519 0.01913865 0.25834429] [ 0.05122874 -0.02349042 0.99841065 -1.35748606] [ 0. 0. 0. 1. ]] SLAMing on 84.90719347 meters Centerline goodness : 0.916390 Centerline is valid? [False, False] Translation: X:8.75, Y:0.26, Z:-1.36 [[ 0.99495438 -0.084969 -0.05334839 8.74982852] [ 0.0859547 0.99616309 0.01645847 0.25967594] [ 0.05174523 -0.02096097 0.99844032 -1.3590751 ] [ 0. 0. 0. 1. ]] SLAMing on 84.93719347 meters Centerline goodness : 0.915602 Centerline is valid? [False, False] Translation: X:8.75, Y:0.26, Z:-1.36 [[ 0.99494809 -0.08477363 -0.05377487 8.75080212] [ 0.08576239 0.99618146 0.01634982 0.26036431] [ 0.0521835 -0.02087908 0.99841922 -1.35927637] [ 0. 0. 0. 1. ]] SLAMing on 84.96719347 meters Centerline goodness : 0.916539 Centerline is valid? [False, False] Translation: X:8.75, Y:0.26, Z:-1.36 [[ 0.99493392 -0.08475959 -0.05405845 8.75110424] [ 0.08573499 0.99618977 0.01598308 0.261509 ] [ 0.05249775 -0.02053681 0.99840985 -1.35883212] [ 0. 0. 0. 1. ]] SLAMing on 84.99719347 meters Centerline goodness : 0.917208 Centerline is valid? [False, False] Translation: X:8.75, Y:0.26, Z:-1.36 [[ 0.99500915 -0.08346402 -0.05468597 8.75304708] [ 0.08447279 0.99629084 0.01639827 0.26336333] [ 0.05311447 -0.0209359 0.99836894 -1.35948991] [ 0. 0. 0. 1. ]] SLAMing on 85.02719347 meters Centerline goodness : 0.915380 Centerline is valid? [False, False] Translation: X:8.75, Y:0.26, Z:-1.36 [[ 0.99500971 -0.08322568 -0.05503783 8.75405214] [ 0.08423782 0.99631187 0.01632905 0.26419852] [ 0.05347585 -0.02088383 0.99835074 -1.35987786] [ 0. 0. 0. 1. ]] SLAMing on 85.05719347 meters Centerline goodness : 0.916514 Centerline is valid? [False, False] Translation: X:8.76, Y:0.27, Z:-1.36 [[ 0.99478102 -0.08568664 -0.05539431 8.75656876] [ 0.0865533 0.99615662 0.01343586 0.26558909] [ 0.05403013 -0.0181603 0.99837415 -1.36115244] [ 0. 0. 0. 1. ]] SLAMing on 85.08719347 meters Centerline goodness : 0.916929 Centerline is valid? [False, False] Translation: X:8.76, Y:0.26, Z:-1.36 [[ 0.99476625 -0.08566466 -0.05569264 8.75756519] [ 0.08655128 0.99615315 0.01370334 0.26496939] [ 0.0543045 -0.01845189 0.99835392 -1.36165466] [ 0. 0. 0. 1. ]] SLAMing on 85.11719347 meters Centerline goodness : 0.915060 Centerline is valid? [False, False] Translation: X:8.77, Y:0.27, Z:-1.36 [[ 0.9946374 -0.09080396 -0.04950835 8.76720905] [ 0.09182509 0.99559857 0.01875197 0.26563413] [ 0.04758769 -0.02319752 0.99859766 -1.36355259] [ 0. 0. 0. 1. ]] SLAMing on 85.14719347 meters Centerline goodness : 0.916515 Centerline is valid? [False, False] Translation: X:8.77, Y:0.27, Z:-1.36 [[ 0.99460768 -0.09101666 -0.04971453 8.76754552] [ 0.09203061 0.99558436 0.0184974 0.26624047] [ 0.04781144 -0.02297292 0.99859216 -1.36335879] [ 0. 0. 0. 1. ]] SLAMing on 85.17719347 meters Centerline goodness : 0.914349 Centerline is valid? [False, False] Translation: X:8.77, Y:0.27, Z:-1.36 [[ 0.99457983 -0.09119297 -0.04994794 8.76812056] [ 0.09220007 0.99557344 0.01823956 0.26689712] [ 0.04806352 -0.0227459 0.99858526 -1.36348017] [ 0. 0. 0. 1. ]] SLAMing on 85.20719347 meters Centerline goodness : 0.912400 Centerline is valid? [False, False] Translation: X:8.77, Y:0.27, Z:-1.36 [[ 0.99431421 -0.09418231 -0.04968851 8.76902515] [ 0.0949979 0.9953746 0.01431087 0.26876792] [ 0.04811085 -0.01894981 0.99866223 -1.36368535] [ 0. 0. 0. 1. ]] SLAMing on 85.23719347 meters Centerline goodness : 0.914469 Centerline is valid? [False, False] Translation: X:8.77, Y:0.27, Z:-1.36 [[ 0.99433526 -0.09403376 -0.04954845 8.76878816] [ 0.09483506 0.99539353 0.01407204 0.26963607] [ 0.04799696 -0.01869125 0.99867258 -1.36349566] [ 0. 0. 0. 1. ]] SLAMing on 85.26719347 meters Centerline goodness : 0.914598 Centerline is valid? [False, False] Translation: X:8.77, Y:0.27, Z:-1.36 [[ 0.99436643 -0.0936318 -0.04968398 8.76900939] [ 0.09442373 0.99543597 0.01383409 0.27201606] [ 0.04816191 -0.01844751 0.99866917 -1.36334275] [ 0. 0. 0. 1. ]] SLAMing on 85.29719347 meters Centerline goodness : 0.912944 Centerline is valid? [False, False] Translation: X:8.77, Y:0.27, Z:-1.36 [[ 0.99467298 -0.09005122 -0.05016419 8.76917053] [ 0.09101183 0.99570124 0.01720135 0.27347236] [ 0.04839955 -0.02167526 0.99859284 -1.36335504] [ 0. 0. 0. 1. ]] SLAMing on 85.32719347 meters Centerline goodness : 0.910347 Centerline is valid? [False, False] Translation: X:8.77, Y:0.28, Z:-1.36 [[ 0.99501085 -0.08574445 -0.05100288 8.77037432] [ 0.08688517 0.9960057 0.02058174 0.27675426] [ 0.04903439 -0.02491045 0.9984864 -1.36375735] [ 0. 0. 0. 1. ]] SLAMing on 85.35719347 meters Centerline goodness : 0.909786 Centerline is valid? [False, False] Translation: X:8.77, Y:0.28, Z:-1.36 [[ 0.99503496 -0.08537763 -0.05114767 8.7713674 ] [ 0.08651375 0.99604132 0.02042228 0.27773109] [ 0.04920158 -0.02474586 0.99848227 -1.36453188] [ 0. 0. 0. 1. ]] SLAMing on 85.38719347 meters Centerline goodness : 0.908126 Centerline is valid? [False, False] Translation: X:8.77, Y:0.28, Z:-1.37 [[ 0.9950712 -0.08469611 -0.05157407 8.77336645] [ 0.08585796 0.99609147 0.02074129 0.27816593] [ 0.04961579 -0.0250671 0.99845376 -1.36591136] [ 0. 0. 0. 1. ]] SLAMing on 85.41719347 meters Centerline goodness : 0.907719 Centerline is valid? [False, False] Translation: X:8.77, Y:0.28, Z:-1.37 [[ 0.99539014 -0.08052213 -0.05210242 8.77453961] [ 0.08187934 0.99634211 0.02445758 0.27968566] [ 0.04994246 -0.02861094 0.99834221 -1.36701004] [ 0. 0. 0. 1. ]] SLAMing on 85.44719347 meters Centerline goodness : 0.905277 Centerline is valid? [False, False] Translation: X:8.78, Y:0.28, Z:-1.37 [[ 0.99541142 -0.07993564 -0.05259652 8.77605791] [ 0.08130374 0.99639056 0.02440379 0.28180858] [ 0.05045595 -0.0285681 0.99831762 -1.36769462] [ 0. 0. 0. 1. ]] SLAMing on 85.47719347 meters Centerline goodness : 0.904472 Centerline is valid? [False, False] Translation: X:8.78, Y:0.28, Z:-1.37 [[ 0.99547603 -0.07861422 -0.05335988 8.7788759 ] [ 0.08004054 0.99647458 0.02513808 0.28257888] [ 0.05119556 -0.02929531 0.99825888 -1.36925623] [ 0. 0. 0. 1. ]] SLAMing on 85.50719347 meters Centerline goodness : 0.905111 Centerline is valid? [False, False] Translation: X:8.78, Y:0.28, Z:-1.37 [[ 0.99647477 -0.07017574 -0.04597167 8.77603219] [ 0.07106213 0.9973106 0.01793726 0.28230868] [ 0.04458928 -0.02114088 0.99878169 -1.3691622 ] [ 0. 0. 0. 1. ]] SLAMing on 85.53719347 meters Centerline goodness : 0.905027 Centerline is valid? [False, False] Translation: X:8.78, Y:0.28, Z:-1.37 [[ 0.99651717 -0.06941469 -0.0462075 8.77661339] [ 0.07032 0.99735731 0.01826204 0.28240246] [ 0.04481774 -0.02144775 0.99876492 -1.36892351] [ 0. 0. 0. 1. ]] SLAMing on 85.56719347 meters Centerline goodness : 0.904310 Centerline is valid? [False, False] Translation: X:8.78, Y:0.28, Z:-1.37 [[ 0.9965558 -0.06893226 -0.0460964 8.77597535] [ 0.0698379 0.9973899 0.01833157 0.28247051] [ 0.04471244 -0.02148771 0.99876878 -1.36798538] [ 0. 0. 0. 1. ]] SLAMing on 85.59719347000001 meters Centerline goodness : 0.903189 Centerline is valid? [False, False] Translation: X:8.78, Y:0.28, Z:-1.37 [[ 0.99667145 -0.06679467 -0.04673863 8.77702533] [ 0.06776475 0.99751101 0.01948643 0.28104086] [ 0.04532071 -0.0225888 0.99871707 -1.36653896] [ 0. 0. 0. 1. ]] SLAMing on 85.62719347 meters Centerline goodness : 0.901135 Centerline is valid? [False, False] Translation: X:8.78, Y:0.28, Z:-1.37 [[ 0.99668999 -0.06633375 -0.0469989 8.77786364] [ 0.06734401 0.99752436 0.02024668 0.27812659] [ 0.04553951 -0.02334476 0.99868973 -1.36664226] [ 0. 0. 0. 1. ]] SLAMing on 85.65719347 meters Centerline goodness : 0.899913 Centerline is valid? [False, False] Translation: X:8.78, Y:0.27, Z:-1.37 [[ 0.99651546 -0.06866857 -0.0473451 8.78032506] [ 0.06959362 0.99740988 0.018173 0.27457499] [ 0.04597456 -0.0214046 0.99871326 -1.36768277] [ 0. 0. 0. 1. ]] SLAMing on 85.68719347 meters Centerline goodness : 0.897929 Centerline is valid? [False, False] Translation: X:8.78, Y:0.27, Z:-1.37 [[ 0.99631277 -0.07135441 -0.04763842 8.78247917] [ 0.07219009 0.99726164 0.01605626 0.27024212] [ 0.04636229 -0.01943608 0.99873559 -1.36851309] [ 0. 0. 0. 1. ]] SLAMing on 85.71719347 meters Centerline goodness : 0.900044 Centerline is valid? [False, False] Translation: X:8.79, Y:0.26, Z:-1.37 [[ 0.99615248 -0.07305657 -0.04840427 8.78508631] [ 0.07389867 0.99713995 0.01583986 0.26018209] [ 0.04710862 -0.01935593 0.99870222 -1.36841654] [ 0. 0. 0. 1. ]] SLAMing on 85.74719347 meters Centerline goodness : 0.898542 Centerline is valid? [False, False] Translation: X:8.79, Y:0.26, Z:-1.37 [[ 0.99591756 -0.07607561 -0.04858728 8.786075 ] [ 0.07681561 0.99695329 0.01354641 0.25643326] [ 0.0474087 -0.01722337 0.99872708 -1.36807565] [ 0. 0. 0. 1. ]] SLAMing on 85.77719347 meters Centerline goodness : 0.896808 Centerline is valid? [False, False] Translation: X:8.79, Y:0.25, Z:-1.37 [[ 0.99570454 -0.07873623 -0.04871415 8.78730363] [ 0.07940085 0.99677222 0.01185912 0.25098026] [ 0.04762317 -0.01567612 0.99874236 -1.36808308] [ 0. 0. 0. 1. ]] SLAMing on 85.80719347 meters Centerline goodness : 0.894792 Centerline is valid? [False, False] Translation: X:8.80, Y:0.24, Z:-1.37 [[ 9.95292696e-01 -8.23531905e-02 -5.10920821e-02 8.79573974e+00] [ 8.28751154e-02 9.96526378e-01 8.17876841e-03 2.36541384e-01] [ 5.02410599e-02 -1.23745307e-02 9.98660456e-01 -1.36821780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.83719347 meters Centerline goodness : 0.894570 Centerline is valid? [False, False] Translation: X:8.80, Y:0.23, Z:-1.37 [[ 9.95058395e-01 -8.48710065e-02 -5.15335175e-02 8.79855569e+00] [ 8.53385173e-02 9.96327869e-01 6.93643483e-03 2.30214666e-01] [ 5.07555775e-02 -1.12999517e-02 9.98647176e-01 -1.36961475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.86719347 meters Centerline goodness : 0.892997 Centerline is valid? [False, False] Translation: X:8.80, Y:0.22, Z:-1.37 [[ 9.94802802e-01 -8.77265778e-02 -5.16858999e-02 8.80013888e+00] [ 8.81825192e-02 9.96082444e-01 6.60360202e-03 2.24367384e-01] [ 5.09041061e-02 -1.11270747e-02 9.98641557e-01 -1.36932926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.89719347 meters Centerline goodness : 0.891329 Centerline is valid? [False, False] Translation: X:8.81, Y:0.21, Z:-1.37 [[ 0.99434586 -0.09036151 -0.05577729 8.80766771] [ 0.09134082 0.99570276 0.01526009 0.2106151 ] [ 0.05415867 -0.02026855 0.99832661 -1.37104616] [ 0. 0. 0. 1. ]] SLAMing on 85.92719347 meters Centerline goodness : 0.890861 Centerline is valid? [False, False] Translation: X:8.81, Y:0.20, Z:-1.37 [[ 0.99430697 -0.09041045 -0.05638786 8.81106161] [ 0.09154698 0.9956398 0.01790373 0.20356966] [ 0.05452331 -0.02296394 0.9982484 -1.37259022] [ 0. 0. 0. 1. ]] SLAMing on 85.95719347 meters Centerline goodness : 0.889218 Centerline is valid? [False, False] Translation: X:8.81, Y:0.20, Z:-1.37 [[ 0.9940941 -0.09294235 -0.05602364 8.81244338] [ 0.09401818 0.99542741 0.01687781 0.19733666] [ 0.0541988 -0.02204537 0.99828678 -1.37352153] [ 0. 0. 0. 1. ]] SLAMing on 85.98719347 meters Centerline goodness : 0.889621 Centerline is valid? [False, False] Translation: X:8.82, Y:0.18, Z:-1.38 [[ 0.99326912 -0.098244 -0.06135603 8.8225001 ] [ 0.0997737 0.99475846 0.02237899 0.18399872] [ 0.05883583 -0.02835007 0.99786503 -1.37528513] [ 0. 0. 0. 1. ]] SLAMing on 86.01719347 meters Centerline goodness : 0.891519 Centerline is valid? [False, False] Translation: X:8.83, Y:0.18, Z:-1.37 [[ 0.99305488 -0.09951114 -0.06276567 8.825826 ] [ 0.10125874 0.99453843 0.02529774 0.17789709] [ 0.05990546 -0.03147762 0.99770762 -1.37428635] [ 0. 0. 0. 1. ]] SLAMing on 86.04719347 meters Centerline goodness : 0.891073 Centerline is valid? [False, False] Translation: X:8.83, Y:0.17, Z:-1.37 [[ 0.99279245 -0.10117928 -0.06423323 8.82892156] [ 0.10313233 0.99427777 0.02784679 0.17238072] [ 0.06104815 -0.0342706 0.99754631 -1.37272199] [ 0. 0. 0. 1. ]] SLAMing on 86.07719347 meters Centerline goodness : 0.893076 Centerline is valid? [False, False] Translation: X:8.83, Y:0.17, Z:-1.37 [[ 0.99239352 -0.10486261 -0.06448976 8.83010638] [ 0.10674591 0.99393375 0.02647657 0.16840679] [ 0.06132215 -0.03315919 0.99756707 -1.37156704] [ 0. 0. 0. 1. ]] SLAMing on 86.10719347 meters Centerline goodness : 0.898165 Centerline is valid? [False, False] Translation: X:8.83, Y:0.16, Z:-1.37 [[ 0.99185008 -0.10961832 -0.06494034 8.83045493] [ 0.11154814 0.99339582 0.0268654 0.15864667] [ 0.06156653 -0.03389042 0.99752744 -1.36737828] [ 0. 0. 0. 1. ]] SLAMing on 86.13719347 meters Centerline goodness : 0.901817 Centerline is valid? [False, False] Translation: X:8.83, Y:0.15, Z:-1.37 [[ 0.99178578 -0.1097272 -0.06573356 8.83173802] [ 0.11187752 0.99327007 0.0299664 0.15308909] [ 0.06200305 -0.03707436 0.99738714 -1.36538521] [ 0. 0. 0. 1. ]] SLAMing on 86.16719347 meters Centerline goodness : 0.903290 Centerline is valid? [False, False] Translation: X:8.83, Y:0.15, Z:-1.36 [[ 0.9916393 -0.11097389 -0.06585049 8.83054379] [ 0.11319262 0.99309038 0.03096642 0.14944911] [ 0.06195903 -0.03816131 0.99734888 -1.36226199] [ 0. 0. 0. 1. ]] SLAMing on 86.19719347 meters Centerline goodness : 0.906045 Centerline is valid? [False, False] Translation: X:8.83, Y:0.15, Z:-1.36 [[ 0.99150923 -0.11152333 -0.06687298 8.83188907] [ 0.11388754 0.99295738 0.03263857 0.14722778] [ 0.06276206 -0.03997745 0.99722752 -1.36047454] [ 0. 0. 0. 1. ]] SLAMing on 86.22719347 meters Centerline goodness : 0.906968 Centerline is valid? [False, False] Translation: X:8.83, Y:0.14, Z:-1.36 [[ 0.99126813 -0.11289699 -0.06813049 8.83414103] [ 0.11539888 0.99273837 0.03396513 0.14477234] [ 0.06380119 -0.04153073 0.99709809 -1.35908293] [ 0. 0. 0. 1. ]] SLAMing on 86.25719347 meters Centerline goodness : 0.910003 Centerline is valid? [False, False] Translation: X:8.83, Y:0.14, Z:-1.36 [[ 0.99096857 -0.1159076 -0.06742939 8.83382315] [ 0.11815463 0.99253171 0.0303363 0.14474633] [ 0.0634096 -0.03802942 0.99726275 -1.35954365] [ 0. 0. 0. 1. ]] SLAMing on 86.28719347 meters Centerline goodness : 0.912179 Centerline is valid? [False, False] Translation: X:8.83, Y:0.14, Z:-1.36 [[ 0.99098639 -0.11565236 -0.06760548 8.83487964] [ 0.11794662 0.99253663 0.03097806 0.14311933] [ 0.06351823 -0.03867267 0.9972311 -1.36009168] [ 0. 0. 0. 1. ]] SLAMing on 86.31719347 meters Centerline goodness : 0.913829 Centerline is valid? [False, False] Translation: X:8.83, Y:0.14, Z:-1.36 [[ 0.99107715 -0.11496292 -0.06745085 8.83483892] [ 0.1172906 0.99259426 0.03161569 0.14209998] [ 0.06331669 -0.03924493 0.99722156 -1.36009269] [ 0. 0. 0. 1. ]] SLAMing on 86.34719347000001 meters Centerline goodness : 0.915280 Centerline is valid? [False, False] Translation: X:8.83, Y:0.14, Z:-1.36 [[ 0.99110542 -0.11461913 -0.06762022 8.83433251] [ 0.11698419 0.99261467 0.03210628 0.14272931] [ 0.06344083 -0.03973121 0.99719441 -1.35899992] [ 0. 0. 0. 1. ]] SLAMing on 86.37719347 meters Centerline goodness : 0.913970 Centerline is valid? [False, False] Translation: X:8.83, Y:0.14, Z:-1.36 [[ 0.99117054 -0.11387622 -0.06792032 8.83403463] [ 0.11629813 0.99267174 0.03282635 0.14383715] [ 0.06368444 -0.04043551 0.99715057 -1.35792637] [ 0. 0. 0. 1. ]] SLAMing on 86.40719347 meters Centerline goodness : 0.917810 Centerline is valid? [False, False] Translation: X:8.83, Y:0.15, Z:-1.36 [[ 0.99156201 -0.11010537 -0.06842212 8.83349701] [ 0.1127691 0.99295575 0.03635947 0.14546799] [ 0.06393677 -0.04376857 0.99699368 -1.35701979] [ 0. 0. 0. 1. ]] SLAMing on 86.43719347 meters Centerline goodness : 0.919301 Centerline is valid? [False, False] Translation: X:8.83, Y:0.14, Z:-1.35 [[ 0.991897 -0.10333076 -0.07391276 8.82705415] [ 0.10595232 0.99384116 0.03246297 0.14485178] [ 0.07010312 -0.04003115 0.9967362 -1.35493674] [ 0. 0. 0. 1. ]] SLAMing on 86.46719347 meters Centerline goodness : 0.919559 Centerline is valid? [False, False] Translation: X:8.83, Y:0.15, Z:-1.36 [[ 0.99198951 -0.10275728 -0.07346939 8.82694431] [ 0.10524477 0.99396871 0.03081805 0.14822452] [ 0.06985949 -0.03830345 0.9968212 -1.35674685] [ 0. 0. 0. 1. ]] SLAMing on 86.49719347 meters Centerline goodness : 0.918496 Centerline is valid? [False, False] Translation: X:8.83, Y:0.15, Z:-1.36 [[ 0.99220857 -0.10118398 -0.07269087 8.82562801] [ 0.10354804 0.99418642 0.02951562 0.15201692] [ 0.06928177 -0.03681265 0.99691768 -1.35800553] [ 0. 0. 0. 1. ]] SLAMing on 86.52719347 meters Centerline goodness : 0.923122 Centerline is valid? [False, False] Translation: X:8.82, Y:0.16, Z:-1.35 [[ 0.99320519 -0.09294208 -0.07003728 8.82341957] [ 0.09481067 0.99520986 0.0238384 0.15911332] [ 0.06748621 -0.0303167 0.9972595 -1.35488312] [ 0. 0. 0. 1. ]] SLAMing on 86.55719347 meters Centerline goodness : 0.924390 Centerline is valid? [False, False] Translation: X:8.82, Y:0.16, Z:-1.36 [[ 0.99358414 -0.08884145 -0.06998392 8.82297662] [ 0.09086479 0.99551661 0.02627283 0.16152788] [ 0.06733604 -0.03246334 0.99720208 -1.35573834] [ 0. 0. 0. 1. ]] SLAMing on 86.58719347 meters Centerline goodness : 0.925498 Centerline is valid? [False, False] Translation: X:8.82, Y:0.17, Z:-1.36 [[ 0.99378699 -0.08705374 -0.06934745 8.82203871] [ 0.08895427 0.99572691 0.02480052 0.16583496] [ 0.06689214 -0.03081519 0.99728425 -1.35735697] [ 0. 0. 0. 1. ]] SLAMing on 86.61719347 meters Centerline goodness : 0.925049 Centerline is valid? [False, False] Translation: X:8.82, Y:0.17, Z:-1.36 [[ 0.99406462 -0.08352249 -0.06971033 8.82273652] [ 0.08558051 0.99596339 0.02707232 0.16863436] [ 0.06716779 -0.03287749 0.99719986 -1.35855902] [ 0. 0. 0. 1. ]] SLAMing on 86.64719347 meters Centerline goodness : 0.924151 Centerline is valid? [False, False] Translation: X:8.82, Y:0.17, Z:-1.36 [[ 0.99417343 -0.0824053 -0.06948783 8.82411734] [ 0.08429369 0.99613499 0.02469137 0.1742836 ] [ 0.06718456 -0.03040489 0.99727718 -1.36224737] [ 0. 0. 0. 1. ]] SLAMing on 86.67719347 meters Centerline goodness : 0.924151 Centerline is valid? [False, False] Translation: X:8.82, Y:0.17, Z:-1.36 [[ 0.99417343 -0.0824053 -0.06948783 8.82411734] [ 0.08429369 0.99613499 0.02469137 0.1742836 ] [ 0.06718456 -0.03040489 0.99727718 -1.36224737] [ 0. 0. 0. 1. ]] SLAMing on 86.70719347 meters Centerline goodness : 0.923225 Centerline is valid? [False, False] Translation: X:8.83, Y:0.17, Z:-1.36 [[ 0.99408977 -0.08320756 -0.06972827 8.82595358] [ 0.08502602 0.99610097 0.02352515 0.17487418] [ 0.06749893 -0.02931483 0.99728859 -1.36395903] [ 0. 0. 0. 1. ]] SLAMing on 86.73719347 meters Centerline goodness : 0.922284 Centerline is valid? [False, False] Translation: X:8.83, Y:0.18, Z:-1.36 [[ 0.99377245 -0.08730868 -0.06923518 8.82580621] [ 0.08881347 0.99586787 0.01895674 0.17601403] [ 0.067294 -0.0249877 0.99742024 -1.36433825] [ 0. 0. 0. 1. ]] SLAMing on 86.76719347 meters Centerline goodness : 0.922991 Centerline is valid? [False, False] Translation: X:8.83, Y:0.18, Z:-1.36 [[ 0.99306758 -0.0936522 -0.07103546 8.8293839 ] [ 0.09508098 0.99532439 0.01699875 0.17512338] [ 0.06911135 -0.02363503 0.99732894 -1.36219821] [ 0. 0. 0. 1. ]] SLAMing on 86.79719347 meters Centerline goodness : 0.924744 Centerline is valid? [False, False] Translation: X:8.83, Y:0.17, Z:-1.36 [[ 0.99274994 -0.09571051 -0.07271215 8.83307631] [ 0.09727891 0.99508824 0.01833573 0.17300157] [ 0.07060008 -0.02527616 0.99718441 -1.36139949] [ 0. 0. 0. 1. ]] SLAMing on 86.82719347 meters Centerline goodness : 0.920864 Centerline is valid? [False, False] Translation: X:8.84, Y:0.17, Z:-1.36 [[ 0.99250443 -0.09748933 -0.07369388 8.83653759] [ 0.09912646 0.99489562 0.01888542 0.1704555 ] [ 0.07147659 -0.02604888 0.99710208 -1.36211073] [ 0. 0. 0. 1. ]] SLAMing on 86.85719347 meters Centerline goodness : 0.923854 Centerline is valid? [False, False] Translation: X:8.84, Y:0.17, Z:-1.36 [[ 0.99243479 -0.09792988 -0.0740468 8.83846642] [ 0.09971587 0.99479828 0.02081153 0.16534705] [ 0.07162356 -0.02803773 0.99703759 -1.36212916] [ 0. 0. 0. 1. ]] SLAMing on 86.88719347 meters Centerline goodness : 0.923077 Centerline is valid? [False, False] Translation: X:8.84, Y:0.16, Z:-1.36 [[ 0.9925659 -0.09691196 -0.07362751 8.83711094] [ 0.09875564 0.99487249 0.02181847 0.1643329 ] [ 0.07113551 -0.0289274 0.99704711 -1.36117127] [ 0. 0. 0. 1. ]] SLAMing on 86.91719347 meters Centerline goodness : 0.924586 Centerline is valid? [False, False] Translation: X:8.84, Y:0.16, Z:-1.36 [[ 0.99268777 -0.09593965 -0.07325694 8.83548499] [ 0.09782587 0.99494688 0.02260112 0.16399324] [ 0.07071842 -0.02960228 0.99705697 -1.35986413] [ 0. 0. 0. 1. ]] SLAMing on 86.94719347 meters Centerline goodness : 0.923878 Centerline is valid? [False, False] Translation: X:8.83, Y:0.16, Z:-1.36 [[ 0.99296196 -0.09305337 -0.07326402 8.83308088] [ 0.09523182 0.99509383 0.0268172 0.16336825] [ 0.07040914 -0.03360552 0.99695197 -1.35664644] [ 0. 0. 0. 1. ]] SLAMing on 86.97719347 meters Centerline goodness : 0.924885 Centerline is valid? [False, False] Translation: X:8.83, Y:0.16, Z:-1.36 [[ 0.99298105 -0.0927538 -0.07338502 8.83330007] [ 0.09497025 0.99510554 0.02730582 0.16334593] [ 0.07049312 -0.03408356 0.9969298 -1.35642174] [ 0. 0. 0. 1. ]] SLAMing on 87.00719347 meters Centerline goodness : 0.920893 Centerline is valid? [False, False] Translation: X:8.83, Y:0.16, Z:-1.36 [[ 0.99292274 -0.09331945 -0.07345694 8.83390271] [ 0.09552014 0.99506041 0.02703126 0.16293484] [ 0.07057156 -0.03385657 0.99693199 -1.35668831] [ 0. 0. 0. 1. ]] SLAMing on 87.03719347 meters Centerline goodness : 0.921104 Centerline is valid? [False, False] Translation: X:8.84, Y:0.16, Z:-1.36 [[ 0.99260693 -0.09666842 -0.07339418 8.83647423] [ 0.09864267 0.99483922 0.02376016 0.16260192] [ 0.07071855 -0.0308243 0.99701993 -1.35897888] [ 0. 0. 0. 1. ]] SLAMing on 87.06719347 meters Centerline goodness : 0.921188 Centerline is valid? [False, False] Translation: X:8.84, Y:0.16, Z:-1.36 [[ 0.99254296 -0.09709454 -0.07369617 8.83758684] [ 0.09909975 0.99478683 0.02404984 0.16215442] [ 0.07097688 -0.03117377 0.99699071 -1.35917185] [ 0. 0. 0. 1. ]] SLAMing on 87.09719347000001 meters Centerline goodness : 0.919623 Centerline is valid? [False, False] Translation: X:8.84, Y:0.16, Z:-1.36 [[ 0.9924712 -0.09738472 -0.07427741 8.83865677] [ 0.09944966 0.99473799 0.02461913 0.16231673] [ 0.07148904 -0.03182065 0.99693368 -1.35867014] [ 0. 0. 0. 1. ]] SLAMing on 87.12719347 meters Centerline goodness : 0.920543 Centerline is valid? [False, False] Translation: X:8.84, Y:0.16, Z:-1.36 [[ 0.99242648 -0.09764461 -0.07453334 8.8388065 ] [ 0.09974111 0.99470092 0.02493558 0.16280624] [ 0.07170356 -0.03218077 0.99690671 -1.35789045] [ 0. 0. 0. 1. ]] SLAMing on 87.15719347 meters Centerline goodness : 0.917549 Centerline is valid? [False, False] Translation: X:8.84, Y:0.17, Z:-1.36 [[ 0.99234936 -0.09838876 -0.07458154 8.83924921] [ 0.10038281 0.99467208 0.02346781 0.1663035 ] [ 0.07187521 -0.03077497 0.99693874 -1.35852514] [ 0. 0. 0. 1. ]] SLAMing on 87.18719347 meters Centerline goodness : 0.918203 Centerline is valid? [False, False] Translation: X:8.84, Y:0.17, Z:-1.36 [[ 0.9923972 -0.09791277 -0.07457137 8.83896347] [ 0.09983682 0.994749 0.02251746 0.1697958 ] [ 0.07197505 -0.02979123 0.99696142 -1.35878918] [ 0. 0. 0. 1. ]] SLAMing on 87.21719347 meters Centerline goodness : 0.916474 Centerline is valid? [False, False] Translation: X:8.83, Y:0.18, Z:-1.36 [[ 0.99332984 -0.09296554 -0.06821458 8.82947962] [ 0.09432886 0.99539529 0.01703755 0.17651865] [ 0.06631657 -0.02335851 0.99752518 -1.36009102] [ 0. 0. 0. 1. ]] SLAMing on 87.24719347 meters Centerline goodness : 0.916269 Centerline is valid? [False, False] Translation: X:8.83, Y:0.18, Z:-1.36 [[ 0.99380263 -0.08815536 -0.06771239 8.82868766] [ 0.08965151 0.99578466 0.01937833 0.17794748] [ 0.06571865 -0.02532875 0.99751667 -1.36170695] [ 0. 0. 0. 1. ]] SLAMing on 87.27719347 meters Centerline goodness : 0.918408 Centerline is valid? [False, False] Translation: X:8.83, Y:0.18, Z:-1.36 [[ 0.99412368 -0.08557719 -0.06629224 8.82568324] [ 0.08696096 0.99604414 0.01827197 0.18045111] [ 0.06446634 -0.02392943 0.99763294 -1.36257924] [ 0. 0. 0. 1. ]] SLAMing on 87.30719347 meters Centerline goodness : 0.919811 Centerline is valid? [False, False] Translation: X:8.82, Y:0.18, Z:-1.36 [[ 0.99452303 -0.08089192 -0.06618485 8.82492792] [ 0.08248097 0.99635777 0.0216354 0.18182692] [ 0.06419366 -0.0269759 0.99757279 -1.36302841] [ 0. 0. 0. 1. ]] SLAMing on 87.33719347 meters Centerline goodness : 0.915615 Centerline is valid? [False, False] Translation: X:8.82, Y:0.19, Z:-1.36 [[ 0.99499774 -0.07521344 -0.06574528 8.82384845] [ 0.07694327 0.99674213 0.02418392 0.18556241] [ 0.06371213 -0.0291216 0.99754333 -1.36452246] [ 0. 0. 0. 1. ]] SLAMing on 87.36719347 meters Centerline goodness : 0.914067 Centerline is valid? [False, False] Translation: X:8.82, Y:0.19, Z:-1.37 [[ 0.99507522 -0.07466087 -0.06520022 8.82400763] [ 0.07630888 0.99681523 0.02315912 0.18594858] [ 0.06326349 -0.02802042 0.99760342 -1.36653319] [ 0. 0. 0. 1. ]] SLAMing on 87.39719347 meters Centerline goodness : 0.914122 Centerline is valid? [False, False] Translation: X:8.82, Y:0.19, Z:-1.37 [[ 0.99502491 -0.07610777 -0.06428877 8.82448331] [ 0.07750839 0.99679947 0.01957723 0.18533736] [ 0.06259303 -0.02446275 0.99773929 -1.36937297] [ 0. 0. 0. 1. ]] SLAMing on 87.42719347 meters Centerline goodness : 0.912624 Centerline is valid? [False, False] Translation: X:8.83, Y:0.18, Z:-1.37 [[ 0.99504677 -0.07590599 -0.0641889 8.82559568] [ 0.07733196 0.99680424 0.02002687 0.18266588] [ 0.06246361 -0.02489153 0.99773679 -1.37066059] [ 0. 0. 0. 1. ]] SLAMing on 87.45719347 meters Centerline goodness : 0.911767 Centerline is valid? [False, False] Translation: X:8.82, Y:0.18, Z:-1.37 [[ 0.9951072 -0.07604178 -0.06308179 8.82416983] [ 0.07746107 0.99678739 0.02036378 0.17744048] [ 0.06133064 -0.02515053 0.99780058 -1.37028559] [ 0. 0. 0. 1. ]] SLAMing on 87.48719347 meters Centerline goodness : 0.912019 Centerline is valid? [False, False] Translation: X:8.82, Y:0.17, Z:-1.37 [[ 0.9951293 -0.07574115 -0.0630948 8.82438722] [ 0.07724515 0.99677496 0.02174567 0.17417629] [ 0.06124427 -0.02651352 0.9977706 -1.36984318] [ 0. 0. 0. 1. ]] SLAMing on 87.51719347 meters Centerline goodness : 0.910373 Centerline is valid? [False, False] Translation: X:8.83, Y:0.17, Z:-1.37 [[ 0.9951696 -0.07513115 -0.06318841 8.82555768] [ 0.07675984 0.99676667 0.02375167 0.16961646] [ 0.06119961 -0.02848727 0.99771894 -1.37025 ] [ 0. 0. 0. 1. ]] SLAMing on 87.54719347 meters Centerline goodness : 0.910656 Centerline is valid? [False, False] Translation: X:8.83, Y:0.16, Z:-1.37 [[ 0.99515473 -0.07599797 -0.0623809 8.82642752] [ 0.07765404 0.99667772 0.02456373 0.15926125] [ 0.06030686 -0.02928884 0.99775009 -1.37118918] [ 0. 0. 0. 1. ]] SLAMing on 87.57719347 meters Centerline goodness : 0.911242 Centerline is valid? [False, False] Translation: X:8.83, Y:0.15, Z:-1.37 [[ 0.99508229 -0.07719313 -0.06206808 8.82696107] [ 0.07883191 0.9965893 0.0243988 0.15463798] [ 0.05997296 -0.02917176 0.99777365 -1.37128248] [ 0. 0. 0. 1. ]] SLAMing on 87.60719347 meters Centerline goodness : 0.911158 Centerline is valid? [False, False] Translation: X:8.83, Y:0.15, Z:-1.37 [[ 0.99486726 -0.07986253 -0.06213789 8.82838278] [ 0.08143008 0.99641102 0.02311335 0.15089279] [ 0.06006898 -0.0280546 0.99779991 -1.37147223] [ 0. 0. 0. 1. ]] SLAMing on 87.63719347 meters Centerline goodness : 0.911260 Centerline is valid? [False, False] Translation: X:8.83, Y:0.15, Z:-1.37 [[ 0.99456409 -0.08327496 -0.06251038 8.83090371] [ 0.0847578 0.99617062 0.02145241 0.14700313] [ 0.06048456 -0.02663403 0.99781373 -1.37216797] [ 0. 0. 0. 1. ]] SLAMing on 87.66719347 meters Centerline goodness : 0.906391 Centerline is valid? [False, False] Translation: X:8.84, Y:0.14, Z:-1.37 [[ 0.99410347 -0.08719916 -0.0644562 8.83669569] [ 0.08889234 0.99575495 0.02387964 0.13587856] [ 0.0621003 -0.02946849 0.99763478 -1.37366519] [ 0. 0. 0. 1. ]] SLAMing on 87.69719347 meters Centerline goodness : 0.906254 Centerline is valid? [False, False] Translation: X:8.84, Y:0.13, Z:-1.37 [[ 0.99405447 -0.08724559 -0.06514534 8.83852878] [ 0.08910975 0.99567519 0.02627475 0.13076295] [ 0.06257124 -0.03192361 0.99752981 -1.37305831] [ 0. 0. 0. 1. ]] SLAMing on 87.72719347 meters Centerline goodness : 0.907018 Centerline is valid? [False, False] Translation: X:8.84, Y:0.13, Z:-1.37 [[ 0.99404609 -0.08725978 -0.0652541 8.83884218] [ 0.08923387 0.99561789 0.02797038 0.12668348] [ 0.06252746 -0.03362672 0.9974766 -1.37210044] [ 0. 0. 0. 1. ]] SLAMing on 87.75719347 meters Centerline goodness : 0.901783 Centerline is valid? [False, False] Translation: X:8.84, Y:0.12, Z:-1.37 [[ 0.99394969 -0.08910897 -0.06421523 8.83919331] [ 0.0909467 0.99550891 0.02628147 0.12023123] [ 0.06158492 -0.03196262 0.99758994 -1.37346784] [ 0. 0. 0. 1. ]] SLAMing on 87.78719347 meters Centerline goodness : 0.902808 Centerline is valid? [False, False] Translation: X:8.84, Y:0.12, Z:-1.38 [[ 0.99378914 -0.09109126 -0.06391815 8.84123994] [ 0.09276428 0.99540581 0.02370782 0.11748377] [ 0.06146492 -0.02948989 0.9976735 -1.37596526] [ 0. 0. 0. 1. ]] SLAMing on 87.81719347 meters Centerline goodness : 0.900631 Centerline is valid? [False, False] Translation: X:8.84, Y:0.11, Z:-1.38 [[ 0.99377619 -0.09097239 -0.06428766 8.84412139] [ 0.0927024 0.99539352 0.02445429 0.11385646] [ 0.06176686 -0.03026171 0.99763174 -1.37793559] [ 0. 0. 0. 1. ]] SLAMing on 87.84719347000001 meters Centerline goodness : 0.898628 Centerline is valid? [False, False] Translation: X:8.85, Y:0.11, Z:-1.38 [[ 0.9935243 -0.0938805 -0.06399938 8.84528843] [ 0.09551524 0.99516281 0.02297415 0.10911614] [ 0.06153298 -0.02893829 0.99768546 -1.37834831] [ 0. 0. 0. 1. ]] SLAMing on 87.87719347 meters Centerline goodness : 0.896379 Centerline is valid? [False, False] Translation: X:8.85, Y:0.11, Z:-1.38 [[ 0.99346609 -0.09387797 -0.06490035 8.84751689] [ 0.09565838 0.99510309 0.02488584 0.10570625] [ 0.06224631 -0.0309315 0.9975814 -1.37809498] [ 0. 0. 0. 1. ]] SLAMing on 87.90719347 meters Centerline goodness : 0.893508 Centerline is valid? [False, False] Translation: X:8.85, Y:0.10, Z:-1.38 [[ 0.9931453 -0.0968188 -0.06548696 8.8509453 ] [ 0.09858872 0.9948303 0.02435055 0.09920843] [ 0.06279082 -0.03063991 0.99755627 -1.37885214] [ 0. 0. 0. 1. ]] SLAMing on 87.93719347 meters Centerline goodness : 0.891557 Centerline is valid? [False, False] Translation: X:8.85, Y:0.10, Z:-1.38 [[ 0.99282999 -0.10007189 -0.06537764 8.85230545] [ 0.10168581 0.99457691 0.02183516 0.09680237] [ 0.06283801 -0.02832658 0.99762167 -1.3794436 ] [ 0. 0. 0. 1. ]] SLAMing on 87.96719347 meters Centerline goodness : 0.890034 Centerline is valid? [False, False] Translation: X:8.85, Y:0.09, Z:-1.38 [[ 0.99272858 -0.10050535 -0.0662468 8.8545683 ] [ 0.10224905 0.99448193 0.02346969 0.0926826 ] [ 0.06352242 -0.03007271 0.99752721 -1.37906885] [ 0. 0. 0. 1. ]] SLAMing on 87.99719347 meters Centerline goodness : 0.890834 Centerline is valid? [False, False] Translation: X:8.85, Y:0.09, Z:-1.38 [[ 0.99240858 -0.10388039 -0.06583372 8.85473603] [ 0.10545674 0.9942036 0.02093025 0.09034278] [ 0.06327788 -0.02771397 0.99761107 -1.37876203] [ 0. 0. 0. 1. ]] SLAMing on 88.02719347 meters Centerline goodness : 0.888555 Centerline is valid? [False, False] Translation: X:8.84, Y:0.08, Z:-1.38 [[ 0.99197147 -0.10335713 -0.07286905 8.8445358 ] [ 0.10546569 0.99409085 0.02569783 0.07932658] [ 0.06978241 -0.0331767 0.99701039 -1.37652532] [ 0. 0. 0. 1. ]] SLAMing on 88.05719347 meters Centerline goodness : 0.888214 Centerline is valid? [False, False] Translation: X:8.85, Y:0.08, Z:-1.38 [[ 0.99171338 -0.10569682 -0.07302571 8.84667266] [ 0.10767321 0.99390456 0.02366851 0.07773211] [ 0.0700789 -0.03133529 0.99704917 -1.3776117 ] [ 0. 0. 0. 1. ]] SLAMing on 88.08719347 meters Centerline goodness : 0.887516 Centerline is valid? [False, False] Translation: X:8.85, Y:0.08, Z:-1.38 [[ 0.99171883 -0.10541666 -0.07335596 8.84756073] [ 0.10748983 0.99389429 0.02490141 0.07536576] [ 0.07028305 -0.03258022 0.9969949 -1.37736765] [ 0. 0. 0. 1. ]] SLAMing on 88.11719347 meters Centerline goodness : 0.887403 Centerline is valid? [False, False] Translation: X:8.84, Y:0.07, Z:-1.38 [[ 0.99210616 -0.10221172 -0.07265075 8.84462093] [ 0.10448412 0.994127 0.02818833 0.07442066] [ 0.0693429 -0.03555667 0.99695902 -1.37559786] [ 0. 0. 0. 1. ]] SLAMing on 88.14719347 meters Centerline goodness : 0.888080 Centerline is valid? [False, False] Translation: X:8.84, Y:0.08, Z:-1.38 [[ 0.9925084 -0.09805338 -0.07288764 8.84422322] [ 0.1005785 0.99442041 0.03181228 0.07502266] [ 0.06936166 -0.03890489 0.99683267 -1.37544601] [ 0. 0. 0. 1. ]] SLAMing on 88.17719347 meters Centerline goodness : 0.886796 Centerline is valid? [False, False] Translation: X:8.84, Y:0.08, Z:-1.38 [[ 0.99266557 -0.09711451 -0.07199881 8.84257259] [ 0.09951591 0.99456707 0.03054393 0.07834106] [ 0.06864139 -0.03748494 0.99693693 -1.3762873 ] [ 0. 0. 0. 1. ]] SLAMing on 88.20719347 meters Centerline goodness : 0.887124 Centerline is valid? [False, False] Translation: X:8.84, Y:0.08, Z:-1.38 [[ 0.99305619 -0.09296783 -0.07208594 8.84306697] [ 0.09555361 0.99486762 0.0332856 0.07976963] [ 0.06862147 -0.03994255 0.99684286 -1.37783705] [ 0. 0. 0. 1. ]] SLAMing on 88.23719347 meters Centerline goodness : 0.883767 Centerline is valid? [False, False] Translation: X:8.84, Y:0.08, Z:-1.38 [[ 0.99367801 -0.08423398 -0.07422032 8.83654636] [ 0.08590223 0.99611129 0.01957332 0.08478089] [ 0.07228296 -0.02582527 0.99704976 -1.37898092] [ 0. 0. 0. 1. ]] SLAMing on 88.26719347 meters Centerline goodness : 0.884448 Centerline is valid? [False, False] Translation: X:8.84, Y:0.09, Z:-1.38 [[ 0.99392972 -0.0813686 -0.07404641 8.8383415 ] [ 0.08304185 0.99634932 0.01980128 0.08756709] [ 0.07216488 -0.02583003 0.99705819 -1.38266309] [ 0. 0. 0. 1. ]] SLAMing on 88.29719347 meters Centerline goodness : 0.884161 Centerline is valid? [False, False] Translation: X:8.84, Y:0.09, Z:-1.38 [[ 0.99421821 -0.07742811 -0.07439781 8.83983211] [ 0.07929381 0.99659834 0.02245517 0.08963717] [ 0.07240607 -0.02822463 0.99697579 -1.3848332 ] [ 0. 0. 0. 1. ]] SLAMing on 88.32719347 meters Centerline goodness : 0.883430 Centerline is valid? [False, False] Translation: X:8.84, Y:0.09, Z:-1.39 [[ 0.99427935 -0.07694533 -0.074081 8.84000495] [ 0.07869859 0.99667636 0.02104182 0.09300396] [ 0.07221571 -0.02675152 0.99703021 -1.38661889] [ 0. 0. 0. 1. ]] SLAMing on 88.35719347 meters Centerline goodness : 0.880970 Centerline is valid? [False, False] Translation: X:8.84, Y:0.09, Z:-1.39 [[ 0.99427084 -0.07701937 -0.07411824 8.84118795] [ 0.07872285 0.99668904 0.02033881 0.09429528] [ 0.07230635 -0.02605709 0.99704203 -1.38821331] [ 0. 0. 0. 1. ]] SLAMing on 88.38719347 meters Centerline goodness : 0.878805 Centerline is valid? [False, False] Translation: X:8.84, Y:0.09, Z:-1.39 [[ 0.99402496 -0.0806949 -0.07350316 8.84105944] [ 0.08209625 0.99649204 0.01624271 0.09475994] [ 0.07193461 -0.02217999 0.9971627 -1.38889886] [ 0. 0. 0. 1. ]] SLAMing on 88.41719347 meters Centerline goodness : 0.877648 Centerline is valid? [False, False] Translation: X:8.84, Y:0.09, Z:-1.39 [[ 0.99400193 -0.08044337 -0.07408793 8.84314246] [ 0.08196825 0.99647648 0.01777174 0.0912514 ] [ 0.07239726 -0.02373801 0.99709335 -1.389357 ] [ 0. 0. 0. 1. ]] SLAMing on 88.44719347 meters Centerline goodness : 0.877962 Centerline is valid? [False, False] Translation: X:8.85, Y:0.08, Z:-1.39 [[ 0.9938143 -0.08288025 -0.07391893 8.8471225 ] [ 0.08429397 0.99630907 0.01620982 0.08356972] [ 0.07230262 -0.02234047 0.99713251 -1.39277059] [ 0. 0. 0. 1. ]] SLAMing on 88.47719347 meters Centerline goodness : 0.877179 Centerline is valid? [False, False] Translation: X:8.85, Y:0.08, Z:-1.39 [[ 0.99359656 -0.08606935 -0.07319798 8.84779667] [ 0.08724729 0.99610128 0.0130444 0.08060202] [ 0.07178988 -0.01934719 0.99723212 -1.39431565] [ 0. 0. 0. 1. ]] SLAMing on 88.50719347 meters Centerline goodness : 0.876308 Centerline is valid? [False, False] Translation: X:8.85, Y:0.08, Z:-1.40 [[ 0.99363729 -0.08522657 -0.0736299 8.85014586] [ 0.08658356 0.99612505 0.01543302 0.07514743] [ 0.07202929 -0.02170996 0.99716621 -1.39526798] [ 0. 0. 0. 1. ]] SLAMing on 88.53719347 meters Centerline goodness : 0.876744 Centerline is valid? [False, False] Translation: X:8.85, Y:0.07, Z:-1.39 [[ 0.99361498 -0.08526066 -0.07389101 8.85101485] [ 0.08674831 0.99608251 0.01715728 0.07053667] [ 0.0721387 -0.02345765 0.99711872 -1.39469016] [ 0. 0. 0. 1. ]] SLAMing on 88.56719347 meters Centerline goodness : 0.878329 Centerline is valid? [False, False] Translation: X:8.85, Y:0.06, Z:-1.39 [[ 0.99330167 -0.08863749 -0.07412949 8.85201149] [ 0.09020023 0.99576099 0.01799941 0.06165066] [ 0.07221984 -0.02456534 0.99708617 -1.39246681] [ 0. 0. 0. 1. ]] SLAMing on 88.59719347000001 meters Centerline goodness : 0.878329 Centerline is valid? [False, False] Translation: X:8.85, Y:0.06, Z:-1.39 [[ 0.99330167 -0.08863749 -0.07412949 8.85201149] [ 0.09020023 0.99576099 0.01799941 0.06165066] [ 0.07221984 -0.02456534 0.99708617 -1.39246681] [ 0. 0. 0. 1. ]] SLAMing on 88.62719347 meters Centerline goodness : 0.880642 Centerline is valid? [False, False] Translation: X:8.85, Y:0.06, Z:-1.39 [[ 0.99293507 -0.09252387 -0.0742919 8.85311441] [ 0.09396998 0.99544315 0.01620412 0.05735473] [ 0.0724541 -0.02307084 0.99710488 -1.39154867] [ 0. 0. 0. 1. ]] SLAMing on 88.65719347 meters Centerline goodness : 0.879300 Centerline is valid? [False, False] Translation: X:8.85, Y:0.05, Z:-1.39 [[ 0.99250329 -0.09665039 -0.07480586 8.85486093] [ 0.09800164 0.99507915 0.01459993 0.05251451] [ 0.07302666 -0.02182158 0.99709123 -1.39041164] [ 0. 0. 0. 1. ]] SLAMing on 88.68719347 meters Centerline goodness : 0.880620 Centerline is valid? [False, False] Translation: X:8.86, Y:0.04, Z:-1.39 [[ 9.91257123e-01 -1.08869079e-01 -7.45442110e-02 8.85819142e+00] [ 1.09614557e-01 9.93956234e-01 5.97110577e-03 4.42849656e-02] [ 7.34436144e-02 -1.40900318e-02 9.97199833e-01 -1.39087497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.71719347 meters Centerline goodness : 0.880320 Centerline is valid? [False, False] Translation: X:8.86, Y:0.04, Z:-1.39 [[ 9.90776776e-01 -1.13042514e-01 -7.47179406e-02 8.86055552e+00] [ 1.13621264e-01 9.93517874e-01 3.52728076e-03 4.01152563e-02] [ 7.38348768e-02 -1.19842947e-02 9.97198470e-01 -1.39156825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74719347 meters Centerline goodness : 0.879607 Centerline is valid? [False, False] Translation: X:8.86, Y:0.04, Z:-1.39 [[ 9.90611003e-01 -1.13886229e-01 -7.56291388e-02 8.86293877e+00] [ 1.14567961e-01 9.93404183e-01 4.72339937e-03 3.62052227e-02] [ 7.45923728e-02 -1.33437276e-02 9.97124828e-01 -1.39140744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.77719347 meters Centerline goodness : 0.882477 Centerline is valid? [False, False] Translation: X:8.86, Y:0.03, Z:-1.39 [[ 9.90434239e-01 -1.15002644e-01 -7.62522754e-02 8.86415878e+00] [ 1.15740213e-01 9.93265323e-01 5.31040920e-03 3.43745804e-02] [ 7.51280299e-02 -1.40850657e-02 9.97074416e-01 -1.39060924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80719347 meters Centerline goodness : 0.882474 Centerline is valid? [False, False] Translation: X:8.86, Y:0.03, Z:-1.39 [[ 0.99083535 -0.11089676 -0.07711825 8.86498355] [ 0.11200138 0.99365636 0.01013583 0.03221496] [ 0.07550501 -0.01868028 0.99697043 -1.39015432] [ 0. 0. 0. 1. ]] SLAMing on 88.83719347 meters Centerline goodness : 0.882235 Centerline is valid? [False, False] Translation: X:8.87, Y:0.03, Z:-1.39 [[ 0.99123335 -0.1068142 -0.07776355 8.86594379] [ 0.10823008 0.99402425 0.01421441 0.03106704] [ 0.07578055 -0.02250615 0.99687049 -1.39056562] [ 0. 0. 0. 1. ]] SLAMing on 88.86719347 meters Centerline goodness : 0.881855 Centerline is valid? [False, False] Translation: X:8.87, Y:0.03, Z:-1.39 [[ 0.9913655 -0.1057579 -0.0775223 8.86631798] [ 0.10712753 0.99415068 0.01371537 0.03281651] [ 0.07561834 -0.02190172 0.99689627 -1.39216931] [ 0. 0. 0. 1. ]] SLAMing on 88.89719347 meters Centerline goodness : 0.883902 Centerline is valid? [False, False] Translation: X:8.87, Y:0.04, Z:-1.39 [[ 0.99226872 -0.0967219 -0.0777667 8.8660066 ] [ 0.09853852 0.99493498 0.01986312 0.03694024] [ 0.07545161 -0.02737256 0.99677369 -1.39400756] [ 0. 0. 0. 1. ]] SLAMing on 88.92719347 meters Centerline goodness : 0.886767 Centerline is valid? [False, False] Translation: X:8.87, Y:0.04, Z:-1.39 [[ 0.99304883 -0.09066623 -0.07505774 8.8700732 ] [ 0.09187214 0.99568898 0.01276559 0.04265984] [ 0.07357675 -0.01957257 0.99709748 -1.39213399] [ 0. 0. 0. 1. ]] SLAMing on 88.95719347 meters Centerline goodness : 0.889145 Centerline is valid? [False, False] Translation: X:8.87, Y:0.04, Z:-1.39 [[ 0.99344096 -0.08619498 -0.07513639 8.86862253] [ 0.0876478 0.99601895 0.01625157 0.04439357] [ 0.07343646 -0.02273051 0.99704083 -1.3911684 ] [ 0. 0. 0. 1. ]] SLAMing on 88.98719347 meters Centerline goodness : 0.890982 Centerline is valid? [False, False] Translation: X:8.86, Y:0.05, Z:-1.39 [[ 0.99364708 -0.08545663 -0.07323013 8.8639295 ] [ 0.0867383 0.99612563 0.01449841 0.04797118] [ 0.07170742 -0.02075816 0.99720968 -1.38997666] [ 0. 0. 0. 1. ]] SLAMing on 89.01719347 meters Centerline goodness : 0.892034 Centerline is valid? [False, False] Translation: X:8.87, Y:0.05, Z:-1.39 [[ 0.99385148 -0.08172808 -0.07469773 8.86614819] [ 0.08341512 0.99631923 0.01974603 0.04642333] [ 0.07280898 -0.02585554 0.9970107 -1.38940156] [ 0. 0. 0. 1. ]] SLAMing on 89.04719347 meters Centerline goodness : 0.892485 Centerline is valid? [False, False] Translation: X:8.87, Y:0.05, Z:-1.39 [[ 0.99377271 -0.08216977 -0.07525912 8.86801464] [ 0.08380756 0.9963034 0.01886335 0.04801453] [ 0.07343092 -0.02505316 0.99698558 -1.39060336] [ 0. 0. 0. 1. ]] SLAMing on 89.07719347 meters Centerline goodness : 0.888810 Centerline is valid? [False, False] Translation: X:8.87, Y:0.05, Z:-1.39 [[ 0.99363266 -0.08258712 -0.07663885 8.87381169] [ 0.08424231 0.99627138 0.01861631 0.04807155] [ 0.07481563 -0.02495401 0.99688511 -1.39445687] [ 0. 0. 0. 1. ]] SLAMing on 89.10719347 meters Centerline goodness : 0.889019 Centerline is valid? [False, False] Translation: X:8.88, Y:0.05, Z:-1.40 [[ 0.99340156 -0.0849527 -0.07704795 8.87645685] [ 0.08641862 0.99613219 0.01588978 0.04774472] [ 0.07540006 -0.02244331 0.99690076 -1.39614851] [ 0. 0. 0. 1. ]] SLAMing on 89.13719347 meters Centerline goodness : 0.891349 Centerline is valid? [False, False] Translation: X:8.88, Y:0.04, Z:-1.40 [[ 0.99336109 -0.08490762 -0.07761722 8.87805141] [ 0.0864936 0.9961022 0.01729908 0.044448 ] [ 0.07584586 -0.02389763 0.99683314 -1.39608656] [ 0. 0. 0. 1. ]] SLAMing on 89.16719347 meters Centerline goodness : 0.891637 Centerline is valid? [False, False] Translation: X:8.88, Y:0.04, Z:-1.40 [[ 0.99302704 -0.08840216 -0.0779895 8.88058233] [ 0.08986115 0.99583533 0.01539377 0.03980744] [ 0.07630386 -0.02229465 0.99683533 -1.39678306] [ 0. 0. 0. 1. ]] SLAMing on 89.19719347 meters Centerline goodness : 0.891957 Centerline is valid? [False, False] Translation: X:8.88, Y:0.04, Z:-1.40 [[ 0.99293778 -0.08854578 -0.07895703 8.88280583] [ 0.09009289 0.99580087 0.01624524 0.03848739] [ 0.07718703 -0.02324398 0.99674564 -1.39678992] [ 0. 0. 0. 1. ]] SLAMing on 89.22719347 meters Centerline goodness : 0.893499 Centerline is valid? [False, False] Translation: X:8.88, Y:0.04, Z:-1.40 [[ 0.99286412 -0.08881069 -0.07958325 8.8840581 ] [ 0.09038218 0.99577278 0.0163596 0.0386319 ] [ 0.07779392 -0.02343576 0.99669397 -1.39663952] [ 0. 0. 0. 1. ]] SLAMing on 89.25719347 meters Centerline goodness : 0.892183 Centerline is valid? [False, False] Translation: X:8.88, Y:0.04, Z:-1.40 [[ 0.99252138 -0.09220913 -0.07999246 8.88498163] [ 0.093561 0.99552455 0.01331169 0.03945307] [ 0.07840699 -0.02069631 0.99670658 -1.39599144] [ 0. 0. 0. 1. ]] SLAMing on 89.28719347 meters Centerline goodness : 0.893543 Centerline is valid? [False, False] Translation: X:8.89, Y:0.04, Z:-1.40 [[ 0.99243616 -0.09238354 -0.08084396 8.8871105 ] [ 0.09385233 0.99547976 0.0145527 0.03608131] [ 0.07913409 -0.02203002 0.99662053 -1.39594067] [ 0. 0. 0. 1. ]] SLAMing on 89.31719347 meters Centerline goodness : 0.893515 Centerline is valid? [False, False] Translation: X:8.89, Y:0.03, Z:-1.40 [[ 0.99207426 -0.0961965 -0.08083869 8.88845066] [ 0.09742977 0.99517661 0.01144328 0.03371902] [ 0.07934797 -0.01922868 0.99666151 -1.39636671] [ 0. 0. 0. 1. ]] SLAMing on 89.34719347000001 meters Centerline goodness : 0.895757 Centerline is valid? [False, False] Translation: X:8.89, Y:0.03, Z:-1.40 [[ 9.91695185e-01 -9.97590233e-02 -8.11714013e-02 8.89080276e+00] [ 1.00788081e-01 9.94870136e-01 8.67031479e-03 3.13472024e-02] [ 7.98900610e-02 -1.67794192e-02 9.96662445e-01 -1.39716751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.37719347 meters Centerline goodness : 0.896278 Centerline is valid? [False, False] Translation: X:8.89, Y:0.03, Z:-1.40 [[ 9.91126561e-01 -1.04966422e-01 -8.15487041e-02 8.89240430e+00] [ 1.05738227e-01 9.94380445e-01 5.19208932e-03 2.96949900e-02] [ 8.05454416e-02 -1.37688330e-02 9.96655834e-01 -1.39671507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40719347 meters Centerline goodness : 0.896789 Centerline is valid? [False, False] Translation: X:8.89, Y:0.03, Z:-1.40 [[ 9.91002208e-01 -1.05488967e-01 -8.23814443e-02 8.89425241e+00] [ 1.06279231e-01 9.94322438e-01 5.25489885e-03 2.97286061e-02] [ 8.13593847e-02 -1.39630529e-02 9.96587018e-01 -1.39676768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.43719347 meters Centerline goodness : 0.898383 Centerline is valid? [False, False] Translation: X:8.90, Y:0.03, Z:-1.40 [[ 9.90948061e-01 -1.05608291e-01 -8.28783987e-02 8.89564938e+00] [ 1.06388273e-01 9.94311892e-01 5.03960297e-03 3.08691060e-02] [ 8.18747535e-02 -1.38112745e-02 9.96546925e-01 -1.39733042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46719347 meters Centerline goodness : 0.900532 Centerline is valid? [False, False] Translation: X:8.90, Y:0.03, Z:-1.40 [[ 0.99131079 -0.10073391 -0.08459082 8.8991692 ] [ 0.10185651 0.99475793 0.00905059 0.03212896] [ 0.08323568 -0.01758807 0.99637467 -1.39888657] [ 0. 0. 0. 1. ]] SLAMing on 89.49719347 meters Centerline goodness : 0.898799 Centerline is valid? [False, False] Translation: X:8.90, Y:0.03, Z:-1.40 [[ 0.99168142 -0.09640232 -0.08529104 8.90069771] [ 0.09783674 0.99512027 0.01279123 0.03192458] [ 0.08364173 -0.02102942 0.99627397 -1.40001137] [ 0. 0. 0. 1. ]] SLAMing on 89.52719347 meters Centerline goodness : 0.900103 Centerline is valid? [False, False] Translation: X:8.90, Y:0.03, Z:-1.40 [[ 0.99185885 -0.09435483 -0.08551718 8.90202492] [ 0.09582586 0.99530987 0.01325387 0.03277714] [ 0.08386553 -0.02134072 0.99624854 -1.40160632] [ 0. 0. 0. 1. ]] SLAMing on 89.55719347 meters Centerline goodness : 0.903362 Centerline is valid? [False, False] Translation: X:8.90, Y:0.03, Z:-1.40 [[ 0.99199667 -0.09301256 -0.08538897 8.90162476] [ 0.09447758 0.99543854 0.01327048 0.03402161] [ 0.08376515 -0.02123161 0.99625931 -1.40187368] [ 0. 0. 0. 1. ]] SLAMing on 89.58719347 meters Centerline goodness : 0.903606 Centerline is valid? [False, False] Translation: X:8.90, Y:0.04, Z:-1.40 [[ 0.99241436 -0.08799601 -0.08585129 8.9013262 ] [ 0.08975129 0.99582255 0.01679719 0.03789478] [ 0.08401456 -0.02437504 0.99616636 -1.40183541] [ 0. 0. 0. 1. ]] SLAMing on 89.61719347 meters Centerline goodness : 0.904989 Centerline is valid? [False, False] Translation: X:8.90, Y:0.04, Z:-1.40 [[ 0.99239835 -0.08717546 -0.08686749 8.90385363] [ 0.0890024 0.99587981 0.01737766 0.03978022] [ 0.08499467 -0.02497698 0.9960683 -1.40259793] [ 0. 0. 0. 1. ]] SLAMing on 89.64719347 meters Centerline goodness : 0.901675 Centerline is valid? [False, False] Translation: X:8.91, Y:0.04, Z:-1.40 [[ 0.99230289 -0.08753365 -0.08759471 8.90552981] [ 0.08938995 0.99584311 0.01749115 0.03972693] [ 0.08569953 -0.0251866 0.99600262 -1.40262071] [ 0. 0. 0. 1. ]] SLAMing on 89.67719347 meters Centerline goodness : 0.901228 Centerline is valid? [False, False] Translation: X:8.91, Y:0.04, Z:-1.40 [[ 0.99187987 -0.09177937 -0.08803903 8.90693839] [ 0.09344968 0.9955105 0.01503346 0.03546264] [ 0.08626401 -0.02313861 0.99600358 -1.40156738] [ 0. 0. 0. 1. ]] SLAMing on 89.70719347 meters Centerline goodness : 0.904588 Centerline is valid? [False, False] Translation: X:8.91, Y:0.03, Z:-1.40 [[ 0.99181693 -0.09176257 -0.08876268 8.90827485] [ 0.09359285 0.99547093 0.01667376 0.03148371] [ 0.08683064 -0.02484487 0.99591324 -1.40058357] [ 0. 0. 0. 1. ]] SLAMing on 89.73719347 meters Centerline goodness : 0.903662 Centerline is valid? [False, False] Translation: X:8.91, Y:0.03, Z:-1.40 [[ 0.99177177 -0.09202694 -0.08899323 8.9089879 ] [ 0.09393265 0.99542544 0.01745973 0.02816331] [ 0.08697936 -0.02567544 0.99587919 -1.40017553] [ 0. 0. 0. 1. ]] SLAMing on 89.76719347 meters Centerline goodness : 0.903672 Centerline is valid? [False, False] Translation: X:8.91, Y:0.02, Z:-1.40 [[ 0.99181226 -0.09133778 -0.08925167 8.9095035 ] [ 0.09338421 0.99544846 0.01901978 0.02457509] [ 0.08710821 -0.02719874 0.99582749 -1.39960405] [ 0. 0. 0. 1. ]] SLAMing on 89.79719347 meters Centerline goodness : 0.900580 Centerline is valid? [False, False] Translation: X:8.91, Y:0.02, Z:-1.40 [[ 0.99180518 -0.09134728 -0.08932049 8.90924804] [ 0.09339158 0.99544865 0.01897357 0.0249581 ] [ 0.08718078 -0.02715987 0.9958222 -1.3990956 ] [ 0. 0. 0. 1. ]] SLAMing on 89.82719347 meters Centerline goodness : 0.900672 Centerline is valid? [False, False] Translation: X:8.91, Y:0.03, Z:-1.40 [[ 0.99181974 -0.09088429 -0.08963064 8.90979066] [ 0.09299034 0.99547409 0.01959934 0.02500621] [ 0.08744371 -0.0277738 0.99578221 -1.39888629] [ 0. 0. 0. 1. ]] SLAMing on 89.85719347 meters Centerline goodness : 0.899187 Centerline is valid? [False, False] Translation: X:8.91, Y:0.02, Z:-1.40 [[ 0.99173106 -0.09131024 -0.09017726 8.91096791] [ 0.09343072 0.99543341 0.01957123 0.02468294] [ 0.08797841 -0.02783473 0.99573341 -1.39870627] [ 0. 0. 0. 1. ]] SLAMing on 89.88719347 meters Centerline goodness : 0.896775 Centerline is valid? [False, False] Translation: X:8.91, Y:0.02, Z:-1.40 [[ 0.99162167 -0.09190833 -0.09077067 8.91266625] [ 0.09406339 0.99537035 0.01974723 0.02303914] [ 0.08853549 -0.02811998 0.99567602 -1.39884376] [ 0. 0. 0. 1. ]] SLAMing on 89.91719347 meters Centerline goodness : 0.891744 Centerline is valid? [False, False] Translation: X:8.92, Y:0.02, Z:-1.40 [[ 0.99095303 -0.09887023 -0.09075668 8.91575367] [ 0.10047288 0.99485154 0.01325196 0.02074994] [ 0.08897919 -0.02225065 0.99578492 -1.40059998] [ 0. 0. 0. 1. ]] SLAMing on 89.94719347 meters Centerline goodness : 0.891749 Centerline is valid? [False, False] Translation: X:8.92, Y:0.02, Z:-1.40 [[ 0.9908673 -0.0990979 -0.09144178 8.9171298 ] [ 0.10077398 0.99481243 0.01388665 0.01950935] [ 0.08959128 -0.02297478 0.99571359 -1.40020502] [ 0. 0. 0. 1. ]] SLAMing on 89.97719347 meters Centerline goodness : 0.887500 Centerline is valid? [False, False] Translation: X:8.92, Y:0.02, Z:-1.40 [[ 0.99075504 -0.09989162 -0.09179389 8.91779821] [ 0.10152102 0.99474523 0.01324439 0.02044178] [ 0.08998853 -0.02244096 0.99568995 -1.40004297] [ 0. 0. 0. 1. ]] SLAMing on 90.00719347 meters Centerline goodness : 0.885315 Centerline is valid? [False, False] Translation: X:8.92, Y:0.02, Z:-1.40 [[ 0.99047991 -0.10113882 -0.09338351 8.92284949] [ 0.10267914 0.99464421 0.01182733 0.02367604] [ 0.09168717 -0.02130328 0.99555996 -1.40232151] [ 0. 0. 0. 1. ]] SLAMing on 90.03719347 meters Centerline goodness : 0.881329 Centerline is valid? [False, False] Translation: X:8.93, Y:0.02, Z:-1.40 [[ 0.99034902 -0.10177523 -0.09407769 8.92505704] [ 0.1033043 0.99458313 0.01151579 0.02384616] [ 0.09239606 -0.02112328 0.99549825 -1.40317714] [ 0. 0. 0. 1. ]] SLAMing on 90.06719347 meters Centerline goodness : 0.879736 Centerline is valid? [False, False] Translation: X:8.93, Y:0.02, Z:-1.41 [[ 9.90036538e-01 -1.04269206e-01 -9.46339569e-02 8.92852009e+00] [ 1.05561313e-01 9.94374403e-01 8.73816623e-03 2.48744436e-02] [ 9.31904627e-02 -1.86407886e-02 9.95473786e-01 -1.40527983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.09719347000001 meters Centerline goodness : 0.877440 Centerline is valid? [False, False] Translation: X:8.93, Y:0.03, Z:-1.41 [[ 9.89854479e-01 -1.05491581e-01 -9.51821264e-02 8.93049731e+00] [ 1.06714829e-01 9.94258759e-01 7.83994250e-03 2.54262496e-02] [ 9.38086150e-02 -1.79177465e-02 9.95429002e-01 -1.40617337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12719347 meters Centerline goodness : 0.876480 Centerline is valid? [False, False] Translation: X:8.93, Y:0.03, Z:-1.41 [[ 9.89813096e-01 -1.05682967e-01 -9.53999242e-02 8.93025061e+00] [ 1.06887514e-01 9.94242140e-01 7.59121877e-03 2.67320876e-02] [ 9.40483623e-02 -1.77109485e-02 9.95410080e-01 -1.40531167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.15719347 meters Centerline goodness : 0.875839 Centerline is valid? [False, False] Translation: X:8.94, Y:0.03, Z:-1.40 [[ 9.90257416e-01 -1.06275886e-01 -8.99760288e-02 8.94419845e+00] [ 1.07358499e-01 9.94193827e-01 7.26548921e-03 3.10874616e-02] [ 8.86814661e-02 -1.68543959e-02 9.95917430e-01 -1.40367007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18719347 meters Centerline goodness : 0.873474 Centerline is valid? [False, False] Translation: X:8.94, Y:0.03, Z:-1.40 [[ 9.90137739e-01 -1.07428875e-01 -8.99238251e-02 8.94239413e+00] [ 1.08372131e-01 9.94094288e-01 5.65930590e-03 3.48118068e-02] [ 8.87847880e-02 -1.53487289e-02 9.95932567e-01 -1.40181776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.21719347 meters Centerline goodness : 0.873234 Centerline is valid? [False, False] Translation: X:8.94, Y:0.04, Z:-1.40 [[ 9.90267149e-01 -1.05093494e-01 -9.12487318e-02 8.94297804e+00] [ 1.06333631e-01 9.94291357e-01 8.82367280e-03 3.63897997e-02] [ 8.98005147e-02 -1.84406023e-02 9.95789040e-01 -1.39999585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24719347 meters Centerline goodness : 0.873581 Centerline is valid? [False, False] Translation: X:8.94, Y:0.04, Z:-1.40 [[ 9.90151267e-01 -1.05660988e-01 -9.18489245e-02 8.94465274e+00] [ 1.06877976e-01 9.94236493e-01 8.41984347e-03 3.67881976e-02] [ 9.04299036e-02 -1.81535458e-02 9.95737356e-01 -1.40043397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.27719347 meters Centerline goodness : 0.871483 Centerline is valid? [False, False] Translation: X:8.95, Y:0.04, Z:-1.40 [[ 9.90036340e-01 -1.06428743e-01 -9.22006917e-02 8.94606329e+00] [ 1.07601792e-01 9.94163221e-01 7.83228878e-03 3.72236159e-02] [ 9.08289559e-02 -1.76752102e-02 9.95709640e-01 -1.40106956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.30719347 meters Centerline goodness : 0.871862 Centerline is valid? [False, False] Translation: X:8.95, Y:0.04, Z:-1.40 [[ 9.89767948e-01 -1.08293596e-01 -9.29080484e-02 8.94774333e+00] [ 1.09307108e-01 9.93990663e-01 5.87514539e-03 4.16667906e-02] [ 9.17134921e-02 -1.59705407e-02 9.95657359e-01 -1.40148046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.33719347 meters Centerline goodness : 0.870934 Centerline is valid? [False, False] Translation: X:8.95, Y:0.05, Z:-1.40 [[ 9.89621506e-01 -1.09151352e-01 -9.34625999e-02 8.94891320e+00] [ 1.10052186e-01 9.93915516e-01 4.52360323e-03 4.54054270e-02] [ 9.24001708e-02 -1.47624185e-02 9.95612515e-01 -1.40177771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.36719347 meters Centerline goodness : 0.869998 Centerline is valid? [False, False] Translation: X:8.95, Y:0.05, Z:-1.40 [[ 9.89739194e-01 -1.06909053e-01 -9.47986375e-02 8.95109442e+00] [ 1.08084971e-01 9.94114542e-01 7.34280205e-03 4.64078702e-02] [ 9.34556921e-02 -1.75137670e-02 9.95469388e-01 -1.40178135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.39719347 meters Centerline goodness : 0.868952 Centerline is valid? [False, False] Translation: X:8.95, Y:0.05, Z:-1.40 [[ 9.89569000e-01 -1.08159551e-01 -9.51562225e-02 8.95123858e+00] [ 1.09221146e-01 9.93999341e-01 6.00421259e-03 4.86285830e-02] [ 9.39358095e-02 -1.63346544e-02 9.95444244e-01 -1.40102491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.42719347 meters Centerline goodness : 0.866475 Centerline is valid? [False, False] Translation: X:8.95, Y:0.05, Z:-1.40 [[ 9.89209472e-01 -1.10923762e-01 -9.57107046e-02 8.95068914e+00] [ 1.11699723e-01 9.93738140e-01 2.77137776e-03 5.48366593e-02] [ 9.48039659e-02 -1.34323323e-02 9.95405335e-01 -1.39918491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.45719347 meters Centerline goodness : 0.868167 Centerline is valid? [False, False] Translation: X:8.95, Y:0.06, Z:-1.40 [[ 9.89275271e-01 -1.09184752e-01 -9.70212772e-02 8.95217609e+00] [ 1.10185474e-01 9.93898461e-01 5.00104821e-03 5.74546249e-02] [ 9.58832599e-02 -1.56377488e-02 9.95269743e-01 -1.39850711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48719347 meters Centerline goodness : 0.868167 Centerline is valid? [False, False] Translation: X:8.95, Y:0.06, Z:-1.40 [[ 9.89275271e-01 -1.09184752e-01 -9.70212772e-02 8.95217609e+00] [ 1.10185474e-01 9.93898461e-01 5.00104821e-03 5.74546249e-02] [ 9.58832599e-02 -1.56377488e-02 9.95269743e-01 -1.39850711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.51719347 meters Centerline goodness : 0.866371 Centerline is valid? [False, False] Translation: X:8.95, Y:0.06, Z:-1.40 [[ 9.89299839e-01 -1.07656452e-01 -9.84678507e-02 8.95374213e+00] [ 1.08895749e-01 9.94026493e-01 7.28340777e-03 6.00564444e-02] [ 9.70955465e-02 -1.79282044e-02 9.95113579e-01 -1.39753411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54719347 meters Centerline goodness : 0.866808 Centerline is valid? [False, False] Translation: X:8.95, Y:0.07, Z:-1.40 [[ 9.88846440e-01 -1.11342758e-01 -9.89217251e-02 8.95276766e+00] [ 1.12169972e-01 9.93685025e-01 2.82290910e-03 7.04182621e-02] [ 9.79827263e-02 -1.38874708e-02 9.95091214e-01 -1.39572808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.57719347 meters Centerline goodness : 0.868120 Centerline is valid? [False, False] Translation: X:8.95, Y:0.08, Z:-1.40 [[ 9.88687779e-01 -1.12555402e-01 -9.91350457e-02 8.95283462e+00] [ 1.13183560e-01 9.93573836e-01 7.17203910e-04 7.56459255e-02] [ 9.84172625e-02 -1.19295481e-02 9.95073730e-01 -1.39561531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60719347 meters Centerline goodness : 0.867973 Centerline is valid? [False, False] Translation: X:8.95, Y:0.08, Z:-1.40 [[ 9.88757374e-01 -1.10808458e-01 -1.00400899e-01 8.95496831e+00] [ 1.11599659e-01 9.93750629e-01 2.28095982e-03 7.96795226e-02] [ 9.95207070e-02 -1.34600219e-02 9.94944449e-01 -1.39603098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.63719347 meters Centerline goodness : 0.868297 Centerline is valid? [False, False] Translation: X:8.96, Y:0.08, Z:-1.40 [[ 9.88924664e-01 -1.08200170e-01 -1.01591009e-01 8.95651648e+00] [ 1.09213826e-01 9.94008306e-01 4.45293974e-03 8.41743292e-02] [ 1.00500498e-01 -1.54987647e-02 9.94816284e-01 -1.39618352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66719347 meters Centerline goodness : 0.865660 Centerline is valid? [False, False] Translation: X:8.96, Y:0.10, Z:-1.40 [[ 9.89241113e-01 -1.04064927e-01 -1.02822720e-01 8.95659276e+00] [ 1.05247556e-01 9.94427164e-01 6.12918248e-03 9.86060710e-02] [ 1.01611873e-01 -1.68850793e-02 9.94680814e-01 -1.39637125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.69719347 meters Centerline goodness : 0.866276 Centerline is valid? [False, False] Translation: X:8.96, Y:0.10, Z:-1.40 [[ 9.89486552e-01 -1.00834790e-01 -1.03675984e-01 8.95775367e+00] [ 1.02169313e-01 9.94737766e-01 7.62941708e-03 1.04383095e-01] [ 1.02361106e-01 -1.81417096e-02 9.94581863e-01 -1.39718475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.72719347 meters Centerline goodness : 0.862231 Centerline is valid? [False, False] Translation: X:8.96, Y:0.11, Z:-1.40 [[ 9.89743660e-01 -9.79268410e-02 -1.04008757e-01 8.95759800e+00] [ 9.93516506e-02 9.95015263e-01 8.59509125e-03 1.09845408e-01] [ 1.02648611e-01 -1.88403788e-02 9.94539241e-01 -1.39759967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.75719347 meters Centerline goodness : 0.862929 Centerline is valid? [False, False] Translation: X:8.96, Y:0.12, Z:-1.40 [[ 0.99001558 -0.09470875 -0.10440019 8.95765613] [ 0.09625582 0.99530769 0.00986988 0.11552475] [ 0.10297555 -0.01982046 0.99448639 -1.39819112] [ 0. 0. 0. 1. ]] SLAMing on 90.78719347 meters Centerline goodness : 0.861994 Centerline is valid? [False, False] Translation: X:8.96, Y:0.13, Z:-1.40 [[ 0.99049293 -0.0873509 -0.10627124 8.95990121] [ 0.08928766 0.99591308 0.01359629 0.12939934] [ 0.10464927 -0.02295574 0.99424422 -1.39970394] [ 0. 0. 0. 1. ]] SLAMing on 90.81719347 meters Centerline goodness : 0.862276 Centerline is valid? [False, False] Translation: X:8.97, Y:0.14, Z:-1.40 [[ 0.99140218 -0.08762943 -0.09717408 8.96820296] [ 0.08911218 0.99596067 0.01101674 0.14026394] [ 0.09581618 -0.01958141 0.99520643 -1.40333802] [ 0. 0. 0. 1. ]] SLAMing on 90.84719347000001 meters Centerline goodness : 0.862126 Centerline is valid? [False, False] Translation: X:8.97, Y:0.15, Z:-1.40 [[ 0.99187628 -0.0808125 -0.09823842 8.96863622] [ 0.08256075 0.9964897 0.01385638 0.15224236] [ 0.09677381 -0.02185446 0.99506644 -1.40419724] [ 0. 0. 0. 1. ]] SLAMing on 90.87719347 meters Centerline goodness : 0.860178 Centerline is valid? [False, False] Translation: X:8.97, Y:0.16, Z:-1.41 [[ 0.99272568 -0.08308348 -0.08713706 8.97394967] [ 0.08422344 0.99640178 0.00948213 0.16122355] [ 0.08603572 -0.01675214 0.9961512 -1.40855556] [ 0. 0. 0. 1. ]] SLAMing on 90.90719347 meters Centerline goodness : 0.860558 Centerline is valid? [False, False] Translation: X:8.98, Y:0.17, Z:-1.41 [[ 9.93407613e-01 -8.55295927e-02 -7.63282601e-02 8.97999361e+00] [ 8.61265112e-02 9.96273786e-01 4.55716900e-03 1.70139457e-01] [ 7.56540718e-02 -1.11010131e-02 9.97072329e-01 -1.41308358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.93719347 meters Centerline goodness : 0.861900 Centerline is valid? [False, False] Translation: X:8.98, Y:0.17, Z:-1.41 [[ 9.93628962e-01 -8.24129846e-02 -7.68738281e-02 8.98062649e+00] [ 8.31467578e-02 9.96516836e-01 6.38839032e-03 1.74155203e-01] [ 7.60795776e-02 -1.27394992e-02 9.97020362e-01 -1.41378812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96719347 meters Centerline goodness : 0.861116 Centerline is valid? [False, False] Translation: X:8.98, Y:0.18, Z:-1.41 [[ 9.93854572e-01 -7.90950519e-02 -7.74407060e-02 8.98117707e+00] [ 7.99712080e-02 9.96762834e-01 8.27397643e-03 1.78547937e-01] [ 7.65355870e-02 -1.44161561e-02 9.96962626e-01 -1.41436859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.99719347 meters Centerline goodness : 0.864103 Centerline is valid? [False, False] Translation: X:8.97, Y:0.19, Z:-1.41 [[ 9.94522557e-01 -7.33369015e-02 -7.44753762e-02 8.97482774e+00] [ 7.39742304e-02 9.97243102e-01 5.83174862e-03 1.90191419e-01] [ 7.38423728e-02 -1.13090642e-02 9.97205801e-01 -1.41290880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02719347 meters Centerline goodness : 0.863044 Centerline is valid? [False, False] Translation: X:8.97, Y:0.19, Z:-1.41 [[ 9.94817148e-01 -6.90690773e-02 -7.46210673e-02 8.97419911e+00] [ 6.98663100e-02 9.97523286e-01 8.12358180e-03 1.94168037e-01] [ 7.38751640e-02 -1.32949771e-02 9.97178872e-01 -1.41308545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.05719347 meters Centerline goodness : 0.861626 Centerline is valid? [False, False] Translation: X:8.98, Y:0.20, Z:-1.42 [[ 9.95510444e-01 -7.11014428e-02 -6.24783245e-02 8.97720397e+00] [ 7.14363498e-02 9.97440217e-01 3.14019002e-03 2.01879316e-01] [ 6.20951215e-02 -7.58931541e-03 9.98041381e-01 -1.41753054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08719347 meters Centerline goodness : 0.863376 Centerline is valid? [False, False] Translation: X:8.98, Y:0.20, Z:-1.42 [[ 9.96023643e-01 -6.52232091e-02 -6.06863750e-02 8.97506160e+00] [ 6.55621913e-02 9.97841957e-01 3.60934298e-03 2.04756431e-01] [ 6.03199983e-02 -7.57372267e-03 9.98150358e-01 -1.42110095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.11719347 meters Centerline goodness : 0.861688 Centerline is valid? [False, False] Translation: X:8.97, Y:0.21, Z:-1.42 [[ 9.96148986e-01 -6.40017339e-02 -5.99247448e-02 8.97352274e+00] [ 6.43136902e-02 9.97924309e-01 3.28964533e-03 2.05716504e-01] [ 5.95898166e-02 -7.13095834e-03 9.98197477e-01 -1.42144073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.14719347 meters Centerline goodness : 0.864187 Centerline is valid? [False, False] Translation: X:8.97, Y:0.21, Z:-1.42 [[ 9.96243759e-01 -6.29632834e-02 -5.94474298e-02 8.97225863e+00] [ 6.32778522e-02 9.97990082e-01 3.42206710e-03 2.06184653e-01] [ 5.91124807e-02 -7.17091867e-03 9.98225572e-01 -1.42117712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.17719347 meters Centerline goodness : 0.862875 Centerline is valid? [False, False] Translation: X:8.97, Y:0.20, Z:-1.42 [[ 9.97096465e-01 -6.04281179e-02 -4.63366233e-02 8.97425429e+00] [ 6.07142645e-02 9.98143686e-01 4.79176423e-03 2.04528279e-01] [ 4.59610507e-02 -7.59114517e-03 9.98914389e-01 -1.42466976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.20719347 meters Centerline goodness : 0.864655 Centerline is valid? [False, False] Translation: X:8.98, Y:0.20, Z:-1.43 [[ 9.97641841e-01 -6.02857648e-02 -3.28082853e-02 8.97680399e+00] [ 6.05061192e-02 9.98151180e-01 5.76466896e-03 2.02032991e-01] [ 3.24001012e-02 -7.73617697e-03 9.99445039e-01 -1.42956474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.23719347 meters Centerline goodness : 0.864345 Centerline is valid? [False, False] Translation: X:8.98, Y:0.20, Z:-1.43 [[ 9.98004862e-01 -5.88829693e-02 -2.27835786e-02 8.98494368e+00] [ 5.89972619e-02 9.98248550e-01 4.37663959e-03 1.98958626e-01] [ 2.24859647e-02 -5.71207634e-03 9.99730841e-01 -1.43319218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26719347 meters Centerline goodness : 0.863057 Centerline is valid? [False, False] Translation: X:9.00, Y:0.19, Z:-1.44 [[ 0.99773459 -0.06481193 -0.01803055 8.99876784] [ 0.06498758 0.99784244 0.00933213 0.18963479] [ 0.01738681 -0.01048275 0.99979388 -1.43698978] [ 0. 0. 0. 1. ]] SLAMing on 91.29719347 meters Centerline goodness : 0.860618 Centerline is valid? [False, False] Translation: X:9.00, Y:0.18, Z:-1.44 [[ 9.97444349e-01 -6.90133829e-02 -1.84911833e-02 9.00138082e+00] [ 6.91755157e-02 9.97570175e-01 8.27609172e-03 1.83252738e-01] [ 1.78750919e-02 -9.53407805e-03 9.99794770e-01 -1.43734469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32719347 meters Centerline goodness : 0.862497 Centerline is valid? [False, False] Translation: X:9.00, Y:0.17, Z:-1.43 [[ 0.99716323 -0.06883344 -0.03045413 9.00022015] [ 0.06919908 0.99754091 0.01111862 0.17176874] [ 0.02961391 -0.01319448 0.99947432 -1.43394473] [ 0. 0. 0. 1. ]] SLAMing on 91.35719347 meters Centerline goodness : 0.861884 Centerline is valid? [False, False] Translation: X:9.00, Y:0.16, Z:-1.43 [[ 0.99678242 -0.07376987 -0.03134979 9.00358189] [ 0.0741312 0.99719298 0.01052258 0.16459162] [ 0.03048554 -0.01281272 0.99945308 -1.4339561 ] [ 0. 0. 0. 1. ]] SLAMing on 91.38719347 meters Centerline goodness : 0.858964 Centerline is valid? [False, False] Translation: X:9.02, Y:0.15, Z:-1.43 [[ 0.99571528 -0.08407335 -0.03850647 9.01613655] [ 0.0847517 0.99626821 0.0163338 0.1516251 ] [ 0.03698954 -0.0195273 0.99912485 -1.43347145] [ 0. 0. 0. 1. ]] SLAMing on 91.41719347 meters Centerline goodness : 0.861009 Centerline is valid? [False, False] Translation: X:9.02, Y:0.15, Z:-1.43 [[ 0.99527681 -0.08865134 -0.03956023 9.01983048] [ 0.08929632 0.9958945 0.01484262 0.14691113] [ 0.03808199 -0.0183051 0.99910694 -1.43374563] [ 0. 0. 0. 1. ]] SLAMing on 91.44719347 meters Centerline goodness : 0.857464 Centerline is valid? [False, False] Translation: X:9.02, Y:0.14, Z:-1.43 [[ 0.99479518 -0.08767081 -0.05192666 9.01820741] [ 0.08861709 0.99593392 0.01620603 0.13854731] [ 0.05029473 -0.02072327 0.9985194 -1.43013286] [ 0. 0. 0. 1. ]] SLAMing on 91.47719347 meters Centerline goodness : 0.857134 Centerline is valid? [False, False] Translation: X:9.02, Y:0.13, Z:-1.43 [[ 0.9944957 -0.09085388 -0.05219071 9.02147712] [ 0.09174768 0.99566949 0.01498796 0.13227491] [ 0.05060299 -0.01969384 0.99852466 -1.43197078] [ 0. 0. 0. 1. ]] SLAMing on 91.50719347 meters Centerline goodness : 0.857486 Centerline is valid? [False, False] Translation: X:9.02, Y:0.13, Z:-1.43 [[ 0.99450877 -0.09054231 -0.05248228 9.02261309] [ 0.09148717 0.99567955 0.01588479 0.1306841 ] [ 0.05081728 -0.02059902 0.99849551 -1.43245428] [ 0. 0. 0. 1. ]] SLAMing on 91.53719347 meters Centerline goodness : 0.858962 Centerline is valid? [False, False] Translation: X:9.02, Y:0.13, Z:-1.43 [[ 0.99452457 -0.09029728 -0.05260503 9.02317115] [ 0.09126233 0.99569452 0.01623638 0.13009667] [ 0.05091244 -0.02094834 0.9984834 -1.4327901 ] [ 0. 0. 0. 1. ]] SLAMing on 91.56719347 meters Centerline goodness : 0.860740 Centerline is valid? [False, False] Translation: X:9.02, Y:0.13, Z:-1.43 [[ 0.99452437 -0.09005049 -0.05303009 9.02411714] [ 0.09106208 0.99570055 0.01697397 0.12949613] [ 0.05127358 -0.02171006 0.99844864 -1.43276856] [ 0. 0. 0. 1. ]] SLAMing on 91.59719347000001 meters Centerline goodness : 0.859314 Centerline is valid? [False, False] Translation: X:9.02, Y:0.13, Z:-1.43 [[ 0.99452501 -0.09003708 -0.05304078 9.02379118] [ 0.09109346 0.99568249 0.0178425 0.12786559] [ 0.05120529 -0.02257648 0.99843293 -1.43169251] [ 0. 0. 0. 1. ]] SLAMing on 91.62719347 meters Centerline goodness : 0.863630 Centerline is valid? [False, False] Translation: X:9.02, Y:0.13, Z:-1.43 [[ 0.99450188 -0.08997007 -0.05358545 9.02481474] [ 0.09108784 0.99566556 0.01879096 0.12678455] [ 0.05166257 -0.02356863 0.99838645 -1.43128999] [ 0. 0. 0. 1. ]] SLAMing on 91.65719347 meters Centerline goodness : 0.861601 Centerline is valid? [False, False] Translation: X:9.03, Y:0.13, Z:-1.43 [[ 0.99445982 -0.09029159 -0.05382471 9.02519558] [ 0.09141269 0.99563677 0.01873894 0.12691781] [ 0.05189789 -0.02355538 0.99837456 -1.43099649] [ 0. 0. 0. 1. ]] SLAMing on 91.68719347 meters Centerline goodness : 0.866105 Centerline is valid? [False, False] Translation: X:9.03, Y:0.13, Z:-1.43 [[ 0.99455217 -0.08880094 -0.05459274 9.02781658] [ 0.08997783 0.99575311 0.01948682 0.12891579] [ 0.05263044 -0.0242928 0.99831853 -1.43302341] [ 0. 0. 0. 1. ]] SLAMing on 91.71719347 meters Centerline goodness : 0.865852 Centerline is valid? [False, False] Translation: X:9.03, Y:0.13, Z:-1.43 [[ 0.99467559 -0.08755965 -0.05434873 9.02734001] [ 0.08869838 0.99587917 0.01890168 0.13197151] [ 0.05246975 -0.02362168 0.9983431 -1.43384633] [ 0. 0. 0. 1. ]] SLAMing on 91.74719347 meters Centerline goodness : 0.865139 Centerline is valid? [False, False] Translation: X:9.03, Y:0.13, Z:-1.43 [[ 0.99501228 -0.08348594 -0.05459545 9.02751483] [ 0.08477065 0.99616523 0.02165117 0.1342584 ] [ 0.05257852 -0.02617128 0.99827379 -1.43478901] [ 0. 0. 0. 1. ]] SLAMing on 91.77719347 meters Centerline goodness : 0.869390 Centerline is valid? [False, False] Translation: X:9.02, Y:0.14, Z:-1.43 [[ 0.99564619 -0.0772644 -0.05214292 9.02186082] [ 0.0785243 0.99665691 0.02255954 0.13992753] [ 0.05022555 -0.02655581 0.99838479 -1.43434763] [ 0. 0. 0. 1. ]] SLAMing on 91.80719347 meters Centerline goodness : 0.870255 Centerline is valid? [False, False] Translation: X:9.02, Y:0.14, Z:-1.43 [[ 0.99595445 -0.07311311 -0.05224173 9.02102267] [ 0.07453588 0.99688392 0.02582336 0.14147683] [ 0.05019091 -0.02961278 0.99830053 -1.43391543] [ 0. 0. 0. 1. ]] SLAMing on 91.83719347 meters Centerline goodness : 0.870215 Centerline is valid? [False, False] Translation: X:9.02, Y:0.14, Z:-1.43 [[ 0.99610073 -0.07180032 -0.05126457 9.0185084 ] [ 0.07315164 0.99700778 0.02498653 0.14411826] [ 0.04931713 -0.02863919 0.99837248 -1.43363425] [ 0. 0. 0. 1. ]] SLAMing on 91.86719347 meters Centerline goodness : 0.871906 Centerline is valid? [False, False] Translation: X:9.02, Y:0.15, Z:-1.43 [[ 0.99632489 -0.06852743 -0.05138771 9.01667976] [ 0.07000527 0.99716666 0.02753034 0.14794405] [ 0.04935552 -0.03102657 0.99829925 -1.4317549 ] [ 0. 0. 0. 1. ]] SLAMing on 91.89719347 meters Centerline goodness : 0.873440 Centerline is valid? [False, False] Translation: X:9.02, Y:0.15, Z:-1.43 [[ 0.99631432 -0.06859332 -0.0515046 9.01645183] [ 0.07004551 0.99718 0.02693852 0.14999589] [ 0.04951155 -0.0304469 0.99830937 -1.43140208] [ 0. 0. 0. 1. ]] SLAMing on 91.92719347 meters Centerline goodness : 0.874634 Centerline is valid? [False, False] Translation: X:9.02, Y:0.15, Z:-1.43 [[ 0.99632744 -0.06826298 -0.05168944 9.01686611] [ 0.0697066 0.99721125 0.02665904 0.15139159] [ 0.04972547 -0.03016423 0.99830732 -1.43175945] [ 0. 0. 0. 1. ]] SLAMing on 91.95719347 meters Centerline goodness : 0.874669 Centerline is valid? [False, False] Translation: X:9.02, Y:0.15, Z:-1.43 [[ 0.99637888 -0.06779516 -0.05131218 9.01605722] [ 0.06919373 0.99726471 0.02598709 0.15265706] [ 0.04941003 -0.02944347 0.9983445 -1.43205517] [ 0. 0. 0. 1. ]] SLAMing on 91.98719347 meters Centerline goodness : 0.875127 Centerline is valid? [False, False] Translation: X:9.01, Y:0.16, Z:-1.43 [[ 0.99659581 -0.06560595 -0.04992647 9.01434823] [ 0.06686715 0.99747265 0.02402297 0.15574248] [ 0.04822423 -0.02727963 0.99846394 -1.43463596] [ 0. 0. 0. 1. ]] SLAMing on 92.01719347 meters Centerline goodness : 0.873894 Centerline is valid? [False, False] Translation: X:9.01, Y:0.16, Z:-1.44 [[ 0.99669898 -0.06460377 -0.04916812 9.01384615] [ 0.06577321 0.9975798 0.02254855 0.15776001] [ 0.0475924 -0.02570806 0.99853596 -1.43681499] [ 0. 0. 0. 1. ]] SLAMing on 92.04719347 meters Centerline goodness : 0.873823 Centerline is valid? [False, False] Translation: X:9.02, Y:0.16, Z:-1.44 [[ 0.99685736 -0.062179 -0.04908341 9.01525912] [ 0.06335032 0.99773364 0.02267871 0.15911403] [ 0.04756203 -0.02571689 0.99853718 -1.43983064] [ 0. 0. 0. 1. ]] SLAMing on 92.07719347 meters Centerline goodness : 0.872556 Centerline is valid? [False, False] Translation: X:9.02, Y:0.16, Z:-1.44 [[ 0.99708057 -0.05807579 -0.04957363 9.0164455 ] [ 0.05944866 0.99787469 0.02668245 0.15898986] [ 0.04791867 -0.02955164 0.99841399 -1.44074675] [ 0. 0. 0. 1. ]] SLAMing on 92.10719347 meters Centerline goodness : 0.870113 Centerline is valid? [False, False] Translation: X:9.01, Y:0.16, Z:-1.44 [[ 0.99733341 -0.05484497 -0.04814658 9.01425668] [ 0.05621831 0.99803561 0.02764808 0.15801538] [ 0.04653565 -0.03028107 0.99845756 -1.4418695 ] [ 0. 0. 0. 1. ]] SLAMing on 92.13719347 meters Centerline goodness : 0.871247 Centerline is valid? [False, False] Translation: X:9.02, Y:0.16, Z:-1.44 [[ 0.99735653 -0.0541531 -0.04844983 9.01536397] [ 0.05557646 0.99804677 0.02852892 0.15579583] [ 0.04681026 -0.03114617 0.99841811 -1.44232377] [ 0. 0. 0. 1. ]] SLAMing on 92.16719347 meters Centerline goodness : 0.871263 Centerline is valid? [False, False] Translation: X:9.01, Y:0.15, Z:-1.44 [[ 0.99736069 -0.05527994 -0.04707201 9.01336896] [ 0.05653663 0.99806719 0.02579699 0.15383806] [ 0.04555497 -0.02839019 0.99855833 -1.44294841] [ 0. 0. 0. 1. ]] SLAMing on 92.19719347 meters Centerline goodness : 0.871632 Centerline is valid? [False, False] Translation: X:9.01, Y:0.15, Z:-1.44 [[ 0.99750405 -0.05322425 -0.0463989 9.01406846] [ 0.05459583 0.99809278 0.02881151 0.14555476] [ 0.04477694 -0.03127279 0.99850741 -1.4445145 ] [ 0. 0. 0. 1. ]] SLAMing on 92.22719347 meters Centerline goodness : 0.870408 Centerline is valid? [False, False] Translation: X:9.02, Y:0.14, Z:-1.45 [[ 0.99741048 -0.05519917 -0.04610189 9.01529631] [ 0.05648039 0.99803948 0.0269658 0.14194385] [ 0.04452302 -0.02949982 0.99857271 -1.44604899] [ 0. 0. 0. 1. ]] SLAMing on 92.25719347 meters Centerline goodness : 0.872127 Centerline is valid? [False, False] Translation: X:9.02, Y:0.14, Z:-1.45 [[ 0.99727062 -0.05807929 -0.04558634 9.01540117] [ 0.05925202 0.99793472 0.02480913 0.13802849] [ 0.04405129 -0.0274425 0.99865229 -1.44640384] [ 0. 0. 0. 1. ]] SLAMing on 92.28719347 meters Centerline goodness : 0.871309 Centerline is valid? [False, False] Translation: X:9.02, Y:0.13, Z:-1.45 [[ 0.99708074 -0.06113661 -0.04574188 9.01696105] [ 0.06225064 0.99778763 0.0233388 0.13381681] [ 0.04421382 -0.02611813 0.99868062 -1.44662449] [ 0. 0. 0. 1. ]] SLAMing on 92.31719347 meters Centerline goodness : 0.869787 Centerline is valid? [False, False] Translation: X:9.02, Y:0.12, Z:-1.45 [[ 0.99653619 -0.06667258 -0.04970311 9.02396802] [ 0.06806184 0.99732104 0.0268016 0.12248388] [ 0.04778302 -0.03009165 0.99840436 -1.44526249] [ 0. 0. 0. 1. ]] SLAMing on 92.34719347000001 meters Centerline goodness : 0.870375 Centerline is valid? [False, False] Translation: X:9.03, Y:0.12, Z:-1.44 [[ 0.99620969 -0.07108133 -0.05013671 9.02598226] [ 0.07240013 0.99706241 0.02499533 0.11697845] [ 0.04821273 -0.0285305 0.99842954 -1.44491001] [ 0. 0. 0. 1. ]] SLAMing on 92.37719347 meters Centerline goodness : 0.870375 Centerline is valid? [False, False] Translation: X:9.03, Y:0.12, Z:-1.44 [[ 0.99620969 -0.07108133 -0.05013671 9.02598226] [ 0.07240013 0.99706241 0.02499533 0.11697845] [ 0.04821273 -0.0285305 0.99842954 -1.44491001] [ 0. 0. 0. 1. ]] SLAMing on 92.40719347 meters Centerline goodness : 0.871337 Centerline is valid? [False, False] Translation: X:9.03, Y:0.11, Z:-1.44 [[ 0.99538892 -0.0801012 -0.05277024 9.03213318] [ 0.08141325 0.99641042 0.02319837 0.10554602] [ 0.05072259 -0.0273876 0.99833719 -1.44416347] [ 0. 0. 0. 1. ]] SLAMing on 92.43719347 meters Centerline goodness : 0.870457 Centerline is valid? [False, False] Translation: X:9.03, Y:0.10, Z:-1.44 [[ 0.99504794 -0.08398922 -0.05315463 9.03369063] [ 0.08521066 0.99613863 0.0211418 0.10219446] [ 0.0511737 -0.02556645 0.99836246 -1.44360325] [ 0. 0. 0. 1. ]] SLAMing on 92.46719347 meters Centerline goodness : 0.871058 Centerline is valid? [False, False] Translation: X:9.04, Y:0.10, Z:-1.44 [[ 0.99489134 -0.08514982 -0.05422843 9.03566243] [ 0.08648892 0.99599094 0.02284093 0.09785127] [ 0.05206613 -0.0274144 0.99826728 -1.44215301] [ 0. 0. 0. 1. ]] SLAMing on 92.49719347 meters Centerline goodness : 0.872711 Centerline is valid? [False, False] Translation: X:9.04, Y:0.10, Z:-1.44 [[ 0.99457425 -0.08879663 -0.05419618 9.03594733] [ 0.09001345 0.99573087 0.02043539 0.09529749] [ 0.05215022 -0.0252029 0.99832118 -1.44108544] [ 0. 0. 0. 1. ]] SLAMing on 92.52719347 meters Centerline goodness : 0.873347 Centerline is valid? [False, False] Translation: X:9.04, Y:0.09, Z:-1.44 [[ 0.99420911 -0.09269929 -0.05436077 9.03700359] [ 0.09379091 0.99543134 0.01788057 0.09248566] [ 0.0524549 -0.02287558 0.99836125 -1.44045945] [ 0. 0. 0. 1. ]] SLAMing on 92.55719347 meters Centerline goodness : 0.874522 Centerline is valid? [False, False] Translation: X:9.04, Y:0.09, Z:-1.44 [[ 0.99374172 -0.09718654 -0.0550651 9.0387979 ] [ 0.09823052 0.99502566 0.01657433 0.08705866] [ 0.05318038 -0.02187967 0.99834519 -1.43869928] [ 0. 0. 0. 1. ]] SLAMing on 92.58719347 meters Centerline goodness : 0.874601 Centerline is valid? [False, False] Translation: X:9.04, Y:0.08, Z:-1.44 [[ 0.99364242 -0.09764884 -0.05603072 9.0406656 ] [ 0.09878306 0.99494912 0.01783692 0.08440391] [ 0.05400596 -0.0232584 0.9982697 -1.43792123] [ 0. 0. 0. 1. ]] SLAMing on 92.61719347 meters Centerline goodness : 0.876519 Centerline is valid? [False, False] Translation: X:9.04, Y:0.08, Z:-1.44 [[ 0.99354737 -0.09833193 -0.05651943 9.04144471] [ 0.09950698 0.99486748 0.01835929 0.082843 ] [ 0.05442403 -0.0238649 0.99823268 -1.43708417] [ 0. 0. 0. 1. ]] SLAMing on 92.64719347 meters Centerline goodness : 0.876761 Centerline is valid? [False, False] Translation: X:9.04, Y:0.08, Z:-1.44 [[ 0.99349605 -0.09850456 -0.05711792 9.04255996] [ 0.09973834 0.99482919 0.019161 0.08179274] [ 0.05493512 -0.02473323 0.99818355 -1.43657605] [ 0. 0. 0. 1. ]] SLAMing on 92.67719347 meters Centerline goodness : 0.878816 Centerline is valid? [False, False] Translation: X:9.04, Y:0.08, Z:-1.44 [[ 0.99344549 -0.0990347 -0.05708058 9.04216013] [ 0.10025965 0.99477979 0.01900429 0.08213556] [ 0.05490053 -0.02460261 0.99818868 -1.43580281] [ 0. 0. 0. 1. ]] SLAMing on 92.70719347 meters Centerline goodness : 0.879202 Centerline is valid? [False, False] Translation: X:9.04, Y:0.08, Z:-1.44 [[ 0.99344741 -0.09885854 -0.05735181 9.04320156] [ 0.10011001 0.99478786 0.01936753 0.08155373] [ 0.05513824 -0.02498212 0.99816615 -1.43632748] [ 0. 0. 0. 1. ]] SLAMing on 92.73719347 meters Centerline goodness : 0.880224 Centerline is valid? [False, False] Translation: X:9.04, Y:0.08, Z:-1.44 [[ 0.99341235 -0.09921287 -0.05734735 9.04424128] [ 0.10038876 0.99478556 0.01799397 0.08385669] [ 0.05526308 -0.02363246 0.99819211 -1.43804751] [ 0. 0. 0. 1. ]] SLAMing on 92.76719347 meters Centerline goodness : 0.881540 Centerline is valid? [False, False] Translation: X:9.04, Y:0.09, Z:-1.44 [[ 0.99338912 -0.09940368 -0.05741921 9.04469958] [ 0.10051107 0.99479537 0.01672413 0.08736949] [ 0.05545792 -0.02238484 0.99821007 -1.43901702] [ 0. 0. 0. 1. ]] SLAMing on 92.79719347 meters Centerline goodness : 0.882026 Centerline is valid? [False, False] Translation: X:9.05, Y:0.09, Z:-1.44 [[ 0.99338805 -0.09876243 -0.0585335 9.04806619] [ 0.09988321 0.99486178 0.01653454 0.09085156] [ 0.05659975 -0.02227172 0.99814851 -1.44112049] [ 0. 0. 0. 1. ]] SLAMing on 92.82719347 meters Centerline goodness : 0.878161 Centerline is valid? [False, False] Translation: X:9.05, Y:0.09, Z:-1.44 [[ 0.99329116 -0.0995523 -0.05883878 9.04937301] [ 0.10058054 0.99481924 0.01477289 0.09470831] [ 0.05706328 -0.02059182 0.99815818 -1.4425498 ] [ 0. 0. 0. 1. ]] SLAMing on 92.85719347 meters Centerline goodness : 0.879385 Centerline is valid? [False, False] Translation: X:9.05, Y:0.10, Z:-1.45 [[ 0.99311453 -0.10026896 -0.06057774 9.05437466] [ 0.10124148 0.99477436 0.01319621 0.10070698] [ 0.05893801 -0.01923833 0.99807625 -1.44543642] [ 0. 0. 0. 1. ]] SLAMing on 92.88719347 meters Centerline goodness : 0.881111 Centerline is valid? [False, False] Translation: X:9.06, Y:0.10, Z:-1.44 [[ 0.99321662 -0.09849759 -0.06179775 9.0552213 ] [ 0.09962709 0.99490469 0.01546273 0.10359415] [ 0.05995983 -0.02151457 0.99796891 -1.44425376] [ 0. 0. 0. 1. ]] SLAMing on 92.91719347 meters Centerline goodness : 0.885254 Centerline is valid? [False, False] Translation: X:9.05, Y:0.11, Z:-1.44 [[ 0.99338025 -0.09654298 -0.06225062 9.05378644] [ 0.09779162 0.99505608 0.01732636 0.10745684] [ 0.06027012 -0.02329926 0.99791015 -1.44214035] [ 0. 0. 0. 1. ]] SLAMing on 92.94719347 meters Centerline goodness : 0.885397 Centerline is valid? [False, False] Translation: X:9.05, Y:0.11, Z:-1.44 [[ 0.99364313 -0.09307945 -0.06332102 9.05391354] [ 0.09453737 0.99531176 0.02042506 0.11110401] [ 0.061123 -0.02628142 0.99778418 -1.44065018] [ 0. 0. 0. 1. ]] SLAMing on 92.97719347 meters Centerline goodness : 0.889943 Centerline is valid? [False, False] Translation: X:9.04, Y:0.12, Z:-1.44 [[ 0.99452037 -0.08272938 -0.06391471 9.04191357] [ 0.0836684 0.99641954 0.01215307 0.12191635] [ 0.06268045 -0.01743412 0.99788136 -1.43596235] [ 0. 0. 0. 1. ]] SLAMing on 93.00719347 meters Centerline goodness : 0.890198 Centerline is valid? [False, False] Translation: X:9.04, Y:0.13, Z:-1.44 [[ 0.99485859 -0.07829097 -0.064241 9.04183205] [ 0.07935941 0.99674424 0.01424822 0.1269397 ] [ 0.06291634 -0.0192731 0.99783269 -1.43657197] [ 0. 0. 0. 1. ]] SLAMing on 93.03719347 meters Centerline goodness : 0.890894 Centerline is valid? [False, False] Translation: X:9.04, Y:0.13, Z:-1.44 [[ 0.99516767 -0.07424826 -0.0642534 9.04137582] [ 0.07539237 0.99703245 0.01556525 0.13230372] [ 0.06290703 -0.02033425 0.99781222 -1.43774256] [ 0. 0. 0. 1. ]] SLAMing on 93.06719347 meters Centerline goodness : 0.890139 Centerline is valid? [False, False] Translation: X:9.04, Y:0.14, Z:-1.44 [[ 0.99573209 -0.06573954 -0.06477587 9.04205141] [ 0.06710381 0.99756291 0.01911343 0.14299136] [ 0.06336149 -0.02337856 0.99771678 -1.44054991] [ 0. 0. 0. 1. ]] SLAMing on 93.09719347000001 meters Centerline goodness : 0.888344 Centerline is valid? [False, False] Translation: X:9.04, Y:0.15, Z:-1.44 [[ 0.99589498 -0.06248895 -0.06548521 9.04280995] [ 0.06399893 0.99772438 0.02121802 0.14735191] [ 0.0640103 -0.0253219 0.99762793 -1.44095634] [ 0. 0. 0. 1. ]] SLAMing on 93.12719347 meters Centerline goodness : 0.889537 Centerline is valid? [False, False] Translation: X:9.04, Y:0.15, Z:-1.44 [[ 0.99587401 -0.06266203 -0.06563862 9.04294229] [ 0.0640738 0.99775215 0.01962657 0.15148203] [ 0.06426124 -0.02375131 0.99765042 -1.44142963] [ 0. 0. 0. 1. ]] SLAMing on 93.15719347 meters Centerline goodness : 0.886977 Centerline is valid? [False, False] Translation: X:9.04, Y:0.15, Z:-1.44 [[ 0.99579497 -0.06350184 -0.06602949 9.04408011] [ 0.06483721 0.99772842 0.01827936 0.15380028] [ 0.06471873 -0.02248366 0.99765022 -1.44223185] [ 0. 0. 0. 1. ]] SLAMing on 93.18719347 meters Centerline goodness : 0.887167 Centerline is valid? [False, False] Translation: X:9.04, Y:0.15, Z:-1.44 [[ 0.99580856 -0.06344746 -0.06587669 9.04441931] [ 0.06472681 0.99775011 0.0174689 0.15488373] [ 0.06462012 -0.02165967 0.99767485 -1.44334831] [ 0. 0. 0. 1. ]] SLAMing on 93.21719347 meters Centerline goodness : 0.887359 Centerline is valid? [False, False] Translation: X:9.04, Y:0.16, Z:-1.44 [[ 0.99590466 -0.06247007 -0.06535588 9.04349896] [ 0.06370877 0.99782301 0.01704192 0.1558319 ] [ 0.06414899 -0.02113587 0.99771648 -1.44385845] [ 0. 0. 0. 1. ]] SLAMing on 93.24719347 meters Centerline goodness : 0.888691 Centerline is valid? [False, False] Translation: X:9.04, Y:0.16, Z:-1.45 [[ 0.99603164 -0.06113008 -0.06468457 9.04263829] [ 0.06231592 0.99792049 0.01647484 0.15706057] [ 0.06354295 -0.02044034 0.99776976 -1.44500834] [ 0. 0. 0. 1. ]] SLAMing on 93.27719347 meters Centerline goodness : 0.887844 Centerline is valid? [False, False] Translation: X:9.04, Y:0.16, Z:-1.45 [[ 0.99619004 -0.05938331 -0.06386727 9.0415766 ] [ 0.06052496 0.998037 0.01608985 0.15776805] [ 0.06278643 -0.01989411 0.99782869 -1.44634781] [ 0. 0. 0. 1. ]] SLAMing on 93.30719347 meters Centerline goodness : 0.889022 Centerline is valid? [False, False] Translation: X:9.04, Y:0.16, Z:-1.45 [[ 0.99649316 -0.05591421 -0.0622493 9.03868098] [ 0.0570698 0.99822643 0.01694198 0.15606269] [ 0.0611916 -0.02043513 0.99791683 -1.44716952] [ 0. 0. 0. 1. ]] SLAMing on 93.33719347 meters Centerline goodness : 0.888065 Centerline is valid? [False, False] Translation: X:9.04, Y:0.16, Z:-1.45 [[ 0.99633541 -0.05819441 -0.062683 9.0410459 ] [ 0.05921567 0.99813905 0.01455831 0.15570117] [ 0.06171914 -0.01821678 0.9979273 -1.44828583] [ 0. 0. 0. 1. ]] SLAMing on 93.36719347 meters Centerline goodness : 0.888747 Centerline is valid? [False, False] Translation: X:9.04, Y:0.15, Z:-1.45 [[ 0.99613966 -0.06115006 -0.06297981 9.04326663] [ 0.06202614 0.9980018 0.01204871 0.15453404] [ 0.06211718 -0.01590859 0.99794207 -1.44950959] [ 0. 0. 0. 1. ]] SLAMing on 93.39719347 meters Centerline goodness : 0.885628 Centerline is valid? [False, False] Translation: X:9.06, Y:0.15, Z:-1.45 [[ 0.99512291 -0.06950265 -0.06999842 9.05559868] [ 0.07068448 0.99739264 0.01454761 0.14847843] [ 0.06880481 -0.01942446 0.99744102 -1.45000448] [ 0. 0. 0. 1. ]] SLAMing on 93.42719347 meters Centerline goodness : 0.883904 Centerline is valid? [False, False] Translation: X:9.06, Y:0.15, Z:-1.45 [[ 0.99470043 -0.07469505 -0.07065204 9.05846465] [ 0.07571462 0.99705898 0.01186088 0.14525869] [ 0.06955831 -0.01714741 0.9974305 -1.45030779] [ 0. 0. 0. 1. ]] SLAMing on 93.45719347 meters Centerline goodness : 0.885385 Centerline is valid? [False, False] Translation: X:9.06, Y:0.14, Z:-1.45 [[ 0.99426618 -0.079631 -0.07136991 9.06134053] [ 0.08048965 0.99671269 0.00923226 0.14197704] [ 0.07040012 -0.01492386 0.99740719 -1.45048249] [ 0. 0. 0. 1. ]] SLAMing on 93.48719347 meters Centerline goodness : 0.884094 Centerline is valid? [False, False] Translation: X:9.06, Y:0.14, Z:-1.45 [[ 9.93531102e-01 -8.82977913e-02 -7.14104341e-02 9.06334548e+00] [ 8.87460444e-02 9.96049390e-01 3.12271000e-03 1.38153487e-01] [ 7.08525909e-02 -9.43990307e-03 9.97442128e-01 -1.45024210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.51719347 meters Centerline goodness : 0.885855 Centerline is valid? [False, False] Translation: X:9.07, Y:0.14, Z:-1.45 [[ 9.93381565e-01 -8.91469821e-02 -7.24284641e-02 9.06559889e+00] [ 8.96630280e-02 9.95964529e-01 3.89856570e-03 1.36911172e-01] [ 7.17886357e-02 -1.03669187e-02 9.97365990e-01 -1.44992890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54719347 meters Centerline goodness : 0.884176 Centerline is valid? [False, False] Translation: X:9.07, Y:0.14, Z:-1.45 [[ 9.93288956e-01 -8.96151922e-02 -7.31174916e-02 9.06658471e+00] [ 9.01819763e-02 9.95915224e-01 4.48082725e-03 1.36602462e-01] [ 7.24172729e-02 -1.10446361e-02 9.97313268e-01 -1.44910438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.57719347 meters Centerline goodness : 0.884970 Centerline is valid? [False, False] Translation: X:9.07, Y:0.14, Z:-1.45 [[ 9.93400162e-01 -8.70523489e-02 -7.46860586e-02 9.06909247e+00] [ 8.79653414e-02 9.96082724e-01 9.01699154e-03 1.35093988e-01] [ 7.36085424e-02 -1.55272655e-02 9.97166328e-01 -1.44836233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60719347 meters Centerline goodness : 0.885556 Centerline is valid? [False, False] Translation: X:9.07, Y:0.14, Z:-1.45 [[ 0.99350416 -0.08614352 -0.07435576 9.06751826] [ 0.08708033 0.99615653 0.00944427 0.13555295] [ 0.07325642 -0.01585784 0.99718706 -1.44721761] [ 0. 0. 0. 1. ]] SLAMing on 93.63719347 meters Centerline goodness : 0.885332 Centerline is valid? [False, False] Translation: X:9.07, Y:0.14, Z:-1.45 [[ 0.99357624 -0.08523706 -0.07443722 9.06752521] [ 0.08620362 0.99622871 0.00986416 0.13567924] [ 0.0733157 -0.01621755 0.99717691 -1.44710299] [ 0. 0. 0. 1. ]] SLAMing on 93.66719347 meters Centerline goodness : 0.886310 Centerline is valid? [False, False] Translation: X:9.07, Y:0.14, Z:-1.45 [[ 0.99366764 -0.0844362 -0.0741293 9.06691543] [ 0.08541909 0.99629306 0.01018468 0.13549729] [ 0.07299455 -0.01645224 0.99719663 -1.44716538] [ 0. 0. 0. 1. ]] SLAMing on 93.69719347 meters Centerline goodness : 0.887122 Centerline is valid? [False, False] Translation: X:9.07, Y:0.13, Z:-1.45 [[ 0.9937487 -0.08356909 -0.07402525 9.06721559] [ 0.0845807 0.9963599 0.01063241 0.13459165] [ 0.07286725 -0.01682705 0.99719969 -1.4478646 ] [ 0. 0. 0. 1. ]] SLAMing on 93.72719347 meters Centerline goodness : 0.886185 Centerline is valid? [False, False] Translation: X:9.07, Y:0.13, Z:-1.45 [[ 0.99391343 -0.08161242 -0.07399661 9.0684257 ] [ 0.08266964 0.99651256 0.01133381 0.13434619] [ 0.07281358 -0.0173821 0.99719409 -1.4497966 ] [ 0. 0. 0. 1. ]] SLAMing on 93.75719347 meters Centerline goodness : 0.884717 Centerline is valid? [False, False] Translation: X:9.07, Y:0.13, Z:-1.45 [[ 0.99411796 -0.07816884 -0.07496069 9.06989466] [ 0.07954651 0.99670958 0.01556796 0.13401607] [ 0.07349711 -0.02143925 0.99706496 -1.4497316 ] [ 0. 0. 0. 1. ]] SLAMing on 93.78719347 meters Centerline goodness : 0.882591 Centerline is valid? [False, False] Translation: X:9.07, Y:0.14, Z:-1.45 [[ 0.99415716 -0.077537 -0.07509697 9.07004322] [ 0.07890655 0.99676243 0.01544054 0.13561199] [ 0.07365662 -0.02127597 0.99705669 -1.44990478] [ 0. 0. 0. 1. ]] SLAMing on 93.81719347 meters Centerline goodness : 0.882537 Centerline is valid? [False, False] Translation: X:9.07, Y:0.14, Z:-1.45 [[ 0.99439054 -0.07560054 -0.07397312 9.06830817] [ 0.07691191 0.99692447 0.01503854 0.13655179] [ 0.07260869 -0.0206436 0.99714684 -1.45112324] [ 0. 0. 0. 1. ]] SLAMing on 93.84719347000001 meters Centerline goodness : 0.883967 Centerline is valid? [False, False] Translation: X:9.07, Y:0.14, Z:-1.45 [[ 0.99451799 -0.07383693 -0.07404103 9.06982777] [ 0.07519738 0.99704421 0.01575428 0.13631706] [ 0.07265893 -0.02123561 0.99713075 -1.45321034] [ 0. 0. 0. 1. ]] SLAMing on 93.87719347 meters Centerline goodness : 0.883787 Centerline is valid? [False, False] Translation: X:9.07, Y:0.14, Z:-1.45 [[ 0.99459093 -0.07333928 -0.07355433 9.06964489] [ 0.07464657 0.9970945 0.01518076 0.13655078] [ 0.07222728 -0.02058922 0.99717566 -1.45445038] [ 0. 0. 0. 1. ]] SLAMing on 93.90719347 meters Centerline goodness : 0.882304 Centerline is valid? [False, False] Translation: X:9.07, Y:0.14, Z:-1.45 [[ 0.99468622 -0.07231261 -0.0732817 9.06929057] [ 0.07364558 0.99716167 0.01565039 0.13668329] [ 0.07194199 -0.0209641 0.99718848 -1.4547178 ] [ 0. 0. 0. 1. ]] SLAMing on 93.93719347 meters Centerline goodness : 0.881750 Centerline is valid? [False, False] Translation: X:9.07, Y:0.14, Z:-1.45 [[ 0.9945024 -0.07555006 -0.07250627 9.06776227] [ 0.07657881 0.99699708 0.01151109 0.13850562] [ 0.07141887 -0.01700025 0.99730153 -1.45432159] [ 0. 0. 0. 1. ]] SLAMing on 93.96719347 meters Centerline goodness : 0.880125 Centerline is valid? [False, False] Translation: X:9.07, Y:0.14, Z:-1.45 [[ 0.99445005 -0.07554619 -0.07322481 9.06912878] [ 0.07666481 0.99697751 0.01258413 0.13755765] [ 0.0720528 -0.01812806 0.99723606 -1.45385016] [ 0. 0. 0. 1. ]] SLAMing on 93.99719347 meters Centerline goodness : 0.882003 Centerline is valid? [False, False] Translation: X:9.07, Y:0.14, Z:-1.45 [[ 0.99435854 -0.07626335 -0.07372247 9.06984305] [ 0.07743266 0.99691111 0.01313095 0.13653922] [ 0.07249334 -0.0187654 0.99719235 -1.45295576] [ 0. 0. 0. 1. ]] SLAMing on 94.02719347 meters Centerline goodness : 0.881673 Centerline is valid? [False, False] Translation: X:9.08, Y:0.13, Z:-1.46 [[ 0.99435511 -0.08243351 -0.06680297 9.08043613] [ 0.08359417 0.9963905 0.01476464 0.13481143] [ 0.06534474 -0.02026564 0.99765694 -1.4563264 ] [ 0. 0. 0. 1. ]] SLAMing on 94.05719347 meters Centerline goodness : 0.883898 Centerline is valid? [False, False] Translation: X:9.08, Y:0.13, Z:-1.46 [[ 0.99432044 -0.08239791 -0.06736052 9.08122586] [ 0.08366079 0.99636354 0.01614239 0.13262389] [ 0.06578547 -0.02168615 0.99759811 -1.45531652] [ 0. 0. 0. 1. ]] SLAMing on 94.08719347 meters Centerline goodness : 0.885449 Centerline is valid? [False, False] Translation: X:9.08, Y:0.13, Z:-1.45 [[ 0.99425381 -0.08257963 -0.06811733 9.08218317] [ 0.08395535 0.99631439 0.01758218 0.13047887] [ 0.06641435 -0.02319997 0.99752238 -1.45394692] [ 0. 0. 0. 1. ]] SLAMing on 94.11719347 meters Centerline goodness : 0.885587 Centerline is valid? [False, False] Translation: X:9.08, Y:0.13, Z:-1.45 [[ 0.99403955 -0.08405408 -0.06942823 9.08490738] [ 0.08553671 0.99616026 0.01866021 0.12808907] [ 0.06759318 -0.02448765 0.99741241 -1.4531901 ] [ 0. 0. 0. 1. ]] SLAMing on 94.14719347 meters Centerline goodness : 0.885538 Centerline is valid? [False, False] Translation: X:9.09, Y:0.13, Z:-1.45 [[ 0.99391089 -0.08560507 -0.06937519 9.08663581] [ 0.08696512 0.99606933 0.01682159 0.12683639] [ 0.06766248 -0.02275238 0.9974488 -1.45483199] [ 0. 0. 0. 1. ]] SLAMing on 94.17719347 meters Centerline goodness : 0.885949 Centerline is valid? [False, False] Translation: X:9.09, Y:0.12, Z:-1.46 [[ 0.99390122 -0.08547795 -0.06966981 9.08797622] [ 0.08692002 0.9960539 0.0179313 0.12360393] [ 0.06786215 -0.02387764 0.99740894 -1.45521964] [ 0. 0. 0. 1. ]] SLAMing on 94.20719347 meters Centerline goodness : 0.889609 Centerline is valid? [False, False] Translation: X:9.09, Y:0.12, Z:-1.46 [[ 0.99391662 -0.085156 -0.06984413 9.08883721] [ 0.0866807 0.99605318 0.01909226 0.12060145] [ 0.06794265 -0.02503025 0.9973752 -1.455369 ] [ 0. 0. 0. 1. ]] SLAMing on 94.23719347 meters Centerline goodness : 0.890062 Centerline is valid? [False, False] Translation: X:9.09, Y:0.12, Z:-1.46 [[ 0.9936906 -0.08766988 -0.06994986 9.09042049] [ 0.08899047 0.99590419 0.01598559 0.12133238] [ 0.06826191 -0.0221096 0.99742242 -1.45658089] [ 0. 0. 0. 1. ]] SLAMing on 94.26719347 meters Centerline goodness : 0.890062 Centerline is valid? [False, False] Translation: X:9.09, Y:0.12, Z:-1.46 [[ 0.9936906 -0.08766988 -0.06994986 9.09042049] [ 0.08899047 0.99590419 0.01598559 0.12133238] [ 0.06826191 -0.0221096 0.99742242 -1.45658089] [ 0. 0. 0. 1. ]] SLAMing on 94.29719347 meters Centerline goodness : 0.889938 Centerline is valid? [False, False] Translation: X:9.09, Y:0.12, Z:-1.46 [[ 0.9938125 -0.08492387 -0.07158663 9.09352961] [ 0.08658983 0.99603324 0.02049346 0.11997827] [ 0.06956228 -0.02656533 0.99722383 -1.45663517] [ 0. 0. 0. 1. ]] SLAMing on 94.32719347 meters Centerline goodness : 0.887293 Centerline is valid? [False, False] Translation: X:9.10, Y:0.12, Z:-1.46 [[ 0.9937104 -0.08554134 -0.07226564 9.09526038] [ 0.08722752 0.99597741 0.02050279 0.11948471] [ 0.07022111 -0.02667739 0.99717467 -1.4569413 ] [ 0. 0. 0. 1. ]] SLAMing on 94.35719347 meters Centerline goodness : 0.889003 Centerline is valid? [False, False] Translation: X:9.10, Y:0.12, Z:-1.46 [[ 0.99337522 -0.08880241 -0.07293702 9.09976027] [ 0.0903464 0.99574513 0.01814308 0.11583235] [ 0.07101554 -0.02461249 0.99717151 -1.4598074 ] [ 0. 0. 0. 1. ]] SLAMing on 94.38719347 meters Centerline goodness : 0.889062 Centerline is valid? [False, False] Translation: X:9.10, Y:0.12, Z:-1.46 [[ 0.99306992 -0.0922161 -0.0728583 9.1009451 ] [ 0.09351587 0.99551033 0.01462721 0.11623993] [ 0.07118232 -0.02133924 0.99723503 -1.46082626] [ 0. 0. 0. 1. ]] SLAMing on 94.41719347 meters Centerline goodness : 0.887768 Centerline is valid? [False, False] Translation: X:9.11, Y:0.12, Z:-1.46 [[ 0.99296539 -0.09210027 -0.0744128 9.10500495] [ 0.09353101 0.99548829 0.01596921 0.11516722] [ 0.0726063 -0.02281678 0.99709965 -1.46176035] [ 0. 0. 0. 1. ]] SLAMing on 94.44719347 meters Centerline goodness : 0.888111 Centerline is valid? [False, False] Translation: X:9.11, Y:0.11, Z:-1.46 [[ 0.99285567 -0.09265178 -0.07518819 9.10650053] [ 0.09418501 0.99540782 0.01710124 0.11328202] [ 0.07325845 -0.02406067 0.99702271 -1.4610436 ] [ 0. 0. 0. 1. ]] SLAMing on 94.47719347 meters Centerline goodness : 0.885725 Centerline is valid? [False, False] Translation: X:9.11, Y:0.11, Z:-1.46 [[ 0.99288569 -0.09232466 -0.07519416 9.10627017] [ 0.09388798 0.99542859 0.01752034 0.11288866] [ 0.07323286 -0.02445553 0.99701498 -1.46055594] [ 0. 0. 0. 1. ]] SLAMing on 94.50719347 meters Centerline goodness : 0.888686 Centerline is valid? [False, False] Translation: X:9.11, Y:0.11, Z:-1.46 [[ 0.99298551 -0.09138753 -0.0750207 9.1056326 ] [ 0.09297419 0.99550707 0.01792954 0.11314047] [ 0.0730451 -0.02477876 0.99702078 -1.46023705] [ 0. 0. 0. 1. ]] SLAMing on 94.53719347 meters Centerline goodness : 0.890659 Centerline is valid? [False, False] Translation: X:9.11, Y:0.11, Z:-1.46 [[ 0.99333069 -0.08722591 -0.07540418 9.10527462] [ 0.08911079 0.99577876 0.02199851 0.11300816] [ 0.07316705 -0.02857112 0.99691036 -1.45953601] [ 0. 0. 0. 1. ]] SLAMing on 94.56719347 meters Centerline goodness : 0.893088 Centerline is valid? [False, False] Translation: X:9.10, Y:0.12, Z:-1.46 [[ 0.99417532 -0.07992977 -0.07229571 9.10175542] [ 0.08132101 0.9965513 0.01650474 0.11901812] [ 0.07072716 -0.02228776 0.99724667 -1.45520267] [ 0. 0. 0. 1. ]] SLAMing on 94.59719347000001 meters Centerline goodness : 0.894990 Centerline is valid? [False, False] Translation: X:9.10, Y:0.12, Z:-1.46 [[ 0.99457219 -0.0751251 -0.07198875 9.10055158] [ 0.07674727 0.99684926 0.020035 0.11978893] [ 0.0702568 -0.02545119 0.9972042 -1.45538703] [ 0. 0. 0. 1. ]] SLAMing on 94.62719347 meters Centerline goodness : 0.896460 Centerline is valid? [False, False] Translation: X:9.10, Y:0.12, Z:-1.46 [[ 0.99476939 -0.07358843 -0.07084204 9.09818753] [ 0.07510488 0.99699495 0.01898229 0.12266639] [ 0.06923228 -0.02420359 0.99730691 -1.45593047] [ 0. 0. 0. 1. ]] SLAMing on 94.65719347 meters Centerline goodness : 0.895177 Centerline is valid? [False, False] Translation: X:9.10, Y:0.12, Z:-1.46 [[ 0.99517344 -0.06859361 -0.07017648 9.09547832] [ 0.07029953 0.99728037 0.02213229 0.12457987] [ 0.06846749 -0.02695884 0.99728904 -1.45533973] [ 0. 0. 0. 1. ]] SLAMing on 94.68719347 meters Centerline goodness : 0.895270 Centerline is valid? [False, False] Translation: X:9.09, Y:0.12, Z:-1.46 [[ 0.99518773 -0.06860391 -0.06996347 9.09480289] [ 0.07028278 0.99728841 0.02182098 0.12458725] [ 0.06827675 -0.0266332 0.99731086 -1.45503267] [ 0. 0. 0. 1. ]] SLAMing on 94.71719347 meters Centerline goodness : 0.895485 Centerline is valid? [False, False] Translation: X:9.10, Y:0.12, Z:-1.46 [[ 0.9950883 -0.07041684 -0.06957552 9.09533407] [ 0.0718916 0.99723295 0.01892195 0.12451857] [ 0.06805057 -0.0238309 0.99739722 -1.45621225] [ 0. 0. 0. 1. ]] SLAMing on 94.74719347 meters Centerline goodness : 0.896021 Centerline is valid? [False, False] Translation: X:9.10, Y:0.12, Z:-1.46 [[ 0.99501401 -0.07079669 -0.07024915 9.09728052] [ 0.07233825 0.99718667 0.01964514 0.12246971] [ 0.0686607 -0.02462889 0.99733601 -1.45651149] [ 0. 0. 0. 1. ]] SLAMing on 94.77719347 meters Centerline goodness : 0.894632 Centerline is valid? [False, False] Translation: X:9.10, Y:0.12, Z:-1.46 [[ 0.99497712 -0.07088387 -0.07068237 9.09816007] [ 0.07244773 0.99717547 0.01980946 0.12269679] [ 0.06907856 -0.02483074 0.99730215 -1.45647872] [ 0. 0. 0. 1. ]] SLAMing on 94.80719347 meters Centerline goodness : 0.894489 Centerline is valid? [False, False] Translation: X:9.10, Y:0.12, Z:-1.46 [[ 0.99494986 -0.07084588 -0.07110302 9.09914567] [ 0.0724277 0.99717477 0.01991762 0.12288883] [ 0.06949106 -0.02496687 0.9972701 -1.45667251] [ 0. 0. 0. 1. ]] SLAMing on 94.83719347 meters Centerline goodness : 0.892644 Centerline is valid? [False, False] Translation: X:9.10, Y:0.12, Z:-1.46 [[ 0.99493534 -0.07080329 -0.07134813 9.10031305] [ 0.07241968 0.99716712 0.02032544 0.12166988] [ 0.0697069 -0.0253895 0.99724436 -1.45729372] [ 0. 0. 0. 1. ]] SLAMing on 94.86719347 meters Centerline goodness : 0.894735 Centerline is valid? [False, False] Translation: X:9.10, Y:0.12, Z:-1.46 [[ 0.99479492 -0.07377105 -0.07029158 9.10093205] [ 0.07517196 0.99701712 0.01749409 0.11603417] [ 0.06879135 -0.02268699 0.99737307 -1.45928514] [ 0. 0. 0. 1. ]] SLAMing on 94.89719347 meters Centerline goodness : 0.893459 Centerline is valid? [False, False] Translation: X:9.10, Y:0.11, Z:-1.46 [[ 0.9947833 -0.07365488 -0.07057716 9.10229736] [ 0.07520251 0.99697712 0.01952437 0.11102313] [ 0.06892575 -0.02473009 0.99731523 -1.45925147] [ 0. 0. 0. 1. ]] SLAMing on 94.92719347 meters Centerline goodness : 0.894149 Centerline is valid? [False, False] Translation: X:9.10, Y:0.11, Z:-1.46 [[ 0.99459044 -0.07626004 -0.07052842 9.10384168] [ 0.07767894 0.99682315 0.01759521 0.10784381] [ 0.06896255 -0.0229786 0.99735458 -1.46013022] [ 0. 0. 0. 1. ]] SLAMing on 94.95719347 meters Centerline goodness : 0.894345 Centerline is valid? [False, False] Translation: X:9.11, Y:0.10, Z:-1.46 [[ 0.99425148 -0.07795055 -0.073401 9.10872256] [ 0.07981106 0.99655013 0.0227603 0.09798804] [ 0.0713736 -0.02848767 0.99704276 -1.45800673] [ 0. 0. 0. 1. ]] SLAMing on 94.98719347 meters Centerline goodness : 0.894746 Centerline is valid? [False, False] Translation: X:9.11, Y:0.09, Z:-1.46 [[ 0.99393858 -0.08181276 -0.07343552 9.10897862] [ 0.08353033 0.99629176 0.02062553 0.09490266] [ 0.07147577 -0.0266346 0.99708666 -1.45672452] [ 0. 0. 0. 1. ]] SLAMing on 95.01719347 meters Centerline goodness : 0.894351 Centerline is valid? [False, False] Translation: X:9.11, Y:0.09, Z:-1.46 [[ 0.99360411 -0.08552464 -0.073732 9.11003269] [ 0.08712579 0.9960204 0.01877413 0.09136003] [ 0.07183293 -0.02507801 0.99710136 -1.4556734 ] [ 0. 0. 0. 1. ]] SLAMing on 95.04719347 meters Centerline goodness : 0.895683 Centerline is valid? [False, False] Translation: X:9.11, Y:0.09, Z:-1.45 [[ 0.9932697 -0.08920479 -0.07387694 9.11078192] [ 0.09066698 0.99574167 0.0166743 0.08814663] [ 0.07207492 -0.02326028 0.99712796 -1.45468521] [ 0. 0. 0. 1. ]] SLAMing on 95.07719347 meters Centerline goodness : 0.893364 Centerline is valid? [False, False] Translation: X:9.11, Y:0.08, Z:-1.45 [[ 0.99274875 -0.09418661 -0.07469132 9.11336336] [ 0.09557528 0.99530564 0.01523305 0.08243287] [ 0.07290595 -0.02226124 0.99709035 -1.45366476] [ 0. 0. 0. 1. ]] SLAMing on 95.10719347 meters Centerline goodness : 0.894794 Centerline is valid? [False, False] Translation: X:9.12, Y:0.08, Z:-1.45 [[ 0.99236409 -0.09783878 -0.07510711 9.1161871 ] [ 0.09904748 0.9950038 0.01253144 0.08040382] [ 0.0735058 -0.01987492 0.99709673 -1.45488955] [ 0. 0. 0. 1. ]] SLAMing on 95.13719347 meters Centerline goodness : 0.894456 Centerline is valid? [False, False] Translation: X:9.12, Y:0.08, Z:-1.46 [[ 0.99199974 -0.10128312 -0.07535415 9.11920708] [ 0.10229295 0.99470747 0.00965444 0.07844061] [ 0.07397751 -0.0172854 0.9971101 -1.45685303] [ 0. 0. 0. 1. ]] SLAMing on 95.16719347 meters Centerline goodness : 0.896114 Centerline is valid? [False, False] Translation: X:9.12, Y:0.08, Z:-1.46 [[ 0.9919116 -0.1015645 -0.07613163 9.12180132] [ 0.10265649 0.99466081 0.01055983 0.07554074] [ 0.07465264 -0.01828982 0.99704186 -1.45766407] [ 0. 0. 0. 1. ]] SLAMing on 95.19719347 meters Centerline goodness : 0.894885 Centerline is valid? [False, False] Translation: X:9.12, Y:0.08, Z:-1.46 [[ 0.99166102 -0.10332447 -0.07702257 9.1239232 ] [ 0.10436052 0.99449379 0.00953898 0.07741074] [ 0.07561285 -0.01749755 0.99698372 -1.45785016] [ 0. 0. 0. 1. ]] SLAMing on 95.22719347 meters Centerline goodness : 0.894868 Centerline is valid? [False, False] Translation: X:9.13, Y:0.08, Z:-1.46 [[ 0.99184404 -0.10045395 -0.07844995 9.12551017] [ 0.10182613 0.99470813 0.01368108 0.07709468] [ 0.07666049 -0.02155775 0.99682417 -1.45680525] [ 0. 0. 0. 1. ]] SLAMing on 95.25719347 meters Centerline goodness : 0.894280 Centerline is valid? [False, False] Translation: X:9.13, Y:0.08, Z:-1.46 [[ 0.99175734 -0.1007991 -0.0791007 9.12614649] [ 0.10217746 0.99467369 0.01356534 0.07817639] [ 0.07731201 -0.02153583 0.99677433 -1.45593501] [ 0. 0. 0. 1. ]] SLAMing on 95.28719347 meters Centerline goodness : 0.895664 Centerline is valid? [False, False] Translation: X:9.13, Y:0.08, Z:-1.46 [[ 0.99198422 -0.09756917 -0.08029671 9.12769589] [ 0.09931522 0.99489254 0.01803685 0.07649593] [ 0.07812676 -0.02586695 0.9966078 -1.45525397] [ 0. 0. 0. 1. ]] SLAMing on 95.31719347 meters Centerline goodness : 0.895040 Centerline is valid? [False, False] Translation: X:9.12, Y:0.08, Z:-1.45 [[ 0.99216074 -0.09358178 -0.08282218 9.11700247] [ 0.09481188 0.99543402 0.01103734 0.07608418] [ 0.08141113 -0.01880334 0.99650322 -1.45324799] [ 0. 0. 0. 1. ]] SLAMing on 95.34719347000001 meters Centerline goodness : 0.898616 Centerline is valid? [False, False] Translation: X:9.12, Y:0.08, Z:-1.45 [[ 0.99243676 -0.08983033 -0.08366476 9.11802743] [ 0.09140685 0.99569762 0.01519961 0.07549087] [ 0.08193941 -0.02273219 0.99637803 -1.45303125] [ 0. 0. 0. 1. ]] SLAMing on 95.37719347 meters Centerline goodness : 0.899221 Centerline is valid? [False, False] Translation: X:9.12, Y:0.08, Z:-1.45 [[ 0.99253272 -0.0887074 -0.08372448 9.11730273] [ 0.09027279 0.99580271 0.01509268 0.07873684] [ 0.08203423 -0.02253802 0.99637464 -1.45258623] [ 0. 0. 0. 1. ]] SLAMing on 95.40719347 meters Centerline goodness : 0.899402 Centerline is valid? [False, False] Translation: X:9.12, Y:0.08, Z:-1.45 [[ 0.99293805 -0.08412595 -0.08364716 9.1157856 ] [ 0.08593544 0.99613325 0.01826611 0.08160299] [ 0.08178706 -0.02532537 0.99632801 -1.4520728 ] [ 0. 0. 0. 1. ]] SLAMing on 95.43719347 meters Centerline goodness : 0.901266 Centerline is valid? [False, False] Translation: X:9.11, Y:0.09, Z:-1.45 [[ 0.9942321 -0.07381517 -0.07780655 9.1050764 ] [ 0.07559377 0.99693481 0.02016341 0.08983433] [ 0.07607969 -0.0259288 0.99676456 -1.45034781] [ 0. 0. 0. 1. ]] SLAMing on 95.46719347 meters Centerline goodness : 0.899021 Centerline is valid? [False, False] Translation: X:9.10, Y:0.09, Z:-1.45 [[ 0.99462874 -0.06876736 -0.07736102 9.10313654] [ 0.07077218 0.99721622 0.02347577 0.09161965] [ 0.0755313 -0.02882468 0.99672672 -1.45007984] [ 0. 0. 0. 1. ]] SLAMing on 95.49719347 meters Centerline goodness : 0.899262 Centerline is valid? [False, False] Translation: X:9.10, Y:0.09, Z:-1.45 [[ 0.99494265 -0.06425281 -0.07720551 9.10229327] [ 0.06651575 0.9974172 0.02710308 0.09199725] [ 0.07526465 -0.03210139 0.99664674 -1.45010019] [ 0. 0. 0. 1. ]] SLAMing on 95.52719347 meters Centerline goodness : 0.898613 Centerline is valid? [False, False] Translation: X:9.10, Y:0.10, Z:-1.45 [[ 0.9954994 -0.06200272 -0.07167015 9.10404706] [ 0.06319512 0.99789601 0.01448899 0.09780759] [ 0.070621 -0.01895298 0.99732315 -1.45116049] [ 0. 0. 0. 1. ]] SLAMing on 95.55719347 meters Centerline goodness : 0.899721 Centerline is valid? [False, False] Translation: X:9.11, Y:0.10, Z:-1.45 [[ 0.99546127 -0.06240012 -0.07185461 9.10519114] [ 0.06353968 0.99788552 0.01368202 0.09917161] [ 0.07084892 -0.01818554 0.99732127 -1.45237648] [ 0. 0. 0. 1. ]] SLAMing on 95.58719347 meters Centerline goodness : 0.898639 Centerline is valid? [False, False] Translation: X:9.11, Y:0.10, Z:-1.46 [[ 0.99527983 -0.0649748 -0.07208559 9.10807162] [ 0.06587355 0.99777626 0.01015879 0.1010564 ] [ 0.07126523 -0.01485937 0.99734671 -1.4552398 ] [ 0. 0. 0. 1. ]] SLAMing on 95.61719347 meters Centerline goodness : 0.896005 Centerline is valid? [False, False] Translation: X:9.11, Y:0.10, Z:-1.46 [[ 9.95020732e-01 -6.86622814e-02 -7.22442648e-02 9.11058832e+00] [ 6.92918393e-02 9.97576907e-01 6.24146953e-03 1.01497964e-01] [ 7.16406566e-02 -1.12163296e-02 9.97367440e-01 -1.45752980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.64719347 meters Centerline goodness : 0.895463 Centerline is valid? [False, False] Translation: X:9.11, Y:0.10, Z:-1.46 [[ 9.94601060e-01 -7.32198474e-02 -7.35362808e-02 9.11466095e+00] [ 7.37807290e-02 9.97262271e-01 4.93633901e-03 9.67774579e-02] [ 7.29735204e-02 -1.03352484e-02 9.97280326e-01 -1.45780312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.67719347 meters Centerline goodness : 0.896576 Centerline is valid? [False, False] Translation: X:9.12, Y:0.09, Z:-1.46 [[ 9.94503022e-01 -7.37213104e-02 -7.43566234e-02 9.11588350e+00] [ 7.44256483e-02 9.97203770e-01 6.74268777e-03 9.28704397e-02] [ 7.36516254e-02 -1.22396633e-02 9.97208919e-01 -1.45625780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.70719347 meters Centerline goodness : 0.896759 Centerline is valid? [False, False] Translation: X:9.12, Y:0.09, Z:-1.45 [[ 9.94452719e-01 -7.38430965e-02 -7.49065157e-02 9.11648238e+00] [ 7.46874692e-02 9.97170502e-01 8.53062238e-03 8.92826609e-02] [ 7.40646403e-02 -1.40778787e-02 9.97154072e-01 -1.45471019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.73719347 meters Centerline goodness : 0.898751 Centerline is valid? [False, False] Translation: X:9.12, Y:0.09, Z:-1.45 [[ 9.94139366e-01 -7.78201712e-02 -7.50396011e-02 9.11725007e+00] [ 7.84161979e-02 9.96908045e-01 5.02500823e-03 8.91219514e-02] [ 7.44165350e-02 -1.08798787e-02 9.97167893e-01 -1.45450917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76719347 meters Centerline goodness : 0.895878 Centerline is valid? [False, False] Translation: X:9.13, Y:0.08, Z:-1.46 [[ 0.99354624 -0.07963288 -0.08077418 9.12814954] [ 0.08064473 0.99669917 0.00933769 0.08317616] [ 0.07976397 -0.01579144 0.99668869 -1.45691854] [ 0. 0. 0. 1. ]] SLAMing on 95.79719347 meters Centerline goodness : 0.893869 Centerline is valid? [False, False] Translation: X:9.13, Y:0.08, Z:-1.46 [[ 0.99343823 -0.07996141 -0.08177192 9.13106995] [ 0.08107523 0.99665386 0.01038722 0.0806647 ] [ 0.08066773 -0.01694874 0.99659694 -1.45760899] [ 0. 0. 0. 1. ]] SLAMing on 95.82719347 meters Centerline goodness : 0.894586 Centerline is valid? [False, False] Translation: X:9.13, Y:0.08, Z:-1.46 [[ 0.99334867 -0.08054424 -0.08228635 9.13219121] [ 0.08168295 0.9966024 0.0105615 0.07962344] [ 0.08115611 -0.01721264 0.99655276 -1.45745571] [ 0. 0. 0. 1. ]] SLAMing on 95.85719347 meters Centerline goodness : 0.895104 Centerline is valid? [False, False] Translation: X:9.13, Y:0.08, Z:-1.46 [[ 9.93110407e-01 -8.40044666e-02 -8.17004886e-02 9.13166682e+00] [ 8.48678853e-02 9.96366578e-01 7.14729120e-03 7.79162844e-02] [ 8.08032319e-02 -1.40317970e-02 9.96631299e-01 -1.45720450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88719347 meters Centerline goodness : 0.895760 Centerline is valid? [False, False] Translation: X:9.13, Y:0.07, Z:-1.46 [[ 9.93126293e-01 -8.36899138e-02 -8.18300930e-02 9.13189951e+00] [ 8.46731872e-02 9.96371539e-01 8.61443910e-03 7.49467847e-02] [ 8.08122340e-02 -1.54840408e-02 9.96609064e-01 -1.45646371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.91719347 meters Centerline goodness : 0.896858 Centerline is valid? [False, False] Translation: X:9.13, Y:0.07, Z:-1.46 [[ 0.99308122 -0.08408404 -0.08197298 9.13233083] [ 0.08511639 0.99632877 0.00917536 0.07244939] [ 0.08090053 -0.01608912 0.99659232 -1.45611752] [ 0. 0. 0. 1. ]] SLAMing on 95.94719347 meters Centerline goodness : 0.897007 Centerline is valid? [False, False] Translation: X:9.13, Y:0.07, Z:-1.46 [[ 0.9929665 -0.08476739 -0.08265607 9.13472238] [ 0.08583024 0.99626557 0.00938491 0.07086879] [ 0.08155186 -0.01641329 0.99653394 -1.45702649] [ 0. 0. 0. 1. ]] SLAMing on 95.97719347 meters Centerline goodness : 0.895681 Centerline is valid? [False, False] Translation: X:9.14, Y:0.07, Z:-1.46 [[ 9.92509823e-01 -8.95771139e-02 -8.30673971e-02 9.13664441e+00] [ 9.03420150e-02 9.95895678e-01 5.48803380e-03 7.16100272e-02] [ 8.22348595e-02 -1.29514035e-02 9.96528820e-01 -1.45741013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.00719347 meters Centerline goodness : 0.896307 Centerline is valid? [False, False] Translation: X:9.14, Y:0.07, Z:-1.46 [[ 9.92423035e-01 -8.98775598e-02 -8.37767480e-02 9.13790210e+00] [ 9.07132369e-02 9.95857663e-01 6.21472142e-03 7.05407494e-02] [ 8.28711525e-02 -1.37672927e-02 9.96465169e-01 -1.45686026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.03719347 meters Centerline goodness : 0.895620 Centerline is valid? [False, False] Translation: X:9.14, Y:0.07, Z:-1.46 [[ 9.92348944e-01 -9.00518350e-02 -8.44644330e-02 9.13924253e+00] [ 9.09506153e-02 9.95831871e-01 6.84619189e-03 6.96543330e-02] [ 8.34958622e-02 -1.44759034e-02 9.96402975e-01 -1.45657504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.06719347 meters Centerline goodness : 0.895544 Centerline is valid? [False, False] Translation: X:9.14, Y:0.07, Z:-1.46 [[ 9.92324692e-01 -8.98903554e-02 -8.49201404e-02 9.14019807e+00] [ 9.08596618e-02 9.95834619e-01 7.61136295e-03 6.82060864e-02] [ 8.38822275e-02 -1.52687586e-02 9.96358689e-01 -1.45640186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.09719347000001 meters Centerline goodness : 0.896780 Centerline is valid? [False, False] Translation: X:9.14, Y:0.06, Z:-1.45 [[ 0.99241384 -0.0890143 -0.08480103 9.13942391] [ 0.09014306 0.99588286 0.00956826 0.0637909 ] [ 0.08360018 -0.01713989 0.99635196 -1.4548239 ] [ 0. 0. 0. 1. ]] SLAMing on 96.12719347 meters Centerline goodness : 0.899466 Centerline is valid? [False, False] Translation: X:9.14, Y:0.06, Z:-1.45 [[ 0.99247741 -0.08836299 -0.08473825 9.13913866] [ 0.08953923 0.99593132 0.01017476 0.06318457] [ 0.08349441 -0.01768562 0.99635129 -1.45453259] [ 0. 0. 0. 1. ]] SLAMing on 96.15719347 meters Centerline goodness : 0.900666 Centerline is valid? [False, False] Translation: X:9.14, Y:0.06, Z:-1.45 [[ 0.99272169 -0.08477257 -0.08554091 9.14003332] [ 0.08625144 0.99617869 0.01373671 0.06388058] [ 0.08404954 -0.02101476 0.99623996 -1.4545238 ] [ 0. 0. 0. 1. ]] SLAMing on 96.18719347 meters Centerline goodness : 0.900666 Centerline is valid? [False, False] Translation: X:9.14, Y:0.06, Z:-1.45 [[ 0.99272169 -0.08477257 -0.08554091 9.14003332] [ 0.08625144 0.99617869 0.01373671 0.06388058] [ 0.08404954 -0.02101476 0.99623996 -1.4545238 ] [ 0. 0. 0. 1. ]] SLAMing on 96.21719347 meters Centerline goodness : 0.898778 Centerline is valid? [False, False] Translation: X:9.14, Y:0.07, Z:-1.45 [[ 0.9932397 -0.07718329 -0.08670432 9.14015345] [ 0.0791994 0.99665707 0.02005338 0.069821 ] [ 0.08486669 -0.02678474 0.99603224 -1.45395102] [ 0. 0. 0. 1. ]] SLAMing on 96.24719347 meters Centerline goodness : 0.898988 Centerline is valid? [False, False] Translation: X:9.14, Y:0.07, Z:-1.45 [[ 0.99335581 -0.07642235 -0.08604573 9.13851376] [ 0.07834718 0.99674095 0.01921472 0.07276549] [ 0.08429687 -0.0258285 0.99610588 -1.45371346] [ 0. 0. 0. 1. ]] SLAMing on 96.27719347 meters Centerline goodness : 0.900373 Centerline is valid? [False, False] Translation: X:9.14, Y:0.07, Z:-1.45 [[ 0.9934808 -0.07558757 -0.0853371 9.13722692] [ 0.07744739 0.99682119 0.01869291 0.07389454] [ 0.08365287 -0.02518018 0.99617677 -1.45407253] [ 0. 0. 0. 1. ]] SLAMing on 96.30719347 meters Centerline goodness : 0.903422 Centerline is valid? [False, False] Translation: X:9.14, Y:0.07, Z:-1.45 [[ 0.99358983 -0.07498213 -0.08459864 9.13612153] [ 0.07676599 0.99688611 0.01802939 0.07457452] [ 0.08298333 -0.02440811 0.99625198 -1.45473865] [ 0. 0. 0. 1. ]] SLAMing on 96.33719347 meters Centerline goodness : 0.905259 Centerline is valid? [False, False] Translation: X:9.14, Y:0.08, Z:-1.45 [[ 0.99433173 -0.06874954 -0.08110432 9.13960134] [ 0.06988289 0.99749215 0.01121577 0.0795617 ] [ 0.08012985 -0.01682 0.99664251 -1.45385968] [ 0. 0. 0. 1. ]] SLAMing on 96.36719347 meters Centerline goodness : 0.906485 Centerline is valid? [False, False] Translation: X:9.14, Y:0.08, Z:-1.45 [[ 0.99453847 -0.06511987 -0.08156369 9.13971388] [ 0.06647681 0.99768933 0.0140301 0.08263882] [ 0.08046158 -0.01937557 0.99656938 -1.45382244] [ 0. 0. 0. 1. ]] SLAMing on 96.39719347 meters Centerline goodness : 0.906141 Centerline is valid? [False, False] Translation: X:9.14, Y:0.09, Z:-1.45 [[ 0.99460375 -0.06451881 -0.08124473 9.13919063] [ 0.06573433 0.99776044 0.01237367 0.08783787] [ 0.08026444 -0.01764747 0.99661737 -1.45480615] [ 0. 0. 0. 1. ]] SLAMing on 96.42719347 meters Centerline goodness : 0.906096 Centerline is valid? [False, False] Translation: X:9.14, Y:0.09, Z:-1.46 [[ 0.99474455 -0.06256934 -0.08104547 9.14074173] [ 0.06368579 0.99790645 0.01126205 0.09244494] [ 0.08017113 -0.01636431 0.99664678 -1.45821473] [ 0. 0. 0. 1. ]] SLAMing on 96.45719347 meters Centerline goodness : 0.906034 Centerline is valid? [False, False] Translation: X:9.14, Y:0.09, Z:-1.46 [[ 9.94624144e-01 -6.56081635e-02 -8.01147948e-02 9.14063836e+00] [ 6.63338379e-02 9.97776784e-01 6.42745808e-03 9.39727000e-02] [ 7.95149885e-02 -1.17072268e-02 9.96764921e-01 -1.46037619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48719347 meters Centerline goodness : 0.907182 Centerline is valid? [False, False] Translation: X:9.14, Y:0.09, Z:-1.46 [[ 9.94653436e-01 -6.52973772e-02 -8.00049715e-02 9.14159281e+00] [ 6.60426394e-02 9.97794294e-01 6.70193006e-03 9.28469205e-02] [ 7.93908856e-02 -1.19498372e-02 9.96771934e-01 -1.46175458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.51719347 meters Centerline goodness : 0.905239 Centerline is valid? [False, False] Translation: X:9.15, Y:0.09, Z:-1.46 [[ 9.94630691e-01 -6.45757313e-02 -8.08687986e-02 9.14501188e+00] [ 6.54094519e-02 9.97828796e-01 7.70042437e-03 9.13964735e-02] [ 8.01959554e-02 -1.29486622e-02 9.96695009e-01 -1.46370886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54719347 meters Centerline goodness : 0.904196 Centerline is valid? [False, False] Translation: X:9.15, Y:0.09, Z:-1.46 [[ 9.94563102e-01 -6.48737944e-02 -8.14593579e-02 9.14651518e+00] [ 6.57243267e-02 9.97807327e-01 7.80073570e-03 9.11817879e-02] [ 8.07746808e-02 -1.31121854e-02 9.96646137e-01 -1.46399596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.57719347 meters Centerline goodness : 0.905185 Centerline is valid? [False, False] Translation: X:9.15, Y:0.09, Z:-1.46 [[ 9.94523631e-01 -6.49612022e-02 -8.18705615e-02 9.14784351e+00] [ 6.58633597e-02 9.97793593e-01 8.36437718e-03 8.96790835e-02] [ 8.11465618e-02 -1.37108410e-02 9.96607871e-01 -1.46434284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60719347 meters Centerline goodness : 0.904732 Centerline is valid? [False, False] Translation: X:9.15, Y:0.08, Z:-1.46 [[ 0.99453569 -0.06426775 -0.08227042 9.14852492] [ 0.065445 0.99778769 0.01169095 0.08256733] [ 0.08133706 -0.01701126 0.99654147 -1.4628844 ] [ 0. 0. 0. 1. ]] SLAMing on 96.63719347 meters Centerline goodness : 0.906540 Centerline is valid? [False, False] Translation: X:9.16, Y:0.08, Z:-1.47 [[ 0.99482269 -0.06961584 -0.07403685 9.15850633] [ 0.07069704 0.99742467 0.01208127 0.0800158 ] [ 0.07300513 -0.01725291 0.99718232 -1.46681951] [ 0. 0. 0. 1. ]] SLAMing on 96.66719347 meters Centerline goodness : 0.907531 Centerline is valid? [False, False] Translation: X:9.16, Y:0.08, Z:-1.47 [[ 0.99459094 -0.07303732 -0.07385403 9.15932895] [ 0.07396448 0.99721179 0.00989412 0.07569871] [ 0.07292547 -0.01530318 0.99721998 -1.46698248] [ 0. 0. 0. 1. ]] SLAMing on 96.69719347 meters Centerline goodness : 0.907027 Centerline is valid? [False, False] Translation: X:9.16, Y:0.07, Z:-1.47 [[ 9.94314350e-01 -7.65520929e-02 -7.40185807e-02 9.16098755e+00] [ 7.73483258e-02 9.96972458e-01 7.94695050e-03 7.11650008e-02] [ 7.31861306e-02 -1.36269802e-02 9.97225198e-01 -1.46715923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.72719347 meters Centerline goodness : 0.908732 Centerline is valid? [False, False] Translation: X:9.16, Y:0.06, Z:-1.46 [[ 9.93711591e-01 -8.43547655e-02 -7.36311636e-02 9.16092754e+00] [ 8.48582983e-02 9.96386042e-01 3.73162125e-03 6.42443756e-02] [ 7.30502836e-02 -9.95637053e-03 9.97278560e-01 -1.46492454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.75719347 meters Centerline goodness : 0.908265 Centerline is valid? [False, False] Translation: X:9.16, Y:0.06, Z:-1.46 [[ 9.93553745e-01 -8.53047910e-02 -7.46595498e-02 9.16261203e+00] [ 8.59825357e-02 9.96279143e-01 5.90529006e-03 5.90762243e-02] [ 7.38780028e-02 -1.22866405e-02 9.97191596e-01 -1.46318821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.78719347 meters Centerline goodness : 0.908385 Centerline is valid? [False, False] Translation: X:9.16, Y:0.05, Z:-1.46 [[ 9.93376695e-01 -8.64182609e-02 -7.57273079e-02 9.16413333e+00] [ 8.72553657e-02 9.96155362e-01 7.81003577e-03 5.40284133e-02] [ 7.47612340e-02 -1.43659215e-02 9.97097978e-01 -1.46117008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.81719347 meters Centerline goodness : 0.906342 Centerline is valid? [False, False] Translation: X:9.17, Y:0.05, Z:-1.46 [[ 9.92519235e-01 -9.55910940e-02 -7.59467582e-02 9.16589774e+00] [ 9.59612364e-02 9.95384310e-01 1.23109647e-03 5.06859588e-02] [ 7.54785297e-02 -8.50983175e-03 9.97111114e-01 -1.46023908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84719347000001 meters Centerline goodness : 0.904417 Centerline is valid? [False, False] Translation: X:9.17, Y:0.05, Z:-1.46 [[ 9.92378069e-01 -9.64316421e-02 -7.67248810e-02 9.16800322e+00] [ 9.68495837e-02 9.95297515e-01 1.73645286e-03 4.85295297e-02] [ 7.61966344e-02 -9.15399052e-03 9.97050790e-01 -1.46052337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.87719347 meters Centerline goodness : 0.903342 Centerline is valid? [False, False] Translation: X:9.17, Y:0.05, Z:-1.46 [[ 9.92273006e-01 -9.69500119e-02 -7.74272333e-02 9.17028024e+00] [ 9.74042307e-02 9.95242681e-01 2.10260643e-03 4.69787685e-02] [ 7.68550396e-02 -9.62809969e-03 9.96995789e-01 -1.46134180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90719347 meters Centerline goodness : 0.903744 Centerline is valid? [False, False] Translation: X:9.17, Y:0.05, Z:-1.46 [[ 9.92198671e-01 -9.72277195e-02 -7.80292783e-02 9.17216810e+00] [ 9.76953345e-02 9.95213962e-01 2.18888480e-03 4.65152947e-02] [ 7.74430069e-02 -9.79490504e-03 9.96948665e-01 -1.46209083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.93719347 meters Centerline goodness : 0.900375 Centerline is valid? [False, False] Translation: X:9.18, Y:0.05, Z:-1.47 [[ 9.92232544e-01 -9.64006462e-02 -7.86224716e-02 9.17531948e+00] [ 9.68321945e-02 9.95299293e-01 1.68602753e-03 4.96011746e-02] [ 7.80903563e-02 -9.28611785e-03 9.96903037e-01 -1.46504050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96719347 meters Centerline goodness : 0.901945 Centerline is valid? [False, False] Translation: X:9.18, Y:0.05, Z:-1.47 [[ 9.92557406e-01 -9.24963559e-02 -7.92099701e-02 9.17598901e+00] [ 9.31959333e-02 9.95634349e-01 5.17314642e-03 5.08139100e-02] [ 7.83856699e-02 -1.25166919e-02 9.96844531e-01 -1.46546789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.99719347 meters Centerline goodness : 0.901829 Centerline is valid? [False, False] Translation: X:9.18, Y:0.05, Z:-1.47 [[ 9.92855241e-01 -8.85170544e-02 -8.00200083e-02 9.17673710e+00] [ 8.94964674e-02 9.95948879e-01 8.73001130e-03 5.23366403e-02] [ 7.89230827e-02 -1.58291455e-02 9.96755028e-01 -1.46534334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02719347 meters Centerline goodness : 0.899712 Centerline is valid? [False, False] Translation: X:9.18, Y:0.06, Z:-1.46 [[ 0.99320153 -0.08421105 -0.08036925 9.17524746] [ 0.08541488 0.99627731 0.01165415 0.05674924] [ 0.07908865 -0.01843965 0.99669703 -1.46394506] [ 0. 0. 0. 1. ]] SLAMing on 97.05719347 meters Centerline goodness : 0.899066 Centerline is valid? [False, False] Translation: X:9.17, Y:0.06, Z:-1.46 [[ 0.99342695 -0.08142156 -0.08045757 9.17363867] [ 0.08281901 0.99646369 0.01418152 0.05857728] [ 0.07901836 -0.02075172 0.99665714 -1.4624739 ] [ 0. 0. 0. 1. ]] SLAMing on 97.08719347 meters Centerline goodness : 0.899424 Centerline is valid? [False, False] Translation: X:9.17, Y:0.06, Z:-1.46 [[ 0.99349836 -0.08092635 -0.08007455 9.1718146 ] [ 0.08225275 0.99652139 0.0134016 0.0623252 ] [ 0.07871146 -0.01990082 0.99669878 -1.46156861] [ 0. 0. 0. 1. ]] SLAMing on 97.11719347 meters Centerline goodness : 0.899182 Centerline is valid? [False, False] Translation: X:9.17, Y:0.07, Z:-1.46 [[ 0.99379451 -0.07773303 -0.07956161 9.16858156] [ 0.07918117 0.99674425 0.01520662 0.06649105] [ 0.07812052 -0.02141204 0.99671396 -1.45974211] [ 0. 0. 0. 1. ]] SLAMing on 97.14719347 meters Centerline goodness : 0.899553 Centerline is valid? [False, False] Translation: X:9.17, Y:0.07, Z:-1.46 [[ 0.99397739 -0.07504642 -0.07985599 9.16985343] [ 0.07665515 0.99690809 0.01726983 0.06713789] [ 0.07831305 -0.02328719 0.9966568 -1.46092917] [ 0. 0. 0. 1. ]] SLAMing on 97.17719347 meters Centerline goodness : 0.900090 Centerline is valid? [False, False] Translation: X:9.17, Y:0.07, Z:-1.46 [[ 0.99401353 -0.0749313 -0.07951359 9.1695511 ] [ 0.07644866 0.99694175 0.01620925 0.06924185] [ 0.07805583 -0.02219092 0.99670199 -1.46179183] [ 0. 0. 0. 1. ]] SLAMing on 97.20719347 meters Centerline goodness : 0.897476 Centerline is valid? [False, False] Translation: X:9.17, Y:0.07, Z:-1.46 [[ 0.99409664 -0.07415374 -0.07920282 9.16933835] [ 0.07559216 0.99702119 0.01531581 0.07190591] [ 0.07783116 -0.02121251 0.99674086 -1.46274592] [ 0. 0. 0. 1. ]] SLAMing on 97.23719347 meters Centerline goodness : 0.898476 Centerline is valid? [False, False] Translation: X:9.17, Y:0.07, Z:-1.46 [[ 0.994099 -0.07423871 -0.07909362 9.16899542] [ 0.07561582 0.99703077 0.0145565 0.07401906] [ 0.07777811 -0.02045133 0.99676091 -1.46277874] [ 0. 0. 0. 1. ]] SLAMing on 97.26719347 meters Centerline goodness : 0.897482 Centerline is valid? [False, False] Translation: X:9.17, Y:0.08, Z:-1.46 [[ 0.99408327 -0.07430452 -0.07922941 9.16924437] [ 0.07562528 0.99704084 0.01379777 0.07659659] [ 0.07796972 -0.01970788 0.99676092 -1.46308128] [ 0. 0. 0. 1. ]] SLAMing on 97.29719347 meters Centerline goodness : 0.897542 Centerline is valid? [False, False] Translation: X:9.17, Y:0.08, Z:-1.47 [[ 0.99408123 -0.07320545 -0.08027122 9.17263265] [ 0.07458269 0.99711242 0.01429142 0.07916261] [ 0.07899322 -0.02019368 0.9966706 -1.46508351] [ 0. 0. 0. 1. ]] SLAMing on 97.32719347 meters Centerline goodness : 0.895694 Centerline is valid? [False, False] Translation: X:9.17, Y:0.08, Z:-1.47 [[ 0.99401694 -0.07382717 -0.08049765 9.17294135] [ 0.07507202 0.9970992 0.01254503 0.08355718] [ 0.07933798 -0.01851309 0.99667585 -1.46540754] [ 0. 0. 0. 1. ]] SLAMing on 97.35719347 meters Centerline goodness : 0.896518 Centerline is valid? [False, False] Translation: X:9.17, Y:0.08, Z:-1.47 [[ 0.99403213 -0.07353738 -0.08057531 9.17291272] [ 0.07481172 0.99711413 0.01290824 0.08339521] [ 0.07939354 -0.01885918 0.99666494 -1.465089 ] [ 0. 0. 0. 1. ]] SLAMing on 97.38719347 meters Centerline goodness : 0.896074 Centerline is valid? [False, False] Translation: X:9.17, Y:0.08, Z:-1.46 [[ 0.99399282 -0.07391192 -0.08071737 9.17316715] [ 0.07516972 0.99709048 0.0126526 0.08329335] [ 0.07954734 -0.01864409 0.99665672 -1.46486695] [ 0. 0. 0. 1. ]] SLAMing on 97.41719347 meters Centerline goodness : 0.897494 Centerline is valid? [False, False] Translation: X:9.17, Y:0.08, Z:-1.46 [[ 0.99377182 -0.07597649 -0.0815178 9.17447586] [ 0.07723337 0.99693626 0.01237307 0.08297223] [ 0.08032799 -0.0185919 0.99659508 -1.46378691] [ 0. 0. 0. 1. ]] SLAMing on 97.44719347 meters Centerline goodness : 0.897550 Centerline is valid? [False, False] Translation: X:9.18, Y:0.08, Z:-1.46 [[ 0.99352972 -0.07787867 -0.08266561 9.17750615] [ 0.07912308 0.99679405 0.01188077 0.08266569] [ 0.08147533 -0.01834465 0.99650652 -1.46412743] [ 0. 0. 0. 1. ]] SLAMing on 97.47719347 meters Centerline goodness : 0.895790 Centerline is valid? [False, False] Translation: X:9.18, Y:0.08, Z:-1.47 [[ 9.93103087e-01 -8.29647107e-02 -8.28439276e-02 9.17932404e+00] [ 8.38222199e-02 9.96456690e-01 6.92101845e-03 8.46483969e-02] [ 8.19761856e-02 -1.38174467e-02 9.96538501e-01 -1.46524432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.50719347 meters Centerline goodness : 0.896473 Centerline is valid? [False, False] Translation: X:9.18, Y:0.08, Z:-1.47 [[ 9.92873346e-01 -8.42123866e-02 -8.43255216e-02 9.18448108e+00] [ 8.50651655e-02 9.96353761e-01 6.56512310e-03 8.49614049e-02] [ 8.34651859e-02 -1.36915002e-02 9.96416633e-01 -1.46758728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.53719347 meters Centerline goodness : 0.896164 Centerline is valid? [False, False] Translation: X:9.19, Y:0.09, Z:-1.47 [[ 9.92424968e-01 -8.77437970e-02 -8.59866781e-02 9.18861205e+00] [ 8.84098739e-02 9.96076302e-01 3.96165430e-03 9.01781799e-02] [ 8.53016818e-02 -1.15337160e-02 9.96288410e-01 -1.46849990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.56719347 meters Centerline goodness : 0.896605 Centerline is valid? [False, False] Translation: X:9.19, Y:0.09, Z:-1.47 [[ 9.92292844e-01 -8.86613117e-02 -8.65683723e-02 9.18944029e+00] [ 8.92484535e-02 9.96005090e-01 2.92813599e-03 9.29197380e-02] [ 8.59629271e-02 -1.06316617e-02 9.96241609e-01 -1.46819196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.59719347000001 meters Centerline goodness : 0.897607 Centerline is valid? [False, False] Translation: X:9.19, Y:0.09, Z:-1.47 [[ 9.92432366e-01 -8.60826934e-02 -8.75658014e-02 9.19062316e+00] [ 8.69558492e-02 9.96192878e-01 6.19914381e-03 9.31627194e-02] [ 8.66987887e-02 -1.37665896e-02 9.96139449e-01 -1.46768878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62719347 meters Centerline goodness : 0.897589 Centerline is valid? [False, False] Translation: X:9.19, Y:0.10, Z:-1.47 [[ 9.92419605e-01 -8.60445632e-02 -8.77477141e-02 9.19098662e+00] [ 8.68330606e-02 9.96209296e-01 5.20170695e-03 9.61398527e-02] [ 8.69675099e-02 -1.27816785e-02 9.96129149e-01 -1.46799663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.65719347 meters Centerline goodness : 0.901429 Centerline is valid? [False, False] Translation: X:9.19, Y:0.10, Z:-1.47 [[ 0.99285425 -0.08009578 -0.08845962 9.19030622] [ 0.08125279 0.99664776 0.00955118 0.10304999] [ 0.08739807 -0.01667052 0.99603397 -1.46746046] [ 0. 0. 0. 1. ]] SLAMing on 97.68719347 meters Centerline goodness : 0.903142 Centerline is valid? [False, False] Translation: X:9.19, Y:0.11, Z:-1.47 [[ 0.99303042 -0.07710578 -0.08913634 9.19089296] [ 0.07844025 0.99685178 0.01156115 0.10732831] [ 0.08796429 -0.01847245 0.99595233 -1.46763625] [ 0. 0. 0. 1. ]] SLAMing on 97.71719347 meters Centerline goodness : 0.899909 Centerline is valid? [False, False] Translation: X:9.19, Y:0.11, Z:-1.47 [[ 9.93065170e-01 -7.71813167e-02 -8.86826558e-02 9.18967609e+00] [ 7.82914017e-02 9.96888958e-01 9.10281336e-03 1.13620884e-01] [ 8.77041932e-02 -1.59827763e-02 9.96018336e-01 -1.46809571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74719347 meters Centerline goodness : 0.902966 Centerline is valid? [False, False] Translation: X:9.18, Y:0.12, Z:-1.47 [[ 9.93599140e-01 -7.27757040e-02 -8.63970303e-02 9.18446975e+00] [ 7.37511490e-02 9.97243387e-01 8.14829738e-03 1.22615013e-01] [ 8.55658690e-02 -1.44680215e-02 9.96227463e-01 -1.46764937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.77719347 meters Centerline goodness : 0.902063 Centerline is valid? [False, False] Translation: X:9.18, Y:0.13, Z:-1.47 [[ 9.93761324e-01 -7.19182015e-02 -8.52420324e-02 9.18203114e+00] [ 7.27103294e-02 9.97333701e-01 6.22072341e-03 1.26836727e-01] [ 8.45673683e-02 -1.23798906e-02 9.96340855e-01 -1.46806996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.80719347 meters Centerline goodness : 0.902253 Centerline is valid? [False, False] Translation: X:9.18, Y:0.13, Z:-1.47 [[ 9.93947388e-01 -7.00148253e-02 -8.46552640e-02 9.18128983e+00] [ 7.07589746e-02 9.97476473e-01 5.81838528e-03 1.30539718e-01] [ 8.40342609e-02 -1.17732885e-02 9.96393312e-01 -1.46935696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.83719347 meters Centerline goodness : 0.903333 Centerline is valid? [False, False] Translation: X:9.18, Y:0.13, Z:-1.47 [[ 0.99415376 -0.06539009 -0.08592106 9.18412752] [ 0.06648418 0.99773805 0.00993143 0.13265556] [ 0.08507729 -0.01558576 0.99625245 -1.47060971] [ 0. 0. 0. 1. ]] SLAMing on 97.86719347 meters Centerline goodness : 0.898247 Centerline is valid? [False, False] Translation: X:9.18, Y:0.14, Z:-1.47 [[ 0.99435694 -0.06172723 -0.08627875 9.18434379] [ 0.06295572 0.99794904 0.01158839 0.13879728] [ 0.08538648 -0.01695474 0.99620364 -1.47140425] [ 0. 0. 0. 1. ]] SLAMing on 97.89719347 meters Centerline goodness : 0.899000 Centerline is valid? [False, False] Translation: X:9.19, Y:0.14, Z:-1.48 [[ 9.95061741e-01 -6.49245147e-02 -7.50795494e-02 9.18996840e+00] [ 6.56261029e-02 9.97820337e-01 6.91297494e-03 1.44800761e-01] [ 7.44670798e-02 -1.18060151e-02 9.97153585e-01 -1.47526648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.92719347 meters Centerline goodness : 0.899704 Centerline is valid? [False, False] Translation: X:9.19, Y:0.15, Z:-1.48 [[ 9.95145233e-01 -6.43527976e-02 -7.44626217e-02 9.18876234e+00] [ 6.49821149e-02 9.97868044e-01 6.05728880e-03 1.46310296e-01] [ 7.39140672e-02 -1.08666207e-02 9.97205409e-01 -1.47567893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.95719347 meters Centerline goodness : 0.897526 Centerline is valid? [False, False] Translation: X:9.19, Y:0.15, Z:-1.48 [[ 9.95381755e-01 -6.21536286e-02 -7.31579662e-02 9.18760427e+00] [ 6.26576179e-02 9.98024424e-01 4.61207760e-03 1.49048623e-01] [ 7.27267797e-02 -9.17468179e-03 9.97309702e-01 -1.47865065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98719347 meters Centerline goodness : 0.897459 Centerline is valid? [False, False] Translation: X:9.19, Y:0.15, Z:-1.48 [[ 9.95440338e-01 -6.17144043e-02 -7.27314624e-02 9.18740307e+00] [ 6.21166844e-02 9.98063505e-01 3.27999202e-03 1.51438844e-01] [ 7.23881955e-02 -7.78287365e-03 9.97346167e-01 -1.48009692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.01719347 meters Centerline goodness : 0.896665 Centerline is valid? [False, False] Translation: X:9.19, Y:0.15, Z:-1.48 [[ 9.95550849e-01 -5.84613392e-02 -7.38970882e-02 9.19031953e+00] [ 5.91372763e-02 9.98225384e-01 6.99043659e-03 1.51605447e-01] [ 7.33572790e-02 -1.13294076e-02 9.97241372e-01 -1.48131244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04719347 meters Centerline goodness : 0.893641 Centerline is valid? [False, False] Translation: X:9.19, Y:0.15, Z:-1.48 [[ 9.95400604e-01 -5.98263734e-02 -7.48227470e-02 9.19218486e+00] [ 6.04515360e-02 9.98152393e-01 6.11655836e-03 1.53846560e-01] [ 7.43185724e-02 -1.06115759e-02 9.97178091e-01 -1.48135168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.07719347 meters Centerline goodness : 0.893641 Centerline is valid? [False, False] Translation: X:9.19, Y:0.15, Z:-1.48 [[ 9.95400604e-01 -5.98263734e-02 -7.48227470e-02 9.19218486e+00] [ 6.04515360e-02 9.98152393e-01 6.11655836e-03 1.53846560e-01] [ 7.43185724e-02 -1.06115759e-02 9.97178091e-01 -1.48135168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10719347 meters Centerline goodness : 0.893101 Centerline is valid? [False, False] Translation: X:9.19, Y:0.15, Z:-1.48 [[ 9.95287004e-01 -6.09478856e-02 -7.54263598e-02 9.19350437e+00] [ 6.15685168e-02 9.98085253e-01 5.92841473e-03 1.53795936e-01] [ 7.49206131e-02 -1.05443632e-02 9.97133751e-01 -1.48115326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.13719347 meters Centerline goodness : 0.892432 Centerline is valid? [False, False] Translation: X:9.20, Y:0.16, Z:-1.49 [[ 9.95214825e-01 -6.81232443e-02 -7.00476686e-02 9.20389584e+00] [ 6.88573409e-02 9.97593499e-01 8.11648480e-03 1.55345036e-01] [ 6.93261776e-02 -1.29009422e-02 9.97510625e-01 -1.48509224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16719347 meters Centerline goodness : 0.891718 Centerline is valid? [False, False] Translation: X:9.21, Y:0.15, Z:-1.48 [[ 9.95064348e-01 -6.96506219e-02 -7.06805094e-02 9.20536796e+00] [ 7.04199730e-02 9.97481649e-01 8.44911031e-03 1.53505391e-01] [ 6.99140253e-02 -1.33847280e-02 9.97463221e-01 -1.48454376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.19719347 meters Centerline goodness : 0.889968 Centerline is valid? [False, False] Translation: X:9.22, Y:0.15, Z:-1.49 [[ 0.99460267 -0.07952941 -0.06663778 9.21915288] [ 0.08042707 0.99670096 0.01089382 0.15177462] [ 0.06555156 -0.01619451 0.99771776 -1.48792319] [ 0. 0. 0. 1. ]] SLAMing on 98.22719347 meters Centerline goodness : 0.890957 Centerline is valid? [False, False] Translation: X:9.22, Y:0.15, Z:-1.49 [[ 0.99434131 -0.0818364 -0.06773593 9.22124158] [ 0.08278088 0.99650425 0.01125151 0.14998385] [ 0.06657836 -0.01679508 0.99763984 -1.48669591] [ 0. 0. 0. 1. ]] SLAMing on 98.25719347 meters Centerline goodness : 0.889111 Centerline is valid? [False, False] Translation: X:9.22, Y:0.15, Z:-1.49 [[ 0.99416017 -0.08313178 -0.06880893 9.22294744] [ 0.08417223 0.9963746 0.01235708 0.1480262 ] [ 0.06753221 -0.01807671 0.99755332 -1.48521198] [ 0. 0. 0. 1. ]] SLAMing on 98.28719347 meters Centerline goodness : 0.894059 Centerline is valid? [False, False] Translation: X:9.22, Y:0.15, Z:-1.48 [[ 0.99358593 -0.08892227 -0.06985581 9.22411192] [ 0.08984456 0.9959039 0.01016752 0.14630653] [ 0.06866556 -0.01637847 0.99750528 -1.48192255] [ 0. 0. 0. 1. ]] SLAMing on 98.31719347 meters Centerline goodness : 0.891830 Centerline is valid? [False, False] Translation: X:9.23, Y:0.15, Z:-1.48 [[ 9.93167733e-01 -9.34116971e-02 -6.99436162e-02 9.22504220e+00] [ 9.40634831e-02 9.95547656e-01 6.07661018e-03 1.47378370e-01] [ 6.90645767e-02 -1.26142333e-02 9.97532438e-01 -1.48191873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34719347000001 meters Centerline goodness : 0.890646 Centerline is valid? [False, False] Translation: X:9.23, Y:0.15, Z:-1.48 [[ 9.92923171e-01 -9.49481337e-02 -7.13332250e-02 9.22848650e+00] [ 9.56218658e-02 9.95399148e-01 6.08236554e-03 1.47287813e-01] [ 7.04275221e-02 -1.28603377e-02 9.97433996e-01 -1.48240200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.37719347 meters Centerline goodness : 0.891283 Centerline is valid? [False, False] Translation: X:9.23, Y:0.15, Z:-1.48 [[ 9.92712544e-01 -9.62328681e-02 -7.25330304e-02 9.23157223e+00] [ 9.69069654e-02 9.95276402e-01 5.82434486e-03 1.47771254e-01] [ 7.16299202e-02 -1.28108561e-02 9.97349004e-01 -1.48307411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40719347 meters Centerline goodness : 0.887545 Centerline is valid? [False, False] Translation: X:9.23, Y:0.15, Z:-1.48 [[ 9.92565433e-01 -9.75406491e-02 -7.27989185e-02 9.23204877e+00] [ 9.81771537e-02 9.95155325e-01 5.20821985e-03 1.48003285e-01] [ 7.19382182e-02 -1.23166896e-02 9.97333040e-01 -1.48267662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.43719347 meters Centerline goodness : 0.890523 Centerline is valid? [False, False] Translation: X:9.23, Y:0.15, Z:-1.48 [[ 0.99279861 -0.09441923 -0.07372879 9.23298543] [ 0.09537877 0.9953948 0.00959598 0.14677214] [ 0.07248321 -0.01655904 0.99723216 -1.48188663] [ 0. 0. 0. 1. ]] SLAMing on 98.46719347 meters Centerline goodness : 0.890587 Centerline is valid? [False, False] Translation: X:9.23, Y:0.15, Z:-1.48 [[ 0.992778 -0.09448171 -0.07392591 9.23285631] [ 0.09542699 0.99539249 0.00935309 0.14844496] [ 0.0727016 -0.01634007 0.99721987 -1.48124011] [ 0. 0. 0. 1. ]] SLAMing on 98.49719347 meters Centerline goodness : 0.889889 Centerline is valid? [False, False] Translation: X:9.23, Y:0.15, Z:-1.48 [[ 0.9927496 -0.09365358 -0.07534747 9.23318794] [ 0.09480555 0.99542525 0.01185217 0.15223862] [ 0.07389278 -0.0189096 0.9970869 -1.47865343] [ 0. 0. 0. 1. ]] SLAMing on 98.52719347 meters Centerline goodness : 0.890997 Centerline is valid? [False, False] Translation: X:9.23, Y:0.16, Z:-1.48 [[ 0.99257527 -0.09473197 -0.07629012 9.23470161] [ 0.09584935 0.99533382 0.01111237 0.15546583] [ 0.07488144 -0.01834222 0.99702374 -1.47830174] [ 0. 0. 0. 1. ]] SLAMing on 98.55719347 meters Centerline goodness : 0.889327 Centerline is valid? [False, False] Translation: X:9.24, Y:0.16, Z:-1.48 [[ 0.99236357 -0.09608779 -0.07734138 9.23688532] [ 0.09714642 0.99521951 0.01003505 0.15866506] [ 0.07600741 -0.01747186 0.99695417 -1.47857098] [ 0. 0. 0. 1. ]] SLAMing on 98.58719347 meters Centerline goodness : 0.889487 Centerline is valid? [False, False] Translation: X:9.24, Y:0.17, Z:-1.48 [[ 9.91916335e-01 -9.87910522e-02 -7.96386395e-02 9.24329094e+00] [ 9.96893899e-02 9.94991277e-01 7.37454870e-03 1.65838063e-01] [ 7.85112122e-02 -1.52540627e-02 9.96796520e-01 -1.48165300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.61719347 meters Centerline goodness : 0.891042 Centerline is valid? [False, False] Translation: X:9.25, Y:0.17, Z:-1.48 [[ 9.91761964e-01 -9.93406542e-02 -8.08680469e-02 9.24703959e+00] [ 1.00173781e-01 9.94950003e-01 6.30115462e-03 1.70277093e-01] [ 7.98337028e-02 -1.43501035e-02 9.96704898e-01 -1.48377407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.64719347 meters Centerline goodness : 0.888615 Centerline is valid? [False, False] Translation: X:9.25, Y:0.17, Z:-1.48 [[ 9.91842446e-01 -9.72364962e-02 -8.24234605e-02 9.25012728e+00] [ 9.82530735e-02 9.95126355e-01 8.35888955e-03 1.74414565e-01] [ 8.12089687e-02 -1.63890598e-02 9.96562342e-01 -1.48493304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.67719347 meters Centerline goodness : 0.889358 Centerline is valid? [False, False] Translation: X:9.25, Y:0.19, Z:-1.49 [[ 9.91879899e-01 -9.54136646e-02 -8.40862544e-02 9.25176508e+00] [ 9.63764848e-02 9.95317016e-01 7.45727168e-03 1.88614953e-01] [ 8.29809542e-02 -1.55006555e-02 9.96430575e-01 -1.48530378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.70719347 meters Centerline goodness : 0.889628 Centerline is valid? [False, False] Translation: X:9.25, Y:0.20, Z:-1.49 [[ 9.92076666e-01 -9.28980810e-02 -8.45803428e-02 9.25129153e+00] [ 9.39258177e-02 9.95545055e-01 8.24526047e-03 1.95384453e-01] [ 8.34375732e-02 -1.61242084e-02 9.96382548e-01 -1.48512568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.73719347 meters Centerline goodness : 0.888482 Centerline is valid? [False, False] Translation: X:9.25, Y:0.20, Z:-1.49 [[ 0.99232928 -0.08926494 -0.08552409 9.25235993] [ 0.09044781 0.99585049 0.01004959 0.20179381] [ 0.08427214 -0.01770797 0.99628542 -1.48588055] [ 0. 0. 0. 1. ]] SLAMing on 98.76719347 meters Centerline goodness : 0.890284 Centerline is valid? [False, False] Translation: X:9.25, Y:0.22, Z:-1.48 [[ 9.92891268e-01 -8.52791571e-02 -8.30324953e-02 9.24698283e+00] [ 8.59083624e-02 9.96294899e-01 4.02822635e-03 2.18786195e-01] [ 8.23813278e-02 -1.11327765e-02 9.96538699e-01 -1.48458222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.79719347 meters Centerline goodness : 0.891957 Centerline is valid? [False, False] Translation: X:9.25, Y:0.23, Z:-1.48 [[ 9.93053099e-01 -8.25670579e-02 -8.38345060e-02 9.24699216e+00] [ 8.32800143e-02 9.96513455e-01 5.03721072e-03 2.25702508e-01] [ 8.31263056e-02 -1.19839566e-02 9.96466960e-01 -1.48414436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82719347 meters Centerline goodness : 0.893375 Centerline is valid? [False, False] Translation: X:9.26, Y:0.24, Z:-1.49 [[ 9.93521253e-01 -8.46876350e-02 -7.57860462e-02 9.25598899e+00] [ 8.51152476e-02 9.96368163e-01 2.42450982e-03 2.36382086e-01] [ 7.53054777e-02 -8.85935012e-03 9.97121155e-01 -1.48502763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.85719347 meters Centerline goodness : 0.895534 Centerline is valid? [False, False] Translation: X:9.26, Y:0.24, Z:-1.48 [[ 9.93663463e-01 -8.22928156e-02 -7.65559619e-02 9.25594442e+00] [ 8.28246841e-02 9.96556914e-01 3.79314752e-03 2.42292923e-01] [ 7.59802244e-02 -1.01098355e-02 9.97058071e-01 -1.48429856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88719347 meters Centerline goodness : 0.895180 Centerline is valid? [False, False] Translation: X:9.25, Y:0.25, Z:-1.48 [[ 9.93696485e-01 -8.21762913e-02 -7.62519091e-02 9.25454787e+00] [ 8.25211611e-02 9.96588360e-01 1.37770094e-03 2.48544376e-01] [ 7.58785507e-02 -7.66141266e-03 9.97087633e-01 -1.48423562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.91719347 meters Centerline goodness : 0.896250 Centerline is valid? [False, False] Translation: X:9.26, Y:0.26, Z:-1.49 [[ 9.93882391e-01 -7.91017116e-02 -7.70760164e-02 9.25557470e+00] [ 7.93904526e-02 9.96843362e-01 6.84476989e-04 2.59096228e-01] [ 7.67785720e-02 -6.79938945e-03 9.97024984e-01 -1.48576122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94719347 meters Centerline goodness : 0.897036 Centerline is valid? [False, False] Translation: X:9.26, Y:0.27, Z:-1.49 [[ 9.94414925e-01 -8.18240323e-02 -6.66617193e-02 9.26100403e+00] [ 8.17204957e-02 9.96646083e-01 -4.28312897e-03 2.68520217e-01] [ 6.67886043e-02 -1.18842137e-03 9.97766441e-01 -1.48876560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.97719347 meters Centerline goodness : 0.897226 Centerline is valid? [False, False] Translation: X:9.26, Y:0.27, Z:-1.49 [[ 9.94701766e-01 -7.70193091e-02 -6.80912834e-02 9.26322829e+00] [ 7.72027647e-02 9.97015411e-01 6.29798114e-05 2.73124891e-01] [ 6.78832082e-02 -5.31948146e-03 9.97679093e-01 -1.48945674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.00719347 meters Centerline goodness : 0.897215 Centerline is valid? [False, False] Translation: X:9.26, Y:0.28, Z:-1.49 [[ 9.95026169e-01 -7.17873634e-02 -6.90615475e-02 9.26479526e+00] [ 7.22422293e-02 9.97378655e-01 4.10828711e-03 2.77559723e-01] [ 6.85855903e-02 -9.07701334e-03 9.97603942e-01 -1.48986456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.03719347 meters Centerline goodness : 0.896844 Centerline is valid? [False, False] Translation: X:9.26, Y:0.29, Z:-1.49 [[ 0.99553657 -0.06388957 -0.0694627 9.26404616] [ 0.06470504 0.99785872 0.00955137 0.28565352] [ 0.06870373 -0.01400332 0.99753882 -1.48886349] [ 0. 0. 0. 1. ]] SLAMing on 99.06719347 meters Centerline goodness : 0.898432 Centerline is valid? [False, False] Translation: X:9.27, Y:0.29, Z:-1.49 [[ 0.99555858 -0.06276829 -0.07016586 9.2666256 ] [ 0.06359114 0.99793031 0.00955339 0.28937621] [ 0.06942099 -0.01397288 0.99748959 -1.49020618] [ 0. 0. 0. 1. ]] SLAMing on 99.09719347000001 meters Centerline goodness : 0.897292 Centerline is valid? [False, False] Translation: X:9.27, Y:0.29, Z:-1.49 [[ 0.99557286 -0.06172847 -0.07088214 9.2693824 ] [ 0.0625671 0.99799391 0.00967048 0.29218892] [ 0.070143 -0.01406256 0.99743782 -1.49166559] [ 0. 0. 0. 1. ]] SLAMing on 99.12719347 meters Centerline goodness : 0.899600 Centerline is valid? [False, False] Translation: X:9.27, Y:0.30, Z:-1.49 [[ 0.99557427 -0.06110395 -0.07140157 9.27041958] [ 0.06192835 0.99803645 0.00938769 0.29772639] [ 0.07068775 -0.01376793 0.99740347 -1.49193793] [ 0. 0. 0. 1. ]] SLAMing on 99.15719347 meters Centerline goodness : 0.899532 Centerline is valid? [False, False] Translation: X:9.27, Y:0.30, Z:-1.49 [[ 0.99554934 -0.06108139 -0.07176756 9.27149823] [ 0.06190609 0.99803845 0.00932174 0.29880727] [ 0.0710574 -0.0137231 0.99737782 -1.49241009] [ 0. 0. 0. 1. ]] SLAMing on 99.18719347 meters Centerline goodness : 0.899230 Centerline is valid? [False, False] Translation: X:9.27, Y:0.30, Z:-1.49 [[ 0.99551397 -0.06106878 -0.07226713 9.27323965] [ 0.061919 0.99803518 0.0095816 0.29834506] [ 0.07154 -0.01401333 0.99733929 -1.49338501] [ 0. 0. 0. 1. ]] SLAMing on 99.21719347 meters Centerline goodness : 0.899593 Centerline is valid? [False, False] Translation: X:9.28, Y:0.30, Z:-1.49 [[ 9.95272001e-01 -6.42112364e-02 -7.28736034e-02 9.27621832e+00] [ 6.48510420e-02 9.97874140e-01 6.44532417e-03 2.99290321e-01] [ 7.23048222e-02 -1.11407798e-02 9.97320358e-01 -1.49489695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24719347 meters Centerline goodness : 0.899724 Centerline is valid? [False, False] Translation: X:9.28, Y:0.30, Z:-1.50 [[ 9.95227127e-01 -6.40943500e-02 -7.35858701e-02 9.27863821e+00] [ 6.47836171e-02 9.97874670e-01 7.01608405e-03 2.98306663e-01] [ 7.29797846e-02 -1.17497560e-02 9.97264205e-01 -1.49629212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.27719347 meters Centerline goodness : 0.899354 Centerline is valid? [False, False] Translation: X:9.28, Y:0.30, Z:-1.50 [[ 9.94908347e-01 -6.81715222e-02 -7.42295461e-02 9.28122361e+00] [ 6.86046516e-02 9.97638474e-01 3.29797356e-03 2.99774498e-01] [ 7.38294232e-02 -8.37367357e-03 9.97235728e-01 -1.49741799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.30719347 meters Centerline goodness : 0.898687 Centerline is valid? [False, False] Translation: X:9.28, Y:0.30, Z:-1.50 [[ 9.94859754e-01 -6.84654254e-02 -7.46093518e-02 9.28213254e+00] [ 6.89173564e-02 9.97616245e-01 3.49666197e-03 2.98859731e-01] [ 7.41921009e-02 -8.62056755e-03 9.97206708e-01 -1.49772389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.33719347 meters Centerline goodness : 0.901092 Centerline is valid? [False, False] Translation: X:9.29, Y:0.30, Z:-1.50 [[ 0.99496028 -0.07251924 -0.06924598 9.2943598 ] [ 0.07335324 0.99726006 0.00957489 0.29820772] [ 0.06836188 -0.01460606 0.99755367 -1.501465 ] [ 0. 0. 0. 1. ]] SLAMing on 99.36719347 meters Centerline goodness : 0.904436 Centerline is valid? [False, False] Translation: X:9.31, Y:0.30, Z:-1.50 [[ 0.99504114 -0.0766324 -0.06340832 9.30505155] [ 0.07776767 0.99684897 0.01563049 0.29718669] [ 0.06201071 -0.02048409 0.99786526 -1.50401905] [ 0. 0. 0. 1. ]] SLAMing on 99.39719347 meters Centerline goodness : 0.905326 Centerline is valid? [False, False] Translation: X:9.31, Y:0.30, Z:-1.50 [[ 0.99476875 -0.07986119 -0.06369713 9.3058976 ] [ 0.08076501 0.99666404 0.0117389 0.30003136] [ 0.06254716 -0.01682199 0.99790023 -1.50341684] [ 0. 0. 0. 1. ]] SLAMing on 99.42719347 meters Centerline goodness : 0.908254 Centerline is valid? [False, False] Translation: X:9.31, Y:0.30, Z:-1.50 [[ 0.99475243 -0.07990827 -0.06389263 9.30583242] [ 0.08078181 0.99666884 0.01120341 0.30177673] [ 0.06278455 -0.01630599 0.99789389 -1.50269795] [ 0. 0. 0. 1. ]] SLAMing on 99.45719347 meters Centerline goodness : 0.907273 Centerline is valid? [False, False] Translation: X:9.31, Y:0.30, Z:-1.50 [[ 0.99485924 -0.07824572 -0.06428602 9.30731162] [ 0.07913765 0.99679802 0.01144329 0.30447447] [ 0.06318479 -0.0164719 0.9978659 -1.50308821] [ 0. 0. 0. 1. ]] SLAMing on 99.48719347 meters Centerline goodness : 0.906574 Centerline is valid? [False, False] Translation: X:9.31, Y:0.30, Z:-1.50 [[ 0.99491691 -0.07669324 -0.06525712 9.31085023] [ 0.07765878 0.99690305 0.01238661 0.30488835] [ 0.06410506 -0.01739143 0.9977916 -1.50493155] [ 0. 0. 0. 1. ]] SLAMing on 99.51719347 meters Centerline goodness : 0.906232 Centerline is valid? [False, False] Translation: X:9.31, Y:0.31, Z:-1.51 [[ 0.99514408 -0.07333313 -0.06565455 9.31308748] [ 0.0744859 0.99710496 0.01528262 0.30506805] [ 0.06434376 -0.02009875 0.99772537 -1.50679781] [ 0. 0. 0. 1. ]] SLAMing on 99.54719347 meters Centerline goodness : 0.909181 Centerline is valid? [False, False] Translation: X:9.32, Y:0.31, Z:-1.51 [[ 0.99557134 -0.06627754 -0.06667084 9.31612831] [ 0.06781732 0.99747459 0.02110093 0.30618327] [ 0.06510395 -0.02552892 0.99755188 -1.50853047] [ 0. 0. 0. 1. ]] SLAMing on 99.57719347 meters Centerline goodness : 0.908626 Centerline is valid? [False, False] Translation: X:9.32, Y:0.31, Z:-1.51 [[ 0.99564023 -0.06440109 -0.06747615 9.31836939] [ 0.06603098 0.99757042 0.02220752 0.30698403] [ 0.06588202 -0.02656621 0.99747371 -1.5090198 ] [ 0. 0. 0. 1. ]] SLAMing on 99.60719347 meters Centerline goodness : 0.908533 Centerline is valid? [False, False] Translation: X:9.32, Y:0.31, Z:-1.51 [[ 0.99569744 -0.06292974 -0.06801809 9.31981889] [ 0.06462444 0.99764441 0.02300678 0.30716759] [ 0.06641006 -0.02730342 0.99741878 -1.50915859] [ 0. 0. 0. 1. ]] SLAMing on 99.63719347 meters Centerline goodness : 0.910109 Centerline is valid? [False, False] Translation: X:9.32, Y:0.30, Z:-1.51 [[ 0.99581584 -0.06009898 -0.06883987 9.32245632] [ 0.06196578 0.99775732 0.02530949 0.30421344] [ 0.06716441 -0.02946931 0.99730662 -1.50987483] [ 0. 0. 0. 1. ]] SLAMing on 99.66719347 meters Centerline goodness : 0.908040 Centerline is valid? [False, False] Translation: X:9.33, Y:0.30, Z:-1.51 [[ 0.99567788 -0.06168797 -0.0694274 9.32590488] [ 0.06345171 0.99770842 0.02349022 0.30278621] [ 0.06781924 -0.02779398 0.99731041 -1.51167134] [ 0. 0. 0. 1. ]] SLAMing on 99.69719347 meters Centerline goodness : 0.907624 Centerline is valid? [False, False] Translation: X:9.33, Y:0.30, Z:-1.51 [[ 0.99549457 -0.06383511 -0.07011162 9.32922528] [ 0.06547174 0.99762714 0.02129638 0.30089915] [ 0.0685858 -0.02579076 0.9973118 -1.51316764] [ 0. 0. 0. 1. ]] SLAMing on 99.72719347 meters Centerline goodness : 0.909723 Centerline is valid? [False, False] Translation: X:9.33, Y:0.30, Z:-1.51 [[ 0.99531126 -0.06598724 -0.07071906 9.33229285] [ 0.0675031 0.99753313 0.01926124 0.29889549] [ 0.06927361 -0.02394469 0.99731029 -1.51458786] [ 0. 0. 0. 1. ]] SLAMing on 99.75719347 meters Centerline goodness : 0.907288 Centerline is valid? [False, False] Translation: X:9.33, Y:0.29, Z:-1.51 [[ 0.99513666 -0.06806846 -0.07120194 9.33376999] [ 0.06950624 0.99742071 0.01791136 0.29328753] [ 0.06979909 -0.02277323 0.99730109 -1.51406887] [ 0. 0. 0. 1. ]] SLAMing on 99.78719347 meters Centerline goodness : 0.906298 Centerline is valid? [False, False] Translation: X:9.34, Y:0.29, Z:-1.51 [[ 0.99492188 -0.07063311 -0.07170369 9.33624003] [ 0.07193353 0.99728561 0.01571543 0.29056286] [ 0.07039902 -0.02079352 0.99730216 -1.51494009] [ 0. 0. 0. 1. ]] SLAMing on 99.81719347 meters Centerline goodness : 0.905779 Centerline is valid? [False, False] Translation: X:9.34, Y:0.28, Z:-1.52 [[ 0.99472182 -0.0727162 -0.07239372 9.33968525] [ 0.07398082 0.99714775 0.01493974 0.28191504] [ 0.07110087 -0.02021663 0.99726423 -1.51628226] [ 0. 0. 0. 1. ]] SLAMing on 99.84719347000001 meters Centerline goodness : 0.905406 Centerline is valid? [False, False] Translation: X:9.34, Y:0.28, Z:-1.52 [[ 0.99448855 -0.07543716 -0.07281322 9.34198007] [ 0.07656096 0.99698319 0.01276439 0.27862366] [ 0.07163065 -0.01826869 0.99726391 -1.51708674] [ 0. 0. 0. 1. ]] SLAMing on 99.87719347 meters Centerline goodness : 0.905832 Centerline is valid? [False, False] Translation: X:9.34, Y:0.28, Z:-1.52 [[ 0.99422164 -0.07872973 -0.07297231 9.34315305] [ 0.07967642 0.9967691 0.01014991 0.27553184] [ 0.07193744 -0.01590543 0.99728232 -1.5171744 ] [ 0. 0. 0. 1. ]] SLAMing on 99.90719347 meters Centerline goodness : 0.905419 Centerline is valid? [False, False] Translation: X:9.35, Y:0.27, Z:-1.52 [[ 0.99415907 -0.08585354 -0.06539814 9.35176041] [ 0.08689175 0.99613038 0.01319467 0.27390968] [ 0.06401227 -0.01880016 0.99777201 -1.52092355] [ 0. 0. 0. 1. ]] SLAMing on 99.93719347 meters Centerline goodness : 0.904336 Centerline is valid? [False, False] Translation: X:9.35, Y:0.26, Z:-1.52 [[ 0.99378886 -0.08995558 -0.06551107 9.35151873] [ 0.09107144 0.99574248 0.01424474 0.26468475] [ 0.06395076 -0.02012245 0.99775016 -1.5172616 ] [ 0. 0. 0. 1. ]] SLAMing on 99.96719347 meters Centerline goodness : 0.904765 Centerline is valid? [False, False] Translation: X:9.35, Y:0.26, Z:-1.52 [[ 0.99356053 -0.09270117 -0.06514574 9.35211493] [ 0.09371318 0.9955189 0.01264777 0.25989082] [ 0.06368135 -0.01867134 0.9977956 -1.5174164 ] [ 0. 0. 0. 1. ]] SLAMing on 99.99719347 meters Centerline goodness : 0.904765 Centerline is valid? [False, False] Translation: X:9.35, Y:0.26, Z:-1.52 [[ 0.99356053 -0.09270117 -0.06514574 9.35211493] [ 0.09371318 0.9955189 0.01264777 0.25989082] [ 0.06368135 -0.01867134 0.9977956 -1.5174164 ] [ 0. 0. 0. 1. ]] SLAMing on 100.02719347 meters Centerline goodness : 0.903995 Centerline is valid? [False, False] Translation: X:9.35, Y:0.25, Z:-1.52 [[ 0.99328531 -0.09572355 -0.06497156 9.35385823] [ 0.09663165 0.99525971 0.01097418 0.25486137] [ 0.06361309 -0.0171788 0.99782677 -1.51848592] [ 0. 0. 0. 1. ]] SLAMing on 100.05719347 meters Centerline goodness : 0.905294 Centerline is valid? [False, False] Translation: X:9.36, Y:0.25, Z:-1.52 [[ 0.99316046 -0.09629214 -0.06603121 9.35802326] [ 0.097383 0.99515544 0.01349821 0.24877119] [ 0.06441155 -0.01983621 0.99772625 -1.5198934 ] [ 0. 0. 0. 1. ]] SLAMing on 100.08719347 meters Centerline goodness : 0.901514 Centerline is valid? [False, False] Translation: X:9.37, Y:0.24, Z:-1.52 [[ 0.99265451 -0.0985937 -0.0701164 9.36531271] [ 0.1003371 0.99471499 0.02178432 0.23678739] [ 0.06759804 -0.02865958 0.99730092 -1.5206988 ] [ 0. 0. 0. 1. ]] SLAMing on 100.11719347 meters Centerline goodness : 0.899003 Centerline is valid? [False, False] Translation: X:9.37, Y:0.23, Z:-1.52 [[ 0.99231233 -0.10189246 -0.07024365 9.36656619] [ 0.10355691 0.99441295 0.02046605 0.23253589] [ 0.06776586 -0.02758293 0.99731989 -1.52015182] [ 0. 0. 0. 1. ]] SLAMing on 100.14719347 meters Centerline goodness : 0.903161 Centerline is valid? [False, False] Translation: X:9.37, Y:0.23, Z:-1.52 [[ 0.99213903 -0.10269281 -0.07151454 9.36991611] [ 0.10461366 0.99423185 0.02364329 0.22614671] [ 0.06867404 -0.03093883 0.9971593 -1.51962136] [ 0. 0. 0. 1. ]] SLAMing on 100.17719347 meters Centerline goodness : 0.903423 Centerline is valid? [False, False] Translation: X:9.37, Y:0.22, Z:-1.52 [[ 0.99171648 -0.10633597 -0.07204923 9.37175688] [ 0.10839058 0.99378836 0.02522274 0.21527038] [ 0.0689196 -0.03282326 0.9970821 -1.51756164] [ 0. 0. 0. 1. ]] SLAMing on 100.20719347 meters Centerline goodness : 0.902780 Centerline is valid? [False, False] Translation: X:9.37, Y:0.21, Z:-1.52 [[ 0.99163938 -0.10652839 -0.07282201 9.37420409] [ 0.1087949 0.99367292 0.027889 0.20920682] [ 0.06939029 -0.0355785 0.99695494 -1.51737496] [ 0. 0. 0. 1. ]] SLAMing on 100.23719347 meters Centerline goodness : 0.901465 Centerline is valid? [False, False] Translation: X:9.38, Y:0.21, Z:-1.52 [[ 0.99129187 -0.10974083 -0.07278308 9.37552947] [ 0.11188179 0.99338108 0.0260094 0.20541774] [ 0.06944704 -0.03392601 0.99700859 -1.51744593] [ 0. 0. 0. 1. ]] SLAMing on 100.26719347 meters Centerline goodness : 0.901968 Centerline is valid? [False, False] Translation: X:9.38, Y:0.20, Z:-1.52 [[ 0.99112912 -0.11046601 -0.07389405 9.37910824] [ 0.11278947 0.99322337 0.02803351 0.20048446] [ 0.07029655 -0.0361193 0.996872 -1.51794252] [ 0. 0. 0. 1. ]] SLAMing on 100.29719347 meters Centerline goodness : 0.901347 Centerline is valid? [False, False] Translation: X:9.38, Y:0.19, Z:-1.51 [[ 0.98976249 -0.1138277 -0.08610145 9.37587849] [ 0.11650169 0.99283207 0.02668037 0.19292746] [ 0.08244732 -0.03643819 0.99592906 -1.51226289] [ 0. 0. 0. 1. ]] SLAMing on 100.32719347 meters Centerline goodness : 0.902084 Centerline is valid? [False, False] Translation: X:9.38, Y:0.19, Z:-1.51 [[ 0.98948288 -0.11516557 -0.08752441 9.37866125] [ 0.11802151 0.99261138 0.02817056 0.19035303] [ 0.08363345 -0.03820405 0.99576398 -1.51112568] [ 0. 0. 0. 1. ]] SLAMing on 100.35719347 meters Centerline goodness : 0.903270 Centerline is valid? [False, False] Translation: X:9.38, Y:0.19, Z:-1.51 [[ 0.98897299 -0.11945816 -0.08753389 9.37887275] [ 0.12206369 0.99220675 0.02502461 0.1897536 ] [ 0.08386232 -0.03543338 0.99584717 -1.50990825] [ 0. 0. 0. 1. ]] SLAMing on 100.38719347 meters Centerline goodness : 0.901594 Centerline is valid? [False, False] Translation: X:9.38, Y:0.19, Z:-1.51 [[ 0.98873116 -0.12068938 -0.08857069 9.3809033 ] [ 0.12340768 0.99201893 0.02586485 0.18790462] [ 0.08474218 -0.03650369 0.99573402 -1.50904948] [ 0. 0. 0. 1. ]] SLAMing on 100.41719347 meters Centerline goodness : 0.907176 Centerline is valid? [False, False] Translation: X:9.38, Y:0.19, Z:-1.51 [[ 0.98835417 -0.12269238 -0.09001456 9.38260626] [ 0.12545964 0.99176487 0.02573553 0.18961057] [ 0.08611572 -0.03672901 0.99560789 -1.50721025] [ 0. 0. 0. 1. ]] SLAMing on 100.44719347 meters Centerline goodness : 0.906031 Centerline is valid? [False, False] Translation: X:9.38, Y:0.19, Z:-1.51 [[ 0.98820089 -0.12378164 -0.09020595 9.38236676] [ 0.12641478 0.99168554 0.02406422 0.19363448] [ 0.08647723 -0.03518365 0.99563236 -1.5068683 ] [ 0. 0. 0. 1. ]] SLAMing on 100.47719347 meters Centerline goodness : 0.908087 Centerline is valid? [False, False] Translation: X:9.38, Y:0.20, Z:-1.51 [[ 0.98840493 -0.1213268 -0.09129897 9.38344825] [ 0.12421711 0.99189712 0.02664986 0.19593465] [ 0.08732584 -0.03768174 0.99546687 -1.50670736] [ 0. 0. 0. 1. ]] SLAMing on 100.50719347 meters Centerline goodness : 0.907793 Centerline is valid? [False, False] Translation: X:9.38, Y:0.20, Z:-1.51 [[ 0.98874635 -0.12032909 -0.08889079 9.37884053] [ 0.12274266 0.99219056 0.02218413 0.20391498] [ 0.08552721 -0.03284517 0.9957943 -1.5074921 ] [ 0. 0. 0. 1. ]] SLAMing on 100.53719347 meters Centerline goodness : 0.908760 Centerline is valid? [False, False] Translation: X:9.38, Y:0.21, Z:-1.51 [[ 0.98919534 -0.11603308 -0.08960416 9.37885838] [ 0.11874449 0.99259662 0.02552847 0.2065232 ] [ 0.08597864 -0.03589264 0.99565024 -1.50742858] [ 0. 0. 0. 1. ]] SLAMing on 100.56719347 meters Centerline goodness : 0.911653 Centerline is valid? [False, False] Translation: X:9.38, Y:0.21, Z:-1.51 [[ 0.98955565 -0.11252955 -0.09009283 9.37794376] [ 0.11544673 0.9929236 0.02783485 0.21073067] [ 0.08632305 -0.03794506 0.99554433 -1.50680354] [ 0. 0. 0. 1. ]] SLAMing on 100.59719347 meters Centerline goodness : 0.910622 Centerline is valid? [False, False] Translation: X:9.38, Y:0.22, Z:-1.51 [[ 0.98979821 -0.10966041 -0.09096205 9.37767068] [ 0.1128051 0.99315908 0.03016701 0.21512614] [ 0.08703166 -0.04012024 0.99539734 -1.50584949] [ 0. 0. 0. 1. ]] SLAMing on 100.62719347 meters Centerline goodness : 0.912180 Centerline is valid? [False, False] Translation: X:9.38, Y:0.22, Z:-1.51 [[ 0.99002789 -0.10713096 -0.09147528 9.37726376] [ 0.11031714 0.9934283 0.03050136 0.2232067 ] [ 0.0876065 -0.04028849 0.99534011 -1.50623614] [ 0. 0. 0. 1. ]] SLAMing on 100.65719347 meters Centerline goodness : 0.912887 Centerline is valid? [False, False] Translation: X:9.38, Y:0.23, Z:-1.51 [[ 0.99004235 -0.10722308 -0.0912105 9.3767509 ] [ 0.1102336 0.99349354 0.02862056 0.2268098 ] [ 0.08754826 -0.03839003 0.99542027 -1.5070497 ] [ 0. 0. 0. 1. ]] SLAMing on 100.68719347 meters Centerline goodness : 0.913195 Centerline is valid? [False, False] Translation: X:9.38, Y:0.23, Z:-1.51 [[ 0.99008383 -0.10704617 -0.0909677 9.37609243] [ 0.10990531 0.99357499 0.02701037 0.23067801] [ 0.08749188 -0.03674036 0.99548748 -1.50772319] [ 0. 0. 0. 1. ]] SLAMing on 100.71719347 meters Centerline goodness : 0.913622 Centerline is valid? [False, False] Translation: X:9.38, Y:0.24, Z:-1.51 [[ 0.99018742 -0.10505307 -0.09215599 9.37623509] [ 0.10803942 0.99375153 0.02802452 0.23860853] [ 0.0886361 -0.03770601 0.99535014 -1.50689741] [ 0. 0. 0. 1. ]] SLAMing on 100.74719347 meters Centerline goodness : 0.914951 Centerline is valid? [False, False] Translation: X:9.38, Y:0.25, Z:-1.51 [[ 0.9905314 -0.11015389 -0.08193694 9.38213577] [ 0.11231638 0.99342326 0.02225457 0.24730642] [ 0.07894663 -0.03124671 0.99638902 -1.50902451] [ 0. 0. 0. 1. ]] SLAMing on 100.77719347 meters Centerline goodness : 0.913614 Centerline is valid? [False, False] Translation: X:9.38, Y:0.25, Z:-1.51 [[ 0.99044546 -0.11083844 -0.08205265 9.38228085] [ 0.11285744 0.99340222 0.02037691 0.25138136] [ 0.07925274 -0.02944247 0.99641966 -1.50957748] [ 0. 0. 0. 1. ]] SLAMing on 100.80719347 meters Centerline goodness : 0.914546 Centerline is valid? [False, False] Translation: X:9.38, Y:0.25, Z:-1.51 [[ 0.99045983 -0.11045468 -0.08239599 9.3840308 ] [ 0.11238641 0.99347959 0.01917272 0.25490923] [ 0.07974102 -0.02825 0.99641523 -1.51178483] [ 0. 0. 0. 1. ]] SLAMing on 100.83719347 meters Centerline goodness : 0.913444 Centerline is valid? [False, False] Translation: X:9.39, Y:0.26, Z:-1.51 [[ 0.99075364 -0.10743034 -0.08286106 9.38508667] [ 0.10937069 0.99381498 0.01923135 0.26212901] [ 0.08028253 -0.0281161 0.99637553 -1.51432589] [ 0. 0. 0. 1. ]] SLAMing on 100.86719347 meters Centerline goodness : 0.912899 Centerline is valid? [False, False] Translation: X:9.38, Y:0.27, Z:-1.51 [[ 0.99091753 -0.10627152 -0.08239421 9.38283921] [ 0.10808621 0.99398084 0.01787341 0.26671402] [ 0.07999883 -0.02661675 0.99643953 -1.51385573] [ 0. 0. 0. 1. ]] SLAMing on 100.89719347 meters Centerline goodness : 0.913876 Centerline is valid? [False, False] Translation: X:9.38, Y:0.27, Z:-1.51 [[ 0.99126708 -0.10256347 -0.08288732 9.3823527 ] [ 0.1045762 0.99430955 0.02030593 0.27053229] [ 0.080333 -0.02879664 0.99635203 -1.51366255] [ 0. 0. 0. 1. ]] SLAMing on 100.92719347 meters Centerline goodness : 0.916080 Centerline is valid? [False, False] Translation: X:9.38, Y:0.28, Z:-1.52 [[ 0.99193466 -0.10525004 -0.07062626 9.3840035 ] [ 0.10664451 0.99416421 0.01626258 0.27909471] [ 0.06850247 -0.02366332 0.99737027 -1.51606885] [ 0. 0. 0. 1. ]] SLAMing on 100.95719347 meters Centerline goodness : 0.915287 Centerline is valid? [False, False] Translation: X:9.38, Y:0.29, Z:-1.52 [[ 0.9921873 -0.10229479 -0.07141529 9.38365953] [ 0.10376155 0.99445467 0.01713024 0.28650198] [ 0.06926693 -0.02440657 0.99729956 -1.51586878] [ 0. 0. 0. 1. ]] SLAMing on 100.98719347 meters Centerline goodness : 0.913022 Centerline is valid? [False, False] Translation: X:9.39, Y:0.29, Z:-1.52 [[ 0.99219 -0.10178548 -0.07210209 9.3859983 ] [ 0.10325723 0.99450978 0.01697791 0.28927882] [ 0.06997813 -0.02429037 0.99725275 -1.51767363] [ 0. 0. 0. 1. ]] SLAMing on 101.01719347 meters Centerline goodness : 0.914319 Centerline is valid? [False, False] Translation: X:9.39, Y:0.29, Z:-1.52 [[ 0.99211547 -0.10250478 -0.07210873 9.38614176] [ 0.10389044 0.99446442 0.01572564 0.29095362] [ 0.07009762 -0.02309306 0.9972728 -1.51799604] [ 0. 0. 0. 1. ]] SLAMing on 101.04719347 meters Centerline goodness : 0.917316 Centerline is valid? [False, False] Translation: X:9.39, Y:0.29, Z:-1.52 [[ 0.99198874 -0.1031576 -0.07291673 9.38775518] [ 0.10462762 0.99437248 0.01662647 0.29045999] [ 0.07079125 -0.02412237 0.99719943 -1.51752119] [ 0. 0. 0. 1. ]] SLAMing on 101.07719347 meters Centerline goodness : 0.917442 Centerline is valid? [False, False] Translation: X:9.39, Y:0.29, Z:-1.52 [[ 0.99184854 -0.10412339 -0.07344931 9.38791321] [ 0.10564985 0.99425459 0.0172022 0.28999156] [ 0.07123616 -0.02482189 0.99715058 -1.51580673] [ 0. 0. 0. 1. ]] SLAMing on 101.10719347 meters Centerline goodness : 0.917430 Centerline is valid? [False, False] Translation: X:9.39, Y:0.29, Z:-1.51 [[ 0.99174346 -0.1045649 -0.0742367 9.38924109] [ 0.10620498 0.99417235 0.01848903 0.28929933] [ 0.07187077 -0.02622068 0.99706924 -1.51490417] [ 0. 0. 0. 1. ]] SLAMing on 101.13719347 meters Centerline goodness : 0.919559 Centerline is valid? [False, False] Translation: X:9.39, Y:0.29, Z:-1.51 [[ 0.99160411 -0.10560426 -0.07462597 9.38981173] [ 0.1072619 0.99405766 0.01855403 0.28928986] [ 0.07222313 -0.02640278 0.99703897 -1.51414993] [ 0. 0. 0. 1. ]] SLAMing on 101.16719347 meters Centerline goodness : 0.917462 Centerline is valid? [False, False] Translation: X:9.39, Y:0.29, Z:-1.52 [[ 0.99151085 -0.10635981 -0.07479191 9.39189753] [ 0.10797504 0.99399274 0.01788347 0.28936513] [ 0.07244053 -0.02580732 0.99703879 -1.51612861] [ 0. 0. 0. 1. ]] SLAMing on 101.19719347 meters Centerline goodness : 0.917322 Centerline is valid? [False, False] Translation: X:9.39, Y:0.29, Z:-1.52 [[ 0.99155323 -0.1056515 -0.07523262 9.39407397] [ 0.10732431 0.9940512 0.01853945 0.28870981] [ 0.07282636 -0.02645715 0.99699365 -1.51774282] [ 0. 0. 0. 1. ]] SLAMing on 101.22719347 meters Centerline goodness : 0.918394 Centerline is valid? [False, False] Translation: X:9.39, Y:0.29, Z:-1.52 [[ 0.99160995 -0.1053119 -0.07496077 9.39368552] [ 0.10698697 0.9940849 0.01868146 0.28765743] [ 0.07254999 -0.02654455 0.99701148 -1.51777462] [ 0. 0. 0. 1. ]] SLAMing on 101.25719347 meters Centerline goodness : 0.917814 Centerline is valid? [False, False] Translation: X:9.39, Y:0.29, Z:-1.52 [[ 0.9916822 -0.10466514 -0.07491074 9.39339818] [ 0.10642561 0.99412157 0.0198971 0.28572111] [ 0.07238785 -0.02770402 0.99699172 -1.5171511 ] [ 0. 0. 0. 1. ]] SLAMing on 101.28719347 meters Centerline goodness : 0.919557 Centerline is valid? [False, False] Translation: X:9.39, Y:0.28, Z:-1.51 [[ 0.9915601 -0.10566155 -0.07512793 9.39272064] [ 0.10759436 0.99394807 0.02215134 0.28086498] [ 0.07233272 -0.03004772 0.99692784 -1.51415656] [ 0. 0. 0. 1. ]] SLAMing on 101.31719347 meters Centerline goodness : 0.918318 Centerline is valid? [False, False] Translation: X:9.40, Y:0.28, Z:-1.51 [[ 0.99139969 -0.1064146 -0.07617476 9.39536768] [ 0.10851795 0.99380436 0.0240154 0.2778645 ] [ 0.07314722 -0.03207519 0.99680523 -1.51384981] [ 0. 0. 0. 1. ]] SLAMing on 101.34719347 meters Centerline goodness : 0.919201 Centerline is valid? [False, False] Translation: X:9.40, Y:0.28, Z:-1.51 [[ 0.99100116 -0.11000741 -0.07625656 9.39689926] [ 0.1119541 0.99347579 0.02172846 0.27555366] [ 0.07336876 -0.03007017 0.99685145 -1.51397698] [ 0. 0. 0. 1. ]] SLAMing on 101.37719347 meters Centerline goodness : 0.914683 Centerline is valid? [False, False] Translation: X:9.40, Y:0.27, Z:-1.51 [[ 0.99030342 -0.11539906 -0.07734469 9.40144175] [ 0.11732162 0.99287661 0.02077681 0.26964111] [ 0.07439611 -0.02964955 0.9967879 -1.5145111 ] [ 0. 0. 0. 1. ]] SLAMing on 101.40719347 meters Centerline goodness : 0.915418 Centerline is valid? [False, False] Translation: X:9.40, Y:0.27, Z:-1.51 [[ 0.99009293 -0.11640172 -0.07852793 9.40434144] [ 0.11850542 0.99269465 0.02266722 0.26636984] [ 0.07531575 -0.03174864 0.99665418 -1.51400869] [ 0. 0. 0. 1. ]] SLAMing on 101.43719347 meters Centerline goodness : 0.914590 Centerline is valid? [False, False] Translation: X:9.41, Y:0.26, Z:-1.51 [[ 0.98994955 -0.11705421 -0.07936121 9.40636757] [ 0.11930781 0.99256089 0.02425971 0.26378052] [ 0.07593113 -0.0334843 0.99655068 -1.51350888] [ 0. 0. 0. 1. ]] SLAMing on 101.46719347 meters Centerline goodness : 0.914610 Centerline is valid? [False, False] Translation: X:9.41, Y:0.26, Z:-1.51 [[ 0.98977708 -0.11785951 -0.08031476 9.40860165] [ 0.12023315 0.99242142 0.02537161 0.26171952] [ 0.0767158 -0.03476873 0.9964466 -1.51312736] [ 0. 0. 0. 1. ]] SLAMing on 101.49719347 meters Centerline goodness : 0.912300 Centerline is valid? [False, False] Translation: X:9.41, Y:0.26, Z:-1.51 [[ 0.98924601 -0.12211435 -0.08050102 9.41096646] [ 0.12429076 0.99198879 0.02258441 0.26006805] [ 0.07709823 -0.03234707 0.99649864 -1.51383958] [ 0. 0. 0. 1. ]] SLAMing on 101.52719347 meters Centerline goodness : 0.910851 Centerline is valid? [False, False] Translation: X:9.42, Y:0.26, Z:-1.52 [[ 0.98903259 -0.1229072 -0.08190459 9.41542405] [ 0.12523101 0.99184098 0.02384671 0.25827224] [ 0.0783054 -0.03384217 0.99635484 -1.51513286] [ 0. 0. 0. 1. ]] SLAMing on 101.55719347 meters Centerline goodness : 0.910681 Centerline is valid? [False, False] Translation: X:9.42, Y:0.26, Z:-1.52 [[ 0.98857243 -0.12682483 -0.08148625 9.41589322] [ 0.12884096 0.99146441 0.01995817 0.25822485] [ 0.07825953 -0.03022886 0.99647462 -1.51556623] [ 0. 0. 0. 1. ]] SLAMing on 101.58719347 meters Centerline goodness : 0.909169 Centerline is valid? [False, False] Translation: X:9.42, Y:0.26, Z:-1.52 [[ 0.98840838 -0.12738267 -0.08259855 9.4200985 ] [ 0.12951676 0.99135498 0.02099319 0.25553814] [ 0.07921032 -0.03144775 0.99636176 -1.51741168] [ 0. 0. 0. 1. ]] SLAMing on 101.61719347 meters Centerline goodness : 0.909315 Centerline is valid? [False, False] Translation: X:9.42, Y:0.25, Z:-1.52 [[ 0.98865317 -0.12449261 -0.08406243 9.42240268] [ 0.12702798 0.99157139 0.02549654 0.25440785] [ 0.08017977 -0.03588552 0.99613424 -1.51710344] [ 0. 0. 0. 1. ]] SLAMing on 101.64719347 meters Centerline goodness : 0.910028 Centerline is valid? [False, False] Translation: X:9.42, Y:0.26, Z:-1.52 [[ 0.98876262 -0.12379553 -0.08380422 9.42051508] [ 0.12631174 0.99166537 0.02539961 0.2562476 ] [ 0.07996138 -0.03569964 0.99615848 -1.5157646 ] [ 0. 0. 0. 1. ]] SLAMing on 101.67719347 meters Centerline goodness : 0.911136 Centerline is valid? [False, False] Translation: X:9.42, Y:0.26, Z:-1.52 [[ 0.98958442 -0.11785446 -0.08266195 9.41611173] [ 0.12045391 0.99234674 0.02718091 0.26119811] [ 0.07882592 -0.03685476 0.99620691 -1.51533673] [ 0. 0. 0. 1. ]] SLAMing on 101.70719347 meters Centerline goodness : 0.911687 Centerline is valid? [False, False] Translation: X:9.41, Y:0.26, Z:-1.52 [[ 0.99018443 -0.11298753 -0.08227159 9.41491505] [ 0.11573828 0.99284289 0.02945583 0.26293154] [ 0.07835462 -0.03868867 0.99617455 -1.51663653] [ 0. 0. 0. 1. ]] SLAMing on 101.73719347 meters Centerline goodness : 0.914108 Centerline is valid? [False, False] Translation: X:9.41, Y:0.27, Z:-1.52 [[ 0.99064909 -0.11009249 -0.08058548 9.41098847] [ 0.11267949 0.99322892 0.02827798 0.26541991] [ 0.07692663 -0.03709388 0.99634649 -1.51710992] [ 0. 0. 0. 1. ]] SLAMing on 101.76719347 meters Centerline goodness : 0.916707 Centerline is valid? [False, False] Translation: X:9.41, Y:0.27, Z:-1.52 [[ 0.9911467 -0.10562371 -0.08044783 9.40960476] [ 0.1084054 0.99362266 0.03102075 0.26717296] [ 0.07665826 -0.03946709 0.996276 -1.51725685] [ 0. 0. 0. 1. ]] SLAMing on 101.79719347 meters Centerline goodness : 0.917079 Centerline is valid? [False, False] Translation: X:9.40, Y:0.27, Z:-1.51 [[ 0.99175108 -0.10338601 -0.07577019 9.40020024] [ 0.10568213 0.99403504 0.02693736 0.27285537] [ 0.07253328 -0.03472271 0.99676138 -1.51337483] [ 0. 0. 0. 1. ]] SLAMing on 101.82719347 meters Centerline goodness : 0.919135 Centerline is valid? [False, False] Translation: X:9.40, Y:0.27, Z:-1.51 [[ 0.99160429 -0.10387604 -0.07701106 9.40112371] [ 0.10635309 0.99391176 0.02878243 0.27398616] [ 0.07355239 -0.03673114 0.9966147 -1.51109078] [ 0. 0. 0. 1. ]] SLAMing on 101.85719347 meters Centerline goodness : 0.920039 Centerline is valid? [False, False] Translation: X:9.40, Y:0.27, Z:-1.51 [[ 0.99137245 -0.10552008 -0.07775717 9.40195545] [ 0.10804537 0.99372269 0.02900705 0.27454934] [ 0.07420824 -0.03715809 0.99655026 -1.50958169] [ 0. 0. 0. 1. ]] SLAMing on 101.88719347 meters Centerline goodness : 0.920039 Centerline is valid? [False, False] Translation: X:9.40, Y:0.27, Z:-1.51 [[ 0.99137245 -0.10552008 -0.07775717 9.40195545] [ 0.10804537 0.99372269 0.02900705 0.27454934] [ 0.07420824 -0.03715809 0.99655026 -1.50958169] [ 0. 0. 0. 1. ]] SLAMing on 101.91719347 meters Centerline goodness : 0.919085 Centerline is valid? [False, False] Translation: X:9.40, Y:0.28, Z:-1.51 [[ 0.99092553 -0.10959662 -0.07781497 9.40255716] [ 0.11187205 0.99339545 0.02549747 0.27531825] [ 0.0745066 -0.03397141 0.99664172 -1.50911807] [ 0. 0. 0. 1. ]] SLAMing on 101.94719347 meters Centerline goodness : 0.920084 Centerline is valid? [False, False] Translation: X:9.41, Y:0.28, Z:-1.51 [[ 0.99040102 -0.11396292 -0.07821937 9.40544818] [ 0.1159919 0.99300889 0.02189101 0.27579547] [ 0.07517777 -0.03075369 0.9966958 -1.51063098] [ 0. 0. 0. 1. ]] SLAMing on 101.97719347 meters Centerline goodness : 0.919232 Centerline is valid? [False, False] Translation: X:9.41, Y:0.28, Z:-1.51 [[ 0.9902639 -0.11439615 -0.07931534 9.40859927] [ 0.11648345 0.99294463 0.02219391 0.27684327] [ 0.07621684 -0.03121675 0.99660248 -1.51174969] [ 0. 0. 0. 1. ]] SLAMing on 102.00719347 meters Centerline goodness : 0.920524 Centerline is valid? [False, False] Translation: X:9.41, Y:0.28, Z:-1.51 [[ 0.99006914 -0.11562863 -0.07995695 9.4097733 ] [ 0.11767528 0.99282236 0.0213611 0.27905711] [ 0.07691309 -0.03055792 0.99656941 -1.51164645] [ 0. 0. 0. 1. ]] SLAMing on 102.03719347 meters Centerline goodness : 0.921770 Centerline is valid? [False, False] Translation: X:9.41, Y:0.28, Z:-1.51 [[ 0.990018 -0.11534841 -0.08098824 9.41268007] [ 0.11745068 0.99284212 0.02167638 0.28113509] [ 0.0779082 -0.03097213 0.99647932 -1.51302506] [ 0. 0. 0. 1. ]] SLAMing on 102.06719347 meters Centerline goodness : 0.919048 Centerline is valid? [False, False] Translation: X:9.41, Y:0.28, Z:-1.51 [[ 0.99004099 -0.11474735 -0.08155911 9.41475529] [ 0.1168251 0.99292704 0.02116118 0.28482817] [ 0.07855406 -0.03047859 0.99644383 -1.51493597] [ 0. 0. 0. 1. ]] SLAMing on 102.09719347 meters Centerline goodness : 0.914793 Centerline is valid? [False, False] Translation: X:9.42, Y:0.29, Z:-1.52 [[ 0.98998449 -0.11514937 -0.08167828 9.41524375] [ 0.11713882 0.9929145 0.01998255 0.28729904] [ 0.07879857 -0.02935011 0.99645841 -1.51562035] [ 0. 0. 0. 1. ]] SLAMing on 102.12719347 meters Centerline goodness : 0.917230 Centerline is valid? [False, False] Translation: X:9.42, Y:0.29, Z:-1.52 [[ 0.98997764 -0.11509473 -0.08183811 9.41589244] [ 0.11700032 0.99295264 0.01886754 0.29017548] [ 0.07908981 -0.02825353 0.99646703 -1.51663879] [ 0. 0. 0. 1. ]] SLAMing on 102.15719347 meters Centerline goodness : 0.915688 Centerline is valid? [False, False] Translation: X:9.42, Y:0.29, Z:-1.52 [[ 0.98995047 -0.11535216 -0.08180431 9.41630082] [ 0.11708841 0.99298042 0.01673862 0.29422082] [ 0.07929924 -0.02614874 0.99650784 -1.51809015] [ 0. 0. 0. 1. ]] SLAMing on 102.18719347 meters Centerline goodness : 0.914970 Centerline is valid? [False, False] Translation: X:9.42, Y:0.30, Z:-1.52 [[ 0.98986995 -0.11557269 -0.08246471 9.4189252 ] [ 0.11704443 0.99303862 0.0132253 0.3027183 ] [ 0.08036216 -0.02274336 0.99650623 -1.52158449] [ 0. 0. 0. 1. ]] SLAMing on 102.21719347 meters Centerline goodness : 0.916784 Centerline is valid? [False, False] Translation: X:9.42, Y:0.31, Z:-1.52 [[ 0.98981679 -0.11578636 -0.0828024 9.41953153] [ 0.11716745 0.99303964 0.01200282 0.30672834] [ 0.08083631 -0.02158234 0.9964937 -1.52216714] [ 0. 0. 0. 1. ]] SLAMing on 102.24719347 meters Centerline goodness : 0.915752 Centerline is valid? [False, False] Translation: X:9.42, Y:0.31, Z:-1.52 [[ 0.98966977 -0.11674065 -0.08321879 9.41944967] [ 0.118018 0.99295507 0.01058214 0.31094318] [ 0.08139715 -0.02029414 0.99647511 -1.52146882] [ 0. 0. 0. 1. ]] SLAMing on 102.27719347 meters Centerline goodness : 0.916415 Centerline is valid? [False, False] Translation: X:9.42, Y:0.32, Z:-1.52 [[ 0.98951271 -0.11760544 -0.08386626 9.42056192] [ 0.11883085 0.99286659 0.00975515 0.31506328] [ 0.08212075 -0.01961874 0.99642927 -1.52159716] [ 0. 0. 0. 1. ]] SLAMing on 102.30719347 meters Centerline goodness : 0.917889 Centerline is valid? [False, False] Translation: X:9.42, Y:0.32, Z:-1.52 [[ 0.98924448 -0.11863634 -0.08556155 9.42357488] [ 0.11989822 0.99273836 0.00974503 0.32124319] [ 0.08378412 -0.01989889 0.99628523 -1.52192319] [ 0. 0. 0. 1. ]] SLAMing on 102.33719347 meters Centerline goodness : 0.918235 Centerline is valid? [False, False] Translation: X:9.42, Y:0.32, Z:-1.52 [[ 9.89116229e-01 -1.19552491e-01 -8.57688018e-02 9.42300683e+00] [ 1.20736007e-01 9.92646279e-01 8.72821359e-03 3.23546633e-01] [ 8.40946023e-02 -1.89886003e-02 9.96276834e-01 -1.52078798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.36719347 meters Centerline goodness : 0.923066 Centerline is valid? [False, False] Translation: X:9.42, Y:0.33, Z:-1.52 [[ 0.98922528 -0.11781185 -0.08691213 9.42403553] [ 0.11927955 0.99278971 0.01187354 0.32542131] [ 0.08488662 -0.02211244 0.99614522 -1.51995749] [ 0. 0. 0. 1. ]] SLAMing on 102.39719347 meters Centerline goodness : 0.922871 Centerline is valid? [False, False] Translation: X:9.43, Y:0.33, Z:-1.52 [[ 0.98908952 -0.11806611 -0.088104 9.4251143 ] [ 0.11973346 0.99270922 0.01386766 0.32720497] [ 0.08582435 -0.02426535 0.99601475 -1.51832181] [ 0. 0. 0. 1. ]] SLAMing on 102.42719347 meters Centerline goodness : 0.922631 Centerline is valid? [False, False] Translation: X:9.43, Y:0.33, Z:-1.52 [[ 0.98946128 -0.12323733 -0.07601937 9.42769495] [ 0.12457487 0.99212382 0.01309291 0.33226932] [ 0.07380709 -0.02242503 0.99702038 -1.52136422] [ 0. 0. 0. 1. ]] SLAMing on 102.45719347 meters Centerline goodness : 0.922446 Centerline is valid? [False, False] Translation: X:9.43, Y:0.33, Z:-1.52 [[ 0.98974315 -0.12056949 -0.0766257 9.42714472] [ 0.12213365 0.99238391 0.01604838 0.33421232] [ 0.07410717 -0.02524236 0.99693077 -1.52014226] [ 0. 0. 0. 1. ]] SLAMing on 102.48719347 meters Centerline goodness : 0.925657 Centerline is valid? [False, False] Translation: X:9.43, Y:0.33, Z:-1.52 [[ 0.98992965 -0.11934655 -0.07612939 9.42626418] [ 0.12089089 0.99253694 0.01599399 0.3344304 ] [ 0.0736524 -0.02503627 0.99696966 -1.52051853] [ 0. 0. 0. 1. ]] SLAMing on 102.51719347 meters Centerline goodness : 0.926049 Centerline is valid? [False, False] Translation: X:9.43, Y:0.33, Z:-1.52 [[ 0.99017723 -0.11745532 -0.07585049 9.42548647] [ 0.11904041 0.99274878 0.01671021 0.33466751] [ 0.07333778 -0.02557534 0.99697917 -1.52074911] [ 0. 0. 0. 1. ]] SLAMing on 102.54719347 meters Centerline goodness : 0.928028 Centerline is valid? [False, False] Translation: X:9.43, Y:0.34, Z:-1.52 [[ 0.99056511 -0.11380987 -0.07634182 9.42559944] [ 0.11565291 0.99308514 0.02015728 0.33538168] [ 0.07351983 -0.02879625 0.99687793 -1.52067477] [ 0. 0. 0. 1. ]] SLAMing on 102.57719347 meters Centerline goodness : 0.926532 Centerline is valid? [False, False] Translation: X:9.42, Y:0.34, Z:-1.52 [[ 0.99157651 -0.10469244 -0.07625957 9.42408856] [ 0.10691535 0.99393687 0.02566338 0.33841513] [ 0.07311044 -0.03360053 0.99675768 -1.52193909] [ 0. 0. 0. 1. ]] SLAMing on 102.60719347 meters Centerline goodness : 0.926365 Centerline is valid? [False, False] Translation: X:9.42, Y:0.34, Z:-1.53 [[ 0.99215497 -0.09960904 -0.07554169 9.42369402] [ 0.10185853 0.99444521 0.0265246 0.34014165] [ 0.07247998 -0.03401108 0.9967898 -1.52515778] [ 0. 0. 0. 1. ]] SLAMing on 102.63719347 meters Centerline goodness : 0.926646 Centerline is valid? [False, False] Translation: X:9.42, Y:0.34, Z:-1.53 [[ 0.99267773 -0.09197901 -0.07829939 9.42495405] [ 0.09359111 0.99546271 0.01716656 0.34263412] [ 0.07636516 -0.02436899 0.99678208 -1.5261357 ] [ 0. 0. 0. 1. ]] SLAMing on 102.66719347 meters Centerline goodness : 0.922621 Centerline is valid? [False, False] Translation: X:9.43, Y:0.34, Z:-1.53 [[ 0.99291789 -0.08868275 -0.07905332 9.42938951] [ 0.09048809 0.99570567 0.01954794 0.34366176] [ 0.07698028 -0.02656288 0.99667871 -1.52968216] [ 0. 0. 0. 1. ]] SLAMing on 102.69719347 meters Centerline goodness : 0.923074 Centerline is valid? [False, False] Translation: X:9.43, Y:0.34, Z:-1.53 [[ 0.99405445 -0.07971246 -0.07417325 9.43041014] [ 0.08087023 0.99664329 0.01273407 0.34356564] [ 0.07290921 -0.01865676 0.99716407 -1.53222216] [ 0. 0. 0. 1. ]] SLAMing on 102.72719347 meters Centerline goodness : 0.925967 Centerline is valid? [False, False] Translation: X:9.43, Y:0.34, Z:-1.53 [[ 0.99404246 -0.07973761 -0.07430674 9.43011634] [ 0.08089684 0.99664133 0.01271886 0.34321586] [ 0.073043 -0.01865427 0.99715432 -1.53138106] [ 0. 0. 0. 1. ]] SLAMing on 102.75719347 meters Centerline goodness : 0.923450 Centerline is valid? [False, False] Translation: X:9.44, Y:0.34, Z:-1.53 [[ 0.99403148 -0.08582612 -0.06734464 9.43721587] [ 0.08714992 0.99605072 0.01696649 0.34111184] [ 0.06562251 -0.0227343 0.9975855 -1.53065371] [ 0. 0. 0. 1. ]] SLAMing on 102.78719347 meters Centerline goodness : 0.922379 Centerline is valid? [False, False] Translation: X:9.44, Y:0.34, Z:-1.53 [[ 0.99368269 -0.08965883 -0.06749821 9.43825117] [ 0.09077441 0.99577807 0.01363975 0.33971208] [ 0.06599031 -0.01968069 0.99762616 -1.53056748] [ 0. 0. 0. 1. ]] SLAMing on 102.81719347 meters Centerline goodness : 0.923290 Centerline is valid? [False, False] Translation: X:9.44, Y:0.34, Z:-1.53 [[ 0.99335768 -0.09314024 -0.06756781 9.43984137] [ 0.09408025 0.99550539 0.01085915 0.33666543] [ 0.06625269 -0.01714382 0.99765559 -1.5312407 ] [ 0. 0. 0. 1. ]] SLAMing on 102.84719347 meters Centerline goodness : 0.922855 Centerline is valid? [False, False] Translation: X:9.44, Y:0.33, Z:-1.53 [[ 9.93019542e-01 -9.65534535e-02 -6.77467389e-02 9.44195133e+00] [ 9.73350750e-02 9.95216847e-01 8.32524215e-03 3.32821330e-01] [ 6.66188650e-02 -1.48612621e-02 9.97667815e-01 -1.53231570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.87719347 meters Centerline goodness : 0.922171 Centerline is valid? [False, False] Translation: X:9.44, Y:0.33, Z:-1.53 [[ 9.92669830e-01 -1.00063126e-01 -6.77789044e-02 9.44363462e+00] [ 1.00668825e-01 9.94904388e-01 5.57197090e-03 3.30132707e-01] [ 6.68759806e-02 -1.23543501e-02 9.97684807e-01 -1.53319470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90719347 meters Centerline goodness : 0.921613 Centerline is valid? [False, False] Translation: X:9.45, Y:0.33, Z:-1.53 [[ 9.92001184e-01 -1.05640675e-01 -6.90919541e-02 9.44632662e+00] [ 1.06271272e-01 9.94321933e-01 5.50552599e-03 3.25579725e-01] [ 6.81180378e-02 -1.28039781e-02 9.97595104e-01 -1.53073201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.93719347 meters Centerline goodness : 0.921768 Centerline is valid? [False, False] Translation: X:9.45, Y:0.32, Z:-1.53 [[ 9.91743005e-01 -1.07131081e-01 -7.04893130e-02 9.44925052e+00] [ 1.07936446e-01 9.94127927e-01 7.70634944e-03 3.23003957e-01] [ 6.92498051e-02 -1.52510840e-02 9.97482766e-01 -1.52970355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96719347 meters Centerline goodness : 0.919066 Centerline is valid? [False, False] Translation: X:9.45, Y:0.32, Z:-1.53 [[ 9.91054673e-01 -1.12581981e-01 -7.16654275e-02 9.45301753e+00] [ 1.13370306e-01 9.93528030e-01 7.01618705e-03 3.17685703e-01] [ 7.04117148e-02 -1.50781564e-02 9.97404050e-01 -1.52903232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.99719347 meters Centerline goodness : 0.920114 Centerline is valid? [False, False] Translation: X:9.46, Y:0.31, Z:-1.53 [[ 9.90825400e-01 -1.13797868e-01 -7.29045420e-02 9.45688625e+00] [ 1.14736959e-01 9.93356827e-01 8.81157110e-03 3.14239150e-01] [ 7.14174865e-02 -1.70955739e-02 9.97299997e-01 -1.52973654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02719347 meters Centerline goodness : 0.917010 Centerline is valid? [False, False] Translation: X:9.46, Y:0.31, Z:-1.53 [[ 0.99064878 -0.11463637 -0.07398307 9.46074673] [ 0.1156956 0.99323255 0.01017977 0.31135969] [ 0.07231542 -0.0186441 0.99720754 -1.53111234] [ 0. 0. 0. 1. ]] SLAMing on 103.05719347 meters Centerline goodness : 0.915829 Centerline is valid? [False, False] Translation: X:9.46, Y:0.31, Z:-1.53 [[ 0.99057533 -0.11489385 -0.07456488 9.46371464] [ 0.11604418 0.99318013 0.01126819 0.30837043] [ 0.07276171 -0.01981481 0.9971525 -1.5326921 ] [ 0. 0. 0. 1. ]] SLAMing on 103.08719347 meters Centerline goodness : 0.915482 Centerline is valid? [False, False] Translation: X:9.47, Y:0.31, Z:-1.53 [[ 0.99048674 -0.11518761 -0.07528505 9.46624844] [ 0.11646735 0.99311177 0.01282052 0.30543908] [ 0.0732897 -0.02146681 0.99707963 -1.5333805 ] [ 0. 0. 0. 1. ]] SLAMing on 103.11719347 meters Centerline goodness : 0.915787 Centerline is valid? [False, False] Translation: X:9.47, Y:0.31, Z:-1.53 [[ 0.9905297 -0.11438707 -0.07593749 9.46791613] [ 0.11576931 0.99317686 0.01404241 0.30508129] [ 0.07381309 -0.02270066 0.99701369 -1.5338539 ] [ 0. 0. 0. 1. ]] SLAMing on 103.14719347 meters Centerline goodness : 0.914059 Centerline is valid? [False, False] Translation: X:9.47, Y:0.31, Z:-1.53 [[ 0.99060645 -0.11368959 -0.07598382 9.4682747 ] [ 0.11508467 0.9932538 0.01422669 0.30512928] [ 0.07385379 -0.02283762 0.99700755 -1.53444398] [ 0. 0. 0. 1. ]] SLAMing on 103.17719347 meters Centerline goodness : 0.914447 Centerline is valid? [False, False] Translation: X:9.47, Y:0.30, Z:-1.54 [[ 0.99084793 -0.11203144 -0.07529499 9.46745731] [ 0.11339786 0.99344945 0.01411071 0.30416222] [ 0.07322092 -0.02251986 0.99706146 -1.53553902] [ 0. 0. 0. 1. ]] SLAMing on 103.20719347 meters Centerline goodness : 0.916523 Centerline is valid? [False, False] Translation: X:9.47, Y:0.30, Z:-1.54 [[ 0.99116189 -0.10937876 -0.07506262 9.46788391] [ 0.11082196 0.9937221 0.01532598 0.30270123] [ 0.07291505 -0.02350912 0.99706104 -1.53725545] [ 0. 0. 0. 1. ]] SLAMing on 103.23719347 meters Centerline goodness : 0.916042 Centerline is valid? [False, False] Translation: X:9.47, Y:0.30, Z:-1.54 [[ 0.99157441 -0.10637602 -0.07392107 9.46540824] [ 0.10784834 0.99403522 0.01620842 0.30117707] [ 0.07175596 -0.02404412 0.99713237 -1.53746428] [ 0. 0. 0. 1. ]] SLAMing on 103.26719347 meters Centerline goodness : 0.915850 Centerline is valid? [False, False] Translation: X:9.47, Y:0.30, Z:-1.54 [[ 0.99159881 -0.10611792 -0.0739648 9.4651133 ] [ 0.10761331 0.99405551 0.01652304 0.30121798] [ 0.07177172 -0.02434382 0.99712396 -1.53694794] [ 0. 0. 0. 1. ]] SLAMing on 103.29719347 meters Centerline goodness : 0.915908 Centerline is valid? [False, False] Translation: X:9.46, Y:0.30, Z:-1.54 [[ 0.99165887 -0.10535851 -0.07424463 9.46456483] [ 0.10700188 0.9940866 0.01850466 0.29984308] [ 0.07185597 -0.02629462 0.99706836 -1.53516476] [ 0. 0. 0. 1. ]] SLAMing on 103.32719347 meters Centerline goodness : 0.917830 Centerline is valid? [False, False] Translation: X:9.47, Y:0.30, Z:-1.54 [[ 0.99159476 -0.1054751 -0.07493227 9.46624635] [ 0.10722333 0.99403991 0.01969298 0.29835151] [ 0.07240855 -0.02756194 0.99699415 -1.53513799] [ 0. 0. 0. 1. ]] SLAMing on 103.35719347 meters Centerline goodness : 0.918176 Centerline is valid? [False, False] Translation: X:9.47, Y:0.30, Z:-1.54 [[ 0.99134532 -0.10826384 -0.07425221 9.46560433] [ 0.10979272 0.99381226 0.01681525 0.2970527 ] [ 0.07197227 -0.02482207 0.99709772 -1.53503849] [ 0. 0. 0. 1. ]] SLAMing on 103.38719347 meters Centerline goodness : 0.921274 Centerline is valid? [False, False] Translation: X:9.47, Y:0.29, Z:-1.53 [[ 0.99069871 -0.11351008 -0.07504347 9.46763681] [ 0.11497466 0.99324782 0.01547907 0.29337924] [ 0.07277974 -0.0239632 0.99706012 -1.5332617 ] [ 0. 0. 0. 1. ]] SLAMing on 103.41719347 meters Centerline goodness : 0.920901 Centerline is valid? [False, False] Translation: X:9.47, Y:0.29, Z:-1.53 [[ 0.99044296 -0.11489429 -0.07630233 9.46995795] [ 0.11649048 0.99304981 0.01679408 0.2919104 ] [ 0.07384247 -0.02552207 0.99694329 -1.53216012] [ 0. 0. 0. 1. ]] SLAMing on 103.44719347 meters Centerline goodness : 0.921935 Centerline is valid? [False, False] Translation: X:9.47, Y:0.29, Z:-1.53 [[ 0.9902482 -0.11594648 -0.07723282 9.47137046] [ 0.11765079 0.99289405 0.01787989 0.2912167 ] [ 0.0746109 -0.02679203 0.99685275 -1.5309446 ] [ 0. 0. 0. 1. ]] SLAMing on 103.47719347 meters Centerline goodness : 0.922160 Centerline is valid? [False, False] Translation: X:9.48, Y:0.29, Z:-1.53 [[ 0.99008441 -0.11574009 -0.07960581 9.47521229] [ 0.11777308 0.99281165 0.0213199 0.29247988] [ 0.07656601 -0.03048393 0.9965984 -1.53004368] [ 0. 0. 0. 1. ]] SLAMing on 103.50719347 meters Centerline goodness : 0.921439 Centerline is valid? [False, False] Translation: X:9.48, Y:0.29, Z:-1.53 [[ 0.99008112 -0.11575118 -0.07963061 9.47597886] [ 0.1177297 0.99283197 0.02060103 0.29346149] [ 0.07667522 -0.02977158 0.99661154 -1.53122886] [ 0. 0. 0. 1. ]] SLAMing on 103.53719347 meters Centerline goodness : 0.921126 Centerline is valid? [False, False] Translation: X:9.48, Y:0.29, Z:-1.53 [[ 0.99011536 -0.11564303 -0.0793616 9.4762109 ] [ 0.11753485 0.99287571 0.01958007 0.29428067] [ 0.07653191 -0.02871428 0.99665358 -1.53254893] [ 0. 0. 0. 1. ]] SLAMing on 103.56719347 meters Centerline goodness : 0.922544 Centerline is valid? [False, False] Translation: X:9.48, Y:0.30, Z:-1.53 [[ 0.98991706 -0.11682138 -0.08010602 9.47879521] [ 0.11864452 0.99276678 0.0183737 0.29663597] [ 0.07738015 -0.02769258 0.99661699 -1.53416877] [ 0. 0. 0. 1. ]] SLAMing on 103.59719347 meters Centerline goodness : 0.922946 Centerline is valid? [False, False] Translation: X:9.48, Y:0.30, Z:-1.53 [[ 0.98964474 -0.11809685 -0.08158684 9.48241348] [ 0.11999437 0.99259764 0.01874245 0.29864114] [ 0.07876948 -0.02833832 0.99648999 -1.53477797] [ 0. 0. 0. 1. ]] SLAMing on 103.62719347 meters Centerline goodness : 0.922062 Centerline is valid? [False, False] Translation: X:9.49, Y:0.30, Z:-1.53 [[ 0.98924678 -0.12042139 -0.08300301 9.48519558] [ 0.12234371 0.99231615 0.01845752 0.30076569] [ 0.08014254 -0.02841394 0.99637835 -1.53425981] [ 0. 0. 0. 1. ]] SLAMing on 103.65719347 meters Centerline goodness : 0.922670 Centerline is valid? [False, False] Translation: X:9.49, Y:0.30, Z:-1.53 [[ 0.98890304 -0.12194493 -0.08485408 9.4893056 ] [ 0.12398733 0.99209781 0.01921122 0.30240071] [ 0.08184084 -0.02951887 0.99620817 -1.53437109] [ 0. 0. 0. 1. ]] SLAMing on 103.68719347 meters Centerline goodness : 0.923114 Centerline is valid? [False, False] Translation: X:9.49, Y:0.31, Z:-1.53 [[ 0.98819868 -0.12651719 -0.0863526 9.49170445] [ 0.12846039 0.9915636 0.01730755 0.30621783] [ 0.0834344 -0.02819619 0.99611429 -1.53291262] [ 0. 0. 0. 1. ]] SLAMing on 103.71719347 meters Centerline goodness : 0.921870 Centerline is valid? [False, False] Translation: X:9.49, Y:0.31, Z:-1.53 [[ 0.98802406 -0.12736478 -0.08710153 9.49320025] [ 0.12932655 0.99145218 0.01724018 0.30750537] [ 0.08416121 -0.02829825 0.99605025 -1.53287479] [ 0. 0. 0. 1. ]] SLAMing on 103.74719347 meters Centerline goodness : 0.922428 Centerline is valid? [False, False] Translation: X:9.49, Y:0.31, Z:-1.53 [[ 0.98786771 -0.12822883 -0.08760564 9.49399838] [ 0.13017897 0.9913465 0.0168984 0.3089864 ] [ 0.08468068 -0.02809779 0.9960119 -1.53256802] [ 0. 0. 0. 1. ]] SLAMing on 103.77719347 meters Centerline goodness : 0.924977 Centerline is valid? [False, False] Translation: X:9.50, Y:0.31, Z:-1.53 [[ 0.9876947 -0.1290294 -0.08837756 9.49516405] [ 0.13100014 0.99123915 0.01684989 0.31094504] [ 0.08542917 -0.02822002 0.99594452 -1.53212723] [ 0. 0. 0. 1. ]] SLAMing on 103.80719347 meters Centerline goodness : 0.924977 Centerline is valid? [False, False] Translation: X:9.50, Y:0.31, Z:-1.53 [[ 0.9876947 -0.1290294 -0.08837756 9.49516405] [ 0.13100014 0.99123915 0.01684989 0.31094504] [ 0.08542917 -0.02822002 0.99594452 -1.53212723] [ 0. 0. 0. 1. ]] SLAMing on 103.83719347 meters Centerline goodness : 0.924204 Centerline is valid? [False, False] Translation: X:9.50, Y:0.31, Z:-1.53 [[ 0.98762595 -0.12829751 -0.09019274 9.49816948] [ 0.13053875 0.99125375 0.01938148 0.31359399] [ 0.0869173 -0.0309153 0.99573572 -1.53196996] [ 0. 0. 0. 1. ]] SLAMing on 103.86719347 meters Centerline goodness : 0.923243 Centerline is valid? [False, False] Translation: X:9.50, Y:0.32, Z:-1.53 [[ 0.98718028 -0.13023659 -0.09226876 9.50065064] [ 0.13249364 0.99100654 0.01874738 0.32200363] [ 0.08899735 -0.03073207 0.99555764 -1.53101015] [ 0. 0. 0. 1. ]] SLAMing on 103.89719347 meters Centerline goodness : 0.918385 Centerline is valid? [False, False] Translation: X:9.50, Y:0.33, Z:-1.53 [[ 0.98709696 -0.13083501 -0.09231358 9.50034732] [ 0.13294585 0.99097624 0.01707289 0.32607134] [ 0.08924683 -0.02912531 0.99558361 -1.53118295] [ 0. 0. 0. 1. ]] SLAMing on 103.92719347 meters Centerline goodness : 0.920621 Centerline is valid? [False, False] Translation: X:9.50, Y:0.33, Z:-1.53 [[ 0.98721911 -0.12954216 -0.09282914 9.50229574] [ 0.13162214 0.99116063 0.01661978 0.32993889] [ 0.08985563 -0.02862573 0.99554334 -1.53350717] [ 0. 0. 0. 1. ]] SLAMing on 103.95719347 meters Centerline goodness : 0.919880 Centerline is valid? [False, False] Translation: X:9.50, Y:0.34, Z:-1.53 [[ 0.98747245 -0.12702818 -0.09360561 9.50217352] [ 0.12909765 0.99149675 0.01637031 0.33907601] [ 0.09073017 -0.02824949 0.99547476 -1.53406896] [ 0. 0. 0. 1. ]] SLAMing on 103.98719347 meters Centerline goodness : 0.919432 Centerline is valid? [False, False] Translation: X:9.50, Y:0.34, Z:-1.53 [[ 0.98768141 -0.12455993 -0.09471142 9.50255499] [ 0.12679065 0.99176819 0.017888 0.3449556 ] [ 0.09170365 -0.02967617 0.99534404 -1.5337362 ] [ 0. 0. 0. 1. ]] SLAMing on 104.01719347 meters Centerline goodness : 0.918599 Centerline is valid? [False, False] Translation: X:9.50, Y:0.35, Z:-1.54 [[ 0.98833205 -0.12792814 -0.08266892 9.50335622] [ 0.12947955 0.99148794 0.01366389 0.35477352] [ 0.08021724 -0.02420839 0.99648339 -1.53502995] [ 0. 0. 0. 1. ]] SLAMing on 104.04719347 meters Centerline goodness : 0.918694 Centerline is valid? [False, False] Translation: X:9.50, Y:0.36, Z:-1.54 [[ 0.98871506 -0.12428983 -0.08363354 9.50381958] [ 0.12606288 0.99188925 0.01624377 0.35950846] [ 0.08093627 -0.02660354 0.99636418 -1.53521996] [ 0. 0. 0. 1. ]] SLAMing on 104.07719347 meters Centerline goodness : 0.918653 Centerline is valid? [False, False] Translation: X:9.50, Y:0.37, Z:-1.54 [[ 0.98971643 -0.12405794 -0.07121101 9.50251431] [ 0.12529738 0.99203151 0.01319301 0.37124138] [ 0.06900687 -0.02197989 0.99737402 -1.53614554] [ 0. 0. 0. 1. ]] SLAMing on 104.10719347 meters Centerline goodness : 0.919060 Centerline is valid? [False, False] Translation: X:9.50, Y:0.38, Z:-1.54 [[ 0.99010162 -0.12073487 -0.07156732 9.50227046] [ 0.12208416 0.99240981 0.01477278 0.37512053] [ 0.06924052 -0.02336379 0.99732637 -1.53678708] [ 0. 0. 0. 1. ]] SLAMing on 104.13719347 meters Centerline goodness : 0.916575 Centerline is valid? [False, False] Translation: X:9.50, Y:0.38, Z:-1.54 [[ 0.99044341 -0.11757017 -0.07210487 9.50261499] [ 0.11903242 0.99275633 0.01631438 0.37896559] [ 0.06966449 -0.02474129 0.99726362 -1.53767815] [ 0. 0. 0. 1. ]] SLAMing on 104.16719347 meters Centerline goodness : 0.911412 Centerline is valid? [False, False] Translation: X:9.51, Y:0.39, Z:-1.54 [[ 0.99147051 -0.10671821 -0.07481608 9.50727091] [ 0.10887976 0.99372979 0.02542239 0.38523162] [ 0.07163394 -0.03335151 0.99687324 -1.54117125] [ 0. 0. 0. 1. ]] SLAMing on 104.19719347 meters Centerline goodness : 0.910162 Centerline is valid? [False, False] Translation: X:9.51, Y:0.39, Z:-1.55 [[ 0.99201655 -0.10714204 -0.06651128 9.51400453] [ 0.10938483 0.99351478 0.03103773 0.39129781] [ 0.0627545 -0.03806527 0.99730282 -1.54824823] [ 0. 0. 0. 1. ]] SLAMing on 104.22719347 meters Centerline goodness : 0.906972 Centerline is valid? [False, False] Translation: X:9.52, Y:0.40, Z:-1.55 [[ 0.99248742 -0.10786606 -0.05773758 9.52147643] [ 0.109688 0.99353216 0.02936665 0.39807398] [ 0.05419648 -0.03547915 0.99789978 -1.55027137] [ 0. 0. 0. 1. ]] SLAMing on 104.25719347 meters Centerline goodness : 0.904522 Centerline is valid? [False, False] Translation: X:9.52, Y:0.40, Z:-1.55 [[ 0.99274853 -0.10502826 -0.05847584 9.52298356] [ 0.10700409 0.99375177 0.03174185 0.39997164] [ 0.05477668 -0.03776883 0.99778406 -1.55154866] [ 0. 0. 0. 1. ]] SLAMing on 104.28719347 meters Centerline goodness : 0.904507 Centerline is valid? [False, False] Translation: X:9.53, Y:0.40, Z:-1.55 [[ 0.99289085 -0.10364503 -0.05852744 9.52512353] [ 0.10559143 0.99392011 0.0311971 0.40120843] [ 0.05493817 -0.03715531 0.99779822 -1.55487549] [ 0. 0. 0. 1. ]] SLAMing on 104.31719347 meters Centerline goodness : 0.903053 Centerline is valid? [False, False] Translation: X:9.52, Y:0.40, Z:-1.55 [[ 0.99284254 -0.10469523 -0.05746817 9.52336188] [ 0.1064563 0.99390938 0.02848145 0.40026945] [ 0.05413628 -0.03439544 0.99794099 -1.55492043] [ 0. 0. 0. 1. ]] SLAMing on 104.34719347 meters Centerline goodness : 0.902603 Centerline is valid? [False, False] Translation: X:9.52, Y:0.40, Z:-1.55 [[ 0.99277245 -0.10515754 -0.05783381 9.52392586] [ 0.10697548 0.99383034 0.02928298 0.39898656] [ 0.05439767 -0.03525814 0.99789667 -1.55416619] [ 0. 0. 0. 1. ]] SLAMing on 104.37719347 meters Centerline goodness : 0.902416 Centerline is valid? [False, False] Translation: X:9.53, Y:0.40, Z:-1.55 [[ 0.99251496 -0.10645888 -0.05983778 9.52545737] [ 0.1085642 0.99353823 0.0330999 0.39779569] [ 0.05592735 -0.03934839 0.99765918 -1.55008676] [ 0. 0. 0. 1. ]] SLAMing on 104.40719347 meters Centerline goodness : 0.900643 Centerline is valid? [False, False] Translation: X:9.53, Y:0.40, Z:-1.55 [[ 0.9924551 -0.10684005 -0.06015042 9.52553792] [ 0.10898361 0.99347713 0.03355247 0.3973935 ] [ 0.05617332 -0.03985473 0.99762526 -1.5491169 ] [ 0. 0. 0. 1. ]] SLAMing on 104.43719347 meters Centerline goodness : 0.901038 Centerline is valid? [False, False] Translation: X:9.52, Y:0.40, Z:-1.55 [[ 0.99238375 -0.10812802 -0.05901553 9.5236446 ] [ 0.1100483 0.99346393 0.0303116 0.39693325] [ 0.05535227 -0.03657529 0.99779676 -1.5491528 ] [ 0. 0. 0. 1. ]] SLAMing on 104.46719347 meters Centerline goodness : 0.901688 Centerline is valid? [False, False] Translation: X:9.52, Y:0.40, Z:-1.55 [[ 0.99228613 -0.11046649 -0.05626186 9.52189995] [ 0.11187162 0.99346882 0.02245998 0.3954376 ] [ 0.05341332 -0.02858084 0.99816339 -1.55310849] [ 0. 0. 0. 1. ]] SLAMing on 104.49719347 meters Centerline goodness : 0.903787 Centerline is valid? [False, False] Translation: X:9.52, Y:0.39, Z:-1.55 [[ 0.99215054 -0.11246544 -0.05467016 9.51972875] [ 0.11361025 0.99335695 0.01829415 0.39386 ] [ 0.05224953 -0.02436165 0.99833687 -1.55366215] [ 0. 0. 0. 1. ]] SLAMing on 104.52719347 meters Centerline goodness : 0.902825 Centerline is valid? [False, False] Translation: X:9.52, Y:0.39, Z:-1.55 [[ 0.99202921 -0.11401874 -0.05364495 9.51757201] [ 0.11501819 0.99323584 0.01591774 0.39202186] [ 0.05146717 -0.02196101 0.99843319 -1.55269195] [ 0. 0. 0. 1. ]] SLAMing on 104.55719347 meters Centerline goodness : 0.906877 Centerline is valid? [False, False] Translation: X:9.52, Y:0.39, Z:-1.55 [[ 0.99178451 -0.11593486 -0.05406099 9.51580728] [ 0.11707844 0.99295074 0.01847869 0.38869885] [ 0.05153758 -0.02465626 0.99836664 -1.54755891] [ 0. 0. 0. 1. ]] SLAMing on 104.58719347 meters Centerline goodness : 0.908697 Centerline is valid? [False, False] Translation: X:9.52, Y:0.39, Z:-1.55 [[ 0.99150041 -0.11803437 -0.05472502 9.51625135] [ 0.11924613 0.99267475 0.01942155 0.38645575] [ 0.05203173 -0.02578222 0.99831256 -1.54520114] [ 0. 0. 0. 1. ]] SLAMing on 104.61719347 meters Centerline goodness : 0.906062 Centerline is valid? [False, False] Translation: X:9.52, Y:0.38, Z:-1.54 [[ 0.99102703 -0.12197889 -0.0546495 9.51653007] [ 0.12306668 0.99225296 0.0169899 0.38453127] [ 0.05215371 -0.02356298 0.99836104 -1.54404954] [ 0. 0. 0. 1. ]] SLAMing on 104.64719347 meters Centerline goodness : 0.905474 Centerline is valid? [False, False] Translation: X:9.52, Y:0.38, Z:-1.54 [[ 0.99046416 -0.12624945 -0.05515279 9.51913479] [ 0.12724473 0.99175929 0.01490916 0.38279249] [ 0.05281602 -0.02178489 0.99836661 -1.54433549] [ 0. 0. 0. 1. ]] SLAMing on 104.67719347 meters Centerline goodness : 0.905892 Centerline is valid? [False, False] Translation: X:9.52, Y:0.38, Z:-1.54 [[ 0.98921538 -0.12839939 -0.07047357 9.524077 ] [ 0.13002651 0.99132866 0.01898917 0.37529876] [ 0.06742428 -0.02794781 0.99733289 -1.54100025] [ 0. 0. 0. 1. ]] SLAMing on 104.70719347 meters Centerline goodness : 0.907066 Centerline is valid? [False, False] Translation: X:9.53, Y:0.37, Z:-1.54 [[ 0.98883735 -0.13060941 -0.07170687 9.52702546] [ 0.13237082 0.990991 0.02036699 0.37323649] [ 0.06840074 -0.02963153 0.99721779 -1.54033769] [ 0. 0. 0. 1. ]] SLAMing on 104.73719347 meters Centerline goodness : 0.905873 Centerline is valid? [False, False] Translation: X:9.53, Y:0.37, Z:-1.54 [[ 0.98859833 -0.13198579 -0.07247823 9.52856489] [ 0.13384138 0.99077275 0.02135031 0.37169782] [ 0.06899151 -0.03080746 0.99714145 -1.53940274] [ 0. 0. 0. 1. ]] SLAMing on 104.76719347 meters Centerline goodness : 0.904473 Centerline is valid? [False, False] Translation: X:9.53, Y:0.37, Z:-1.54 [[ 0.98854657 -0.13217661 -0.07283555 9.53087954] [ 0.13404564 0.99074453 0.02137834 0.37081313] [ 0.06933571 -0.03089677 0.99711481 -1.5411611 ] [ 0. 0. 0. 1. ]] SLAMing on 104.79719347 meters Centerline goodness : 0.902829 Centerline is valid? [False, False] Translation: X:9.53, Y:0.37, Z:-1.54 [[ 0.98869523 -0.13116334 -0.07264936 9.5306951 ] [ 0.13301111 0.99088805 0.02118758 0.37134956] [ 0.06920835 -0.03061124 0.99713247 -1.54180802] [ 0. 0. 0. 1. ]] SLAMing on 104.82719347 meters Centerline goodness : 0.903721 Centerline is valid? [False, False] Translation: X:9.53, Y:0.37, Z:-1.54 [[ 0.98914026 -0.1275572 -0.07301166 9.53108737] [ 0.12959056 0.99128178 0.02380601 0.37192817] [ 0.0693385 -0.0330091 0.99704693 -1.54273553] [ 0. 0. 0. 1. ]] SLAMing on 104.85719347 meters Centerline goodness : 0.903663 Centerline is valid? [False, False] Translation: X:9.53, Y:0.37, Z:-1.54 [[ 0.99022478 -0.11855617 -0.07348001 9.53017009] [ 0.12101763 0.99219728 0.02998834 0.37439902] [ 0.06935136 -0.03858757 0.99684572 -1.5437027 ] [ 0. 0. 0. 1. ]] SLAMing on 104.88719347 meters Centerline goodness : 0.900318 Centerline is valid? [False, False] Translation: X:9.53, Y:0.38, Z:-1.54 [[ 0.9907422 -0.11398843 -0.07373287 9.52942787] [ 0.11667122 0.99261721 0.03314972 0.37538931] [ 0.06940983 -0.04144533 0.99672692 -1.54369338] [ 0. 0. 0. 1. ]] SLAMing on 104.91719347 meters Centerline goodness : 0.899015 Centerline is valid? [False, False] Translation: X:9.53, Y:0.38, Z:-1.54 [[ 0.99124902 -0.10942705 -0.07383151 9.52869529] [ 0.11233525 0.99300171 0.03644722 0.37593404] [ 0.0693265 -0.04442216 0.99660449 -1.54390472] [ 0. 0. 0. 1. ]] SLAMing on 104.94719347 meters Centerline goodness : 0.900172 Centerline is valid? [False, False] Translation: X:9.53, Y:0.38, Z:-1.54 [[ 0.99160586 -0.1067733 -0.07291969 9.52596908] [ 0.1096523 0.99329299 0.03667994 0.37631678] [ 0.06851418 -0.04436786 0.99666308 -1.54353057] [ 0. 0. 0. 1. ]] SLAMing on 104.97719347 meters Centerline goodness : 0.898129 Centerline is valid? [False, False] Translation: X:9.52, Y:0.38, Z:-1.55 [[ 0.992285 -0.10177504 -0.07079773 9.52210802] [ 0.10452779 0.99385854 0.03631996 0.37548727] [ 0.06666646 -0.04344008 0.99682924 -1.54524547] [ 0. 0. 0. 1. ]] SLAMing on 105.00719347 meters Centerline goodness : 0.896988 Centerline is valid? [False, False] Translation: X:9.52, Y:0.38, Z:-1.55 [[ 0.99234188 -0.10110056 -0.07096674 9.52282823] [ 0.10388477 0.99391218 0.03669505 0.37502346] [ 0.06682481 -0.0437864 0.99680349 -1.54549449] [ 0. 0. 0. 1. ]] SLAMing on 105.03719347 meters Centerline goodness : 0.899611 Centerline is valid? [False, False] Translation: X:9.52, Y:0.38, Z:-1.55 [[ 0.99294457 -0.10440569 -0.05621863 9.5200587 ] [ 0.10631486 0.99381406 0.03210544 0.37721604] [ 0.05251888 -0.0378558 0.99790215 -1.54769121] [ 0. 0. 0. 1. ]] SLAMing on 105.06719347 meters Centerline goodness : 0.895990 Centerline is valid? [False, False] Translation: X:9.52, Y:0.38, Z:-1.55 [[ 0.99337191 -0.10092982 -0.05500383 9.5176592 ] [ 0.10282047 0.99416247 0.03269458 0.37666183] [ 0.05138289 -0.0381334 0.99795072 -1.54838078] [ 0. 0. 0. 1. ]] SLAMing on 105.09719347 meters Centerline goodness : 0.894394 Centerline is valid? [False, False] Translation: X:9.52, Y:0.37, Z:-1.55 [[ 0.99345305 -0.1004345 -0.05444215 9.51804304] [ 0.10229141 0.9942247 0.032461 0.37423884] [ 0.05086752 -0.03781745 0.99798915 -1.54988439] [ 0. 0. 0. 1. ]] SLAMing on 105.12719347 meters Centerline goodness : 0.895683 Centerline is valid? [False, False] Translation: X:9.52, Y:0.37, Z:-1.55 [[ 0.9934555 -0.1014063 -0.05256354 9.51727251] [ 0.10304978 0.99423704 0.02955417 0.36765767] [ 0.04926364 -0.03477741 0.99818016 -1.5521305 ] [ 0. 0. 0. 1. ]] SLAMing on 105.15719347 meters Centerline goodness : 0.895714 Centerline is valid? [False, False] Translation: X:9.52, Y:0.36, Z:-1.55 [[ 0.99342016 -0.10201418 -0.05205272 9.51794974] [ 0.10359873 0.99420493 0.02870293 0.36411099] [ 0.04882296 -0.03390667 0.99823176 -1.55335307] [ 0. 0. 0. 1. ]] SLAMing on 105.18719347 meters Centerline goodness : 0.895097 Centerline is valid? [False, False] Translation: X:9.52, Y:0.36, Z:-1.55 [[ 0.99327414 -0.10295615 -0.05297645 9.52148468] [ 0.10466592 0.99403737 0.03057376 0.36049258] [ 0.04951282 -0.03591295 0.99812762 -1.55439553] [ 0. 0. 0. 1. ]] SLAMing on 105.21719347 meters Centerline goodness : 0.896333 Centerline is valid? [False, False] Translation: X:9.52, Y:0.35, Z:-1.55 [[ 0.99254849 -0.10980663 -0.05282049 9.52333592] [ 0.11124057 0.99347872 0.0250114 0.35487408] [ 0.04972961 -0.03070081 0.99829075 -1.55411092] [ 0. 0. 0. 1. ]] SLAMing on 105.24719347 meters Centerline goodness : 0.896200 Centerline is valid? [False, False] Translation: X:9.53, Y:0.35, Z:-1.55 [[ 0.99228846 -0.1115119 -0.0541176 9.52663065] [ 0.11312038 0.99319732 0.02762006 0.35089867] [ 0.05066949 -0.03352887 0.9981525 -1.55347019] [ 0. 0. 0. 1. ]] SLAMing on 105.27719347 meters Centerline goodness : 0.896588 Centerline is valid? [False, False] Translation: X:9.53, Y:0.35, Z:-1.55 [[ 0.9918329 -0.11528004 -0.05457107 9.52859481] [ 0.11684644 0.99279825 0.02643008 0.34783573] [ 0.0511312 -0.03259065 0.99816003 -1.55287065] [ 0. 0. 0. 1. ]] SLAMing on 105.30719347 meters Centerline goodness : 0.896984 Centerline is valid? [False, False] Translation: X:9.53, Y:0.34, Z:-1.55 [[ 0.99090544 -0.11602005 -0.06815976 9.53223334] [ 0.11824794 0.99254276 0.02960213 0.33647733] [ 0.06421704 -0.03739266 0.99723516 -1.55047468] [ 0. 0. 0. 1. ]] SLAMing on 105.33719347 meters Centerline goodness : 0.896030 Centerline is valid? [False, False] Translation: X:9.53, Y:0.33, Z:-1.55 [[ 0.99051704 -0.1193734 -0.06801454 9.53348701] [ 0.12151022 0.99218999 0.02818304 0.33212854] [ 0.06411904 -0.03618024 0.99728619 -1.55034937] [ 0. 0. 0. 1. ]] SLAMing on 105.36719347 meters Centerline goodness : 0.899543 Centerline is valid? [False, False] Translation: X:9.53, Y:0.33, Z:-1.55 [[ 0.99016966 -0.12232052 -0.0678361 9.53409342] [ 0.12439059 0.99186139 0.02716532 0.32764284] [ 0.06396114 -0.03533645 0.99732658 -1.54952581] [ 0. 0. 0. 1. ]] SLAMing on 105.39719347 meters Centerline goodness : 0.901585 Centerline is valid? [False, False] Translation: X:9.54, Y:0.32, Z:-1.55 [[ 0.99002182 -0.12298595 -0.06878411 9.53628769] [ 0.12526304 0.99167538 0.02981805 0.32337479] [ 0.06454431 -0.03813663 0.99718586 -1.548577 ] [ 0. 0. 0. 1. ]] SLAMing on 105.42719347 meters Centerline goodness : 0.901866 Centerline is valid? [False, False] Translation: X:9.54, Y:0.32, Z:-1.55 [[ 0.9899053 -0.12322555 -0.07002109 9.53822853] [ 0.12576757 0.99150676 0.0331189 0.31916812] [ 0.06534529 -0.04159095 0.99699558 -1.54659629] [ 0. 0. 0. 1. ]] SLAMing on 105.45719347 meters Centerline goodness : 0.899061 Centerline is valid? [False, False] Translation: X:9.54, Y:0.32, Z:-1.55 [[ 0.9899874 -0.12261849 -0.0699261 9.53840434] [ 0.12519335 0.99155997 0.03369633 0.31771872] [ 0.06520413 -0.04211323 0.9969829 -1.54686652] [ 0. 0. 0. 1. ]] SLAMing on 105.48719347 meters Centerline goodness : 0.898270 Centerline is valid? [False, False] Translation: X:9.54, Y:0.32, Z:-1.55 [[ 0.99017551 -0.12103578 -0.07002005 9.54038012] [ 0.12368699 0.99170948 0.03484003 0.31539901] [ 0.06522265 -0.04315831 0.99693699 -1.54909469] [ 0. 0. 0. 1. ]] SLAMing on 105.51719347 meters Centerline goodness : 0.897485 Centerline is valid? [False, False] Translation: X:9.54, Y:0.31, Z:-1.55 [[ 0.99040482 -0.11996115 -0.06861205 9.539321 ] [ 0.12246321 0.99190789 0.03348887 0.31273679] [ 0.06403947 -0.04156999 0.99708118 -1.55111249] [ 0. 0. 0. 1. ]] SLAMing on 105.54719347 meters Centerline goodness : 0.900788 Centerline is valid? [False, False] Translation: X:9.54, Y:0.31, Z:-1.55 [[ 0.99077318 -0.11743816 -0.067652 9.53959784] [ 0.11997138 0.99217173 0.03467159 0.30712662] [ 0.06305063 -0.04246799 0.99710636 -1.55329704] [ 0. 0. 0. 1. ]] SLAMing on 105.57719347 meters Centerline goodness : 0.902995 Centerline is valid? [False, False] Translation: X:9.54, Y:0.31, Z:-1.55 [[ 0.99082017 -0.11679816 -0.06807034 9.53933312] [ 0.11945019 0.99217733 0.03627382 0.30567429] [ 0.06330113 -0.04407184 0.99702088 -1.55157116] [ 0. 0. 0. 1. ]] SLAMing on 105.60719347 meters Centerline goodness : 0.900051 Centerline is valid? [False, False] Translation: X:9.54, Y:0.30, Z:-1.55 [[ 0.9909234 -0.11588738 -0.06812437 9.53830609] [ 0.11863987 0.99221614 0.03783808 0.30452389] [ 0.06320915 -0.0455769 0.99695905 -1.54987601] [ 0. 0. 0. 1. ]] SLAMing on 105.63719347 meters Centerline goodness : 0.900385 Centerline is valid? [False, False] Translation: X:9.54, Y:0.30, Z:-1.55 [[ 0.99111764 -0.1140591 -0.06838382 9.54029117] [ 0.11694929 0.99233793 0.03985355 0.30100647] [ 0.0633142 -0.047497 0.99686275 -1.55149151] [ 0. 0. 0. 1. ]] SLAMing on 105.66719347 meters Centerline goodness : 0.898590 Centerline is valid? [False, False] Translation: X:9.54, Y:0.30, Z:-1.55 [[ 0.99118271 -0.11411811 -0.06733414 9.54088199] [ 0.11680383 0.99245111 0.03738517 0.29865642] [ 0.06255952 -0.04492042 0.99702982 -1.55450508] [ 0. 0. 0. 1. ]] SLAMing on 105.69719347 meters Centerline goodness : 0.898590 Centerline is valid? [False, False] Translation: X:9.54, Y:0.30, Z:-1.55 [[ 0.99118271 -0.11411811 -0.06733414 9.54088199] [ 0.11680383 0.99245111 0.03738517 0.29865642] [ 0.06255952 -0.04492042 0.99702982 -1.55450508] [ 0. 0. 0. 1. ]] SLAMing on 105.72719347 meters Centerline goodness : 0.900051 Centerline is valid? [False, False] Translation: X:9.54, Y:0.30, Z:-1.56 [[ 0.99129805 -0.1137518 -0.06624729 9.54099871] [ 0.11625844 0.99259198 0.03528658 0.29623902] [ 0.06174262 -0.04268132 0.9971791 -1.55715746] [ 0. 0. 0. 1. ]] SLAMing on 105.75719347 meters Centerline goodness : 0.899155 Centerline is valid? [False, False] Translation: X:9.54, Y:0.29, Z:-1.56 [[ 0.99149671 -0.11220549 -0.06591064 9.54178342] [ 0.11474078 0.99274229 0.03601806 0.29355986] [ 0.06139086 -0.04327442 0.99717525 -1.55890043] [ 0. 0. 0. 1. ]] SLAMing on 105.78719347 meters Centerline goodness : 0.901101 Centerline is valid? [False, False] Translation: X:9.54, Y:0.29, Z:-1.56 [[ 0.99178046 -0.1102533 -0.06492859 9.54019342] [ 0.11277883 0.99294587 0.03659831 0.29129205] [ 0.06043549 -0.04362006 0.99721855 -1.55944443] [ 0. 0. 0. 1. ]] SLAMing on 105.81719347 meters Centerline goodness : 0.903005 Centerline is valid? [False, False] Translation: X:9.54, Y:0.29, Z:-1.56 [[ 0.99212032 -0.10779512 -0.0638552 9.53750028] [ 0.11032375 0.99318862 0.03748384 0.28978241] [ 0.05937968 -0.04423322 0.99725497 -1.55886345] [ 0. 0. 0. 1. ]] SLAMing on 105.84719347 meters Centerline goodness : 0.905148 Centerline is valid? [False, False] Translation: X:9.53, Y:0.29, Z:-1.56 [[ 0.99300721 -0.0996478 -0.06330083 9.53420344] [ 0.10255182 0.99373588 0.0444087 0.28743447] [ 0.05847908 -0.05058977 0.99700595 -1.55711131] [ 0. 0. 0. 1. ]] SLAMing on 105.87719347 meters Centerline goodness : 0.904396 Centerline is valid? [False, False] Translation: X:9.53, Y:0.29, Z:-1.56 [[ 0.99323062 -0.09793796 -0.06245876 9.53252784] [ 0.1007976 0.99391572 0.04440022 0.28721233] [ 0.05773028 -0.05039535 0.99705944 -1.55748065] [ 0. 0. 0. 1. ]] SLAMing on 105.90719347 meters Centerline goodness : 0.902969 Centerline is valid? [False, False] Translation: X:9.53, Y:0.29, Z:-1.56 [[ 0.99339001 -0.09684529 -0.06162208 9.53197966] [ 0.09964687 0.9940435 0.04413647 0.28541867] [ 0.05698062 -0.04998517 0.99712321 -1.55893054] [ 0. 0. 0. 1. ]] SLAMing on 105.93719347 meters Centerline goodness : 0.903245 Centerline is valid? [False, False] Translation: X:9.53, Y:0.28, Z:-1.56 [[ 0.99331598 -0.09839346 -0.06034975 9.53169269] [ 0.10094601 0.99405459 0.04080897 0.28278952] [ 0.05597561 -0.04662826 0.99734274 -1.56104793] [ 0. 0. 0. 1. ]] SLAMing on 105.96719347 meters Centerline goodness : 0.899667 Centerline is valid? [False, False] Translation: X:9.54, Y:0.28, Z:-1.56 [[ 0.99281626 -0.10300797 -0.06087068 9.53576148] [ 0.10550374 0.99364163 0.03930984 0.27599671] [ 0.05643442 -0.04544954 0.99737129 -1.56274934] [ 0. 0. 0. 1. ]] SLAMing on 105.99719347 meters Centerline goodness : 0.902138 Centerline is valid? [False, False] Translation: X:9.54, Y:0.27, Z:-1.56 [[ 0.99240556 -0.1057602 -0.06281706 9.54005938] [ 0.108454 0.99325 0.0411359 0.27265447] [ 0.0580425 -0.04763626 0.99717694 -1.56171272] [ 0. 0. 0. 1. ]] SLAMing on 106.02719347 meters Centerline goodness : 0.899860 Centerline is valid? [False, False] Translation: X:9.55, Y:0.27, Z:-1.56 [[ 0.99098769 -0.11422725 -0.06996802 9.55153947] [ 0.11758102 0.99200471 0.04584057 0.26646539] [ 0.06417237 -0.05365435 0.99649542 -1.55840626] [ 0. 0. 0. 1. ]] SLAMing on 106.05719347 meters Centerline goodness : 0.897600 Centerline is valid? [False, False] Translation: X:9.55, Y:0.26, Z:-1.55 [[ 0.98992297 -0.11482026 -0.08287835 9.5494972 ] [ 0.11891976 0.99182217 0.04633441 0.26033539] [ 0.07688045 -0.05572337 0.99548194 -1.55265485] [ 0. 0. 0. 1. ]] SLAMing on 106.08719347 meters Centerline goodness : 0.897968 Centerline is valid? [False, False] Translation: X:9.55, Y:0.26, Z:-1.55 [[ 0.98927403 -0.11958912 -0.08387691 9.55308385] [ 0.12360517 0.99133651 0.04442608 0.25746222] [ 0.07783737 -0.05431719 0.9954853 -1.55251016] [ 0. 0. 0. 1. ]] SLAMing on 106.11719347 meters Centerline goodness : 0.896438 Centerline is valid? [False, False] Translation: X:9.56, Y:0.25, Z:-1.55 [[ 0.98871078 -0.12378551 -0.08442828 9.55635739] [ 0.12764654 0.99093179 0.04195885 0.25476763] [ 0.07846876 -0.05226215 0.99554574 -1.55337597] [ 0. 0. 0. 1. ]] SLAMing on 106.14719347 meters Centerline goodness : 0.894655 Centerline is valid? [False, False] Translation: X:9.56, Y:0.25, Z:-1.55 [[ 0.9879026 -0.12922845 -0.08572321 9.56148416] [ 0.13300877 0.99030992 0.0399366 0.25068518] [ 0.0797316 -0.05085541 0.99551826 -1.55420257] [ 0. 0. 0. 1. ]] SLAMing on 106.17719347 meters Centerline goodness : 0.894389 Centerline is valid? [False, False] Translation: X:9.56, Y:0.25, Z:-1.55 [[ 0.9876858 -0.13034496 -0.08652719 9.56301173] [ 0.13420061 0.9901334 0.04032416 0.25002314] [ 0.08041741 -0.05143961 0.99543308 -1.55356197] [ 0. 0. 0. 1. ]] SLAMing on 106.20719347 meters Centerline goodness : 0.894219 Centerline is valid? [False, False] Translation: X:9.56, Y:0.25, Z:-1.55 [[ 0.98744708 -0.13139654 -0.08765395 9.5647612 ] [ 0.13534706 0.98996048 0.04073607 0.25007094] [ 0.08142136 -0.05208842 0.99531772 -1.55258286] [ 0. 0. 0. 1. ]] SLAMing on 106.23719347 meters Centerline goodness : 0.893307 Centerline is valid? [False, False] Translation: X:9.57, Y:0.25, Z:-1.55 [[ 0.98727406 -0.1320614 -0.08859861 9.56616404] [ 0.13611182 0.98983129 0.04132301 0.24987872] [ 0.0822405 -0.05285645 0.99520987 -1.55162053] [ 0. 0. 0. 1. ]] SLAMing on 106.26719347 meters Centerline goodness : 0.895957 Centerline is valid? [False, False] Translation: X:9.57, Y:0.25, Z:-1.55 [[ 0.98684659 -0.13518292 -0.08865319 9.56573464] [ 0.1390937 0.98949111 0.03950046 0.24932339] [ 0.08238175 -0.05131199 0.99527902 -1.54977816] [ 0. 0. 0. 1. ]] SLAMing on 106.29719347 meters Centerline goodness : 0.895556 Centerline is valid? [False, False] Translation: X:9.57, Y:0.25, Z:-1.55 [[ 0.98668703 -0.13591886 -0.08930159 9.56687983] [ 0.13986975 0.98937953 0.03955508 0.24914163] [ 0.08297688 -0.05151907 0.99521888 -1.54928984] [ 0. 0. 0. 1. ]] SLAMing on 106.32719347 meters Centerline goodness : 0.895988 Centerline is valid? [False, False] Translation: X:9.57, Y:0.25, Z:-1.55 [[ 0.98650957 -0.13697522 -0.08964741 9.56736309] [ 0.14090322 0.98925364 0.03903226 0.25005107] [ 0.08333757 -0.0511373 0.99520843 -1.54883813] [ 0. 0. 0. 1. ]] SLAMing on 106.35719347 meters Centerline goodness : 0.896854 Centerline is valid? [False, False] Translation: X:9.57, Y:0.25, Z:-1.55 [[ 0.98632523 -0.13775301 -0.09048013 9.56888929] [ 0.14172559 0.98913644 0.03902512 0.25111931] [ 0.08412137 -0.05131481 0.99513335 -1.54855041] [ 0. 0. 0. 1. ]] SLAMing on 106.38719347 meters Centerline goodness : 0.900179 Centerline is valid? [False, False] Translation: X:9.57, Y:0.25, Z:-1.55 [[ 0.98598477 -0.13971075 -0.09118628 9.56947455] [ 0.14360692 0.98891901 0.0376331 0.25357492] [ 0.0849181 -0.05020065 0.99512251 -1.54742872] [ 0. 0. 0. 1. ]] SLAMing on 106.41719347 meters Centerline goodness : 0.900905 Centerline is valid? [False, False] Translation: X:9.57, Y:0.26, Z:-1.55 [[ 0.98596234 -0.13993204 -0.09108941 9.56872269] [ 0.14374528 0.98893358 0.03671051 0.25587727] [ 0.08494441 -0.04928885 0.99516584 -1.54702232] [ 0. 0. 0. 1. ]] SLAMing on 106.44719347 meters Centerline goodness : 0.904689 Centerline is valid? [False, False] Translation: X:9.57, Y:0.26, Z:-1.55 [[ 0.98629569 -0.1368867 -0.09210231 9.56889904] [ 0.14102537 0.98919728 0.04000728 0.25746928] [ 0.08563089 -0.05244777 0.99494552 -1.54601003] [ 0. 0. 0. 1. ]] SLAMing on 106.47719347 meters Centerline goodness : 0.906182 Centerline is valid? [False, False] Translation: X:9.57, Y:0.26, Z:-1.54 [[ 0.98667406 -0.13358258 -0.09289781 9.56841892] [ 0.13801637 0.98949451 0.04303593 0.26012749] [ 0.08617302 -0.05528386 0.99474515 -1.54498214] [ 0. 0. 0. 1. ]] SLAMing on 106.50719347 meters Centerline goodness : 0.907002 Centerline is valid? [False, False] Translation: X:9.56, Y:0.27, Z:-1.54 [[ 0.9873264 -0.12899662 -0.09244699 9.5643332 ] [ 0.13337086 0.99014213 0.04278764 0.26942697] [ 0.08601619 -0.0545751 0.99479786 -1.54226314] [ 0. 0. 0. 1. ]] SLAMing on 106.53719347 meters Centerline goodness : 0.907083 Centerline is valid? [False, False] Translation: X:9.56, Y:0.27, Z:-1.54 [[ 0.98745049 -0.12842336 -0.09191831 9.56258557] [ 0.13259475 0.99033075 0.0407878 0.27439295] [ 0.08579142 -0.05246381 0.99493084 -1.54263024] [ 0. 0. 0. 1. ]] SLAMing on 106.56719347 meters Centerline goodness : 0.906510 Centerline is valid? [False, False] Translation: X:9.56, Y:0.28, Z:-1.54 [[ 0.98745332 -0.1282569 -0.09212012 9.56327506] [ 0.13225877 0.99045898 0.03871214 0.27916083] [ 0.0862761 -0.05041012 0.9949951 -1.54428443] [ 0. 0. 0. 1. ]] SLAMing on 106.59719347 meters Centerline goodness : 0.905545 Centerline is valid? [False, False] Translation: X:9.56, Y:0.29, Z:-1.55 [[ 0.98744256 -0.12827529 -0.09220978 9.56456432] [ 0.13197643 0.99062754 0.03520361 0.2867908 ] [ 0.0868298 -0.04693106 0.99511711 -1.54752342] [ 0. 0. 0. 1. ]] SLAMing on 106.62719347 meters Centerline goodness : 0.904667 Centerline is valid? [False, False] Translation: X:9.56, Y:0.29, Z:-1.55 [[ 0.98739244 -0.1285097 -0.09241982 9.56475226] [ 0.13211743 0.99065031 0.03401408 0.29023853] [ 0.08718458 -0.04579552 0.99513899 -1.54789605] [ 0. 0. 0. 1. ]] SLAMing on 106.65719347 meters Centerline goodness : 0.905495 Centerline is valid? [False, False] Translation: X:9.56, Y:0.29, Z:-1.55 [[ 0.98723303 -0.12943642 -0.09282866 9.56404325] [ 0.13298094 0.99056751 0.03304645 0.29407184] [ 0.08767564 -0.04496899 0.99513354 -1.5464509 ] [ 0. 0. 0. 1. ]] SLAMing on 106.68719347 meters Centerline goodness : 0.906221 Centerline is valid? [False, False] Translation: X:9.56, Y:0.30, Z:-1.54 [[ 0.98693101 -0.13087922 -0.09400964 9.56452037] [ 0.13447488 0.99036862 0.03296206 0.2978481 ] [ 0.08879015 -0.04517321 0.99502547 -1.5443785 ] [ 0. 0. 0. 1. ]] SLAMing on 106.71719347 meters Centerline goodness : 0.905628 Centerline is valid? [False, False] Translation: X:9.57, Y:0.30, Z:-1.54 [[ 0.98627836 -0.1342785 -0.09604308 9.5676321 ] [ 0.13788424 0.98993396 0.03191689 0.30318595] [ 0.09079055 -0.04472177 0.99486534 -1.5431719 ] [ 0. 0. 0. 1. ]] SLAMing on 106.74719347 meters Centerline goodness : 0.902338 Centerline is valid? [False, False] Translation: X:9.57, Y:0.31, Z:-1.55 [[ 0.98533913 -0.14019361 -0.09722422 9.57254199] [ 0.14345103 0.98927996 0.02733053 0.3060348 ] [ 0.0923504 -0.04087676 0.99488718 -1.54508462] [ 0. 0. 0. 1. ]] SLAMing on 106.77719347 meters Centerline goodness : 0.901436 Centerline is valid? [False, False] Translation: X:9.57, Y:0.31, Z:-1.54 [[ 0.98461354 -0.14529857 -0.0970799 9.57293985] [ 0.14812422 0.98871223 0.02252414 0.30870191] [ 0.09271136 -0.03655746 0.99502169 -1.54482617] [ 0. 0. 0. 1. ]] SLAMing on 106.80719347 meters Centerline goodness : 0.902491 Centerline is valid? [False, False] Translation: X:9.58, Y:0.31, Z:-1.55 [[ 0.98411267 -0.1473014 -0.09911888 9.57788171] [ 0.15022728 0.98839104 0.02269172 0.31123842] [ 0.09462569 -0.03722157 0.99481683 -1.54561846] [ 0. 0. 0. 1. ]] SLAMing on 106.83719347 meters Centerline goodness : 0.899368 Centerline is valid? [False, False] Translation: X:9.58, Y:0.31, Z:-1.55 [[ 0.98358639 -0.14999143 -0.10030151 9.58003373] [ 0.15283959 0.98802149 0.02129764 0.3145587 ] [ 0.09590558 -0.03627811 0.99472912 -1.54519137] [ 0. 0. 0. 1. ]] SLAMing on 106.86719347 meters Centerline goodness : 0.899077 Centerline is valid? [False, False] Translation: X:9.58, Y:0.32, Z:-1.55 [[ 0.98326771 -0.15096153 -0.10195704 9.58393048] [ 0.15389106 0.98785474 0.02146052 0.31782293] [ 0.09747903 -0.03679171 0.99455729 -1.54611966] [ 0. 0. 0. 1. ]] SLAMing on 106.89719347 meters Centerline goodness : 0.899297 Centerline is valid? [False, False] Translation: X:9.58, Y:0.32, Z:-1.54 [[ 0.98331188 -0.14981652 -0.10321223 9.58352035] [ 0.15292304 0.9879744 0.02282832 0.32377431] [ 0.09855098 -0.03823088 0.99439736 -1.5442767 ] [ 0. 0. 0. 1. ]] SLAMing on 106.92719347 meters Centerline goodness : 0.903006 Centerline is valid? [False, False] Translation: X:9.58, Y:0.33, Z:-1.54 [[ 0.98356259 -0.14730537 -0.10443065 9.58389824] [ 0.15070078 0.98825405 0.02536158 0.32739351] [ 0.09946812 -0.04068249 0.99420875 -1.54337463] [ 0. 0. 0. 1. ]] SLAMing on 106.95719347 meters Centerline goodness : 0.901328 Centerline is valid? [False, False] Translation: X:9.58, Y:0.33, Z:-1.54 [[ 0.98381968 -0.14485034 -0.10543818 9.58374237] [ 0.14846022 0.98854446 0.02719207 0.33195176] [ 0.10029155 -0.04240547 0.99405401 -1.54263264] [ 0. 0. 0. 1. ]] SLAMing on 106.98719347 meters Centerline goodness : 0.902314 Centerline is valid? [False, False] Translation: X:9.58, Y:0.34, Z:-1.54 [[ 0.98447774 -0.14081833 -0.10475583 9.580972 ] [ 0.14411643 0.98925561 0.02457233 0.34298665] [ 0.10017006 -0.03928795 0.99419436 -1.54322518] [ 0. 0. 0. 1. ]] SLAMing on 107.01719347 meters Centerline goodness : 0.901505 Centerline is valid? [False, False] Translation: X:9.58, Y:0.35, Z:-1.55 [[ 0.98495797 -0.13731742 -0.10488909 9.58087221] [ 0.14066118 0.98973853 0.02514095 0.34753816] [ 0.10036049 -0.03951661 0.99416609 -1.54512395] [ 0. 0. 0. 1. ]] SLAMing on 107.04719347 meters Centerline goodness : 0.905114 Centerline is valid? [False, False] Translation: X:9.58, Y:0.36, Z:-1.55 [[ 0.98601972 -0.13914964 -0.09166512 9.58147632] [ 0.14163002 0.98969472 0.02110213 0.35611263] [ 0.08778413 -0.03378965 0.99556627 -1.54923528] [ 0. 0. 0. 1. ]] SLAMing on 107.07719347 meters Centerline goodness : 0.905414 Centerline is valid? [False, False] Translation: X:9.58, Y:0.36, Z:-1.55 [[ 0.9867287 -0.13389383 -0.09186357 9.57926998] [ 0.13657326 0.99035118 0.02350054 0.36128634] [ 0.08783062 -0.03573477 0.99549425 -1.54875322] [ 0. 0. 0. 1. ]] SLAMing on 107.10719347 meters Centerline goodness : 0.905591 Centerline is valid? [False, False] Translation: X:9.57, Y:0.37, Z:-1.54 [[ 0.98854912 -0.12296501 -0.08746572 9.56798834] [ 0.12544672 0.99182328 0.0234456 0.37246564] [ 0.08386754 -0.03414942 0.99589159 -1.54357651] [ 0. 0. 0. 1. ]] SLAMing on 107.13719347 meters Centerline goodness : 0.905697 Centerline is valid? [False, False] Translation: X:9.57, Y:0.38, Z:-1.54 [[ 0.98917147 -0.11795055 -0.08733536 9.56650461] [ 0.12054674 0.99239139 0.02505609 0.37649919] [ 0.08371548 -0.03531276 0.99586381 -1.54454412] [ 0. 0. 0. 1. ]] SLAMing on 107.16719347 meters Centerline goodness : 0.904047 Centerline is valid? [False, False] Translation: X:9.56, Y:0.38, Z:-1.55 [[ 0.98999683 -0.12069597 -0.07306688 9.56492197] [ 0.12242977 0.99228129 0.01971799 0.38311764] [ 0.07012301 -0.02846631 0.9971321 -1.54822529] [ 0. 0. 0. 1. ]] SLAMing on 107.19719347 meters Centerline goodness : 0.903233 Centerline is valid? [False, False] Translation: X:9.57, Y:0.38, Z:-1.55 [[ 0.9904081 -0.11727771 -0.07305985 9.5656946 ] [ 0.11910512 0.99265606 0.0211641 0.38478593] [ 0.07004122 -0.0296629 0.99710297 -1.55057349] [ 0. 0. 0. 1. ]] SLAMing on 107.22719347 meters Centerline goodness : 0.902676 Centerline is valid? [False, False] Translation: X:9.56, Y:0.39, Z:-1.55 [[ 0.99060252 -0.1159029 -0.07261657 9.56378419] [ 0.11772107 0.99281899 0.02126497 0.38588454] [ 0.06963044 -0.02961364 0.99713321 -1.54979107] [ 0. 0. 0. 1. ]] SLAMing on 107.25719347 meters Centerline goodness : 0.903803 Centerline is valid? [False, False] Translation: X:9.57, Y:0.39, Z:-1.55 [[ 0.99067477 -0.12126495 -0.06211536 9.56815107] [ 0.12288106 0.99215761 0.02288042 0.38813289] [ 0.05885363 -0.03029986 0.99780668 -1.55260622] [ 0. 0. 0. 1. ]] SLAMing on 107.28719347 meters Centerline goodness : 0.903178 Centerline is valid? [False, False] Translation: X:9.57, Y:0.39, Z:-1.55 [[ 0.99046641 -0.12276982 -0.06248095 9.56713753] [ 0.12444467 0.99194477 0.02364538 0.3874461 ] [ 0.05907471 -0.03119538 0.99776602 -1.54957458] [ 0. 0. 0. 1. ]] SLAMing on 107.31719347 meters Centerline goodness : 0.904832 Centerline is valid? [False, False] Translation: X:9.57, Y:0.39, Z:-1.55 [[ 0.99023234 -0.12406798 -0.06361642 9.56908877] [ 0.12585752 0.99173517 0.02492448 0.38661056] [ 0.05999831 -0.03268763 0.99766313 -1.54847181] [ 0. 0. 0. 1. ]] SLAMing on 107.34719347 meters Centerline goodness : 0.900258 Centerline is valid? [False, False] Translation: X:9.57, Y:0.39, Z:-1.55 [[ 0.98964743 -0.12854137 -0.06383635 9.57335971] [ 0.13010934 0.99127666 0.02102737 0.38544938] [ 0.0605766 -0.02911539 0.99773883 -1.55190109] [ 0. 0. 0. 1. ]] SLAMing on 107.37719347 meters Centerline goodness : 0.897371 Centerline is valid? [False, False] Translation: X:9.58, Y:0.38, Z:-1.55 [[ 0.98933572 -0.1310838 -0.06349705 9.57578256] [ 0.13245276 0.99102886 0.01783413 0.38440769] [ 0.06058965 -0.0260543 0.99782266 -1.55478013] [ 0. 0. 0. 1. ]] SLAMing on 107.40719347 meters Centerline goodness : 0.898525 Centerline is valid? [False, False] Translation: X:9.58, Y:0.38, Z:-1.56 [[ 0.98903614 -0.1329711 -0.06423553 9.57810011] [ 0.13435096 0.99077674 0.01764262 0.3829702 ] [ 0.06129711 -0.0260793 0.9977788 -1.55500045] [ 0. 0. 0. 1. ]] SLAMing on 107.43719347 meters Centerline goodness : 0.894695 Centerline is valid? [False, False] Translation: X:9.58, Y:0.38, Z:-1.55 [[ 0.98857651 -0.13512085 -0.06677453 9.58254506] [ 0.13675852 0.99039074 0.02057409 0.38238746] [ 0.06335289 -0.02947105 0.99755595 -1.55343224] [ 0. 0. 0. 1. ]] SLAMing on 107.46719347 meters Centerline goodness : 0.892458 Centerline is valid? [False, False] Translation: X:9.58, Y:0.38, Z:-1.55 [[ 0.98844507 -0.13559497 -0.06775206 9.58407211] [ 0.1373314 0.99028867 0.02164329 0.38255844] [ 0.06415938 -0.03069769 0.99746741 -1.55270679] [ 0. 0. 0. 1. ]] SLAMing on 107.49719347 meters Centerline goodness : 0.893895 Centerline is valid? [False, False] Translation: X:9.59, Y:0.38, Z:-1.55 [[ 0.98845069 -0.13535509 -0.06814867 9.58555333] [ 0.13714643 0.99029951 0.02231001 0.38192313] [ 0.06446782 -0.0313987 0.9974257 -1.55344574] [ 0. 0. 0. 1. ]] SLAMing on 107.52719347 meters Centerline goodness : 0.892562 Centerline is valid? [False, False] Translation: X:9.59, Y:0.38, Z:-1.56 [[ 0.98854569 -0.13458283 -0.06829988 9.58762849] [ 0.13641222 0.99038869 0.02284629 0.38089971] [ 0.06456871 -0.03190154 0.99740321 -1.5555938 ] [ 0. 0. 0. 1. ]] SLAMing on 107.55719347 meters Centerline goodness : 0.889457 Centerline is valid? [False, False] Translation: X:9.59, Y:0.38, Z:-1.56 [[ 0.98840661 -0.13586165 -0.06777899 9.58944949] [ 0.13747306 0.99030991 0.01968372 0.38052859] [ 0.06444794 -0.0287733 0.99750617 -1.55865458] [ 0. 0. 0. 1. ]] SLAMing on 107.58719347 meters Centerline goodness : 0.889109 Centerline is valid? [False, False] Translation: X:9.59, Y:0.38, Z:-1.56 [[ 0.98834297 -0.13594467 -0.06853627 9.59193095] [ 0.13763381 0.99027028 0.02053562 0.37999212] [ 0.06507772 -0.02972915 0.99743725 -1.55964285] [ 0. 0. 0. 1. ]] SLAMing on 107.61719347 meters Centerline goodness : 0.889557 Centerline is valid? [False, False] Translation: X:9.59, Y:0.38, Z:-1.56 [[ 0.98823573 -0.13633199 -0.06930895 9.59357735] [ 0.13812136 0.9901777 0.02169368 0.37919959] [ 0.06567063 -0.03101152 0.99735934 -1.55936439] [ 0. 0. 0. 1. ]] SLAMing on 107.64719347 meters Centerline goodness : 0.889557 Centerline is valid? [False, False] Translation: X:9.59, Y:0.38, Z:-1.56 [[ 0.98823573 -0.13633199 -0.06930895 9.59357735] [ 0.13812136 0.9901777 0.02169368 0.37919959] [ 0.06567063 -0.03101152 0.99735934 -1.55936439] [ 0. 0. 0. 1. ]] SLAMing on 107.67719347 meters Centerline goodness : 0.888130 Centerline is valid? [False, False] Translation: X:9.60, Y:0.38, Z:-1.56 [[ 0.98814772 -0.13659572 -0.07004071 9.59505163] [ 0.13849431 0.99009647 0.02298513 0.37812376] [ 0.06620739 -0.03241294 0.99727929 -1.55893874] [ 0. 0. 0. 1. ]] SLAMing on 107.70719347 meters Centerline goodness : 0.888277 Centerline is valid? [False, False] Translation: X:9.60, Y:0.37, Z:-1.56 [[ 0.98792252 -0.13791746 -0.07062481 9.5979879 ] [ 0.13991424 0.98986958 0.02412938 0.37415356] [ 0.06658149 -0.03371937 0.99721107 -1.55971894] [ 0. 0. 0. 1. ]] SLAMing on 107.73719347 meters Centerline goodness : 0.888578 Centerline is valid? [False, False] Translation: X:9.60, Y:0.37, Z:-1.56 [[ 0.9878236 -0.13845429 -0.07095739 9.60061409] [ 0.14051688 0.98976444 0.02492712 0.37129866] [ 0.06677983 -0.0345943 0.99716783 -1.56118583] [ 0. 0. 0. 1. ]] SLAMing on 107.76719347 meters Centerline goodness : 0.888368 Centerline is valid? [False, False] Translation: X:9.60, Y:0.37, Z:-1.56 [[ 0.98773924 -0.13873476 -0.07158121 9.60247335] [ 0.14094273 0.98965624 0.02675205 0.36826004] [ 0.06712935 -0.0365129 0.99707595 -1.56099385] [ 0. 0. 0. 1. ]] SLAMing on 107.79719347 meters Centerline goodness : 0.889841 Centerline is valid? [False, False] Translation: X:9.60, Y:0.36, Z:-1.56 [[ 0.98759238 -0.13893744 -0.07319617 9.60390259] [ 0.14154158 0.98942605 0.03165559 0.36395268] [ 0.06802405 -0.04162312 0.99681505 -1.55727545] [ 0. 0. 0. 1. ]] SLAMing on 107.82719347 meters Centerline goodness : 0.889631 Centerline is valid? [False, False] Translation: X:9.60, Y:0.36, Z:-1.55 [[ 0.98744089 -0.13971504 -0.07375769 9.602967 ] [ 0.1424481 0.98924635 0.03316921 0.36301974] [ 0.06833029 -0.04325928 0.99672444 -1.55403216] [ 0. 0. 0. 1. ]] SLAMing on 107.85719347 meters Centerline goodness : 0.889838 Centerline is valid? [False, False] Translation: X:9.60, Y:0.36, Z:-1.55 [[ 0.98732978 -0.13989507 -0.07489513 9.60414856] [ 0.14282043 0.98912187 0.03521713 0.36232897] [ 0.06915371 -0.04546748 0.99656935 -1.55224959] [ 0. 0. 0. 1. ]] SLAMing on 107.88719347 meters Centerline goodness : 0.886448 Centerline is valid? [False, False] Translation: X:9.61, Y:0.36, Z:-1.55 [[ 0.98704303 -0.1416493 -0.07537589 9.60695836] [ 0.14460525 0.98885978 0.03529395 0.35946551] [ 0.06953682 -0.0457364 0.99653039 -1.55321354] [ 0. 0. 0. 1. ]] SLAMing on 107.91719347 meters Centerline goodness : 0.884355 Centerline is valid? [False, False] Translation: X:9.61, Y:0.36, Z:-1.56 [[ 0.98692572 -0.14217567 -0.07591909 9.61072371] [ 0.14518177 0.98876296 0.03563784 0.35716043] [ 0.06999915 -0.04619397 0.99647691 -1.55581692] [ 0. 0. 0. 1. ]] SLAMing on 107.94719347 meters Centerline goodness : 0.883764 Centerline is valid? [False, False] Translation: X:9.61, Y:0.36, Z:-1.56 [[ 0.98665299 -0.14408251 -0.07586896 9.61284012] [ 0.14695993 0.98856518 0.0337885 0.35589683] [ 0.07013308 -0.04448722 0.99654515 -1.55754462] [ 0. 0. 0. 1. ]] SLAMing on 107.97719347 meters Centerline goodness : 0.883909 Centerline is valid? [False, False] Translation: X:9.62, Y:0.36, Z:-1.56 [[ 0.98642624 -0.14524637 -0.07659487 9.61512751] [ 0.14817604 0.98837521 0.0340339 0.35505202] [ 0.07076117 -0.04492145 0.99648127 -1.55791179] [ 0. 0. 0. 1. ]] SLAMing on 108.00719347 meters Centerline goodness : 0.882428 Centerline is valid? [False, False] Translation: X:9.62, Y:0.36, Z:-1.56 [[ 0.98602111 -0.14729007 -0.0778974 9.61747572] [ 0.15029427 0.9880499 0.03419103 0.35601869] [ 0.07193052 -0.04542061 0.99637491 -1.55703459] [ 0. 0. 0. 1. ]] SLAMing on 108.03719347 meters Centerline goodness : 0.881524 Centerline is valid? [False, False] Translation: X:9.62, Y:0.36, Z:-1.56 [[ 0.98598075 -0.14694697 -0.07904772 9.62010418] [ 0.15008885 0.98803993 0.03536148 0.35713401] [ 0.07290605 -0.04672992 0.99624346 -1.55773111] [ 0. 0. 0. 1. ]] SLAMing on 108.06719347 meters Centerline goodness : 0.880422 Centerline is valid? [False, False] Translation: X:9.62, Y:0.36, Z:-1.56 [[ 0.98597468 -0.14694222 -0.0791323 9.62020292] [ 0.15005215 0.98806292 0.03487149 0.35849923] [ 0.07306359 -0.04625638 0.99625401 -1.55793588] [ 0. 0. 0. 1. ]] SLAMing on 108.09719347 meters Centerline goodness : 0.880823 Centerline is valid? [False, False] Translation: X:9.62, Y:0.36, Z:-1.56 [[ 0.98608259 -0.14643978 -0.07871802 9.62044533] [ 0.14940886 0.98821723 0.03322193 0.36021209] [ 0.07292549 -0.04452074 0.9963432 -1.55996621] [ 0. 0. 0. 1. ]] SLAMing on 108.12719347 meters Centerline goodness : 0.882423 Centerline is valid? [False, False] Translation: X:9.62, Y:0.36, Z:-1.56 [[ 0.98611636 -0.14619635 -0.07874737 9.62246308] [ 0.14910693 0.9882897 0.03241291 0.3603038 ] [ 0.07308657 -0.04370468 0.99636753 -1.56255093] [ 0. 0. 0. 1. ]] SLAMing on 108.15719347 meters Centerline goodness : 0.882708 Centerline is valid? [False, False] Translation: X:9.62, Y:0.36, Z:-1.56 [[ 0.98604969 -0.14636799 -0.07926172 9.62416488] [ 0.14929442 0.98826456 0.03231603 0.36068857] [ 0.07360151 -0.04369854 0.99632989 -1.56346509] [ 0. 0. 0. 1. ]] SLAMing on 108.18719347 meters Centerline goodness : 0.883286 Centerline is valid? [False, False] Translation: X:9.62, Y:0.36, Z:-1.56 [[ 0.98598605 -0.14666887 -0.07949687 9.62399986] [ 0.14960293 0.98821941 0.03227008 0.36183456] [ 0.07382733 -0.04371081 0.99631265 -1.56275711] [ 0. 0. 0. 1. ]] SLAMing on 108.21719347 meters Centerline goodness : 0.885929 Centerline is valid? [False, False] Translation: X:9.62, Y:0.36, Z:-1.56 [[ 0.98634745 -0.14361293 -0.08058552 9.62479424] [ 0.14685841 0.98850672 0.0358759 0.36280846] [ 0.07450709 -0.04722076 0.99610185 -1.56208796] [ 0. 0. 0. 1. ]] SLAMing on 108.24719347 meters Centerline goodness : 0.886178 Centerline is valid? [False, False] Translation: X:9.63, Y:0.36, Z:-1.56 [[ 0.98648917 -0.14230125 -0.08117556 9.62636577] [ 0.14566579 0.98863715 0.03712228 0.36345731] [ 0.07497063 -0.04844523 0.99600827 -1.56299195] [ 0. 0. 0. 1. ]] SLAMing on 108.27719347 meters Centerline goodness : 0.885419 Centerline is valid? [False, False] Translation: X:9.63, Y:0.36, Z:-1.56 [[ 0.98647788 -0.14225451 -0.08139435 9.62582185] [ 0.14566403 0.98862018 0.03757836 0.36394537] [ 0.0751224 -0.04892645 0.99597331 -1.56173007] [ 0. 0. 0. 1. ]] SLAMing on 108.30719347 meters Centerline goodness : 0.888013 Centerline is valid? [False, False] Translation: X:9.63, Y:0.36, Z:-1.56 [[ 0.9864855 -0.14213885 -0.08150397 9.62513238] [ 0.14558855 0.98861355 0.03804226 0.36459257] [ 0.07516864 -0.04939419 0.99594673 -1.56054599] [ 0. 0. 0. 1. ]] SLAMing on 108.33719347 meters Centerline goodness : 0.886838 Centerline is valid? [False, False] Translation: X:9.62, Y:0.37, Z:-1.56 [[ 0.98633007 -0.14341475 -0.08114931 9.62359804] [ 0.14675952 0.98848579 0.0368442 0.36517355] [ 0.07493094 -0.04824998 0.99602073 -1.55911887] [ 0. 0. 0. 1. ]] SLAMing on 108.36719347 meters Centerline goodness : 0.887848 Centerline is valid? [False, False] Translation: X:9.63, Y:0.37, Z:-1.56 [[ 0.98622533 -0.14366098 -0.08198242 9.6267515 ] [ 0.14707862 0.98842266 0.03726279 0.36502517] [ 0.07568007 -0.04880737 0.99593693 -1.56080405] [ 0. 0. 0. 1. ]] SLAMing on 108.39719347 meters Centerline goodness : 0.888861 Centerline is valid? [False, False] Translation: X:9.63, Y:0.37, Z:-1.56 [[ 0.98578183 -0.14602762 -0.08312711 9.62941316] [ 0.14948681 0.9880712 0.03699985 0.36619832] [ 0.07673251 -0.04890019 0.99585184 -1.56071678] [ 0. 0. 0. 1. ]] SLAMing on 108.42719347 meters Centerline goodness : 0.887790 Centerline is valid? [False, False] Translation: X:9.63, Y:0.37, Z:-1.56 [[ 0.98551349 -0.14738571 -0.08390838 9.6302128 ] [ 0.15087175 0.98786783 0.03680859 0.36801217] [ 0.07746533 -0.04893476 0.99579341 -1.55964507] [ 0. 0. 0. 1. ]] SLAMing on 108.45719347 meters Centerline goodness : 0.890427 Centerline is valid? [False, False] Translation: X:9.63, Y:0.37, Z:-1.56 [[ 0.98536303 -0.14783794 -0.08487423 9.63156246] [ 0.1514174 0.98776303 0.03737593 0.37023255] [ 0.07831005 -0.04968029 0.99569042 -1.55923822] [ 0. 0. 0. 1. ]] SLAMing on 108.48719347 meters Centerline goodness : 0.889748 Centerline is valid? [False, False] Translation: X:9.63, Y:0.38, Z:-1.56 [[ 0.98522584 -0.14856095 -0.08520386 9.63068607] [ 0.15204208 0.98772179 0.03590092 0.37586066] [ 0.07882423 -0.04832508 0.99571654 -1.55829113] [ 0. 0. 0. 1. ]] SLAMing on 108.51719347 meters Centerline goodness : 0.889382 Centerline is valid? [False, False] Translation: X:9.63, Y:0.38, Z:-1.56 [[ 0.9851773 -0.14889511 -0.08518179 9.63029027] [ 0.15227388 0.9877321 0.0346117 0.37865058] [ 0.07898327 -0.04706962 0.99576408 -1.55836757] [ 0. 0. 0. 1. ]] SLAMing on 108.54719347 meters Centerline goodness : 0.890377 Centerline is valid? [False, False] Translation: X:9.63, Y:0.38, Z:-1.56 [[ 0.98516842 -0.14889274 -0.08528855 9.63109303] [ 0.15218537 0.98778526 0.03346487 0.38082461] [ 0.0792641 -0.04594821 0.99579414 -1.55967126] [ 0. 0. 0. 1. ]] SLAMing on 108.57719347 meters Centerline goodness : 0.890775 Centerline is valid? [False, False] Translation: X:9.63, Y:0.39, Z:-1.56 [[ 0.98512674 -0.14917074 -0.08528417 9.6315574 ] [ 0.15226994 0.98785161 0.03103315 0.38556942] [ 0.07961886 -0.0435578 0.99587326 -1.56151442] [ 0. 0. 0. 1. ]] SLAMing on 108.60719347 meters Centerline goodness : 0.892462 Centerline is valid? [False, False] Translation: X:9.63, Y:0.39, Z:-1.56 [[ 0.98516592 -0.14871235 -0.0856315 9.6314305 ] [ 0.15180809 0.98792948 0.03081629 0.38848543] [ 0.08001512 -0.04335872 0.99585019 -1.5613098 ] [ 0. 0. 0. 1. ]] SLAMing on 108.63719347 meters Centerline goodness : 0.890185 Centerline is valid? [False, False] Translation: X:9.63, Y:0.39, Z:-1.56 [[ 0.98539622 -0.14646179 -0.08685184 9.63234707] [ 0.14981365 0.98815046 0.0333847 0.39158525] [ 0.0809331 -0.04590875 0.9956617 -1.56092686] [ 0. 0. 0. 1. ]] SLAMing on 108.66719347 meters Centerline goodness : 0.889004 Centerline is valid? [False, False] Translation: X:9.63, Y:0.40, Z:-1.56 [[ 0.98617715 -0.14023361 -0.08825624 9.63234848] [ 0.1440004 0.98885401 0.03783686 0.39812512] [ 0.08196654 -0.05002278 0.99537893 -1.56105321] [ 0. 0. 0. 1. ]] SLAMing on 108.69719347 meters Centerline goodness : 0.889004 Centerline is valid? [False, False] Translation: X:9.63, Y:0.40, Z:-1.56 [[ 0.98617715 -0.14023361 -0.08825624 9.63234848] [ 0.1440004 0.98885401 0.03783686 0.39812512] [ 0.08196654 -0.05002278 0.99537893 -1.56105321] [ 0. 0. 0. 1. ]] SLAMing on 108.72719347 meters Centerline goodness : 0.887198 Centerline is valid? [False, False] Translation: X:9.63, Y:0.40, Z:-1.57 [[ 0.98740081 -0.13141867 -0.08814061 9.63220487] [ 0.13542775 0.98993287 0.04113672 0.40299109] [ 0.08184715 -0.05255512 0.99525826 -1.56505985] [ 0. 0. 0. 1. ]] SLAMing on 108.75719347 meters Centerline goodness : 0.887670 Centerline is valid? [False, False] Translation: X:9.63, Y:0.41, Z:-1.57 [[ 0.98838942 -0.13220484 -0.07488821 9.63429567] [ 0.13543174 0.98998831 0.03976664 0.40803987] [ 0.06888111 -0.04944717 0.9963987 -1.57159907] [ 0. 0. 0. 1. ]] SLAMing on 108.78719347 meters Centerline goodness : 0.887647 Centerline is valid? [False, False] Translation: X:9.63, Y:0.41, Z:-1.57 [[ 0.98900956 -0.12738514 -0.07505416 9.63469782] [ 0.13077098 0.99052035 0.04205207 0.40935704] [ 0.06898587 -0.05140481 0.99629237 -1.57357827] [ 0. 0. 0. 1. ]] SLAMing on 108.81719347 meters Centerline goodness : 0.889976 Centerline is valid? [False, False] Translation: X:9.63, Y:0.41, Z:-1.58 [[ 0.98974818 -0.12165562 -0.07482285 9.63392915] [ 0.12524223 0.99109348 0.04525592 0.41041435] [ 0.0686508 -0.05416295 0.99616938 -1.57507529] [ 0. 0. 0. 1. ]] SLAMing on 108.84719347 meters Centerline goodness : 0.893314 Centerline is valid? [False, False] Translation: X:9.63, Y:0.42, Z:-1.58 [[ 0.99151325 -0.11441384 -0.06173289 9.63140772] [ 0.11743384 0.99193318 0.04772689 0.41604239] [ 0.05577429 -0.05457137 0.99695095 -1.5768454 ] [ 0. 0. 0. 1. ]] SLAMing on 108.87719347 meters Centerline goodness : 0.893339 Centerline is valid? [False, False] Translation: X:9.63, Y:0.42, Z:-1.58 [[ 0.99219848 -0.10847942 -0.06143609 9.62970808] [ 0.11167347 0.99242601 0.05118248 0.41671916] [ 0.05541853 -0.05764396 0.99679785 -1.57710376] [ 0. 0. 0. 1. ]] SLAMing on 108.90719347 meters Centerline goodness : 0.894376 Centerline is valid? [False, False] Translation: X:9.63, Y:0.42, Z:-1.58 [[ 0.99282019 -0.10336358 -0.06019993 9.62689307] [ 0.10656684 0.99290927 0.0526753 0.41621509] [ 0.05432836 -0.05871242 0.99679551 -1.57782379] [ 0. 0. 0. 1. ]] SLAMing on 108.93719347 meters Centerline goodness : 0.893330 Centerline is valid? [False, False] Translation: X:9.62, Y:0.41, Z:-1.58 [[ 0.99329417 -0.09979416 -0.05837656 9.6241632 ] [ 0.10286768 0.99332181 0.05224966 0.41491718] [ 0.05277249 -0.05790434 0.99692635 -1.57949241] [ 0. 0. 0. 1. ]] SLAMing on 108.96719347 meters Centerline goodness : 0.892546 Centerline is valid? [False, False] Translation: X:9.62, Y:0.41, Z:-1.58 [[ 0.99384126 -0.09627161 -0.05487559 9.61946489] [ 0.09899751 0.9938643 0.04932797 0.41101976] [ 0.04979 -0.05445672 0.997274 -1.58221967] [ 0. 0. 0. 1. ]] SLAMing on 108.99719347 meters Centerline goodness : 0.891429 Centerline is valid? [False, False] Translation: X:9.62, Y:0.41, Z:-1.58 [[ 0.99376853 -0.09761326 -0.05381228 9.61759862] [ 0.10016342 0.99386401 0.04692149 0.40910713] [ 0.04890193 -0.05201912 0.99744805 -1.58167572] [ 0. 0. 0. 1. ]] SLAMing on 109.02719347 meters Centerline goodness : 0.893090 Centerline is valid? [False, False] Translation: X:9.62, Y:0.41, Z:-1.58 [[ 0.99359213 -0.09983157 -0.05299367 9.61674937] [ 0.10222365 0.99376448 0.044525 0.4064027 ] [ 0.04821822 -0.0496569 0.99760172 -1.58143704] [ 0. 0. 0. 1. ]] SLAMing on 109.05719347 meters Centerline goodness : 0.891703 Centerline is valid? [False, False] Translation: X:9.62, Y:0.40, Z:-1.58 [[ 0.99331697 -0.10284445 -0.05238721 9.61687136] [ 0.10508865 0.99357349 0.0420487 0.40256033] [ 0.04772607 -0.04727299 0.99774119 -1.58148904] [ 0. 0. 0. 1. ]] SLAMing on 109.08719347 meters Centerline goodness : 0.889465 Centerline is valid? [False, False] Translation: X:9.62, Y:0.39, Z:-1.58 [[ 0.99295122 -0.10704397 -0.05088672 9.61821984] [ 0.10909788 0.99324771 0.03945437 0.39149716] [ 0.04631977 -0.0447279 0.99792479 -1.58336957] [ 0. 0. 0. 1. ]] SLAMing on 109.11719347 meters Centerline goodness : 0.889125 Centerline is valid? [False, False] Translation: X:9.62, Y:0.39, Z:-1.58 [[ 0.9926009 -0.11015867 -0.05107365 9.61990325] [ 0.11210835 0.99300627 0.03701719 0.38757728] [ 0.04663869 -0.04246907 0.99800862 -1.58346825] [ 0. 0. 0. 1. ]] SLAMing on 109.14719347 meters Centerline goodness : 0.888206 Centerline is valid? [False, False] Translation: X:9.62, Y:0.38, Z:-1.58 [[ 0.99282966 -0.10853182 -0.05010092 9.6203068 ] [ 0.11057575 0.99306247 0.03999928 0.3770614 ] [ 0.04541214 -0.04525242 0.99794286 -1.58431914] [ 0. 0. 0. 1. ]] SLAMing on 109.17719347 meters Centerline goodness : 0.887389 Centerline is valid? [False, False] Translation: X:9.62, Y:0.37, Z:-1.59 [[ 0.99310839 -0.10647778 -0.04897153 9.61981113] [ 0.10848072 0.99328393 0.0402365 0.37161618] [ 0.04435834 -0.04527167 0.99798939 -1.58600654] [ 0. 0. 0. 1. ]] SLAMing on 109.20719347 meters Centerline goodness : 0.887275 Centerline is valid? [False, False] Translation: X:9.62, Y:0.37, Z:-1.59 [[ 0.99326032 -0.10550296 -0.04799029 9.61989648] [ 0.10743026 0.99342671 0.03952358 0.36621187] [ 0.04350498 -0.04441282 0.99806554 -1.58787147] [ 0. 0. 0. 1. ]] SLAMing on 109.23719347 meters Centerline goodness : 0.887745 Centerline is valid? [False, False] Translation: X:9.62, Y:0.36, Z:-1.59 [[ 0.99317518 -0.10659974 -0.04732399 9.6210755 ] [ 0.10845121 0.99335813 0.03844427 0.36072842] [ 0.04291152 -0.04331424 0.99813951 -1.58951857] [ 0. 0. 0. 1. ]] SLAMing on 109.26719347 meters Centerline goodness : 0.889082 Centerline is valid? [False, False] Translation: X:9.62, Y:0.35, Z:-1.59 [[ 0.99279418 -0.10374488 -0.05997264 9.62088183] [ 0.10627921 0.99350181 0.04072943 0.3509354 ] [ 0.05535746 -0.04680979 0.99736874 -1.58706683] [ 0. 0. 0. 1. ]] SLAMing on 109.29719347 meters Centerline goodness : 0.884541 Centerline is valid? [False, False] Translation: X:9.63, Y:0.33, Z:-1.59 [[ 0.99178899 -0.11117853 -0.06319756 9.6289405 ] [ 0.11404687 0.99251192 0.04374236 0.33444589] [ 0.05786112 -0.05059068 0.99704196 -1.58903485] [ 0. 0. 0. 1. ]] SLAMing on 109.32719347 meters Centerline goodness : 0.884367 Centerline is valid? [False, False] Translation: X:9.63, Y:0.33, Z:-1.59 [[ 0.99136868 -0.11464651 -0.06359489 9.63103821] [ 0.11759953 0.99204978 0.04480617 0.32649094] [ 0.05795243 -0.05189817 0.99696946 -1.58752266] [ 0. 0. 0. 1. ]] SLAMing on 109.35719347 meters Centerline goodness : 0.884348 Centerline is valid? [False, False] Translation: X:9.63, Y:0.32, Z:-1.59 [[ 0.99096716 -0.11790012 -0.06390342 9.63261191] [ 0.12089977 0.99163093 0.04529175 0.31932711] [ 0.05802871 -0.05260854 0.99692779 -1.58578753] [ 0. 0. 0. 1. ]] SLAMing on 109.38719347 meters Centerline goodness : 0.885023 Centerline is valid? [False, False] Translation: X:9.63, Y:0.31, Z:-1.58 [[ 0.99071796 -0.12009555 -0.0636788 9.63343169] [ 0.12309603 0.99135179 0.04548629 0.31225994] [ 0.05766539 -0.05290269 0.9969333 -1.58486485] [ 0. 0. 0. 1. ]] SLAMing on 109.41719347 meters Centerline goodness : 0.883782 Centerline is valid? [False, False] Translation: X:9.63, Y:0.30, Z:-1.59 [[ 0.99060314 -0.12193978 -0.06193633 9.63342466] [ 0.1248583 0.99112367 0.04565381 0.29782688] [ 0.05581954 -0.05295807 0.99703542 -1.58533619] [ 0. 0. 0. 1. ]] SLAMing on 109.44719347 meters Centerline goodness : 0.882744 Centerline is valid? [False, False] Translation: X:9.63, Y:0.29, Z:-1.59 [[ 0.99050997 -0.12313143 -0.0610627 9.63396392] [ 0.12595748 0.99102324 0.04480684 0.2914057 ] [ 0.05499742 -0.05207292 0.99712772 -1.58631138] [ 0. 0. 0. 1. ]] SLAMing on 109.47719347 meters Centerline goodness : 0.880738 Centerline is valid? [False, False] Translation: X:9.63, Y:0.28, Z:-1.59 [[ 0.99040617 -0.11797545 -0.07195424 9.63237102] [ 0.12164015 0.99137092 0.04886066 0.27578669] [ 0.06556898 -0.05714442 0.99621043 -1.58520852] [ 0. 0. 0. 1. ]] SLAMing on 109.50719347 meters Centerline goodness : 0.880939 Centerline is valid? [False, False] Translation: X:9.63, Y:0.27, Z:-1.59 [[ 0.9902103 -0.11986213 -0.07153064 9.63350351] [ 0.12341467 0.99121822 0.04748948 0.27075547] [ 0.06521029 -0.0558525 0.99630724 -1.58589316] [ 0. 0. 0. 1. ]] SLAMing on 109.53719347 meters Centerline goodness : 0.880939 Centerline is valid? [False, False] Translation: X:9.63, Y:0.27, Z:-1.59 [[ 0.9902103 -0.11986213 -0.07153064 9.63350351] [ 0.12341467 0.99121822 0.04748948 0.27075547] [ 0.06521029 -0.0558525 0.99630724 -1.58589316] [ 0. 0. 0. 1. ]] SLAMing on 109.56719347 meters Centerline goodness : 0.879111 Centerline is valid? [False, False] Translation: X:9.63, Y:0.27, Z:-1.59 [[ 0.99001196 -0.12185875 -0.07089972 9.63432746] [ 0.12528836 0.99104836 0.04610823 0.26542205] [ 0.06464636 -0.05453061 0.99641721 -1.58667311] [ 0. 0. 0. 1. ]] SLAMing on 109.59719347 meters Centerline goodness : 0.879615 Centerline is valid? [False, False] Translation: X:9.64, Y:0.25, Z:-1.59 [[ 0.98993331 -0.1230149 -0.06999554 9.63507422] [ 0.12646498 0.99084817 0.04718588 0.25204972] [ 0.06355038 -0.05556286 0.99643069 -1.58622645] [ 0. 0. 0. 1. ]] SLAMing on 109.62719347 meters Centerline goodness : 0.879195 Centerline is valid? [False, False] Translation: X:9.63, Y:0.25, Z:-1.59 [[ 0.98975458 -0.12478825 -0.06938128 9.63487711] [ 0.12814741 0.99067549 0.04626363 0.24663836] [ 0.06296118 -0.05468067 0.99651689 -1.58553405] [ 0. 0. 0. 1. ]] SLAMing on 109.65719347 meters Centerline goodness : 0.879345 Centerline is valid? [False, False] Translation: X:9.64, Y:0.24, Z:-1.59 [[ 0.98974917 -0.12425721 -0.07040402 9.63760305] [ 0.12786837 0.99056366 0.04932857 0.2406867 ] [ 0.06361023 -0.05782536 0.99629813 -1.58516151] [ 0. 0. 0. 1. ]] SLAMing on 109.68719347 meters Centerline goodness : 0.878472 Centerline is valid? [False, False] Translation: X:9.64, Y:0.23, Z:-1.59 [[ 0.98957643 -0.1258991 -0.0699135 9.63935306] [ 0.12947781 0.99035871 0.04924548 0.23083991] [ 0.06303948 -0.05778441 0.99633678 -1.58569592] [ 0. 0. 0. 1. ]] SLAMing on 109.71719347 meters Centerline goodness : 0.879035 Centerline is valid? [False, False] Translation: X:9.64, Y:0.22, Z:-1.59 [[ 0.98966159 -0.12505828 -0.07021653 9.64045308] [ 0.12882252 0.99030847 0.05190279 0.22469036] [ 0.06304515 -0.06041166 0.99618058 -1.58500658] [ 0. 0. 0. 1. ]] SLAMing on 109.74719347 meters Centerline goodness : 0.879078 Centerline is valid? [False, False] Translation: X:9.64, Y:0.22, Z:-1.58 [[ 0.98946686 -0.12703608 -0.06940586 9.63948305] [ 0.13068536 0.99012004 0.05082955 0.21986121] [ 0.06226295 -0.05936449 0.99629272 -1.58374005] [ 0. 0. 0. 1. ]] SLAMing on 109.77719347 meters Centerline goodness : 0.878971 Centerline is valid? [False, False] Translation: X:9.64, Y:0.21, Z:-1.58 [[ 0.98891861 -0.13125477 -0.06936983 9.63890112] [ 0.13495545 0.98950473 0.05164705 0.20965919] [ 0.06186285 -0.06043657 0.99625318 -1.57884777] [ 0. 0. 0. 1. ]] SLAMing on 109.80719347 meters Centerline goodness : 0.879062 Centerline is valid? [False, False] Translation: X:9.64, Y:0.21, Z:-1.58 [[ 0.98844088 -0.13483619 -0.06930969 9.63979345] [ 0.1384135 0.98912766 0.04968075 0.20584985] [ 0.06185737 -0.05869989 0.99635736 -1.57790375] [ 0. 0. 0. 1. ]] SLAMing on 109.83719347 meters Centerline goodness : 0.880203 Centerline is valid? [False, False] Translation: X:9.64, Y:0.20, Z:-1.58 [[ 0.98798009 -0.13822365 -0.0692066 9.64097092] [ 0.14165399 0.98878226 0.04736862 0.20281125] [ 0.0618828 -0.05660265 0.99647712 -1.57772517] [ 0. 0. 0. 1. ]] SLAMing on 109.86719347 meters Centerline goodness : 0.879738 Centerline is valid? [False, False] Translation: X:9.64, Y:0.20, Z:-1.58 [[ 0.98758719 -0.14098588 -0.06924248 9.6426525 ] [ 0.14426238 0.98852369 0.04482501 0.20118051] [ 0.06212813 -0.05425769 0.99659229 -1.57830562] [ 0. 0. 0. 1. ]] SLAMing on 109.89719347 meters Centerline goodness : 0.877982 Centerline is valid? [False, False] Translation: X:9.64, Y:0.20, Z:-1.58 [[ 0.98763175 -0.14067259 -0.06924418 9.64326584] [ 0.14400596 0.9885191 0.04574129 0.19812043] [ 0.06201465 -0.05514712 0.99655054 -1.57837536] [ 0. 0. 0. 1. ]] SLAMing on 109.92719347 meters Centerline goodness : 0.877171 Centerline is valid? [False, False] Translation: X:9.64, Y:0.20, Z:-1.58 [[ 0.98765678 -0.1405289 -0.06917883 9.6436131 ] [ 0.14386162 0.98853782 0.04579097 0.1973905 ] [ 0.06195094 -0.05517794 0.9965528 -1.57882098] [ 0. 0. 0. 1. ]] SLAMing on 109.95719347 meters Centerline goodness : 0.875108 Centerline is valid? [False, False] Translation: X:9.64, Y:0.20, Z:-1.58 [[ 0.98738437 -0.1430524 -0.06788313 9.64264271] [ 0.14607731 0.98838598 0.04188773 0.19790703] [ 0.0611026 -0.05127548 0.99681357 -1.57997497] [ 0. 0. 0. 1. ]] SLAMing on 109.98719347 meters Centerline goodness : 0.872629 Centerline is valid? [False, False] Translation: X:9.64, Y:0.19, Z:-1.58 [[ 0.98681085 -0.14022303 -0.08088171 9.64219111] [ 0.14397102 0.98866853 0.04250739 0.19213825] [ 0.07400469 -0.05359138 0.99581689 -1.57700965] [ 0. 0. 0. 1. ]] SLAMing on 110.01719347 meters Centerline goodness : 0.872461 Centerline is valid? [False, False] Translation: X:9.64, Y:0.19, Z:-1.58 [[ 0.98643343 -0.142609 -0.08131279 9.64497162] [ 0.14623348 0.9884214 0.04048329 0.19157727] [ 0.07459802 -0.05182473 0.99586612 -1.57815719] [ 0. 0. 0. 1. ]] SLAMing on 110.04719347 meters Centerline goodness : 0.870641 Centerline is valid? [False, False] Translation: X:9.65, Y:0.19, Z:-1.58 [[ 0.9862264 -0.1433272 -0.08255187 9.64772161] [ 0.14712121 0.98823306 0.04184214 0.18878842] [ 0.07558337 -0.05341096 0.995708 -1.57751787] [ 0. 0. 0. 1. ]] SLAMing on 110.07719347 meters Centerline goodness : 0.869955 Centerline is valid? [False, False] Translation: X:9.64, Y:0.18, Z:-1.57 [[ 0.98505141 -0.14467656 -0.0935009 9.64271652] [ 0.14902928 0.9879681 0.04134375 0.18039258] [ 0.08639444 -0.05466009 0.99476041 -1.57318784] [ 0. 0. 0. 1. ]] SLAMing on 110.10719347 meters Centerline goodness : 0.870896 Centerline is valid? [False, False] Translation: X:9.64, Y:0.18, Z:-1.57 [[ 0.98467415 -0.14726929 -0.09342683 9.64477486] [ 0.15139021 0.98771883 0.03863317 0.17934525] [ 0.08658996 -0.05218499 0.99487633 -1.57452949] [ 0. 0. 0. 1. ]] SLAMing on 110.13719347 meters Centerline goodness : 0.870812 Centerline is valid? [False, False] Translation: X:9.65, Y:0.18, Z:-1.57 [[ 0.98469502 -0.14680123 -0.09394212 9.64593958] [ 0.1510337 0.98773453 0.03961463 0.17811109] [ 0.0869744 -0.05319676 0.9947892 -1.57447737] [ 0. 0. 0. 1. ]] SLAMing on 110.16719347 meters Centerline goodness : 0.870909 Centerline is valid? [False, False] Translation: X:9.65, Y:0.18, Z:-1.57 [[ 0.98476126 -0.14644524 -0.09380324 9.64550755] [ 0.15067889 0.98778424 0.03972609 0.17832233] [ 0.08683966 -0.05325488 0.99479786 -1.57434698] [ 0. 0. 0. 1. ]] SLAMing on 110.19719347 meters Centerline goodness : 0.869385 Centerline is valid? [False, False] Translation: X:9.65, Y:0.18, Z:-1.58 [[ 0.98517664 -0.14378132 -0.09356237 9.64590396] [ 0.14808915 0.98813126 0.0408194 0.17769269] [ 0.08658283 -0.05406989 0.99477629 -1.57574325] [ 0. 0. 0. 1. ]] SLAMing on 110.22719347 meters Centerline goodness : 0.869743 Centerline is valid? [False, False] Translation: X:9.65, Y:0.18, Z:-1.58 [[ 0.98537031 -0.14289145 -0.09288375 9.64510724] [ 0.1471383 0.98828349 0.04057162 0.17803113] [ 0.08599813 -0.05364483 0.99485002 -1.57668638] [ 0. 0. 0. 1. ]] SLAMing on 110.25719347 meters Centerline goodness : 0.868980 Centerline is valid? [False, False] Translation: X:9.64, Y:0.18, Z:-1.58 [[ 0.98558692 -0.14163473 -0.0925096 9.64477774] [ 0.14584396 0.98848185 0.04041253 0.17911199] [ 0.08572024 -0.05332202 0.99489135 -1.57770816] [ 0. 0. 0. 1. ]] SLAMing on 110.28719347 meters Centerline goodness : 0.870383 Centerline is valid? [False, False] Translation: X:9.64, Y:0.18, Z:-1.58 [[ 0.98578345 -0.14073409 -0.09178728 9.64354162] [ 0.14486469 0.98864355 0.03997679 0.18036289] [ 0.08511881 -0.0527052 0.99497585 -1.57837961] [ 0. 0. 0. 1. ]] SLAMing on 110.31719347 meters Centerline goodness : 0.869481 Centerline is valid? [False, False] Translation: X:9.64, Y:0.18, Z:-1.58 [[ 0.98609645 -0.13905899 -0.09097467 9.64154152] [ 0.14313082 0.98890125 0.03984822 0.18192404] [ 0.08442371 -0.05231546 0.99505564 -1.57841313] [ 0. 0. 0. 1. ]] SLAMing on 110.34719347 meters Centerline goodness : 0.869521 Centerline is valid? [False, False] Translation: X:9.64, Y:0.18, Z:-1.58 [[ 0.98611307 -0.1388063 -0.09118022 9.64209831] [ 0.14291414 0.98892027 0.04015282 0.18166253] [ 0.0845965 -0.05262617 0.99502458 -1.57847933] [ 0. 0. 0. 1. ]] SLAMing on 110.37719347 meters Centerline goodness : 0.868425 Centerline is valid? [False, False] Translation: X:9.64, Y:0.18, Z:-1.58 [[ 0.98603303 -0.13928101 -0.09132181 9.64252249] [ 0.14341488 0.98883957 0.04035436 0.18048572] [ 0.08468203 -0.05288764 0.99500344 -1.57811185] [ 0. 0. 0. 1. ]] SLAMing on 110.40719347 meters Centerline goodness : 0.867525 Centerline is valid? [False, False] Translation: X:9.64, Y:0.18, Z:-1.58 [[ 0.98558885 -0.14277885 -0.09071285 9.64252338] [ 0.14661164 0.98849961 0.03706148 0.17988092] [ 0.08437802 -0.04982694 0.99518723 -1.57807991] [ 0. 0. 0. 1. ]] SLAMing on 110.43719347 meters Centerline goodness : 0.867300 Centerline is valid? [False, False] Translation: X:9.64, Y:0.18, Z:-1.58 [[ 0.98491127 -0.14729835 -0.0908459 9.64361204] [ 0.15092694 0.98794551 0.03441977 0.17721044] [ 0.08468082 -0.04761151 0.99526996 -1.57677663] [ 0. 0. 0. 1. ]] SLAMing on 110.46719347 meters Centerline goodness : 0.866821 Centerline is valid? [False, False] Translation: X:9.65, Y:0.18, Z:-1.58 [[ 0.98473377 -0.1479912 -0.09164061 9.64545697] [ 0.15170909 0.98780567 0.03499018 0.17552536] [ 0.08534488 -0.04835873 0.99517721 -1.57649112] [ 0. 0. 0. 1. ]] SLAMing on 110.49719347 meters Centerline goodness : 0.863907 Centerline is valid? [False, False] Translation: X:9.65, Y:0.17, Z:-1.58 [[ 0.98428164 -0.1508727 -0.09179913 9.64841661] [ 0.15435882 0.98749326 0.03210024 0.17471017] [ 0.08580797 -0.04576568 0.99526001 -1.57836205] [ 0. 0. 0. 1. ]] SLAMing on 110.52719347 meters Centerline goodness : 0.863990 Centerline is valid? [False, False] Translation: X:9.65, Y:0.17, Z:-1.58 [[ 0.98353831 -0.14852931 -0.10291472 9.64600548] [ 0.15253483 0.9877745 0.03216624 0.16562397] [ 0.09687891 -0.0473348 0.99416995 -1.57567279] [ 0. 0. 0. 1. ]] SLAMing on 110.55719347 meters Centerline goodness : 0.866097 Centerline is valid? [False, False] Translation: X:9.64, Y:0.17, Z:-1.58 [[ 0.9832615 -0.15120039 -0.10166251 9.64448869] [ 0.15483635 0.98751927 0.02883382 0.16574224] [ 0.096034 -0.04409223 0.994401 -1.57588511] [ 0. 0. 0. 1. ]] SLAMing on 110.58719347 meters Centerline goodness : 0.866351 Centerline is valid? [False, False] Translation: X:9.64, Y:0.17, Z:-1.58 [[ 0.98335841 -0.15051096 -0.10174813 9.64445673] [ 0.15419231 0.98760647 0.02929502 0.16596294] [ 0.09607789 -0.04449628 0.99437876 -1.57576743] [ 0. 0. 0. 1. ]] SLAMing on 110.61719347 meters Centerline goodness : 0.865853 Centerline is valid? [False, False] Translation: X:9.65, Y:0.17, Z:-1.58 [[ 0.98379587 -0.1466299 -0.10317633 9.64592445] [ 0.15077363 0.98799928 0.03353707 0.16590854] [ 0.0970206 -0.0485499 0.99409754 -1.57530735] [ 0. 0. 0. 1. ]] SLAMing on 110.64719347 meters Centerline goodness : 0.863800 Centerline is valid? [False, False] Translation: X:9.65, Y:0.17, Z:-1.58 [[ 0.98390528 -0.14601859 -0.10299981 9.64604163] [ 0.15009488 0.98812201 0.03296083 0.16760523] [ 0.09696349 -0.04789008 0.99413511 -1.57639379] [ 0. 0. 0. 1. ]] SLAMing on 110.67719347 meters Centerline goodness : 0.862552 Centerline is valid? [False, False] Translation: X:9.65, Y:0.17, Z:-1.58 [[ 0.98395614 -0.14546587 -0.10329565 9.64788013] [ 0.14962513 0.98816876 0.03368717 0.16558428] [ 0.0971732 -0.04860232 0.99408007 -1.57759843] [ 0. 0. 0. 1. ]] SLAMing on 110.70719347 meters Centerline goodness : 0.862002 Centerline is valid? [False, False] Translation: X:9.65, Y:0.16, Z:-1.58 [[ 0.98367935 -0.1475317 -0.10300164 9.64961604] [ 0.15143715 0.98797616 0.03114321 0.16387683] [ 0.09716856 -0.04623321 0.99419352 -1.57911489] [ 0. 0. 0. 1. ]] SLAMing on 110.73719347 meters Centerline goodness : 0.863607 Centerline is valid? [False, False] Translation: X:9.65, Y:0.16, Z:-1.58 [[ 0.98321935 -0.15074687 -0.10273798 9.65059665] [ 0.15450008 0.98755035 0.02956404 0.15903219] [ 0.09700224 -0.04494096 0.99426902 -1.57855525] [ 0. 0. 0. 1. ]] SLAMing on 110.76719347 meters Centerline goodness : 0.861418 Centerline is valid? [False, False] Translation: X:9.65, Y:0.16, Z:-1.58 [[ 0.98304519 -0.15148021 -0.10332428 9.65160096] [ 0.15529666 0.98741517 0.02990365 0.15840936] [ 0.09749415 -0.04544256 0.9941981 -1.57788919] [ 0. 0. 0. 1. ]] SLAMing on 110.79719347 meters Centerline goodness : 0.861792 Centerline is valid? [False, False] Translation: X:9.65, Y:0.16, Z:-1.58 [[ 0.9828456 -0.15204243 -0.10439174 9.65319 ] [ 0.15596812 0.98729156 0.03048492 0.15822959] [ 0.09843008 -0.04624375 0.99406893 -1.57685922] [ 0. 0. 0. 1. ]] SLAMing on 110.82719347 meters Centerline goodness : 0.860956 Centerline is valid? [False, False] Translation: X:9.65, Y:0.16, Z:-1.58 [[ 0.9826475 -0.15254514 -0.10551721 9.6547221 ] [ 0.1566445 0.98714713 0.03167099 0.15688234] [ 0.09932975 -0.04765011 0.99391301 -1.57539528] [ 0. 0. 0. 1. ]] SLAMing on 110.85719347 meters Centerline goodness : 0.862345 Centerline is valid? [False, False] Translation: X:9.65, Y:0.16, Z:-1.57 [[ 0.98209079 -0.15632841 -0.10516231 9.65402984] [ 0.16012923 0.98667951 0.02867374 0.15617343] [ 0.09927898 -0.04499977 0.9940416 -1.57377527] [ 0. 0. 0. 1. ]] SLAMing on 110.88719347 meters Centerline goodness : 0.862644 Centerline is valid? [False, False] Translation: X:9.65, Y:0.15, Z:-1.57 [[ 0.98129836 -0.16203106 -0.10392051 9.65081216] [ 0.16550251 0.98587594 0.02564287 0.1519505 ] [ 0.09829779 -0.04236241 0.99425498 -1.56936981] [ 0. 0. 0. 1. ]] SLAMing on 110.91719347 meters Centerline goodness : 0.860813 Centerline is valid? [False, False] Translation: X:9.65, Y:0.15, Z:-1.57 [[ 0.98065529 -0.16628695 -0.10326593 9.65052356] [ 0.16937623 0.98530939 0.02184268 0.15200563] [ 0.09811674 -0.03891093 0.99441392 -1.5689251 ] [ 0. 0. 0. 1. ]] SLAMing on 110.94719347 meters Centerline goodness : 0.863514 Centerline is valid? [False, False] Translation: X:9.65, Y:0.15, Z:-1.57 [[ 0.98004597 -0.16981461 -0.10330974 9.65301302] [ 0.17258686 0.98482151 0.01844912 0.15304203] [ 0.09860873 -0.03591089 0.99447812 -1.57041564] [ 0. 0. 0. 1. ]] SLAMing on 110.97719347 meters Centerline goodness : 0.860213 Centerline is valid? [False, False] Translation: X:9.65, Y:0.15, Z:-1.57 [[ 0.97974431 -0.17140284 -0.10354778 9.65425278] [ 0.17404945 0.9845898 0.01702085 0.15468949] [ 0.09903467 -0.03469851 0.99447883 -1.57113428] [ 0. 0. 0. 1. ]] SLAMing on 111.00719347 meters Centerline goodness : 0.857879 Centerline is valid? [False, False] Translation: X:9.66, Y:0.16, Z:-1.57 [[ 0.97930466 -0.17345748 -0.10428268 9.6560971 ] [ 0.17587605 0.98430711 0.01439173 0.16071155] [ 0.10014983 -0.03243472 0.99444356 -1.5721327 ] [ 0. 0. 0. 1. ]] SLAMing on 111.03719347 meters Centerline goodness : 0.858682 Centerline is valid? [False, False] Translation: X:9.66, Y:0.16, Z:-1.57 [[ 0.97912666 -0.17423705 -0.10465392 9.65719074] [ 0.17652018 0.98421258 0.01289313 0.16448156] [ 0.10075525 -0.03109753 0.99442512 -1.57299184] [ 0. 0. 0. 1. ]] SLAMing on 111.06719347 meters Centerline goodness : 0.857050 Centerline is valid? [False, False] Translation: X:9.66, Y:0.17, Z:-1.57 [[ 0.97889306 -0.17542957 -0.1048468 9.65774769] [ 0.17751914 0.98405733 0.01086818 0.16872719] [ 0.10126866 -0.0292511 0.994429 -1.57365204] [ 0. 0. 0. 1. ]] SLAMing on 111.09719347 meters Centerline goodness : 0.856091 Centerline is valid? [False, False] Translation: X:9.66, Y:0.17, Z:-1.57 [[ 0.97918263 -0.1728918 -0.1063476 9.65979836] [ 0.17528142 0.98442611 0.01347771 0.17115917] [ 0.10236117 -0.0318379 0.99423767 -1.57421015] [ 0. 0. 0. 1. ]] SLAMing on 111.12719347 meters Centerline goodness : 0.858340 Centerline is valid? [False, False] Translation: X:9.66, Y:0.18, Z:-1.58 [[ 0.97900437 -0.17335366 -0.1072332 9.66230633] [ 0.17563755 0.98437978 0.01216123 0.17623182] [ 0.10345 -0.03074007 0.99415952 -1.57581422] [ 0. 0. 0. 1. ]] SLAMing on 111.15719347 meters Centerline goodness : 0.855704 Centerline is valid? [False, False] Translation: X:9.66, Y:0.18, Z:-1.58 [[ 0.97887742 -0.17273227 -0.10937353 9.66460378] [ 0.17510962 0.9844703 0.01244418 0.18479624] [ 0.10552547 -0.03133369 0.99392282 -1.57567279] [ 0. 0. 0. 1. ]] SLAMing on 111.18719347 meters Centerline goodness : 0.854056 Centerline is valid? [False, False] Translation: X:9.66, Y:0.19, Z:-1.58 [[ 0.97854308 -0.17446925 -0.109608 9.66479409] [ 0.17659179 0.98423449 0.00988999 0.19031995] [ 0.10615448 -0.02903365 0.99392569 -1.57590515] [ 0. 0. 0. 1. ]] SLAMing on 111.21719347 meters Centerline goodness : 0.852561 Centerline is valid? [False, False] Translation: X:9.66, Y:0.20, Z:-1.57 [[ 9.77593637e-01 -1.72431088e-01 -1.20740224e-01 9.66066879e+00] [ 1.74361493e-01 9.84666185e-01 5.52942642e-03 1.97704410e-01] [ 1.17935371e-01 -2.64579778e-02 9.92668738e-01 -1.57337314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24719347 meters Centerline goodness : 0.851806 Centerline is valid? [False, False] Translation: X:9.66, Y:0.20, Z:-1.58 [[ 9.77444269e-01 -1.72650134e-01 -1.21633189e-01 9.66357632e+00] [ 1.74503123e-01 9.84645551e-01 4.66887860e-03 2.01174172e-01] [ 1.18959496e-01 -2.57889400e-02 9.92564138e-01 -1.57512437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.27719347 meters Centerline goodness : 0.849582 Centerline is valid? [False, False] Translation: X:9.66, Y:0.20, Z:-1.58 [[ 9.77270285e-01 -1.73428636e-01 -1.21923327e-01 9.66392292e+00] [ 1.75148359e-01 9.84536010e-01 3.44929114e-03 2.04465983e-01] [ 1.19439700e-01 -2.47255604e-02 9.92533528e-01 -1.57519822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.30719347 meters Centerline goodness : 0.851670 Centerline is valid? [False, False] Translation: X:9.67, Y:0.21, Z:-1.57 [[ 9.77517429e-01 -1.70758177e-01 -1.23698508e-01 9.66528527e+00] [ 1.72920645e-01 9.84911721e-01 6.88136108e-03 2.06080298e-01] [ 1.20657061e-01 -2.81166761e-02 9.92295987e-01 -1.57391001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.33719347 meters Centerline goodness : 0.851815 Centerline is valid? [False, False] Translation: X:9.67, Y:0.21, Z:-1.57 [[ 0.97763011 -0.16841015 -0.12600552 9.66566657] [ 0.17097524 0.9852271 0.00974793 0.21365861] [ 0.1225024 -0.03107369 0.99198165 -1.57171976] [ 0. 0. 0. 1. ]] SLAMing on 111.36719347 meters Centerline goodness : 0.851689 Centerline is valid? [False, False] Translation: X:9.67, Y:0.22, Z:-1.57 [[ 0.97790785 -0.16543494 -0.12777914 9.6680324 ] [ 0.16836264 0.98564731 0.01238574 0.21744747] [ 0.12389613 -0.03362534 0.99172531 -1.57215194] [ 0. 0. 0. 1. ]] SLAMing on 111.39719347 meters Centerline goodness : 0.849640 Centerline is valid? [False, False] Translation: X:9.67, Y:0.22, Z:-1.57 [[ 0.97823399 -0.16207881 -0.12957126 9.67142567] [ 0.16538387 0.98611373 0.01509581 0.22069617] [ 0.12532529 -0.03619623 0.9914552 -1.57375695] [ 0. 0. 0. 1. ]] SLAMing on 111.42719347 meters Centerline goodness : 0.850066 Centerline is valid? [False, False] Translation: X:9.67, Y:0.22, Z:-1.58 [[ 0.97858236 -0.15931813 -0.13036218 9.67352255] [ 0.1628089 0.98651958 0.01650378 0.22399263] [ 0.12597549 -0.03737444 0.99132907 -1.57594786] [ 0. 0. 0. 1. ]] SLAMing on 111.45719347 meters Centerline goodness : 0.850066 Centerline is valid? [False, False] Translation: X:9.67, Y:0.22, Z:-1.58 [[ 0.97858236 -0.15931813 -0.13036218 9.67352255] [ 0.1628089 0.98651958 0.01650378 0.22399263] [ 0.12597549 -0.03737444 0.99132907 -1.57594786] [ 0. 0. 0. 1. ]] SLAMing on 111.48719347 meters Centerline goodness : 0.848323 Centerline is valid? [False, False] Translation: X:9.66, Y:0.23, Z:-1.57 [[ 0.97878339 -0.15245646 -0.13689446 9.66464693] [ 0.15540736 0.98778844 0.01106998 0.23010487] [ 0.13353508 -0.03210952 0.99052378 -1.57458748] [ 0. 0. 0. 1. ]] SLAMing on 111.51719347 meters Centerline goodness : 0.848224 Centerline is valid? [False, False] Translation: X:9.66, Y:0.23, Z:-1.57 [[ 0.97923819 -0.14867321 -0.13779999 9.66499241] [ 0.15195768 0.98829384 0.01357005 0.23426001] [ 0.13416938 -0.03422807 0.99036711 -1.57479087] [ 0. 0. 0. 1. ]] SLAMing on 111.54719347 meters Centerline goodness : 0.851973 Centerline is valid? [False, False] Translation: X:9.66, Y:0.24, Z:-1.57 [[ 0.97968129 -0.14502424 -0.13853716 9.66432911] [ 0.14860698 0.98876976 0.01582169 0.23904143] [ 0.13468682 -0.03608781 0.99023085 -1.57423363] [ 0. 0. 0. 1. ]] SLAMing on 111.57719347 meters Centerline goodness : 0.854585 Centerline is valid? [False, False] Translation: X:9.65, Y:0.25, Z:-1.57 [[ 0.98114546 -0.13892705 -0.13436096 9.65455575] [ 0.14201146 0.98977153 0.01360409 0.24960747] [ 0.13109667 -0.03242838 0.99083907 -1.5702194 ] [ 0. 0. 0. 1. ]] SLAMing on 111.60719347 meters Centerline goodness : 0.856803 Centerline is valid? [False, False] Translation: X:9.65, Y:0.25, Z:-1.57 [[ 0.98170012 -0.13498202 -0.13433067 9.65175257] [ 0.13834147 0.99025609 0.01595371 0.25287834] [ 0.1308683 -0.03424526 0.99080813 -1.56885657] [ 0. 0. 0. 1. ]] SLAMing on 111.63719347 meters Centerline goodness : 0.856686 Centerline is valid? [False, False] Translation: X:9.65, Y:0.26, Z:-1.57 [[ 0.98312823 -0.13638843 -0.12188964 9.65396052] [ 0.13913959 0.99016936 0.01431136 0.26002219] [ 0.11873948 -0.03102958 0.99244048 -1.57218102] [ 0. 0. 0. 1. ]] SLAMing on 111.66719347 meters Centerline goodness : 0.855490 Centerline is valid? [False, False] Translation: X:9.65, Y:0.26, Z:-1.57 [[ 0.98338363 -0.1353998 -0.12092775 9.65148825] [ 0.13791346 0.99036381 0.01262557 0.26402812] [ 0.11805297 -0.02909335 0.99258102 -1.57254107] [ 0. 0. 0. 1. ]] SLAMing on 111.69719347 meters Centerline goodness : 0.857332 Centerline is valid? [False, False] Translation: X:9.65, Y:0.27, Z:-1.57 [[ 0.98381184 -0.13173845 -0.12148762 9.65195718] [ 0.13454561 0.99079137 0.01516403 0.26634589] [ 0.11837119 -0.03126418 0.99247711 -1.57331113] [ 0. 0. 0. 1. ]] SLAMing on 111.72719347 meters Centerline goodness : 0.854742 Centerline is valid? [False, False] Translation: X:9.65, Y:0.27, Z:-1.58 [[ 0.98454795 -0.12671882 -0.12086218 9.65099122] [ 0.12960598 0.99143156 0.01630173 0.27042679] [ 0.11776085 -0.03171429 0.99253543 -1.5759898 ] [ 0. 0. 0. 1. ]] SLAMing on 111.75719347 meters Centerline goodness : 0.853446 Centerline is valid? [False, False] Translation: X:9.65, Y:0.27, Z:-1.58 [[ 0.98475067 -0.12573443 -0.12023712 9.64968568] [ 0.1284591 0.99159902 0.01515378 0.27322163] [ 0.11732165 -0.03036825 0.99262954 -1.57675858] [ 0. 0. 0. 1. ]] SLAMing on 111.78719347 meters Centerline goodness : 0.853707 Centerline is valid? [False, False] Translation: X:9.65, Y:0.28, Z:-1.58 [[ 0.98578286 -0.1292673 -0.1073411 9.65195938] [ 0.13116226 0.99130257 0.01075542 0.27966228] [ 0.10501718 -0.02468162 0.99416408 -1.58142229] [ 0. 0. 0. 1. ]] SLAMing on 111.81719347 meters Centerline goodness : 0.853746 Centerline is valid? [False, False] Translation: X:9.65, Y:0.28, Z:-1.58 [[ 0.98624938 -0.12518885 -0.10788838 9.65287523] [ 0.12738479 0.99175902 0.01368081 0.2816001 ] [ 0.10528659 -0.02723603 0.99406888 -1.58273426] [ 0. 0. 0. 1. ]] SLAMing on 111.84719347 meters Centerline goodness : 0.851530 Centerline is valid? [False, False] Translation: X:9.65, Y:0.28, Z:-1.58 [[ 0.98627542 -0.12495728 -0.10791886 9.65306672] [ 0.12716806 0.99178483 0.01382518 0.28160009] [ 0.10530473 -0.02735927 0.99406357 -1.58288126] [ 0. 0. 0. 1. ]] SLAMing on 111.87719347 meters Centerline goodness : 0.853087 Centerline is valid? [False, False] Translation: X:9.65, Y:0.28, Z:-1.58 [[ 0.98630758 -0.12454842 -0.10809743 9.65404505] [ 0.12684836 0.99181407 0.01464078 0.27977003] [ 0.10538906 -0.02815229 0.99403249 -1.58328152] [ 0. 0. 0. 1. ]] SLAMing on 111.90719347 meters Centerline goodness : 0.851490 Centerline is valid? [False, False] Translation: X:9.66, Y:0.27, Z:-1.58 [[ 0.98605589 -0.12684442 -0.10772316 9.65548064] [ 0.12904495 0.99154438 0.01368011 0.27417094] [ 0.10507705 -0.02739048 0.9940868 -1.58392837] [ 0. 0. 0. 1. ]] SLAMing on 111.93719347 meters Centerline goodness : 0.851867 Centerline is valid? [False, False] Translation: X:9.66, Y:0.27, Z:-1.58 [[ 0.98585565 -0.12763227 -0.10862155 9.65839476] [ 0.1299985 0.99140133 0.01495978 0.27129816] [ 0.1057782 -0.02886882 0.99397061 -1.58429868] [ 0. 0. 0. 1. ]] SLAMing on 111.96719347 meters Centerline goodness : 0.850461 Centerline is valid? [False, False] Translation: X:9.66, Y:0.27, Z:-1.59 [[ 0.98554807 -0.12948621 -0.1092169 9.66145126] [ 0.13188243 0.99115219 0.0149787 0.26846126] [ 0.10631103 -0.02916602 0.99390508 -1.58520596] [ 0. 0. 0. 1. ]] SLAMing on 111.99719347 meters Centerline goodness : 0.848875 Centerline is valid? [False, False] Translation: X:9.67, Y:0.26, Z:-1.59 [[ 0.98516425 -0.13131677 -0.11048665 9.66520975] [ 0.13387423 0.99086877 0.01602388 0.26466752] [ 0.10737357 -0.03057747 0.99374843 -1.58528345] [ 0. 0. 0. 1. ]] SLAMing on 112.02719347 meters Centerline goodness : 0.849098 Centerline is valid? [False, False] Translation: X:9.67, Y:0.26, Z:-1.58 [[ 0.98415765 -0.13689907 -0.11266038 9.67097621] [ 0.13960362 0.99007098 0.01644028 0.25693561] [ 0.10929111 -0.03190763 0.99349754 -1.58451512] [ 0. 0. 0. 1. ]] SLAMing on 112.05719347 meters Centerline goodness : 0.849629 Centerline is valid? [False, False] Translation: X:9.67, Y:0.25, Z:-1.58 [[ 0.98390273 -0.13797779 -0.11356741 9.67283814] [ 0.14087678 0.98986583 0.01787084 0.25353005] [ 0.10995072 -0.03358218 0.99336956 -1.58339039] [ 0. 0. 0. 1. ]] SLAMing on 112.08719347 meters Centerline goodness : 0.849393 Centerline is valid? [False, False] Translation: X:9.67, Y:0.25, Z:-1.58 [[ 0.98372269 -0.13848988 -0.11449985 9.674827 ] [ 0.14161648 0.98972756 0.01959914 0.25003131] [ 0.11060937 -0.03549519 0.99322991 -1.58248165] [ 0. 0. 0. 1. ]] SLAMing on 112.11719347 meters Centerline goodness : 0.850308 Centerline is valid? [False, False] Translation: X:9.68, Y:0.25, Z:-1.58 [[ 0.98363411 -0.13875961 -0.11493352 9.67627451] [ 0.14202877 0.98964564 0.02072067 0.24698088] [ 0.11086826 -0.03670542 0.99315706 -1.58236216] [ 0. 0. 0. 1. ]] SLAMing on 112.14719347 meters Centerline goodness : 0.850603 Centerline is valid? [False, False] Translation: X:9.68, Y:0.24, Z:-1.58 [[ 0.98366575 -0.13847623 -0.11500448 9.6776432 ] [ 0.1418404 0.98965465 0.02156347 0.24378104] [ 0.11082869 -0.03752352 0.9931309 -1.58315332] [ 0. 0. 0. 1. ]] SLAMing on 112.17719347 meters Centerline goodness : 0.849808 Centerline is valid? [False, False] Translation: X:9.68, Y:0.24, Z:-1.58 [[ 0.98371831 -0.13795946 -0.11517584 9.67848247] [ 0.14134315 0.98972263 0.02170804 0.24381209] [ 0.1109973 -0.03763391 0.99310789 -1.58386296] [ 0. 0. 0. 1. ]] SLAMing on 112.20719347 meters Centerline goodness : 0.850144 Centerline is valid? [False, False] Translation: X:9.68, Y:0.24, Z:-1.58 [[ 0.98409356 -0.13435893 -0.11622194 9.67975142] [ 0.13822648 0.99006333 0.02584658 0.24272852] [ 0.11159437 -0.0415004 0.99288691 -1.58370279] [ 0. 0. 0. 1. ]] SLAMing on 112.23719347 meters Centerline goodness : 0.849158 Centerline is valid? [False, False] Translation: X:9.68, Y:0.24, Z:-1.58 [[ 0.98427169 -0.13346229 -0.11574562 9.67841058] [ 0.13731056 0.99018934 0.02590127 0.2430319 ] [ 0.11115324 -0.04138698 0.99294112 -1.58352125] [ 0. 0. 0. 1. ]] SLAMing on 112.26719347 meters Centerline goodness : 0.850436 Centerline is valid? [False, False] Translation: X:9.68, Y:0.24, Z:-1.58 [[ 0.98443529 -0.13260582 -0.11533796 9.67724589] [ 0.13645129 0.99030356 0.02607509 0.2428775 ] [ 0.11076189 -0.04140725 0.99298401 -1.58323633] [ 0. 0. 0. 1. ]] SLAMing on 112.29719347 meters Centerline goodness : 0.851381 Centerline is valid? [False, False] Translation: X:9.68, Y:0.24, Z:-1.58 [[ 0.98434587 -0.13279913 -0.11587749 9.67902203] [ 0.1367114 0.99025751 0.02645872 0.24197644] [ 0.11123486 -0.04188631 0.99291105 -1.58378831] [ 0. 0. 0. 1. ]] SLAMing on 112.32719347 meters Centerline goodness : 0.850982 Centerline is valid? [False, False] Translation: X:9.68, Y:0.24, Z:-1.58 [[ 0.98425807 -0.13299961 -0.11639224 9.68065698] [ 0.13699011 0.99020577 0.02694883 0.24068062] [ 0.11166808 -0.04246919 0.99283765 -1.58409703] [ 0. 0. 0. 1. ]] SLAMing on 112.35719347 meters Centerline goodness : 0.851522 Centerline is valid? [False, False] Translation: X:9.68, Y:0.24, Z:-1.58 [[ 0.98424672 -0.13308008 -0.11639628 9.68073316] [ 0.1370826 0.99019021 0.02704993 0.24021149] [ 0.11165465 -0.04257971 0.99283443 -1.58395843] [ 0. 0. 0. 1. ]] SLAMing on 112.38719347 meters Centerline goodness : 0.851856 Centerline is valid? [False, False] Translation: X:9.68, Y:0.24, Z:-1.58 [[ 0.98468369 -0.12895537 -0.11733942 9.68085695] [ 0.13346261 0.99055729 0.0313686 0.24107368] [ 0.11218626 -0.04654858 0.99259633 -1.58308171] [ 0. 0. 0. 1. ]] SLAMing on 112.41719347 meters Centerline goodness : 0.853151 Centerline is valid? [False, False] Translation: X:9.68, Y:0.24, Z:-1.58 [[ 0.98480677 -0.1283549 -0.1169643 9.67991646] [ 0.13278354 0.99066453 0.03085964 0.24242553] [ 0.1119114 -0.04592172 0.99265655 -1.58327714] [ 0. 0. 0. 1. ]] SLAMing on 112.44719347 meters Centerline goodness : 0.853135 Centerline is valid? [False, False] Translation: X:9.68, Y:0.24, Z:-1.58 [[ 0.98505752 -0.12719291 -0.11611912 9.67883688] [ 0.13156075 0.99083175 0.03072815 0.24158584] [ 0.11114611 -0.04554572 0.99275986 -1.58423683] [ 0. 0. 0. 1. ]] SLAMing on 112.47719347 meters Centerline goodness : 0.854785 Centerline is valid? [False, False] Translation: X:9.68, Y:0.24, Z:-1.58 [[ 0.98543871 -0.12515874 -0.11509061 9.67751037] [ 0.12959159 0.9910559 0.03184682 0.23802034] [ 0.11007532 -0.04629786 0.99284436 -1.58486373] [ 0. 0. 0. 1. ]] SLAMing on 112.50719347 meters Centerline goodness : 0.855828 Centerline is valid? [False, False] Translation: X:9.68, Y:0.24, Z:-1.58 [[ 0.9854403 -0.12515737 -0.11507844 9.67728292] [ 0.12962577 0.99104091 0.03217266 0.23758977] [ 0.1100208 -0.04662136 0.99283527 -1.58443249] [ 0. 0. 0. 1. ]] SLAMing on 112.53719347 meters Centerline goodness : 0.854552 Centerline is valid? [False, False] Translation: X:9.68, Y:0.24, Z:-1.58 [[ 0.98516974 -0.12807105 -0.1141858 9.67544442] [ 0.13213791 0.9908141 0.02875731 0.23862478] [ 0.10945392 -0.04341911 0.99304311 -1.58367097] [ 0. 0. 0. 1. ]] SLAMing on 112.56719347 meters Centerline goodness : 0.855628 Centerline is valid? [False, False] Translation: X:9.68, Y:0.24, Z:-1.58 [[ 0.98513366 -0.12790942 -0.11467719 9.67675487] [ 0.13207805 0.99080056 0.02948977 0.23731379] [ 0.1098502 -0.04419771 0.992965 -1.58376123] [ 0. 0. 0. 1. ]] SLAMing on 112.59719347 meters Centerline goodness : 0.856477 Centerline is valid? [False, False] Translation: X:9.68, Y:0.23, Z:-1.58 [[ 0.98515303 -0.12765296 -0.1147965 9.67859246] [ 0.13191896 0.99079625 0.03033445 0.23388975] [ 0.10986766 -0.04502791 0.99292577 -1.5848351 ] [ 0. 0. 0. 1. ]] SLAMing on 112.62719347 meters Centerline goodness : 0.856722 Centerline is valid? [False, False] Translation: X:9.68, Y:0.23, Z:-1.58 [[ 0.98488448 -0.13072415 -0.11363872 9.67714803] [ 0.13455062 0.99054835 0.02664777 0.23369652] [ 0.10908114 -0.04153513 0.99316471 -1.58492209] [ 0. 0. 0. 1. ]] SLAMing on 112.65719347 meters Centerline goodness : 0.856398 Centerline is valid? [False, False] Translation: X:9.68, Y:0.23, Z:-1.59 [[ 0.98482429 -0.13081799 -0.11405164 9.67857306] [ 0.13473504 0.99050532 0.02730712 0.2320192 ] [ 0.1093965 -0.04225947 0.99309946 -1.58517251] [ 0. 0. 0. 1. ]] SLAMing on 112.68719347 meters Centerline goodness : 0.858084 Centerline is valid? [False, False] Translation: X:9.68, Y:0.23, Z:-1.59 [[ 0.98452275 -0.13404522 -0.11290192 9.67775471] [ 0.13749901 0.99022675 0.02334539 0.23185423] [ 0.10866916 -0.03850797 0.99333184 -1.58591921] [ 0. 0. 0. 1. ]] SLAMing on 112.71719347 meters Centerline goodness : 0.858943 Centerline is valid? [False, False] Translation: X:9.68, Y:0.23, Z:-1.58 [[ 0.98438464 -0.13418341 -0.11393719 9.679349 ] [ 0.13786582 0.99013425 0.02504367 0.22949402] [ 0.10945267 -0.04036065 0.99317226 -1.58463546] [ 0. 0. 0. 1. ]] SLAMing on 112.74719347 meters Centerline goodness : 0.859689 Centerline is valid? [False, False] Translation: X:9.68, Y:0.23, Z:-1.58 [[ 0.98416364 -0.13509194 -0.11476976 9.68039313] [ 0.13886231 0.98998384 0.02548054 0.22908387] [ 0.11017799 -0.04101422 0.99306528 -1.58342822] [ 0. 0. 0. 1. ]] SLAMing on 112.77719347 meters Centerline goodness : 0.859780 Centerline is valid? [False, False] Translation: X:9.68, Y:0.23, Z:-1.58 [[ 0.98390618 -0.13583237 -0.11609562 9.68278686] [ 0.13978888 0.98982377 0.02660767 0.22772285] [ 0.11130002 -0.04240833 0.99288158 -1.5825023 ] [ 0. 0. 0. 1. ]] SLAMing on 112.80719347 meters Centerline goodness : 0.857680 Centerline is valid? [False, False] Translation: X:9.68, Y:0.22, Z:-1.58 [[ 0.98321476 -0.14043798 -0.11647274 9.6847142 ] [ 0.14426095 0.98922314 0.02502728 0.22212751] [ 0.11170275 -0.04140966 0.99287851 -1.5811496 ] [ 0. 0. 0. 1. ]] SLAMing on 112.83719347 meters Centerline goodness : 0.858453 Centerline is valid? [False, False] Translation: X:9.69, Y:0.22, Z:-1.58 [[ 0.9826791 -0.14422293 -0.1163681 9.68688788] [ 0.14776735 0.98876882 0.02238376 0.21901816] [ 0.1118329 -0.03919146 0.99295389 -1.58201642] [ 0. 0. 0. 1. ]] SLAMing on 112.86719347 meters Centerline goodness : 0.856667 Centerline is valid? [False, False] Translation: X:9.69, Y:0.22, Z:-1.58 [[ 0.98211481 -0.14791442 -0.11649821 9.68997046] [ 0.15115101 0.98832017 0.01940665 0.217511 ] [ 0.11226701 -0.03666838 0.99300128 -1.5837049 ] [ 0. 0. 0. 1. ]] SLAMing on 112.89719347 meters Centerline goodness : 0.860066 Centerline is valid? [False, False] Translation: X:9.70, Y:0.22, Z:-1.59 [[ 0.98185119 -0.14817622 -0.11837251 9.69537772] [ 0.1516091 0.98822809 0.02049188 0.21667296] [ 0.11394263 -0.03806633 0.99275779 -1.58532157] [ 0. 0. 0. 1. ]] SLAMing on 112.92719347 meters Centerline goodness : 0.858621 Centerline is valid? [False, False] Translation: X:9.70, Y:0.22, Z:-1.59 [[ 0.98161229 -0.14799138 -0.12056475 9.70009145] [ 0.15167291 0.98818804 0.02190257 0.21800169] [ 0.11589926 -0.03978624 0.99246381 -1.58579499] [ 0. 0. 0. 1. ]] SLAMing on 112.95719347 meters Centerline goodness : 0.859110 Centerline is valid? [False, False] Translation: X:9.70, Y:0.22, Z:-1.59 [[ 0.98178608 -0.14689846 -0.12048624 9.69993954] [ 0.15064988 0.98832902 0.02259128 0.21680739] [ 0.11576142 -0.04033104 0.99245791 -1.58578435] [ 0. 0. 0. 1. ]] SLAMing on 112.98719347 meters Centerline goodness : 0.857293 Centerline is valid? [False, False] Translation: X:9.70, Y:0.21, Z:-1.59 [[ 0.98210705 -0.14528733 -0.11982208 9.69876429] [ 0.14908846 0.98854824 0.02334541 0.21483077] [ 0.11505812 -0.04079178 0.99252086 -1.5860012 ] [ 0. 0. 0. 1. ]] SLAMing on 113.01719347 meters Centerline goodness : 0.859400 Centerline is valid? [False, False] Translation: X:9.70, Y:0.21, Z:-1.59 [[ 0.98313991 -0.13860736 -0.11926405 9.69637915] [ 0.14290586 0.98933343 0.02823617 0.21241823] [ 0.11407817 -0.04480364 0.99246098 -1.58589264] [ 0. 0. 0. 1. ]] SLAMing on 113.04719347 meters Centerline goodness : 0.860289 Centerline is valid? [False, False] Translation: X:9.69, Y:0.21, Z:-1.59 [[ 0.98344873 -0.13719873 -0.11834315 9.69459722] [ 0.14139749 0.98956235 0.02780459 0.21410359] [ 0.11329317 -0.04407781 0.9925834 -1.58660646] [ 0. 0. 0. 1. ]] SLAMing on 113.07719347 meters Centerline goodness : 0.861697 Centerline is valid? [False, False] Translation: X:9.69, Y:0.21, Z:-1.59 [[ 0.98377099 -0.13506066 -0.11812391 9.6948193 ] [ 0.13931571 0.98983779 0.02850066 0.21383542] [ 0.11307419 -0.04449464 0.99258977 -1.58778431] [ 0. 0. 0. 1. ]] SLAMing on 113.10719347 meters Centerline goodness : 0.858995 Centerline is valid? [False, False] Translation: X:9.69, Y:0.21, Z:-1.59 [[ 0.98398857 -0.13404497 -0.11746676 9.69376416] [ 0.13829982 0.98997114 0.02881492 0.21273881] [ 0.1124262 -0.04459918 0.99265868 -1.58811835] [ 0. 0. 0. 1. ]] SLAMing on 113.13719347 meters Centerline goodness : 0.860751 Centerline is valid? [False, False] Translation: X:9.69, Y:0.21, Z:-1.59 [[ 0.98422244 -0.13247844 -0.11728453 9.69350054] [ 0.13699046 0.99007938 0.03124803 0.20715173] [ 0.1119813 -0.04682187 0.99260662 -1.58721881] [ 0. 0. 0. 1. ]] SLAMing on 113.16719347 meters Centerline goodness : 0.861303 Centerline is valid? [False, False] Translation: X:9.69, Y:0.21, Z:-1.59 [[ 0.98388491 -0.13566883 -0.11646649 9.69213517] [ 0.1398618 0.98975851 0.02857928 0.20581562] [ 0.11139639 -0.04440793 0.99278335 -1.58617009] [ 0. 0. 0. 1. ]] SLAMing on 113.19719347 meters Centerline goodness : 0.859370 Centerline is valid? [False, False] Translation: X:9.69, Y:0.20, Z:-1.58 [[ 0.98367857 -0.13620805 -0.11757484 9.69388406] [ 0.14066912 0.98958744 0.03047779 0.2025534 ] [ 0.11219927 -0.0465195 0.99259622 -1.58451074] [ 0. 0. 0. 1. ]] SLAMing on 113.22719347 meters Centerline goodness : 0.861210 Centerline is valid? [False, False] Translation: X:9.70, Y:0.20, Z:-1.58 [[ 0.98343696 -0.13731733 -0.11830343 9.69524118] [ 0.14194494 0.98937064 0.03158123 0.19876714] [ 0.11270929 -0.04785072 0.99247515 -1.58309527] [ 0. 0. 0. 1. ]] SLAMing on 113.25719347 meters Centerline goodness : 0.862143 Centerline is valid? [False, False] Translation: X:9.70, Y:0.19, Z:-1.58 [[ 0.98288583 -0.1411791 -0.11833808 9.69587049] [ 0.14576213 0.98883485 0.03096823 0.19216218] [ 0.11264475 -0.04768745 0.99249034 -1.58064854] [ 0. 0. 0. 1. ]] SLAMing on 113.28719347 meters Centerline goodness : 0.861010 Centerline is valid? [False, False] Translation: X:9.70, Y:0.19, Z:-1.58 [[ 0.98235706 -0.14516772 -0.11790222 9.69587077] [ 0.14939357 0.98838736 0.0277848 0.19084463] [ 0.1124996 -0.04490843 0.99263642 -1.58003492] [ 0. 0. 0. 1. ]] SLAMing on 113.31719347 meters Centerline goodness : 0.863351 Centerline is valid? [False, False] Translation: X:9.70, Y:0.19, Z:-1.58 [[ 0.98211406 -0.14593619 -0.11897315 9.69847893] [ 0.15030071 0.98822863 0.0285284 0.18861726] [ 0.11340934 -0.04589989 0.99248754 -1.57987756] [ 0. 0. 0. 1. ]] SLAMing on 113.34719347 meters Centerline goodness : 0.863351 Centerline is valid? [False, False] Translation: X:9.70, Y:0.19, Z:-1.58 [[ 0.98211406 -0.14593619 -0.11897315 9.69847893] [ 0.15030071 0.98822863 0.0285284 0.18861726] [ 0.11340934 -0.04589989 0.99248754 -1.57987756] [ 0. 0. 0. 1. ]] SLAMing on 113.37719347 meters Centerline goodness : 0.862922 Centerline is valid? [False, False] Translation: X:9.70, Y:0.19, Z:-1.58 [[ 0.98139472 -0.14987247 -0.12001103 9.70369841] [ 0.15393514 0.9877576 0.02527655 0.18979931] [ 0.11475355 -0.04328019 0.99245073 -1.58243916] [ 0. 0. 0. 1. ]] SLAMing on 113.40719347 meters Centerline goodness : 0.858507 Centerline is valid? [False, False] Translation: X:9.71, Y:0.19, Z:-1.58 [[ 0.9812833 -0.14972365 -0.12110289 9.70712752] [ 0.15388413 0.98775432 0.02571157 0.19029572] [ 0.11577027 -0.04386615 0.99230691 -1.58386503] [ 0. 0. 0. 1. ]] SLAMing on 113.43719347 meters Centerline goodness : 0.861869 Centerline is valid? [False, False] Translation: X:9.71, Y:0.19, Z:-1.58 [[ 0.98113069 -0.15036703 -0.12154143 9.70825143] [ 0.1545226 0.98766099 0.02546639 0.19022083] [ 0.11621243 -0.04376675 0.99225961 -1.58388016] [ 0. 0. 0. 1. ]] SLAMing on 113.46719347 meters Centerline goodness : 0.861878 Centerline is valid? [False, False] Translation: X:9.71, Y:0.19, Z:-1.58 [[ 0.9809797 -0.15079607 -0.12222677 9.70986241] [ 0.15504364 0.98756636 0.02596433 0.188818 ] [ 0.11679172 -0.04442097 0.99216252 -1.5836749 ] [ 0. 0. 0. 1. ]] SLAMing on 113.49719347 meters Centerline goodness : 0.864547 Centerline is valid? [False, False] Translation: X:9.71, Y:0.19, Z:-1.58 [[ 0.98036898 -0.15510075 -0.12173917 9.70970619] [ 0.15888125 0.98705417 0.02192728 0.19011163] [ 0.11676222 -0.04083889 0.99231989 -1.58338798] [ 0. 0. 0. 1. ]] SLAMing on 113.52719347 meters Centerline goodness : 0.863654 Centerline is valid? [False, False] Translation: X:9.71, Y:0.19, Z:-1.58 [[ 0.98017383 -0.15590508 -0.12228195 9.71075957] [ 0.1596481 0.98694259 0.02137298 0.19122994] [ 0.11735311 -0.04047132 0.99226525 -1.58332085] [ 0. 0. 0. 1. ]] SLAMing on 113.55719347 meters Centerline goodness : 0.863471 Centerline is valid? [False, False] Translation: X:9.71, Y:0.19, Z:-1.58 [[ 0.97998295 -0.15661906 -0.12289786 9.71204728] [ 0.1603563 0.9868343 0.02106939 0.19187592] [ 0.11797996 -0.04035509 0.99219564 -1.58322295] [ 0. 0. 0. 1. ]] SLAMing on 113.58719347 meters Centerline goodness : 0.864931 Centerline is valid? [False, False] Translation: X:9.71, Y:0.19, Z:-1.58 [[ 0.97979828 -0.15733084 -0.12345988 9.71328865] [ 0.16105669 0.98672723 0.0207391 0.19243372] [ 0.11855832 -0.04020417 0.99213283 -1.58318613] [ 0. 0. 0. 1. ]] SLAMing on 113.61719347 meters Centerline goodness : 0.866808 Centerline is valid? [False, False] Translation: X:9.71, Y:0.19, Z:-1.58 [[ 0.97958508 -0.15806043 -0.12421747 9.71484174] [ 0.16178825 0.98661349 0.02045449 0.19337222] [ 0.11932159 -0.04013384 0.99204417 -1.58313037] [ 0. 0. 0. 1. ]] SLAMing on 113.64719347 meters Centerline goodness : 0.864360 Centerline is valid? [False, False] Translation: X:9.72, Y:0.20, Z:-1.58 [[ 0.97925181 -0.15949642 -0.12500711 9.71633662] [ 0.16312271 0.9864177 0.01926382 0.19698347] [ 0.12023672 -0.03925563 0.99196881 -1.583264 ] [ 0. 0. 0. 1. ]] SLAMing on 113.67719347 meters Centerline goodness : 0.864934 Centerline is valid? [False, False] Translation: X:9.72, Y:0.20, Z:-1.58 [[ 0.97904009 -0.1603464 -0.12557678 9.71768769] [ 0.16390737 0.98630245 0.01848936 0.1991017 ] [ 0.12089198 -0.03868478 0.9919116 -1.58362172] [ 0. 0. 0. 1. ]] SLAMing on 113.70719347 meters Centerline goodness : 0.864443 Centerline is valid? [False, False] Translation: X:9.72, Y:0.20, Z:-1.58 [[ 0.97886374 -0.16132377 -0.12569969 9.71849576] [ 0.16473117 0.9861897 0.0171323 0.2013991 ] [ 0.1211999 -0.03747684 0.9919204 -1.58442305] [ 0. 0. 0. 1. ]] SLAMing on 113.73719347 meters Centerline goodness : 0.862973 Centerline is valid? [False, False] Translation: X:9.72, Y:0.21, Z:-1.59 [[ 0.9792035 -0.15835821 -0.12681951 9.72063921] [ 0.16197283 0.98661897 0.0186497 0.20557194] [ 0.1221692 -0.03880317 0.99175047 -1.58630958] [ 0. 0. 0. 1. ]] SLAMing on 113.76719347 meters Centerline goodness : 0.863612 Centerline is valid? [False, False] Translation: X:9.72, Y:0.21, Z:-1.59 [[ 0.97981143 -0.15394291 -0.12755838 9.72107826] [ 0.15795115 0.9872048 0.02186576 0.20796427] [ 0.12256016 -0.04157232 0.99159001 -1.58694292] [ 0. 0. 0. 1. ]] SLAMing on 113.79719347 meters Centerline goodness : 0.862359 Centerline is valid? [False, False] Translation: X:9.72, Y:0.21, Z:-1.59 [[ 0.98056775 -0.14900232 -0.12761346 9.71974501] [ 0.15334377 0.98786055 0.0248441 0.21109484] [ 0.12236248 -0.04393006 0.99151277 -1.58740763] [ 0. 0. 0. 1. ]] SLAMing on 113.82719347 meters Centerline goodness : 0.863667 Centerline is valid? [False, False] Translation: X:9.72, Y:0.22, Z:-1.59 [[ 0.98130536 -0.14359262 -0.12814423 9.7196233 ] [ 0.14827271 0.98855816 0.02771215 0.21514251] [ 0.12269877 -0.04619437 0.99136829 -1.58848021] [ 0. 0. 0. 1. ]] SLAMing on 113.85719347 meters Centerline goodness : 0.863061 Centerline is valid? [False, False] Translation: X:9.72, Y:0.22, Z:-1.59 [[ 0.98293482 -0.1328457 -0.12724449 9.71625464] [ 0.13796465 0.98991167 0.03225881 0.22312476] [ 0.12167536 -0.04926355 0.99134666 -1.59076727] [ 0. 0. 0. 1. ]] SLAMing on 113.88719347 meters Centerline goodness : 0.860950 Centerline is valid? [False, False] Translation: X:9.72, Y:0.23, Z:-1.59 [[ 0.98347452 -0.12855932 -0.12747691 9.71532178] [ 0.13398536 0.99036825 0.0349092 0.22649677] [ 0.12176118 -0.05141234 0.99122701 -1.59102388] [ 0. 0. 0. 1. ]] SLAMing on 113.91719347 meters Centerline goodness : 0.861317 Centerline is valid? [False, False] Translation: X:9.71, Y:0.23, Z:-1.59 [[ 0.983682 -0.12740648 -0.12703273 9.71361615] [ 0.13269163 0.99057357 0.03401387 0.23030169] [ 0.12150167 -0.05031501 0.99131516 -1.59113078] [ 0. 0. 0. 1. ]] SLAMing on 113.94719347 meters Centerline goodness : 0.861716 Centerline is valid? [False, False] Translation: X:9.71, Y:0.23, Z:-1.59 [[ 0.98380793 -0.12698195 -0.12648142 9.71180275] [ 0.13210167 0.99068957 0.03291377 0.23323099] [ 0.12112437 -0.04908924 0.99142278 -1.59103607] [ 0. 0. 0. 1. ]] SLAMing on 113.97719347 meters Centerline goodness : 0.860367 Centerline is valid? [False, False] Translation: X:9.71, Y:0.24, Z:-1.59 [[ 0.98408328 -0.12612919 -0.12518596 9.70950813] [ 0.13095747 0.99090049 0.03108636 0.23609348] [ 0.12012593 -0.04698561 0.99164616 -1.59224173] [ 0. 0. 0. 1. ]] SLAMing on 114.00719347 meters Centerline goodness : 0.861653 Centerline is valid? [False, False] Translation: X:9.71, Y:0.24, Z:-1.60 [[ 0.98492541 -0.13050189 -0.11353941 9.71471613] [ 0.13430565 0.99058581 0.02649058 0.24153945] [ 0.10901346 -0.04134023 0.99318027 -1.59634334] [ 0. 0. 0. 1. ]] SLAMing on 114.03719347 meters Centerline goodness : 0.862330 Centerline is valid? [False, False] Translation: X:9.71, Y:0.24, Z:-1.60 [[ 0.98494458 -0.13048241 -0.11339542 9.71467428] [ 0.13419896 0.99061976 0.02575126 0.24279983] [ 0.10897166 -0.04058111 0.99321616 -1.59696568] [ 0. 0. 0. 1. ]] SLAMing on 114.06719347 meters Centerline goodness : 0.863658 Centerline is valid? [False, False] Translation: X:9.72, Y:0.24, Z:-1.60 [[ 0.98491581 -0.13047963 -0.1136482 9.71545429] [ 0.13419043 0.99062472 0.02560469 0.2432526 ] [ 0.10924182 -0.04046896 0.99319106 -1.59735737] [ 0. 0. 0. 1. ]] SLAMing on 114.09719347 meters Centerline goodness : 0.861912 Centerline is valid? [False, False] Translation: X:9.72, Y:0.24, Z:-1.60 [[ 0.9847325 -0.13117973 -0.11442808 9.71663315] [ 0.13494373 0.99051838 0.02575893 0.2441378 ] [ 0.10996407 -0.04080701 0.99309752 -1.59680053] [ 0. 0. 0. 1. ]] SLAMing on 114.12719347 meters Centerline goodness : 0.860454 Centerline is valid? [False, False] Translation: X:9.72, Y:0.24, Z:-1.60 [[ 0.98462056 -0.1310091 -0.11558102 9.71984444] [ 0.13493256 0.99049318 0.02676701 0.24370096] [ 0.11097549 -0.04195099 0.99293734 -1.59755029] [ 0. 0. 0. 1. ]] SLAMing on 114.15719347 meters Centerline goodness : 0.858953 Centerline is valid? [False, False] Translation: X:9.72, Y:0.24, Z:-1.60 [[ 0.98426172 -0.13409984 -0.11509171 9.72092677] [ 0.13763716 0.99020809 0.02332263 0.24354693] [ 0.11083718 -0.03879647 0.99308104 -1.59895997] [ 0. 0. 0. 1. ]] SLAMing on 114.18719347 meters Centerline goodness : 0.855206 Centerline is valid? [False, False] Translation: X:9.72, Y:0.24, Z:-1.60 [[ 0.9838569 -0.13708737 -0.11503325 9.72392212] [ 0.14033144 0.9898912 0.02055473 0.24147181] [ 0.11105261 -0.03636569 0.99314896 -1.60122743] [ 0. 0. 0. 1. ]] SLAMing on 114.21719347 meters Centerline goodness : 0.854961 Centerline is valid? [False, False] Translation: X:9.73, Y:0.23, Z:-1.60 [[ 0.98333846 -0.14062646 -0.11519409 9.72708003] [ 0.14385041 0.98939474 0.02012749 0.23232158] [ 0.11114197 -0.03636285 0.99313907 -1.60151783] [ 0. 0. 0. 1. ]] SLAMing on 114.24719347 meters Centerline goodness : 0.856728 Centerline is valid? [False, False] Translation: X:9.73, Y:0.23, Z:-1.60 [[ 0.98313215 -0.14182637 -0.11548359 9.72621295] [ 0.14521622 0.98916748 0.02144635 0.22828992] [ 0.11119095 -0.03785468 0.99307784 -1.59852301] [ 0. 0. 0. 1. ]] SLAMing on 114.27719347 meters Centerline goodness : 0.855595 Centerline is valid? [False, False] Translation: X:9.73, Y:0.22, Z:-1.60 [[ 0.98302905 -0.1417479 -0.11645349 9.72732625] [ 0.14543597 0.98908222 0.02376443 0.22428664] [ 0.11181352 -0.04029765 0.9929118 -1.5964977 ] [ 0. 0. 0. 1. ]] SLAMing on 114.30719347 meters Centerline goodness : 0.857110 Centerline is valid? [False, False] Translation: X:9.73, Y:0.22, Z:-1.60 [[ 0.98293625 -0.14158385 -0.11743228 9.72918505] [ 0.14557469 0.98900321 0.02608961 0.21989924] [ 0.11244704 -0.04273959 0.99273813 -1.5953832 ] [ 0. 0. 0. 1. ]] SLAMing on 114.33719347 meters Centerline goodness : 0.856271 Centerline is valid? [False, False] Translation: X:9.73, Y:0.22, Z:-1.60 [[ 0.98247874 -0.14467273 -0.11749608 9.7316304 ] [ 0.14847689 0.98861851 0.02424977 0.21622597] [ 0.11265052 -0.04127033 0.99277723 -1.5961707 ] [ 0. 0. 0. 1. ]] SLAMing on 114.36719347 meters Centerline goodness : 0.854848 Centerline is valid? [False, False] Translation: X:9.74, Y:0.21, Z:-1.60 [[ 0.98164187 -0.15051224 -0.11715502 9.73610912] [ 0.15388813 0.9878803 0.02027189 0.20910396] [ 0.11268397 -0.03792851 0.99290672 -1.59868226] [ 0. 0. 0. 1. ]] SLAMing on 114.39719347 meters Centerline goodness : 0.856012 Centerline is valid? [False, False] Translation: X:9.74, Y:0.21, Z:-1.60 [[ 0.98142073 -0.15135403 -0.11792078 9.73870437] [ 0.15487528 0.98770569 0.02123943 0.20544888] [ 0.11325636 -0.03910783 0.99279584 -1.59886606] [ 0. 0. 0. 1. ]] SLAMing on 114.42719347 meters Centerline goodness : 0.855169 Centerline is valid? [False, False] Translation: X:9.74, Y:0.20, Z:-1.60 [[ 0.98117013 -0.15208155 -0.11906463 9.74120361] [ 0.15577782 0.98753983 0.02232367 0.20234898] [ 0.11418605 -0.04045095 0.99263552 -1.59825996] [ 0. 0. 0. 1. ]] SLAMing on 114.45719347 meters Centerline goodness : 0.857131 Centerline is valid? [False, False] Translation: X:9.74, Y:0.20, Z:-1.60 [[ 0.98085048 -0.15284785 -0.12070568 9.74367665] [ 0.15684296 0.98732542 0.02426504 0.19860885] [ 0.11546693 -0.04273221 0.99239173 -1.59631106] [ 0. 0. 0. 1. ]] SLAMing on 114.48719347 meters Centerline goodness : 0.856707 Centerline is valid? [False, False] Translation: X:9.74, Y:0.20, Z:-1.60 [[ 0.9807711 -0.15307538 -0.1210619 9.74364308] [ 0.15713852 0.98726757 0.02470275 0.19771679] [ 0.11573911 -0.04325124 0.99233754 -1.59506714] [ 0. 0. 0. 1. ]] SLAMing on 114.51719347 meters Centerline goodness : 0.857877 Centerline is valid? [False, False] Translation: X:9.74, Y:0.20, Z:-1.59 [[ 0.98073889 -0.15290594 -0.12153605 9.74408725] [ 0.15708523 0.98725509 0.02552684 0.1965201 ] [ 0.11608388 -0.04412668 0.99225872 -1.59418197] [ 0. 0. 0. 1. ]] SLAMing on 114.54719347 meters Centerline goodness : 0.858733 Centerline is valid? [False, False] Translation: X:9.74, Y:0.20, Z:-1.59 [[ 0.9807351 -0.15263717 -0.12190387 9.74431143] [ 0.15692477 0.98725965 0.02632488 0.19562702] [ 0.11633262 -0.04494747 0.99219275 -1.5933334 ] [ 0. 0. 0. 1. ]] SLAMing on 114.57719347 meters Centerline goodness : 0.861431 Centerline is valid? [False, False] Translation: X:9.74, Y:0.20, Z:-1.59 [[ 0.98063421 -0.1538074 -0.12124285 9.74059616] [ 0.15800676 0.98710196 0.02576031 0.19635205] [ 0.11571693 -0.04441863 0.99228856 -1.59010151] [ 0. 0. 0. 1. ]] SLAMing on 114.60719347 meters Centerline goodness : 0.858989 Centerline is valid? [False, False] Translation: X:9.74, Y:0.20, Z:-1.59 [[ 0.98052162 -0.15415037 -0.12171695 9.74097635] [ 0.15835557 0.98705002 0.02560808 0.19724053] [ 0.11619322 -0.04438383 0.99223445 -1.58945344] [ 0. 0. 0. 1. ]] SLAMing on 114.63719347 meters Centerline goodness : 0.860381 Centerline is valid? [False, False] Translation: X:9.74, Y:0.20, Z:-1.59 [[ 0.98034745 -0.15471701 -0.12239904 9.74249605] [ 0.15891571 0.98696898 0.02525931 0.19822854] [ 0.11689601 -0.04421403 0.99215948 -1.58966713] [ 0. 0. 0. 1. ]] SLAMing on 114.66719347 meters Centerline goodness : 0.860248 Centerline is valid? [False, False] Translation: X:9.74, Y:0.20, Z:-1.59 [[ 0.97969465 -0.15951473 -0.12146371 9.74310182] [ 0.16301197 0.98643419 0.01935693 0.20222239] [ 0.11672824 -0.03876392 0.99240711 -1.59178716] [ 0. 0. 0. 1. ]] SLAMing on 114.69719347 meters Centerline goodness : 0.860345 Centerline is valid? [False, False] Translation: X:9.74, Y:0.20, Z:-1.59 [[ 0.97955938 -0.15988725 -0.12206347 9.74447633] [ 0.16338489 0.98637675 0.0191387 0.20308274] [ 0.11734053 -0.03869082 0.99233775 -1.5921192 ] [ 0. 0. 0. 1. ]] SLAMing on 114.72719347 meters Centerline goodness : 0.859189 Centerline is valid? [False, False] Translation: X:9.75, Y:0.20, Z:-1.59 [[ 0.97945204 -0.16017944 -0.12254083 9.74570598] [ 0.1636426 0.98634295 0.01867311 0.20463716] [ 0.11787623 -0.03834232 0.99228779 -1.59263622] [ 0. 0. 0. 1. ]] SLAMing on 114.75719347 meters Centerline goodness : 0.857900 Centerline is valid? [False, False] Translation: X:9.75, Y:0.21, Z:-1.59 [[ 0.97973689 -0.15744504 -0.12380097 9.74744008] [ 0.16118877 0.98670512 0.02076522 0.20779334] [ 0.11888567 -0.04029978 0.99208978 -1.59343787] [ 0. 0. 0. 1. ]] SLAMing on 114.78719347 meters Centerline goodness : 0.855885 Centerline is valid? [False, False] Translation: X:9.75, Y:0.21, Z:-1.59 [[ 0.97971229 -0.15750539 -0.12391886 9.74793781] [ 0.1611227 0.98673838 0.01966833 0.2104125 ] [ 0.11917762 -0.03923544 0.99209741 -1.59426731] [ 0. 0. 0. 1. ]] SLAMing on 114.81719347 meters Centerline goodness : 0.858081 Centerline is valid? [False, False] Translation: X:9.75, Y:0.21, Z:-1.59 [[ 0.98013166 -0.15402036 -0.12497863 9.74866416] [ 0.15807448 0.98715608 0.02313731 0.21124896] [ 0.11980979 -0.04243354 0.99188961 -1.59403933] [ 0. 0. 0. 1. ]] SLAMing on 114.84719347 meters Centerline goodness : 0.858802 Centerline is valid? [False, False] Translation: X:9.75, Y:0.21, Z:-1.59 [[ 0.98059313 -0.14999357 -0.12624994 9.74928225] [ 0.15456891 0.98760742 0.02720361 0.21220153] [ 0.12060501 -0.04618999 0.99162539 -1.59317606] [ 0. 0. 0. 1. ]] SLAMing on 114.87719347 meters Centerline goodness : 0.861028 Centerline is valid? [False, False] Translation: X:9.75, Y:0.22, Z:-1.59 [[ 0.98117053 -0.14624837 -0.12615788 9.74546478] [ 0.15103463 0.98809728 0.02919439 0.21772201] [ 0.12038662 -0.04769889 0.99158049 -1.59104425] [ 0. 0. 0. 1. ]] SLAMing on 114.90719347 meters Centerline goodness : 0.859886 Centerline is valid? [False, False] Translation: X:9.75, Y:0.22, Z:-1.59 [[ 0.98128721 -0.14505242 -0.12663022 9.74708275] [ 0.1498184 0.98829077 0.02891023 0.22113388] [ 0.12095397 -0.04734078 0.99152861 -1.59271089] [ 0. 0. 0. 1. ]] SLAMing on 114.93719347 meters Centerline goodness : 0.857578 Centerline is valid? [False, False] Translation: X:9.74, Y:0.22, Z:-1.59 [[ 0.9815752 -0.14115197 -0.12878763 9.73803825] [ 0.14487552 0.98924835 0.01996974 0.22252331] [ 0.12458419 -0.03825998 0.99147111 -1.5934242 ] [ 0. 0. 0. 1. ]] SLAMing on 114.96719347 meters Centerline goodness : 0.856767 Centerline is valid? [False, False] Translation: X:9.74, Y:0.23, Z:-1.60 [[ 0.98164789 -0.14031546 -0.12914717 9.74071131] [ 0.1439508 0.98939835 0.01921151 0.2251714 ] [ 0.12508233 -0.03744977 0.99143932 -1.59644802] [ 0. 0. 0. 1. ]] SLAMing on 114.99719347 meters Centerline goodness : 0.853163 Centerline is valid? [False, False] Translation: X:9.74, Y:0.23, Z:-1.60 [[ 0.98165964 -0.14049377 -0.1288637 9.74122162] [ 0.14388325 0.98944283 0.01733478 0.22850276] [ 0.12506784 -0.03555818 0.99151079 -1.59843315] [ 0. 0. 0. 1. ]] SLAMing on 115.02719347 meters Centerline goodness : 0.856432 Centerline is valid? [False, False] Translation: X:9.74, Y:0.23, Z:-1.60 [[ 0.98199499 -0.1373197 -0.12972716 9.74171519] [ 0.14089811 0.98984602 0.01877696 0.23459424] [ 0.12583146 -0.03671719 0.99137192 -1.59914834] [ 0. 0. 0. 1. ]] SLAMing on 115.05719347 meters Centerline goodness : 0.856864 Centerline is valid? [False, False] Translation: X:9.74, Y:0.24, Z:-1.60 [[ 0.98224838 -0.13420334 -0.13106326 9.74273323] [ 0.13822884 0.9901543 0.02207357 0.23662917] [ 0.1268105 -0.03979845 0.99112824 -1.59846823] [ 0. 0. 0. 1. ]] SLAMing on 115.08719347 meters Centerline goodness : 0.853120 Centerline is valid? [False, False] Translation: X:9.74, Y:0.24, Z:-1.60 [[ 0.98217055 -0.13484233 -0.13099068 9.74262078] [ 0.13861044 0.99014409 0.02004538 0.24114268] [ 0.12699668 -0.03784466 0.99118092 -1.59919327] [ 0. 0. 0. 1. ]] SLAMing on 115.11719347 meters Centerline goodness : 0.852894 Centerline is valid? [False, False] Translation: X:9.74, Y:0.24, Z:-1.60 [[ 0.98201707 -0.13568009 -0.13127599 9.7444156 ] [ 0.13932688 0.99006488 0.01896216 0.24189061] [ 0.12739896 -0.03691144 0.99116449 -1.60061082] [ 0. 0. 0. 1. ]] SLAMing on 115.14719347 meters Centerline goodness : 0.851122 Centerline is valid? [False, False] Translation: X:9.75, Y:0.24, Z:-1.60 [[ 0.98197412 -0.13567505 -0.13160207 9.74602412] [ 0.13934098 0.99006186 0.01901597 0.24138896] [ 0.12771419 -0.03701075 0.99112022 -1.60166244] [ 0. 0. 0. 1. ]] SLAMing on 115.17719347 meters Centerline goodness : 0.850626 Centerline is valid? [False, False] Translation: X:9.75, Y:0.24, Z:-1.60 [[ 0.98194922 -0.13588067 -0.13157577 9.74628809] [ 0.13949535 0.99004778 0.01861281 0.24165804] [ 0.12773718 -0.03663104 0.99113136 -1.60205699] [ 0. 0. 0. 1. ]] SLAMing on 115.20719346999999 meters Centerline goodness : 0.853101 Centerline is valid? [False, False] Translation: X:9.75, Y:0.24, Z:-1.60 [[ 0.98298508 -0.13926455 -0.11977362 9.74921965] [ 0.14247838 0.98962202 0.01865904 0.24488553] [ 0.11593207 -0.03540671 0.99262587 -1.6045987 ] [ 0. 0. 0. 1. ]] SLAMing on 115.23719347 meters Centerline goodness : 0.853101 Centerline is valid? [False, False] Translation: X:9.75, Y:0.24, Z:-1.60 [[ 0.98298508 -0.13926455 -0.11977362 9.74921965] [ 0.14247838 0.98962202 0.01865904 0.24488553] [ 0.11593207 -0.03540671 0.99262587 -1.6045987 ] [ 0. 0. 0. 1. ]] SLAMing on 115.26719347 meters Centerline goodness : 0.852844 Centerline is valid? [False, False] Translation: X:9.75, Y:0.24, Z:-1.60 [[ 0.98306583 -0.138586 -0.11989789 9.74868361] [ 0.14189045 0.98969155 0.01943543 0.24455958] [ 0.11596845 -0.03611868 0.99259597 -1.60373323] [ 0. 0. 0. 1. ]] SLAMing on 115.29719347 meters Centerline goodness : 0.853970 Centerline is valid? [False, False] Translation: X:9.75, Y:0.24, Z:-1.60 [[ 0.98303804 -0.1383164 -0.12043582 9.74937007] [ 0.14171663 0.9897032 0.02009915 0.24439899] [ 0.11641568 -0.03682599 0.99251763 -1.60323401] [ 0. 0. 0. 1. ]] SLAMing on 115.32719347 meters Centerline goodness : 0.854865 Centerline is valid? [False, False] Translation: X:9.75, Y:0.25, Z:-1.60 [[ 0.98290428 -0.13893127 -0.1208192 9.75012475] [ 0.14231913 0.98962204 0.0198365 0.24500851] [ 0.11680944 -0.03669227 0.99247631 -1.60314008] [ 0. 0. 0. 1. ]] SLAMing on 115.35719347 meters Centerline goodness : 0.854404 Centerline is valid? [False, False] Translation: X:9.75, Y:0.24, Z:-1.60 [[ 0.98295862 -0.13857506 -0.12078621 9.75049932] [ 0.14198659 0.98966512 0.02006884 0.24425274] [ 0.11675685 -0.03687686 0.99247566 -1.6035845 ] [ 0. 0. 0. 1. ]] SLAMing on 115.38719347 meters Centerline goodness : 0.852133 Centerline is valid? [False, False] Translation: X:9.75, Y:0.24, Z:-1.60 [[ 0.98304682 -0.13819302 -0.1205058 9.74993776] [ 0.14164641 0.98970426 0.02053705 0.24242473] [ 0.11642703 -0.03725809 0.99250017 -1.60331596] [ 0. 0. 0. 1. ]] SLAMing on 115.41719347 meters Centerline goodness : 0.854452 Centerline is valid? [False, False] Translation: X:9.75, Y:0.24, Z:-1.60 [[ 0.98322973 -0.13711628 -0.12024319 9.7494521 ] [ 0.14068506 0.98981721 0.02167011 0.2401426 ] [ 0.11604745 -0.03822312 0.99250793 -1.6031432 ] [ 0. 0. 0. 1. ]] SLAMing on 115.44719347 meters Centerline goodness : 0.855320 Centerline is valid? [False, False] Translation: X:9.75, Y:0.24, Z:-1.60 [[ 0.98361785 -0.13469104 -0.11980923 9.74718104] [ 0.13849569 0.9900727 0.02397905 0.23786691] [ 0.11539008 -0.04017928 0.99250731 -1.60160652] [ 0. 0. 0. 1. ]] SLAMing on 115.47719347 meters Centerline goodness : 0.855976 Centerline is valid? [False, False] Translation: X:9.75, Y:0.24, Z:-1.60 [[ 0.98369282 -0.13401852 -0.11994781 9.74731022] [ 0.13788028 0.99014685 0.02445918 0.23773369] [ 0.11548796 -0.04059876 0.99247885 -1.60155231] [ 0. 0. 0. 1. ]] SLAMing on 115.50719347 meters Centerline goodness : 0.858882 Centerline is valid? [False, False] Translation: X:9.75, Y:0.24, Z:-1.60 [[ 0.98407202 -0.13012016 -0.12112395 9.74912201] [ 0.13455349 0.99047786 0.02913699 0.23601547] [ 0.11617928 -0.04497054 0.99220967 -1.6016008 ] [ 0. 0. 0. 1. ]] SLAMing on 115.53719347 meters Centerline goodness : 0.857191 Centerline is valid? [False, False] Translation: X:9.75, Y:0.24, Z:-1.60 [[ 0.98424322 -0.12915083 -0.12076984 9.7488342 ] [ 0.13358695 0.99060231 0.02935279 0.23573973] [ 0.11584395 -0.04502356 0.99224647 -1.602309 ] [ 0. 0. 0. 1. ]] SLAMing on 115.56719347 meters Centerline goodness : 0.859064 Centerline is valid? [False, False] Translation: X:9.75, Y:0.23, Z:-1.60 [[ 0.98481402 -0.12602479 -0.11941146 9.74645916] [ 0.13056564 0.99095592 0.03096742 0.23257678] [ 0.11442883 -0.04608818 0.99236179 -1.60283549] [ 0. 0. 0. 1. ]] SLAMing on 115.59719347 meters Centerline goodness : 0.861624 Centerline is valid? [False, False] Translation: X:9.75, Y:0.23, Z:-1.60 [[ 0.98513049 -0.1242241 -0.1186857 9.74502757] [ 0.12888285 0.99113075 0.03238894 0.22947764] [ 0.11360956 -0.04720388 0.99240348 -1.60264651] [ 0. 0. 0. 1. ]] SLAMing on 115.62719347 meters Centerline goodness : 0.863152 Centerline is valid? [False, False] Translation: X:9.74, Y:0.23, Z:-1.60 [[ 0.98541779 -0.12260403 -0.11798321 9.74359473] [ 0.12738308 0.99127658 0.03382728 0.22585676] [ 0.11280663 -0.04836306 0.99243926 -1.60230198] [ 0. 0. 0. 1. ]] SLAMing on 115.65719347 meters Centerline goodness : 0.864428 Centerline is valid? [False, False] Translation: X:9.74, Y:0.22, Z:-1.60 [[ 0.98537847 -0.12441849 -0.11640153 9.7417321 ] [ 0.12882046 0.99118135 0.03106159 0.22390772] [ 0.11151039 -0.04560232 0.99271641 -1.60290956] [ 0. 0. 0. 1. ]] SLAMing on 115.68719347 meters Centerline goodness : 0.864312 Centerline is valid? [False, False] Translation: X:9.74, Y:0.22, Z:-1.61 [[ 0.98526688 -0.12552012 -0.11616314 9.74411809] [ 0.12978 0.99109386 0.02983484 0.220291 ] [ 0.1113837 -0.04447093 0.99278195 -1.60500339] [ 0. 0. 0. 1. ]] SLAMing on 115.71719347 meters Centerline goodness : 0.863827 Centerline is valid? [False, False] Translation: X:9.75, Y:0.22, Z:-1.61 [[ 0.98529245 -0.12506096 -0.11644117 9.74536358] [ 0.12945537 0.99110229 0.0309443 0.21753956] [ 0.11153519 -0.04556312 0.99271542 -1.60532688] [ 0. 0. 0. 1. ]] SLAMing on 115.74719347 meters Centerline goodness : 0.867053 Centerline is valid? [False, False] Translation: X:9.74, Y:0.22, Z:-1.61 [[ 0.98513044 -0.12749763 -0.1151624 9.74381001] [ 0.13154025 0.99091013 0.02818294 0.21547672] [ 0.11052233 -0.04291236 0.9929468 -1.60530939] [ 0. 0. 0. 1. ]] SLAMing on 115.77719347 meters Centerline goodness : 0.867239 Centerline is valid? [False, False] Translation: X:9.74, Y:0.21, Z:-1.60 [[ 0.98502239 -0.12892058 -0.11450054 9.74389784] [ 0.13294479 0.99072213 0.02820184 0.20696675] [ 0.10980242 -0.0430017 0.9930228 -1.60459282] [ 0. 0. 0. 1. ]] SLAMing on 115.80719347 meters Centerline goodness : 0.869139 Centerline is valid? [False, False] Translation: X:9.75, Y:0.20, Z:-1.60 [[ 0.98501848 -0.12815221 -0.11539327 9.74644285] [ 0.13254173 0.99068706 0.03117438 0.20064476] [ 0.11032355 -0.04600176 0.99283058 -1.60423828] [ 0. 0. 0. 1. ]] SLAMing on 115.83719347 meters Centerline goodness : 0.869493 Centerline is valid? [False, False] Translation: X:9.75, Y:0.19, Z:-1.60 [[ 0.98498854 -0.12730842 -0.1165768 9.74958256] [ 0.13210855 0.9906386 0.03438738 0.19434375] [ 0.11110767 -0.04927197 0.9925862 -1.60389083] [ 0. 0. 0. 1. ]] SLAMing on 115.86719347 meters Centerline goodness : 0.872514 Centerline is valid? [False, False] Translation: X:9.75, Y:0.18, Z:-1.60 [[ 0.98459458 -0.13105756 -0.1157473 9.75006443] [ 0.13568908 0.99020004 0.03305069 0.18383529] [ 0.11028143 -0.04824717 0.99272867 -1.6028499 ] [ 0. 0. 0. 1. ]] SLAMing on 115.89719347 meters Centerline goodness : 0.873507 Centerline is valid? [False, False] Translation: X:9.75, Y:0.18, Z:-1.60 [[ 0.98415661 -0.13408944 -0.11599905 9.75180895] [ 0.13863547 0.98982584 0.03201596 0.17838431] [ 0.11052585 -0.0475903 0.9927332 -1.60209029] [ 0. 0. 0. 1. ]] SLAMing on 115.92719347 meters Centerline goodness : 0.875463 Centerline is valid? [False, False] Translation: X:9.75, Y:0.17, Z:-1.60 [[ 0.98367793 -0.13732676 -0.1162716 9.75365307] [ 0.14180158 0.9894067 0.03109161 0.17252638] [ 0.11077019 -0.04707163 0.99273069 -1.60126307] [ 0. 0. 0. 1. ]] SLAMing on 115.95719346999999 meters Centerline goodness : 0.876640 Centerline is valid? [False, False] Translation: X:9.76, Y:0.17, Z:-1.60 [[ 0.98310304 -0.14097466 -0.11676711 9.75595414] [ 0.14537361 0.98892155 0.03001148 0.16650616] [ 0.11124265 -0.04647924 0.99270577 -1.60027101] [ 0. 0. 0. 1. ]] SLAMing on 115.98719347 meters Centerline goodness : 0.879146 Centerline is valid? [False, False] Translation: X:9.76, Y:0.15, Z:-1.60 [[ 0.98176165 -0.14947074 -0.11748433 9.7574749 ] [ 0.15384198 0.98766945 0.02901208 0.15173867] [ 0.11169923 -0.04655697 0.99265086 -1.59533463] [ 0. 0. 0. 1. ]] SLAMing on 116.01719347 meters Centerline goodness : 0.882035 Centerline is valid? [False, False] Translation: X:9.76, Y:0.14, Z:-1.59 [[ 0.98104001 -0.15433239 -0.11722635 9.75783397] [ 0.15849369 0.98699102 0.02699027 0.14442114] [ 0.11153588 -0.04505817 0.99273839 -1.59320251] [ 0. 0. 0. 1. ]] SLAMing on 116.04719347 meters Centerline goodness : 0.884750 Centerline is valid? [False, False] Translation: X:9.76, Y:0.14, Z:-1.59 [[ 0.97987392 -0.16216992 -0.11639594 9.7583833 ] [ 0.16569056 0.9859505 0.02117209 0.1399972 ] [ 0.11132716 -0.04003168 0.9929772 -1.59201715] [ 0. 0. 0. 1. ]] SLAMing on 116.07719347 meters Centerline goodness : 0.888421 Centerline is valid? [False, False] Translation: X:9.76, Y:0.13, Z:-1.59 [[ 0.97917946 -0.16625317 -0.11647951 9.75958482] [ 0.16959468 0.98532452 0.01931933 0.13473756] [ 0.11155822 -0.0386714 0.99300518 -1.59073038] [ 0. 0. 0. 1. ]] SLAMing on 116.10719347 meters Centerline goodness : 0.890404 Centerline is valid? [False, False] Translation: X:9.76, Y:0.13, Z:-1.59 [[ 0.97778755 -0.17467375 -0.11584725 9.76008204] [ 0.17734554 0.98406158 0.01309076 0.13140126] [ 0.11171421 -0.03334498 0.99318077 -1.58907302] [ 0. 0. 0. 1. ]] SLAMing on 116.13719347 meters Centerline goodness : 0.891686 Centerline is valid? [False, False] Translation: X:9.76, Y:0.13, Z:-1.59 [[ 0.97762464 -0.1750495 -0.11665217 9.76178081] [ 0.17780009 0.98397369 0.01352438 0.13008023] [ 0.11241523 -0.03396254 0.99308074 -1.58884357] [ 0. 0. 0. 1. ]] SLAMing on 116.16719347 meters Centerline goodness : 0.892808 Centerline is valid? [False, False] Translation: X:9.76, Y:0.13, Z:-1.59 [[ 0.97756156 -0.17522102 -0.11692299 9.76238265] [ 0.17802126 0.98392889 0.01386994 0.1289436 ] [ 0.1126136 -0.0343735 0.99304413 -1.58864848] [ 0. 0. 0. 1. ]] SLAMing on 116.19719347 meters Centerline goodness : 0.893446 Centerline is valid? [False, False] Translation: X:9.76, Y:0.13, Z:-1.59 [[ 9.76762479e-01 -1.79985264e-01 -1.16363072e-01 9.76264510e+00] [ 1.82254468e-01 9.83209508e-01 9.07593204e-03 1.31697040e-01] [ 1.12775745e-01 -3.00727198e-02 9.93165275e-01 -1.58880521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.22719347 meters Centerline goodness : 0.893109 Centerline is valid? [False, False] Translation: X:9.76, Y:0.13, Z:-1.59 [[ 9.76617789e-01 -1.80580255e-01 -1.16655326e-01 9.76344028e+00] [ 1.82773843e-01 9.83119956e-01 8.29910128e-03 1.34032358e-01] [ 1.13187525e-01 -2.94265922e-02 9.93137785e-01 -1.58919099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.25719347 meters Centerline goodness : 0.891166 Centerline is valid? [False, False] Translation: X:9.76, Y:0.14, Z:-1.59 [[ 9.76423786e-01 -1.81401680e-01 -1.17004360e-01 9.76447139e+00] [ 1.83473608e-01 9.82999021e-01 7.09650370e-03 1.37667041e-01] [ 1.13727853e-01 -2.83964071e-02 9.93106046e-01 -1.58981960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.28719347 meters Centerline goodness : 0.890898 Centerline is valid? [False, False] Translation: X:9.77, Y:0.14, Z:-1.59 [[ 9.76165685e-01 -1.82745461e-01 -1.17066869e-01 9.76520290e+00] [ 1.84607276e-01 9.82798770e-01 5.17031884e-03 1.42283219e-01] [ 1.14108323e-01 -2.66584836e-02 9.93110576e-01 -1.59068505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.31719347 meters Centerline goodness : 0.891838 Centerline is valid? [False, False] Translation: X:9.77, Y:0.15, Z:-1.59 [[ 9.76432170e-01 -1.80710638e-01 -1.17999503e-01 9.76600879e+00] [ 1.82739619e-01 9.83139744e-01 6.51724993e-03 1.48202862e-01] [ 1.14832265e-01 -2.79268367e-02 9.92992267e-01 -1.59129780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34719347 meters Centerline goodness : 0.892396 Centerline is valid? [False, False] Translation: X:9.77, Y:0.15, Z:-1.59 [[ 9.76835096e-01 -1.78033963e-01 -1.18731220e-01 9.76566334e+00] [ 1.80334054e-01 9.83565779e-01 8.83103043e-03 1.50989613e-01] [ 1.15207741e-01 -3.00377426e-02 9.92887159e-01 -1.59085715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.37719347 meters Centerline goodness : 0.892416 Centerline is valid? [False, False] Translation: X:9.77, Y:0.15, Z:-1.59 [[ 0.9771398 -0.17583447 -0.11949914 9.76574206] [ 0.17834338 0.98391174 0.01055086 0.15482939] [ 0.1157214 -0.03162155 0.99277824 -1.59085924] [ 0. 0. 0. 1. ]] SLAMing on 116.40719347 meters Centerline goodness : 0.892126 Centerline is valid? [False, False] Translation: X:9.77, Y:0.16, Z:-1.59 [[ 0.97738413 -0.17363224 -0.12071498 9.76704183] [ 0.17637922 0.98424452 0.01237348 0.15876017] [ 0.11666462 -0.03338525 0.99261009 -1.59117653] [ 0. 0. 0. 1. ]] SLAMing on 116.43719347 meters Centerline goodness : 0.893984 Centerline is valid? [False, False] Translation: X:9.77, Y:0.17, Z:-1.59 [[ 0.97728358 -0.17344682 -0.12179082 9.76737059] [ 0.17618909 0.98428274 0.01203697 0.16774799] [ 0.11778883 -0.03322175 0.9924828 -1.59114922] [ 0. 0. 0. 1. ]] SLAMing on 116.46719347 meters Centerline goodness : 0.895125 Centerline is valid? [False, False] Translation: X:9.77, Y:0.17, Z:-1.59 [[ 0.97724046 -0.17266756 -0.12323549 9.76843931] [ 0.17559034 0.98437508 0.01318076 0.17168623] [ 0.11903406 -0.03451973 0.99228992 -1.59036362] [ 0. 0. 0. 1. ]] SLAMing on 116.49719347 meters Centerline goodness : 0.897396 Centerline is valid? [False, False] Translation: X:9.77, Y:0.18, Z:-1.59 [[ 0.97711375 -0.17282687 -0.12401447 9.76749533] [ 0.17564028 0.98438079 0.01203957 0.1814854 ] [ 0.1199967 -0.03354597 0.99220737 -1.58951849] [ 0. 0. 0. 1. ]] SLAMing on 116.52719347 meters Centerline goodness : 0.896885 Centerline is valid? [False, False] Translation: X:9.76, Y:0.19, Z:-1.59 [[ 9.77301032e-01 -1.68834748e-01 -1.27974686e-01 9.75974504e+00] [ 1.70782564e-01 9.85299258e-01 4.32292398e-03 1.87317936e-01] [ 1.25363503e-01 -2.60806431e-02 9.91768013e-01 -1.58948830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.55719347 meters Centerline goodness : 0.899074 Centerline is valid? [False, False] Translation: X:9.76, Y:0.19, Z:-1.59 [[ 9.77769378e-01 -1.65414964e-01 -1.28860131e-01 9.76081968e+00] [ 1.67547217e-01 9.85846931e-01 5.81020945e-03 1.93444349e-01] [ 1.26075269e-01 -2.72712012e-02 9.91645757e-01 -1.59089520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.58719347 meters Centerline goodness : 0.899586 Centerline is valid? [False, False] Translation: X:9.76, Y:0.20, Z:-1.59 [[ 0.97871204 -0.15843813 -0.13046113 9.76215296] [ 0.16126314 0.98684659 0.01131407 0.19785605] [ 0.12695254 -0.03211178 0.99138887 -1.59194073] [ 0. 0. 0. 1. ]] SLAMing on 116.61719347 meters Centerline goodness : 0.901423 Centerline is valid? [False, False] Translation: X:9.75, Y:0.21, Z:-1.59 [[ 0.98036906 -0.14365796 -0.13505146 9.74717014] [ 0.14659539 0.98912361 0.01201106 0.21101926] [ 0.13185711 -0.03157319 0.99076578 -1.59078768] [ 0. 0. 0. 1. ]] SLAMing on 116.64719347 meters Centerline goodness : 0.904664 Centerline is valid? [False, False] Translation: X:9.75, Y:0.22, Z:-1.59 [[ 0.9816266 -0.13279588 -0.13701997 9.7470232 ] [ 0.13687643 0.99037059 0.02075908 0.2175725 ] [ 0.13294383 -0.03913246 0.99035074 -1.5903634 ] [ 0. 0. 0. 1. ]] SLAMing on 116.67719347 meters Centerline goodness : 0.903700 Centerline is valid? [False, False] Translation: X:9.74, Y:0.23, Z:-1.59 [[ 0.98269398 -0.12772436 -0.13416048 9.74055275] [ 0.13143297 0.99114059 0.01912329 0.2280029 ] [ 0.13052938 -0.03642545 0.99077508 -1.59001976] [ 0. 0. 0. 1. ]] SLAMing on 116.70719346999999 meters Centerline goodness : 0.905809 Centerline is valid? [False, False] Translation: X:9.74, Y:0.24, Z:-1.59 [[ 0.98437906 -0.12499782 -0.12398954 9.74459952] [ 0.1283766 0.99153151 0.01961419 0.2391674 ] [ 0.12048781 -0.03522515 0.99208965 -1.59208378] [ 0. 0. 0. 1. ]] SLAMing on 116.73719347 meters Centerline goodness : 0.906264 Centerline is valid? [False, False] Translation: X:9.74, Y:0.25, Z:-1.59 [[ 0.98554791 -0.12215112 -0.11736447 9.73519498] [ 0.1244551 0.99214676 0.01247929 0.24861627] [ 0.11491842 -0.02690554 0.9930105 -1.59271381] [ 0. 0. 0. 1. ]] SLAMing on 116.76719347 meters Centerline goodness : 0.906501 Centerline is valid? [False, False] Translation: X:9.73, Y:0.26, Z:-1.59 [[ 0.98723069 -0.11154594 -0.11372365 9.72844902] [ 0.11376841 0.9934193 0.01322302 0.25895469] [ 0.11150029 -0.02599233 0.99342442 -1.59460261] [ 0. 0. 0. 1. ]] SLAMing on 116.79719347 meters Centerline goodness : 0.905255 Centerline is valid? [False, False] Translation: X:9.73, Y:0.26, Z:-1.60 [[ 0.98750532 -0.11009832 -0.11274573 9.72620976] [ 0.11211031 0.99362754 0.01164399 0.26294723] [ 0.11074528 -0.02413846 0.99355564 -1.59537197] [ 0. 0. 0. 1. ]] SLAMing on 116.82719347 meters Centerline goodness : 0.906754 Centerline is valid? [False, False] Translation: X:9.72, Y:0.27, Z:-1.60 [[ 0.98770867 -0.10912514 -0.11190749 9.72458945] [ 0.11092579 0.99377864 0.0099737 0.26679734] [ 0.11012289 -0.02226454 0.99366858 -1.59631273] [ 0. 0. 0. 1. ]] SLAMing on 116.85719347 meters Centerline goodness : 0.903377 Centerline is valid? [False, False] Translation: X:9.73, Y:0.27, Z:-1.60 [[ 9.87652923e-01 -1.09401315e-01 -1.12129644e-01 9.72524598e+00] [ 1.11134664e-01 9.93761772e-01 9.30735921e-03 2.68416145e-01] [ 1.10411916e-01 -2.16539307e-02 9.93649997e-01 -1.59683444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88719347 meters Centerline goodness : 0.901881 Centerline is valid? [False, False] Translation: X:9.73, Y:0.27, Z:-1.60 [[ 9.88361081e-01 -1.15078970e-01 -9.94947433e-02 9.72801555e+00] [ 1.16184814e-01 9.93213077e-01 5.37325005e-03 2.73088842e-01] [ 9.82011321e-02 -1.68704894e-02 9.95023580e-01 -1.60165363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.91719347 meters Centerline goodness : 0.902955 Centerline is valid? [False, False] Translation: X:9.73, Y:0.27, Z:-1.60 [[ 9.88466276e-01 -1.14261849e-01 -9.93914071e-02 9.72827843e+00] [ 1.15415915e-01 9.93299607e-01 5.92094083e-03 2.72643362e-01] [ 9.80489079e-02 -1.73240005e-02 9.95030799e-01 -1.60229459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.94719347 meters Centerline goodness : 0.900873 Centerline is valid? [False, False] Translation: X:9.73, Y:0.27, Z:-1.60 [[ 9.88736568e-01 -1.12321326e-01 -9.89136897e-02 9.72827681e+00] [ 1.13663659e-01 9.93486886e-01 8.02368058e-03 2.68507980e-01] [ 9.73682232e-02 -1.91761983e-02 9.95063668e-01 -1.60292736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.97719347 meters Centerline goodness : 0.901192 Centerline is valid? [False, False] Translation: X:9.73, Y:0.27, Z:-1.60 [[ 9.88720504e-01 -1.12215274e-01 -9.91942439e-02 9.72991544e+00] [ 1.13644163e-01 9.93482047e-01 8.85589644e-03 2.66022882e-01] [ 9.75539336e-02 -2.00288532e-02 9.95028681e-01 -1.60379110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.00719347 meters Centerline goodness : 0.899838 Centerline is valid? [False, False] Translation: X:9.73, Y:0.26, Z:-1.61 [[ 9.88442325e-01 -1.14790675e-01 -9.90195481e-02 9.73205612e+00] [ 1.15979787e-01 9.93231479e-01 6.31813422e-03 2.64066516e-01] [ 9.76240692e-02 -1.77293774e-02 9.95065430e-01 -1.60574822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.03719347 meters Centerline goodness : 0.898618 Centerline is valid? [False, False] Translation: X:9.73, Y:0.26, Z:-1.61 [[ 9.88120585e-01 -1.17626645e-01 -9.89023863e-02 9.73431203e+00] [ 1.18579187e-01 9.92937373e-01 3.78801454e-03 2.61415758e-01] [ 9.77583042e-02 -1.54707797e-02 9.95089930e-01 -1.60751506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.06719347 meters Centerline goodness : 0.898724 Centerline is valid? [False, False] Translation: X:9.74, Y:0.25, Z:-1.61 [[ 9.87433213e-01 -1.19743529e-01 -1.03136501e-01 9.74275083e+00] [ 1.21242304e-01 9.92587695e-01 8.36487900e-03 2.53536358e-01] [ 1.01370382e-01 -2.07642663e-02 9.94632038e-01 -1.60844167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.09719347 meters Centerline goodness : 0.901119 Centerline is valid? [False, False] Translation: X:9.75, Y:0.25, Z:-1.61 [[ 0.9872504 -0.12052276 -0.10397557 9.74504928] [ 0.12222179 0.99245138 0.01010362 0.24959662] [ 0.10197298 -0.02268288 0.99452853 -1.60805098] [ 0. 0. 0. 1. ]] SLAMing on 117.12719347 meters Centerline goodness : 0.901119 Centerline is valid? [False, False] Translation: X:9.75, Y:0.25, Z:-1.61 [[ 0.9872504 -0.12052276 -0.10397557 9.74504928] [ 0.12222179 0.99245138 0.01010362 0.24959662] [ 0.10197298 -0.02268288 0.99452853 -1.60805098] [ 0. 0. 0. 1. ]] SLAMing on 117.15719347 meters Centerline goodness : 0.900630 Centerline is valid? [False, False] Translation: X:9.75, Y:0.25, Z:-1.61 [[ 0.9870804 -0.12095781 -0.1050785 9.74718747] [ 0.12292233 0.99233881 0.01240122 0.24549596] [ 0.10277345 -0.02515749 0.9943866 -1.60683349] [ 0. 0. 0. 1. ]] SLAMing on 117.18719347 meters Centerline goodness : 0.900377 Centerline is valid? [False, False] Translation: X:9.75, Y:0.24, Z:-1.60 [[ 0.98647077 -0.12539625 -0.1055993 9.74879025] [ 0.12739073 0.99177594 0.012332 0.23838065] [ 0.10318446 -0.02561753 0.99433229 -1.60440472] [ 0. 0. 0. 1. ]] SLAMing on 117.21719347 meters Centerline goodness : 0.899973 Centerline is valid? [False, False] Translation: X:9.75, Y:0.24, Z:-1.60 [[ 0.98600995 -0.12921858 -0.10529453 9.74936742] [ 0.13097814 0.99133541 0.00994159 0.23519583] [ 0.10309756 -0.02359379 0.99439139 -1.6040121 ] [ 0. 0. 0. 1. ]] SLAMing on 117.24719347 meters Centerline goodness : 0.900632 Centerline is valid? [False, False] Translation: X:9.75, Y:0.23, Z:-1.60 [[ 0.98569673 -0.13033972 -0.10683408 9.75283704] [ 0.13236325 0.99112811 0.0120435 0.23028093] [ 0.10431652 -0.02601215 0.99420392 -1.60320343] [ 0. 0. 0. 1. ]] SLAMing on 117.27719347 meters Centerline goodness : 0.900612 Centerline is valid? [False, False] Translation: X:9.76, Y:0.23, Z:-1.60 [[ 0.98550307 -0.13088459 -0.10794866 9.75555431] [ 0.13313626 0.99100039 0.01389096 0.22608935] [ 0.10515906 -0.02806147 0.99405942 -1.60277017] [ 0. 0. 0. 1. ]] SLAMing on 117.30719347 meters Centerline goodness : 0.900633 Centerline is valid? [False, False] Translation: X:9.76, Y:0.22, Z:-1.60 [[ 0.98533967 -0.13123564 -0.10900892 9.75842628] [ 0.13369637 0.99090037 0.01554822 0.22236801] [ 0.1059765 -0.02989438 0.99391917 -1.60278419] [ 0. 0. 0. 1. ]] SLAMing on 117.33719347 meters Centerline goodness : 0.900768 Centerline is valid? [False, False] Translation: X:9.76, Y:0.22, Z:-1.60 [[ 0.98521578 -0.1311254 -0.11025421 9.76159757] [ 0.13394925 0.99081408 0.01857545 0.21647508] [ 0.10680571 -0.03306929 0.99372982 -1.60241082] [ 0. 0. 0. 1. ]] SLAMing on 117.36719347 meters Centerline goodness : 0.901040 Centerline is valid? [False, False] Translation: X:9.76, Y:0.21, Z:-1.60 [[ 0.98526847 -0.13065654 -0.11033999 9.76167113] [ 0.13359802 0.99084043 0.01966768 0.21426848] [ 0.10675961 -0.03411915 0.99369928 -1.60189052] [ 0. 0. 0. 1. ]] SLAMing on 117.39719347 meters Centerline goodness : 0.901476 Centerline is valid? [False, False] Translation: X:9.76, Y:0.21, Z:-1.60 [[ 0.98559777 -0.12670106 -0.11199941 9.76388654] [ 0.13030144 0.99114892 0.02540361 0.21082468] [ 0.10778943 -0.03963143 0.99338351 -1.60085674] [ 0. 0. 0. 1. ]] SLAMing on 117.42719347 meters Centerline goodness : 0.900145 Centerline is valid? [False, False] Translation: X:9.76, Y:0.21, Z:-1.60 [[ 0.98563855 -0.12635627 -0.11203006 9.76348532] [ 0.13004109 0.99116269 0.02618849 0.20954258] [ 0.10773093 -0.0403809 0.99335967 -1.6000102 ] [ 0. 0. 0. 1. ]] SLAMing on 117.45719346999999 meters Centerline goodness : 0.897244 Centerline is valid? [False, False] Translation: X:9.76, Y:0.21, Z:-1.60 [[ 0.98573701 -0.12525427 -0.11240069 9.76362365] [ 0.12919018 0.99121262 0.02841557 0.20680904] [ 0.10785381 -0.04253134 0.99325658 -1.59865369] [ 0. 0. 0. 1. ]] SLAMing on 117.48719347 meters Centerline goodness : 0.896003 Centerline is valid? [False, False] Translation: X:9.77, Y:0.21, Z:-1.60 [[ 0.98574074 -0.12473829 -0.11294044 9.76511503] [ 0.12880363 0.99123376 0.02941536 0.20523387] [ 0.10828115 -0.04354306 0.99316625 -1.5989007 ] [ 0. 0. 0. 1. ]] SLAMing on 117.51719347 meters Centerline goodness : 0.896830 Centerline is valid? [False, False] Translation: X:9.77, Y:0.20, Z:-1.60 [[ 0.98575006 -0.12468007 -0.11292338 9.76543051] [ 0.12876353 0.99123373 0.02959145 0.20414536] [ 0.108244 -0.04371019 0.99316296 -1.59912991] [ 0. 0. 0. 1. ]] SLAMing on 117.54719347 meters Centerline goodness : 0.895545 Centerline is valid? [False, False] Translation: X:9.77, Y:0.20, Z:-1.60 [[ 0.98583698 -0.12424568 -0.11264308 9.76578201] [ 0.12837457 0.99126748 0.03014563 0.20197947] [ 0.10791395 -0.04417918 0.99317812 -1.59975814] [ 0. 0. 0. 1. ]] SLAMing on 117.57719347 meters Centerline goodness : 0.894510 Centerline is valid? [False, False] Translation: X:9.77, Y:0.20, Z:-1.60 [[ 0.98584408 -0.12418579 -0.112647 9.76638224] [ 0.12831123 0.9912766 0.03011533 0.20181168] [ 0.10792444 -0.04414289 0.99317859 -1.60040986] [ 0. 0. 0. 1. ]] SLAMing on 117.60719347 meters Centerline goodness : 0.895937 Centerline is valid? [False, False] Translation: X:9.77, Y:0.20, Z:-1.60 [[ 0.98588868 -0.12378435 -0.11269844 9.76625298] [ 0.12795787 0.99130876 0.03055684 0.20146491] [ 0.10793649 -0.04454629 0.99315927 -1.60005221] [ 0. 0. 0. 1. ]] SLAMing on 117.63719347 meters Centerline goodness : 0.894286 Centerline is valid? [False, False] Translation: X:9.76, Y:0.20, Z:-1.60 [[ 0.98608709 -0.12277392 -0.11206612 9.76420454] [ 0.12695594 0.99142538 0.03094991 0.20232078] [ 0.10730536 -0.04474677 0.99321865 -1.59921895] [ 0. 0. 0. 1. ]] SLAMing on 117.66719347 meters Centerline goodness : 0.895240 Centerline is valid? [False, False] Translation: X:9.76, Y:0.20, Z:-1.60 [[ 0.98614884 -0.12222712 -0.11212049 9.76433343] [ 0.12641121 0.99149424 0.03097366 0.20280588] [ 0.107381 -0.04471793 0.99321177 -1.5994779 ] [ 0. 0. 0. 1. ]] SLAMing on 117.69719347 meters Centerline goodness : 0.893210 Centerline is valid? [False, False] Translation: X:9.76, Y:0.20, Z:-1.60 [[ 0.98623465 -0.12188811 -0.11173404 9.76399583] [ 0.12600434 0.99156001 0.03052308 0.20339658] [ 0.1070706 -0.04418189 0.99326927 -1.60018645] [ 0. 0. 0. 1. ]] SLAMing on 117.72719347 meters Centerline goodness : 0.893597 Centerline is valid? [False, False] Translation: X:9.76, Y:0.20, Z:-1.60 [[ 0.98631308 -0.12157107 -0.11138664 9.76426138] [ 0.12563857 0.9916154 0.03023002 0.2031771 ] [ 0.10677761 -0.04381072 0.99331725 -1.60143763] [ 0. 0. 0. 1. ]] SLAMing on 117.75719347 meters Centerline goodness : 0.895247 Centerline is valid? [False, False] Translation: X:9.77, Y:0.20, Z:-1.60 [[ 0.98635179 -0.12114089 -0.11151249 9.76510361] [ 0.12524642 0.99165511 0.03055301 0.20208592] [ 0.10688071 -0.04410255 0.99329325 -1.60204381] [ 0. 0. 0. 1. ]] SLAMing on 117.78719347 meters Centerline goodness : 0.895904 Centerline is valid? [False, False] Translation: X:9.77, Y:0.20, Z:-1.60 [[ 0.9863851 -0.12103807 -0.11132936 9.765363 ] [ 0.1251435 0.99166562 0.03063335 0.20137382] [ 0.1066937 -0.04414843 0.99331132 -1.60254935] [ 0. 0. 0. 1. ]] SLAMing on 117.81719347 meters Centerline goodness : 0.895028 Centerline is valid? [False, False] Translation: X:9.77, Y:0.20, Z:-1.60 [[ 0.98636357 -0.120768 -0.11181231 9.76647375] [ 0.12496853 0.99166597 0.0313283 0.200849 ] [ 0.107097 -0.04487411 0.99323539 -1.60256904] [ 0. 0. 0. 1. ]] SLAMing on 117.84719347 meters Centerline goodness : 0.892474 Centerline is valid? [False, False] Translation: X:9.77, Y:0.20, Z:-1.60 [[ 0.98626995 -0.1212031 -0.11216683 9.76814039] [ 0.12542318 0.99160826 0.03133836 0.2000225 ] [ 0.10742725 -0.0449764 0.9931951 -1.60341852] [ 0. 0. 0. 1. ]] SLAMing on 117.87719347 meters Centerline goodness : 0.891481 Centerline is valid? [False, False] Translation: X:9.77, Y:0.20, Z:-1.60 [[ 0.98617422 -0.12144617 -0.11274413 9.77065407] [ 0.12571867 0.99156361 0.03156626 0.19876295] [ 0.10795937 -0.04530387 0.99312252 -1.6047391 ] [ 0. 0. 0. 1. ]] SLAMing on 117.90719347 meters Centerline goodness : 0.889687 Centerline is valid? [False, False] Translation: X:9.77, Y:0.20, Z:-1.61 [[ 0.98625066 -0.12056806 -0.11301758 9.77372302] [ 0.12497193 0.99162123 0.03270108 0.19523085] [ 0.10812792 -0.04637548 0.99305471 -1.60705905] [ 0. 0. 0. 1. ]] SLAMing on 117.93719347 meters Centerline goodness : 0.890267 Centerline is valid? [False, False] Translation: X:9.77, Y:0.19, Z:-1.61 [[ 0.9864091 -0.11949542 -0.11277383 9.77360956] [ 0.12402863 0.99169422 0.03405093 0.19218362] [ 0.10776822 -0.04757533 0.99303706 -1.60708756] [ 0. 0. 0. 1. ]] SLAMing on 117.96719347 meters Centerline goodness : 0.889481 Centerline is valid? [False, False] Translation: X:9.77, Y:0.19, Z:-1.61 [[ 0.98661423 -0.11820419 -0.11233938 9.77325557] [ 0.12285772 0.99179197 0.03542133 0.18906269] [ 0.10723034 -0.04874895 0.99303836 -1.6072879 ] [ 0. 0. 0. 1. ]] SLAMing on 117.99719347 meters Centerline goodness : 0.890382 Centerline is valid? [False, False] Translation: X:9.77, Y:0.19, Z:-1.61 [[ 0.98682112 -0.1169232 -0.11186172 9.7731404 ] [ 0.12165367 0.99190428 0.03641809 0.18669462] [ 0.106698 -0.04954653 0.99305623 -1.60807206] [ 0. 0. 0. 1. ]] SLAMing on 118.02719347 meters Centerline goodness : 0.888695 Centerline is valid? [False, False] Translation: X:9.78, Y:0.18, Z:-1.61 [[ 0.98795855 -0.11002282 -0.10877908 9.77647739] [ 0.11413585 0.99293936 0.03231779 0.18357064] [ 0.10445534 -0.04434423 0.99354047 -1.6064658 ] [ 0. 0. 0. 1. ]] SLAMing on 118.05719347 meters Centerline goodness : 0.890472 Centerline is valid? [False, False] Translation: X:9.78, Y:0.18, Z:-1.61 [[ 0.98821453 -0.10802367 -0.10845705 9.77602798] [ 0.11230386 0.99308704 0.03414629 0.18050795] [ 0.10401868 -0.04592401 0.99351452 -1.60649875] [ 0. 0. 0. 1. ]] SLAMing on 118.08719347 meters Centerline goodness : 0.894209 Centerline is valid? [False, False] Translation: X:9.77, Y:0.17, Z:-1.60 [[ 0.98870159 -0.1040251 -0.10792562 9.77491209] [ 0.1087972 0.99328691 0.03929735 0.16946045] [ 0.10311319 -0.05059535 0.99338199 -1.60477873] [ 0. 0. 0. 1. ]] SLAMing on 118.11719347 meters Centerline goodness : 0.895968 Centerline is valid? [False, False] Translation: X:9.78, Y:0.17, Z:-1.60 [[ 0.98894962 -0.10546949 -0.10418654 9.77785665] [ 0.10889819 0.99366488 0.02777227 0.16599918] [ 0.10059738 -0.03881111 0.99416994 -1.60172137] [ 0. 0. 0. 1. ]] SLAMing on 118.14719347 meters Centerline goodness : 0.896671 Centerline is valid? [False, False] Translation: X:9.78, Y:0.16, Z:-1.60 [[ 0.9887152 -0.10777124 -0.10405586 9.77918567] [ 0.1111953 0.99341333 0.02766883 0.15843505] [ 0.10038857 -0.03892712 0.99418651 -1.60137144] [ 0. 0. 0. 1. ]] SLAMing on 118.17719347 meters Centerline goodness : 0.896674 Centerline is valid? [False, False] Translation: X:9.78, Y:0.15, Z:-1.60 [[ 0.98833439 -0.11125325 -0.10400887 9.78047587] [ 0.114605 0.9930494 0.02680625 0.15093698] [ 0.10030367 -0.03841348 0.99421506 -1.60062191] [ 0. 0. 0. 1. ]] SLAMing on 118.20719346999999 meters Centerline goodness : 0.898476 Centerline is valid? [False, False] Translation: X:9.78, Y:0.13, Z:-1.60 [[ 0.98753123 -0.117264 -0.10502963 9.78448256] [ 0.12087037 0.99225522 0.02863429 0.13340386] [ 0.10085842 -0.04097223 0.99405677 -1.60009275] [ 0. 0. 0. 1. ]] SLAMing on 118.23719347 meters Centerline goodness : 0.900911 Centerline is valid? [False, False] Translation: X:9.79, Y:0.13, Z:-1.60 [[ 0.98718096 -0.12011832 -0.1050968 9.78605023] [ 0.12367862 0.9919267 0.0280181 0.12624221] [ 0.10088283 -0.04065716 0.99406723 -1.59943949] [ 0. 0. 0. 1. ]] SLAMing on 118.26719347 meters Centerline goodness : 0.900594 Centerline is valid? [False, False] Translation: X:9.79, Y:0.12, Z:-1.60 [[ 0.98681708 -0.12303706 -0.10513765 9.78762217] [ 0.12651231 0.99159684 0.02702503 0.12000188] [ 0.10092908 -0.03996996 0.9940904 -1.59904869] [ 0. 0. 0. 1. ]] SLAMing on 118.29719347 meters Centerline goodness : 0.901441 Centerline is valid? [False, False] Translation: X:9.79, Y:0.11, Z:-1.60 [[ 0.9864482 -0.125849 -0.10527098 9.78934892] [ 0.12923185 0.99127536 0.02592848 0.11427696] [ 0.10108946 -0.03918147 0.99410549 -1.59875578] [ 0. 0. 0. 1. ]] SLAMing on 118.32719347 meters Centerline goodness : 0.899620 Centerline is valid? [False, False] Translation: X:9.79, Y:0.11, Z:-1.60 [[ 0.98607748 -0.12879169 -0.10518508 9.79046501] [ 0.13207556 0.99092821 0.02484592 0.10823144] [ 0.10103092 -0.03839238 0.99414223 -1.59816801] [ 0. 0. 0. 1. ]] SLAMing on 118.35719347 meters Centerline goodness : 0.900903 Centerline is valid? [False, False] Translation: X:9.79, Y:0.10, Z:-1.60 [[ 0.98567228 -0.13176616 -0.10529884 9.79242871] [ 0.13517023 0.99048534 0.02584174 0.09561272] [ 0.10089189 -0.03970475 0.9941048 -1.59697412] [ 0. 0. 0. 1. ]] SLAMing on 118.38719347 meters Centerline goodness : 0.903272 Centerline is valid? [False, False] Translation: X:9.79, Y:0.09, Z:-1.60 [[ 0.98518803 -0.13532229 -0.10532057 9.79371861] [ 0.13852399 0.99007621 0.02366874 0.09157903] [ 0.10107249 -0.03790759 0.99415661 -1.59657069] [ 0. 0. 0. 1. ]] SLAMing on 118.41719347 meters Centerline goodness : 0.903467 Centerline is valid? [False, False] Translation: X:9.80, Y:0.08, Z:-1.60 [[ 0.98416638 -0.14290562 -0.10485473 9.79611062] [ 0.14562771 0.98916194 0.01874113 0.08333066] [ 0.1010401 -0.03371414 0.99431094 -1.59649801] [ 0. 0. 0. 1. ]] SLAMing on 118.44719347 meters Centerline goodness : 0.902614 Centerline is valid? [False, False] Translation: X:9.80, Y:0.08, Z:-1.60 [[ 0.98361648 -0.1466772 -0.10480662 9.79799587] [ 0.14915503 0.98868167 0.01616583 0.07986695] [ 0.10124923 -0.03153341 0.99436122 -1.59706526] [ 0. 0. 0. 1. ]] SLAMing on 118.47719347 meters Centerline goodness : 0.903785 Centerline is valid? [False, False] Translation: X:9.80, Y:0.08, Z:-1.60 [[ 0.98305383 -0.15048337 -0.1046897 9.7999038 ] [ 0.15270479 0.98817975 0.01349142 0.07632092] [ 0.101422 -0.02924941 0.99441342 -1.5978149 ] [ 0. 0. 0. 1. ]] SLAMing on 118.50719347 meters Centerline goodness : 0.902084 Centerline is valid? [False, False] Translation: X:9.80, Y:0.07, Z:-1.60 [[ 0.98248365 -0.15431896 -0.10445831 9.80156714] [ 0.15627604 0.98765472 0.01076799 0.07294298] [ 0.10150703 -0.0269037 0.99447097 -1.59849854] [ 0. 0. 0. 1. ]] SLAMing on 118.53719347 meters Centerline goodness : 0.901464 Centerline is valid? [False, False] Translation: X:9.80, Y:0.07, Z:-1.60 [[ 9.81232567e-01 -1.62595878e-01 -1.03659197e-01 9.80347086e+00] [ 1.63979355e-01 9.86451553e-01 4.90961464e-03 6.65018525e-02] [ 1.01456493e-01 -2.18154420e-02 9.94600757e-01 -1.59888735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.56719347 meters Centerline goodness : 0.900634 Centerline is valid? [False, False] Translation: X:9.80, Y:0.06, Z:-1.60 [[ 9.80603969e-01 -1.66635454e-01 -1.03191475e-01 9.80417888e+00] [ 1.67728596e-01 9.85831288e-01 1.94669304e-03 6.34109327e-02] [ 1.01404997e-01 -1.92170961e-02 9.94659605e-01 -1.59884606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.59719347 meters Centerline goodness : 0.901378 Centerline is valid? [False, False] Translation: X:9.81, Y:0.06, Z:-1.60 [[ 9.79948630e-01 -1.70667252e-01 -1.02826900e-01 9.80528129e+00] [ 1.71450134e-01 9.85192017e-01 -1.24179421e-03 6.10729923e-02] [ 1.01516174e-01 -1.64127912e-02 9.94698490e-01 -1.59909755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62719347 meters Centerline goodness : 0.901106 Centerline is valid? [False, False] Translation: X:9.81, Y:0.06, Z:-1.60 [[ 9.79773437e-01 -1.71715435e-01 -1.02751261e-01 9.80682900e+00] [ 1.72470975e-01 9.85013377e-01 -1.55248595e-03 5.83076143e-02] [ 1.01477952e-01 -1.62005256e-02 9.94705870e-01 -1.59988829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.65719347 meters Centerline goodness : 0.904102 Centerline is valid? [False, False] Translation: X:9.81, Y:0.06, Z:-1.60 [[ 9.80746189e-01 -1.70781929e-01 -9.47124385e-02 9.81376805e+00] [ 1.70830071e-01 9.85270730e-01 -7.65996566e-03 6.06776922e-02] [ 9.46255771e-02 -8.66725050e-03 9.95475203e-01 -1.60054834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68719347 meters Centerline goodness : 0.903954 Centerline is valid? [False, False] Translation: X:9.81, Y:0.06, Z:-1.60 [[ 9.81238024e-01 -1.67958743e-01 -9.46667891e-02 9.81102640e+00] [ 1.68220393e-01 9.85735338e-01 -5.26712002e-03 6.17893220e-02] [ 9.42010582e-02 -1.07565861e-02 9.95495081e-01 -1.59858864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.71719347 meters Centerline goodness : 0.905496 Centerline is valid? [False, False] Translation: X:9.81, Y:0.06, Z:-1.60 [[ 9.81891224e-01 -1.63775558e-01 -9.52218016e-02 9.81005969e+00] [ 1.64362264e-01 9.86398575e-01 -1.70247391e-03 6.28685050e-02] [ 9.42054730e-02 -1.39792267e-02 9.95454625e-01 -1.59761539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74719347 meters Centerline goodness : 0.906361 Centerline is valid? [False, False] Translation: X:9.81, Y:0.07, Z:-1.59 [[ 9.83283304e-01 -1.56686007e-01 -9.27547223e-02 9.81406916e+00] [ 1.56857554e-01 9.87606014e-01 -5.48358464e-03 6.88968253e-02] [ 9.24643225e-02 -9.15736166e-03 9.95673888e-01 -1.59398962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.77719347 meters Centerline goodness : 0.906425 Centerline is valid? [False, False] Translation: X:9.81, Y:0.07, Z:-1.59 [[ 9.83859081e-01 -1.52757069e-01 -9.32018576e-02 9.81379203e+00] [ 1.53232112e-01 9.88188035e-01 -2.08046279e-03 7.04564529e-02] [ 9.24187659e-02 -1.22346353e-02 9.95645060e-01 -1.59408517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.80719347 meters Centerline goodness : 0.905749 Centerline is valid? [False, False] Translation: X:9.81, Y:0.07, Z:-1.59 [[ 9.84384939e-01 -1.49085871e-01 -9.35932387e-02 9.81342445e+00] [ 1.49853646e-01 9.88707474e-01 1.18980184e-03 7.19656588e-02] [ 9.23589520e-02 -1.51965111e-02 9.95609808e-01 -1.59413758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.83719347 meters Centerline goodness : 0.905357 Centerline is valid? [False, False] Translation: X:9.81, Y:0.07, Z:-1.59 [[ 9.84718735e-01 -1.46916538e-01 -9.35122689e-02 9.81157274e+00] [ 1.47840094e-01 9.89006762e-01 2.98849525e-03 7.38967964e-02] [ 9.20452069e-02 -1.67676899e-02 9.95613642e-01 -1.59330530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.86719347 meters Centerline goodness : 0.904147 Centerline is valid? [False, False] Translation: X:9.81, Y:0.08, Z:-1.59 [[ 9.85138940e-01 -1.43935054e-01 -9.37228339e-02 9.81194053e+00] [ 1.45024999e-01 9.89415916e-01 4.88825073e-03 7.82471968e-02] [ 9.20272730e-02 -1.84077601e-02 9.95586327e-01 -1.59444494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.89719347 meters Centerline goodness : 0.904376 Centerline is valid? [False, False] Translation: X:9.81, Y:0.08, Z:-1.59 [[ 9.85130124e-01 -1.44041917e-01 -9.36512973e-02 9.81202122e+00] [ 1.45065009e-01 9.89413321e-01 4.17420153e-03 8.07314315e-02] [ 9.20585811e-02 -1.76976580e-02 9.95596309e-01 -1.59487001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.92719347 meters Centerline goodness : 0.902586 Centerline is valid? [False, False] Translation: X:9.81, Y:0.08, Z:-1.60 [[ 9.85111105e-01 -1.44251774e-01 -9.35282628e-02 9.81198386e+00] [ 1.45193935e-01 9.89397670e-01 3.31224311e-03 8.37577097e-02] [ 9.20588484e-02 -1.68426640e-02 9.95611115e-01 -1.59537166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.95719346999999 meters Centerline goodness : 0.901787 Centerline is valid? [False, False] Translation: X:9.81, Y:0.09, Z:-1.60 [[ 9.85595901e-01 -1.40472504e-01 -9.41710976e-02 9.81256176e+00] [ 1.41742933e-01 9.89879406e-01 6.90673739e-03 8.50964797e-02] [ 9.22478235e-02 -2.01553396e-02 9.95532069e-01 -1.59578253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98719347 meters Centerline goodness : 0.897789 Centerline is valid? [False, False] Translation: X:9.82, Y:0.09, Z:-1.60 [[ 9.85731098e-01 -1.38965525e-01 -9.49883400e-02 9.81512594e+00] [ 1.40304781e-01 9.90079681e-01 7.53611098e-03 9.00597524e-02] [ 9.29987658e-02 -2.07558972e-02 9.95449859e-01 -1.59798032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.01719347 meters Centerline goodness : 0.896796 Centerline is valid? [False, False] Translation: X:9.82, Y:0.09, Z:-1.60 [[ 9.85609353e-01 -1.39526235e-01 -9.54286787e-02 9.81650098e+00] [ 1.40809600e-01 9.90013232e-01 6.81597681e-03 9.16728208e-02] [ 9.35246471e-02 -2.01551646e-02 9.95412934e-01 -1.59872023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04719347 meters Centerline goodness : 0.896796 Centerline is valid? [False, False] Translation: X:9.82, Y:0.09, Z:-1.60 [[ 9.85609353e-01 -1.39526235e-01 -9.54286787e-02 9.81650098e+00] [ 1.40809600e-01 9.90013232e-01 6.81597681e-03 9.16728208e-02] [ 9.35246471e-02 -2.01551646e-02 9.95412934e-01 -1.59872023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.07719347 meters Centerline goodness : 0.894295 Centerline is valid? [False, False] Translation: X:9.82, Y:0.09, Z:-1.60 [[ 9.85318446e-01 -1.41316608e-01 -9.57975767e-02 9.81925647e+00] [ 1.42432305e-01 9.89792538e-01 4.87542124e-03 9.33936981e-02] [ 9.41307486e-02 -1.84485121e-02 9.95388896e-01 -1.60058773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10719347 meters Centerline goodness : 0.893830 Centerline is valid? [False, False] Translation: X:9.82, Y:0.09, Z:-1.60 [[ 9.85090184e-01 -1.42487609e-01 -9.64085583e-02 9.82128098e+00] [ 1.43572417e-01 9.89630145e-01 4.37455765e-03 9.31647399e-02] [ 9.47854953e-02 -1.81509435e-02 9.95332233e-01 -1.60114624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.13719347 meters Centerline goodness : 0.892982 Centerline is valid? [False, False] Translation: X:9.82, Y:0.09, Z:-1.60 [[ 9.84936563e-01 -1.43280536e-01 -9.68021455e-02 9.82258513e+00] [ 1.44332798e-01 9.89521437e-01 3.92025001e-03 9.32335496e-02] [ 9.52261026e-02 -1.78329221e-02 9.95295924e-01 -1.60159583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.16719347 meters Centerline goodness : 0.892447 Centerline is valid? [False, False] Translation: X:9.82, Y:0.09, Z:-1.60 [[ 9.84801195e-01 -1.44047569e-01 -9.70407388e-02 9.82386959e+00] [ 1.45047640e-01 9.89419189e-01 3.29408940e-03 9.40849285e-02] [ 9.55394634e-02 -1.73195533e-02 9.95274959e-01 -1.60246371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.19719347 meters Centerline goodness : 0.889001 Centerline is valid? [False, False] Translation: X:9.83, Y:0.10, Z:-1.60 [[ 9.84826663e-01 -1.43353357e-01 -9.78072583e-02 9.82679324e+00] [ 1.44418550e-01 9.89509153e-01 3.86249039e-03 9.64375257e-02] [ 9.62274763e-02 -1.79290659e-02 9.95197881e-01 -1.60439010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.22719347 meters Centerline goodness : 0.889016 Centerline is valid? [False, False] Translation: X:9.83, Y:0.10, Z:-1.60 [[ 9.85223764e-01 -1.39914188e-01 -9.87833777e-02 9.82795996e+00] [ 1.41349883e-01 9.89930119e-01 7.65305663e-03 9.57305565e-02] [ 9.67178697e-02 -2.15029921e-02 9.95079532e-01 -1.60458428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.25719347 meters Centerline goodness : 0.885263 Centerline is valid? [False, False] Translation: X:9.83, Y:0.10, Z:-1.60 [[ 9.85143554e-01 -1.40325482e-01 -9.89996789e-02 9.82854471e+00] [ 1.41719333e-01 9.89881021e-01 7.15513304e-03 9.65645477e-02] [ 9.69938557e-02 -2.10790016e-02 9.95061741e-01 -1.60474799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.28719347 meters Centerline goodness : 0.885602 Centerline is valid? [False, False] Translation: X:9.83, Y:0.10, Z:-1.60 [[ 9.85080810e-01 -1.40540114e-01 -9.93190513e-02 9.82940593e+00] [ 1.41930939e-01 9.89851499e-01 7.04398390e-03 9.66255791e-02] [ 9.73211495e-02 -2.10353396e-02 9.95030707e-01 -1.60494459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.31719347 meters Centerline goodness : 0.884326 Centerline is valid? [False, False] Translation: X:9.83, Y:0.10, Z:-1.61 [[ 9.84533058e-01 -1.44700863e-01 -9.87740740e-02 9.82954149e+00] [ 1.45667505e-01 9.89330167e-01 2.60741610e-03 9.88659799e-02] [ 9.73428757e-02 -1.69552603e-02 9.95106469e-01 -1.60523792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34719347 meters Centerline goodness : 0.883289 Centerline is valid? [False, False] Translation: X:9.83, Y:0.10, Z:-1.61 [[ 9.84455334e-01 -1.45179585e-01 -9.88462571e-02 9.82966956e+00] [ 1.46112782e-01 9.89265427e-01 2.22935640e-03 9.96904843e-02] [ 9.74615276e-02 -1.66374034e-02 9.95100220e-01 -1.60519557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.37719347 meters Centerline goodness : 0.883625 Centerline is valid? [False, False] Translation: X:9.83, Y:0.10, Z:-1.60 [[ 9.84386633e-01 -1.45614084e-01 -9.88913277e-02 9.82907848e+00] [ 1.46528370e-01 9.89204432e-01 2.00696343e-03 1.00286746e-01] [ 9.75314975e-02 -1.64660130e-02 9.95096215e-01 -1.60433472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40719347 meters Centerline goodness : 0.884304 Centerline is valid? [False, False] Translation: X:9.84, Y:0.10, Z:-1.61 [[ 9.84627424e-01 -1.49014860e-01 -9.11230357e-02 9.83704412e+00] [ 1.50244964e-01 9.88625735e-01 6.75335290e-03 1.02110116e-01] [ 8.90802281e-02 -2.03403137e-02 9.95816742e-01 -1.60560752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.43719347 meters Centerline goodness : 0.882602 Centerline is valid? [False, False] Translation: X:9.83, Y:0.10, Z:-1.60 [[ 9.84568054e-01 -1.49936947e-01 -9.02477619e-02 9.83260907e+00] [ 1.51059411e-01 9.88508255e-01 5.69942613e-03 1.04534743e-01] [ 8.83561032e-02 -1.92442467e-02 9.95903036e-01 -1.60265648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46719347 meters Centerline goodness : 0.881724 Centerline is valid? [False, False] Translation: X:9.83, Y:0.11, Z:-1.60 [[ 9.84563128e-01 -1.50006913e-01 -9.01852127e-02 9.83224521e+00] [ 1.51076800e-01 9.88508783e-01 5.11720202e-03 1.06953831e-01] [ 8.83812592e-02 -1.86631018e-02 9.95911864e-01 -1.60252090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.49719347 meters Centerline goodness : 0.881468 Centerline is valid? [False, False] Translation: X:9.83, Y:0.11, Z:-1.60 [[ 9.85050831e-01 -1.46357556e-01 -9.08533258e-02 9.83248316e+00] [ 1.47732770e-01 9.88990233e-01 8.56429042e-03 1.07860720e-01] [ 8.85996032e-02 -2.18582749e-02 9.95827458e-01 -1.60260028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52719347 meters Centerline goodness : 0.880505 Centerline is valid? [False, False] Translation: X:9.83, Y:0.11, Z:-1.60 [[ 0.98600832 -0.13901626 -0.09198947 9.83320433] [ 0.1409803 0.98989607 0.01517677 0.11032828] [ 0.0889502 -0.02793313 0.99564432 -1.60343501] [ 0. 0. 0. 1. ]] SLAMing on 119.55719347 meters Centerline goodness : 0.881307 Centerline is valid? [False, False] Translation: X:9.83, Y:0.11, Z:-1.60 [[ 0.98603488 -0.13903296 -0.09167905 9.8329851 ] [ 0.14086596 0.98993244 0.01380369 0.11473748] [ 0.0888369 -0.02652537 0.99569293 -1.60439269] [ 0. 0. 0. 1. ]] SLAMing on 119.58719347 meters Centerline goodness : 0.881329 Centerline is valid? [False, False] Translation: X:9.83, Y:0.12, Z:-1.60 [[ 0.98643133 -0.13569621 -0.09241083 9.83361997] [ 0.13777603 0.99032627 0.01648155 0.11758402] [ 0.08928039 -0.02898991 0.99558455 -1.60496697] [ 0. 0. 0. 1. ]] SLAMing on 119.61719347 meters Centerline goodness : 0.879748 Centerline is valid? [False, False] Translation: X:9.83, Y:0.12, Z:-1.61 [[ 0.98635798 -0.13621094 -0.09243657 9.83389176] [ 0.13815386 0.9902983 0.01492597 0.12159005] [ 0.0895067 -0.02749282 0.9956067 -1.60570332] [ 0. 0. 0. 1. ]] SLAMing on 119.64719347 meters Centerline goodness : 0.876725 Centerline is valid? [False, False] Translation: X:9.84, Y:0.13, Z:-1.61 [[ 0.98601305 -0.13851598 -0.0926908 9.83639282] [ 0.14014804 0.99006602 0.01130461 0.12733544] [ 0.09020415 -0.02413693 0.99563077 -1.60831433] [ 0. 0. 0. 1. ]] SLAMing on 119.67719347 meters Centerline goodness : 0.875677 Centerline is valid? [False, False] Translation: X:9.84, Y:0.13, Z:-1.61 [[ 0.98588217 -0.13917377 -0.09309673 9.83765531] [ 0.14074256 0.98999085 0.01047105 0.12913091] [ 0.09070761 -0.02342589 0.99560201 -1.60902365] [ 0. 0. 0. 1. ]] SLAMing on 119.70719346999999 meters Centerline goodness : 0.877287 Centerline is valid? [False, False] Translation: X:9.84, Y:0.13, Z:-1.61 [[ 9.85689027e-01 -1.40325660e-01 -9.34122593e-02 9.83865669e+00] [ 1.41798559e-01 9.89851955e-01 9.28844993e-03 1.31035852e-01] [ 9.11608996e-02 -2.24012470e-02 9.95584188e-01 -1.60947447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.73719347 meters Centerline goodness : 0.875493 Centerline is valid? [False, False] Translation: X:9.84, Y:0.13, Z:-1.61 [[ 9.85508950e-01 -1.41196818e-01 -9.39976999e-02 9.83984895e+00] [ 1.42626281e-01 9.89738963e-01 8.63302152e-03 1.32584803e-01] [ 9.18142308e-02 -2.19144623e-02 9.95534983e-01 -1.60952416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76719347 meters Centerline goodness : 0.874866 Centerline is valid? [False, False] Translation: X:9.84, Y:0.13, Z:-1.61 [[ 9.85305218e-01 -1.42222995e-01 -9.45846081e-02 9.84099297e+00] [ 1.43593823e-01 9.89605863e-01 7.81346563e-03 1.34140086e-01] [ 9.24902282e-02 -2.12804139e-02 9.95486163e-01 -1.60949140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.79719347 meters Centerline goodness : 0.874882 Centerline is valid? [False, False] Translation: X:9.84, Y:0.14, Z:-1.61 [[ 9.85024307e-01 -1.43823719e-01 -9.50886561e-02 9.84195319e+00] [ 1.45039256e-01 9.89407942e-01 5.96140962e-03 1.38380714e-01] [ 9.32240794e-02 -1.96637213e-02 9.95450958e-01 -1.60967202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82719347 meters Centerline goodness : 0.873853 Centerline is valid? [False, False] Translation: X:9.84, Y:0.14, Z:-1.61 [[ 9.84972913e-01 -1.44083053e-01 -9.52283265e-02 9.84198372e+00] [ 1.45232520e-01 9.89383805e-01 5.21545883e-03 1.40505895e-01] [ 9.34659048e-02 -1.89673356e-02 9.95441794e-01 -1.60958380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.85719347 meters Centerline goodness : 0.874885 Centerline is valid? [False, False] Translation: X:9.84, Y:0.14, Z:-1.61 [[ 9.85398905e-01 -1.40409082e-01 -9.63030995e-02 9.84279442e+00] [ 1.41932943e-01 9.89834207e-01 9.12591460e-03 1.39836618e-01] [ 9.40427408e-02 -2.26612486e-02 9.95310218e-01 -1.60908055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88719347 meters Centerline goodness : 0.878924 Centerline is valid? [False, False] Translation: X:9.84, Y:0.14, Z:-1.61 [[ 0.98588233 -0.13628277 -0.09727811 9.8431807 ] [ 0.13820674 0.99031423 0.01328995 0.13891127] [ 0.09452471 -0.02654681 0.9951685 -1.60831875] [ 0. 0. 0. 1. ]] SLAMing on 119.91719347 meters Centerline goodness : 0.882615 Centerline is valid? [False, False] Translation: X:9.84, Y:0.14, Z:-1.61 [[ 0.98687895 -0.12849119 -0.09777495 9.84125925] [ 0.13098775 0.99119158 0.01953118 0.14229702] [ 0.09440412 -0.03208223 0.99501688 -1.60763609] [ 0. 0. 0. 1. ]] SLAMing on 119.94719347 meters Centerline goodness : 0.881902 Centerline is valid? [False, False] Translation: X:9.84, Y:0.15, Z:-1.61 [[ 0.98733835 -0.1246331 -0.09813038 9.84087597] [ 0.12734753 0.99161686 0.02187723 0.14666895] [ 0.09458111 -0.03409688 0.99493307 -1.60815196] [ 0. 0. 0. 1. ]] SLAMing on 119.97719347 meters Centerline goodness : 0.883103 Centerline is valid? [False, False] Translation: X:9.84, Y:0.15, Z:-1.61 [[ 0.987786 -0.12081024 -0.09840581 9.84007034] [ 0.12373154 0.99202248 0.02412264 0.15128792] [ 0.09470651 -0.03600391 0.99485396 -1.60831575] [ 0. 0. 0. 1. ]] SLAMing on 120.00719347 meters Centerline goodness : 0.884156 Centerline is valid? [False, False] Translation: X:9.84, Y:0.16, Z:-1.61 [[ 0.9885386 -0.11595058 -0.09667936 9.83527061] [ 0.11886392 0.99259777 0.02492039 0.15928686] [ 0.09307419 -0.03612646 0.99500356 -1.60809143] [ 0. 0. 0. 1. ]] SLAMing on 120.03719347 meters Centerline goodness : 0.885029 Centerline is valid? [False, False] Translation: X:9.83, Y:0.16, Z:-1.61 [[ 0.98865876 -0.11529851 -0.09622949 9.83460267] [ 0.11809687 0.99271465 0.02389062 0.16203411] [ 0.09277387 -0.03498407 0.99507242 -1.6089074 ] [ 0. 0. 0. 1. ]] SLAMing on 120.06719347 meters Centerline goodness : 0.886826 Centerline is valid? [False, False] Translation: X:9.83, Y:0.16, Z:-1.61 [[ 0.98871232 -0.11529597 -0.0956806 9.83350007] [ 0.1179684 0.99275691 0.02274166 0.16417083] [ 0.09236556 -0.03377225 0.99515227 -1.60922565] [ 0. 0. 0. 1. ]] SLAMing on 120.09719347 meters Centerline goodness : 0.887399 Centerline is valid? [False, False] Translation: X:9.83, Y:0.17, Z:-1.61 [[ 0.98869978 -0.11531184 -0.09579101 9.83396456] [ 0.11790393 0.99278489 0.0218365 0.16626837] [ 0.09258186 -0.03288388 0.99516192 -1.60989943] [ 0. 0. 0. 1. ]] SLAMing on 120.12719347 meters Centerline goodness : 0.889356 Centerline is valid? [False, False] Translation: X:9.83, Y:0.17, Z:-1.61 [[ 0.98870518 -0.11561621 -0.09536751 9.83330906] [ 0.11793355 0.99283946 0.01901252 0.1729913 ] [ 0.09248647 -0.0300448 0.99526055 -1.61114074] [ 0. 0. 0. 1. ]] SLAMing on 120.15719347 meters Centerline goodness : 0.889461 Centerline is valid? [False, False] Translation: X:9.83, Y:0.18, Z:-1.61 [[ 0.98902819 -0.11180053 -0.09656022 9.8348652 ] [ 0.11443041 0.99318488 0.02212411 0.17544122] [ 0.09342866 -0.0329308 0.99508123 -1.61163873] [ 0. 0. 0. 1. ]] SLAMing on 120.18719347 meters Centerline goodness : 0.889998 Centerline is valid? [False, False] Translation: X:9.84, Y:0.18, Z:-1.61 [[ 0.98986246 -0.10367581 -0.09707545 9.83548571] [ 0.10675892 0.99391529 0.0271095 0.18120573] [ 0.09367417 -0.03719835 0.99490775 -1.61419855] [ 0. 0. 0. 1. ]] SLAMing on 120.21719347 meters Centerline goodness : 0.887508 Centerline is valid? [False, False] Translation: X:9.84, Y:0.18, Z:-1.62 [[ 0.99025758 -0.09961681 -0.09729555 9.83700265] [ 0.10291626 0.99425275 0.02949076 0.18294237] [ 0.09379859 -0.03921674 0.99481851 -1.61677507] [ 0. 0. 0. 1. ]] SLAMing on 120.24719347 meters Centerline goodness : 0.884643 Centerline is valid? [False, False] Translation: X:9.84, Y:0.18, Z:-1.62 [[ 0.99041353 -0.09778265 -0.09756836 9.83954307] [ 0.10110997 0.99443035 0.02974986 0.1840561 ] [ 0.09411592 -0.0393298 0.99478408 -1.61977921] [ 0. 0. 0. 1. ]] SLAMing on 120.27719347 meters Centerline goodness : 0.884030 Centerline is valid? [False, False] Translation: X:9.84, Y:0.18, Z:-1.62 [[ 0.9904513 -0.09748242 -0.09748539 9.84074632] [ 0.10073568 0.99449006 0.02901448 0.1847009 ] [ 0.09411985 -0.03855769 0.99481393 -1.62179676] [ 0. 0. 0. 1. ]] SLAMing on 120.30719347 meters Centerline goodness : 0.885041 Centerline is valid? [False, False] Translation: X:9.84, Y:0.18, Z:-1.62 [[ 0.99026617 -0.10028279 -0.09652083 9.84015947] [ 0.10315687 0.99434457 0.02524956 0.18495727] [ 0.09344287 -0.03496057 0.99501065 -1.62284564] [ 0. 0. 0. 1. ]] SLAMing on 120.33719347 meters Centerline goodness : 0.883831 Centerline is valid? [False, False] Translation: X:9.84, Y:0.18, Z:-1.62 [[ 0.99017277 -0.10041397 -0.09733919 9.84176344] [ 0.10345626 0.99427516 0.02671537 0.18185721] [ 0.09409934 -0.03652318 0.99489264 -1.62211095] [ 0. 0. 0. 1. ]] SLAMing on 120.36719347 meters Centerline goodness : 0.883875 Centerline is valid? [False, False] Translation: X:9.84, Y:0.18, Z:-1.62 [[ 0.98978493 -0.10423975 -0.09726186 9.84263012] [ 0.10704377 0.99396322 0.02405704 0.17911624] [ 0.09416701 -0.03422257 0.99496803 -1.62183867] [ 0. 0. 0. 1. ]] SLAMing on 120.39719347 meters Centerline goodness : 0.886515 Centerline is valid? [False, False] Translation: X:9.85, Y:0.17, Z:-1.62 [[ 0.98917272 -0.10882837 -0.09845669 9.84560893] [ 0.11173301 0.99343697 0.02446877 0.16943546] [ 0.09514762 -0.0352047 0.99484047 -1.61988152] [ 0. 0. 0. 1. ]] SLAMing on 120.42719347 meters Centerline goodness : 0.887834 Centerline is valid? [False, False] Translation: X:9.85, Y:0.16, Z:-1.62 [[ 0.98892036 -0.11026839 -0.09938517 9.84780197] [ 0.11332925 0.99322556 0.02568004 0.16418637] [ 0.0958802 -0.03665876 0.99471761 -1.61883664] [ 0. 0. 0. 1. ]] SLAMing on 120.45719346999999 meters Centerline goodness : 0.887832 Centerline is valid? [False, False] Translation: X:9.85, Y:0.16, Z:-1.62 [[ 0.98869236 -0.11108946 -0.10073008 9.85019368] [ 0.11442217 0.99303989 0.02791683 0.15892122] [ 0.09692772 -0.03912691 0.99452205 -1.61713193] [ 0. 0. 0. 1. ]] SLAMing on 120.48719347 meters Centerline goodness : 0.887162 Centerline is valid? [False, False] Translation: X:9.85, Y:0.16, Z:-1.62 [[ 0.98819102 -0.11549565 -0.10069388 9.85038299] [ 0.11857914 0.99262542 0.02517452 0.15616424] [ 0.09704376 -0.03681743 0.99459891 -1.6156609 ] [ 0. 0. 0. 1. ]] SLAMing on 120.51719347 meters Centerline goodness : 0.891281 Centerline is valid? [False, False] Translation: X:9.85, Y:0.15, Z:-1.61 [[ 0.98739736 -0.12285801 -0.09976155 9.84874996] [ 0.12556882 0.99185536 0.02134028 0.14856325] [ 0.09632721 -0.03359828 0.9947825 -1.61212809] [ 0. 0. 0. 1. ]] SLAMing on 120.54719347 meters Centerline goodness : 0.891870 Centerline is valid? [False, False] Translation: X:9.85, Y:0.15, Z:-1.61 [[ 0.98698106 -0.12643172 -0.09941534 9.84891236] [ 0.12891481 0.99147485 0.01893681 0.14523818] [ 0.0961736 -0.03150639 0.99486581 -1.61146394] [ 0. 0. 0. 1. ]] SLAMing on 120.57719347 meters Centerline goodness : 0.893765 Centerline is valid? [False, False] Translation: X:9.85, Y:0.14, Z:-1.61 [[ 0.98652255 -0.13018982 -0.09911542 9.84941727] [ 0.13237208 0.9910751 0.01574077 0.14382556] [ 0.09618154 -0.02864874 0.99495144 -1.61137524] [ 0. 0. 0. 1. ]] SLAMing on 120.60719347 meters Centerline goodness : 0.892882 Centerline is valid? [False, False] Translation: X:9.85, Y:0.14, Z:-1.61 [[ 0.98644395 -0.13040693 -0.09961106 9.85064285] [ 0.13266122 0.991027 0.01632412 0.14222955] [ 0.09658847 -0.02931735 0.99489254 -1.61135988] [ 0. 0. 0. 1. ]] SLAMing on 120.63719347 meters Centerline goodness : 0.892187 Centerline is valid? [False, False] Translation: X:9.85, Y:0.14, Z:-1.61 [[ 0.98606086 -0.1327157 -0.10035197 9.85422821] [ 0.13479143 0.99077274 0.01416473 0.14345527] [ 0.09754611 -0.02749387 0.99485117 -1.61322131] [ 0. 0. 0. 1. ]] SLAMing on 120.66719347 meters Centerline goodness : 0.889828 Centerline is valid? [False, False] Translation: X:9.85, Y:0.14, Z:-1.61 [[ 0.98601892 -0.13281315 -0.10063476 9.85482931] [ 0.13487336 0.99076503 0.01392227 0.14444897] [ 0.09785634 -0.02730057 0.99482602 -1.61341064] [ 0. 0. 0. 1. ]] SLAMing on 120.69719347 meters Centerline goodness : 0.890144 Centerline is valid? [False, False] Translation: X:9.86, Y:0.15, Z:-1.61 [[ 0.98599295 -0.13272179 -0.10100905 9.85583581] [ 0.13478123 0.99077908 0.01381435 0.14506787] [ 0.09824419 -0.02723497 0.99478959 -1.61387237] [ 0. 0. 0. 1. ]] SLAMing on 120.72719347 meters Centerline goodness : 0.888608 Centerline is valid? [False, False] Translation: X:9.86, Y:0.14, Z:-1.61 [[ 0.98598486 -0.13250117 -0.10137702 9.85683512] [ 0.13459558 0.99080064 0.01407585 0.14469696] [ 0.09857935 -0.02752348 0.9947485 -1.61421303] [ 0. 0. 0. 1. ]] SLAMing on 120.75719347 meters Centerline goodness : 0.890044 Centerline is valid? [False, False] Translation: X:9.86, Y:0.14, Z:-1.61 [[ 0.98603908 -0.13188442 -0.10165349 9.85790853] [ 0.13403528 0.99086905 0.014597 0.14330871] [ 0.09880018 -0.02801837 0.99471277 -1.61475735] [ 0. 0. 0. 1. ]] SLAMing on 120.78719347 meters Centerline goodness : 0.889130 Centerline is valid? [False, False] Translation: X:9.86, Y:0.14, Z:-1.61 [[ 0.98636878 -0.12942872 -0.10161115 9.85600884] [ 0.13181111 0.99112796 0.01706449 0.14287151] [ 0.09850102 -0.03022536 0.99467783 -1.61340479] [ 0. 0. 0. 1. ]] SLAMing on 120.81719347 meters Centerline goodness : 0.891069 Centerline is valid? [False, False] Translation: X:9.86, Y:0.14, Z:-1.61 [[ 0.98685148 -0.12521753 -0.10219948 9.85575621] [ 0.127978 0.99155697 0.02089019 0.14347537] [ 0.09872079 -0.0336948 0.99454455 -1.61296906] [ 0. 0. 0. 1. ]] SLAMing on 120.84719347 meters Centerline goodness : 0.892628 Centerline is valid? [False, False] Translation: X:9.85, Y:0.15, Z:-1.61 [[ 0.98783214 -0.11651221 -0.10301731 9.85460727] [ 0.11994888 0.99239081 0.02779832 0.14726564] [ 0.09899459 -0.03981689 0.99429105 -1.61249291] [ 0. 0. 0. 1. ]] SLAMing on 120.87719347 meters Centerline goodness : 0.893084 Centerline is valid? [False, False] Translation: X:9.85, Y:0.15, Z:-1.61 [[ 0.98833825 -0.11183017 -0.10335141 9.85439484] [ 0.11559037 0.99280934 0.0311205 0.14932213] [ 0.09912803 -0.04270401 0.99415794 -1.61295076] [ 0. 0. 0. 1. ]] SLAMing on 120.90719347 meters Centerline goodness : 0.891001 Centerline is valid? [False, False] Translation: X:9.85, Y:0.15, Z:-1.61 [[ 0.98914315 -0.10459279 -0.10322872 9.85097375] [ 0.10714525 0.99405245 0.01948365 0.15336578] [ 0.10057691 -0.03033259 0.9944668 -1.61302386] [ 0. 0. 0. 1. ]] SLAMing on 120.93719347 meters Centerline goodness : 0.891001 Centerline is valid? [False, False] Translation: X:9.85, Y:0.15, Z:-1.61 [[ 0.98914315 -0.10459279 -0.10322872 9.85097375] [ 0.10714525 0.99405245 0.01948365 0.15336578] [ 0.10057691 -0.03033259 0.9944668 -1.61302386] [ 0. 0. 0. 1. ]] SLAMing on 120.96719347 meters Centerline goodness : 0.888279 Centerline is valid? [False, False] Translation: X:9.85, Y:0.15, Z:-1.61 [[ 0.98964925 -0.09955994 -0.10335468 9.85135854] [ 0.1024676 0.99446571 0.02320206 0.15343822] [ 0.10047269 -0.03355241 0.99437391 -1.6143761 ] [ 0. 0. 0. 1. ]] SLAMing on 120.99719347 meters Centerline goodness : 0.887425 Centerline is valid? [False, False] Translation: X:9.85, Y:0.15, Z:-1.62 [[ 0.99101195 -0.08876357 -0.10008168 9.84782932] [ 0.09057662 0.99579511 0.01371068 0.15406748] [ 0.09844383 -0.02265251 0.99488475 -1.61588842] [ 0. 0. 0. 1. ]] SLAMing on 121.02719347 meters Centerline goodness : 0.888216 Centerline is valid? [False, False] Translation: X:9.85, Y:0.15, Z:-1.62 [[ 0.99120968 -0.08736702 -0.09934975 9.84637113] [ 0.08918545 0.9959166 0.01400322 0.15447786] [ 0.09772065 -0.02274068 0.99495404 -1.61614113] [ 0. 0. 0. 1. ]] SLAMing on 121.05719347 meters Centerline goodness : 0.887640 Centerline is valid? [False, False] Translation: X:9.85, Y:0.16, Z:-1.61 [[ 9.91830828e-01 -8.50602222e-02 -9.50598126e-02 9.84966350e+00] [ 8.58627526e-02 9.96297361e-01 4.37671860e-03 1.57558251e-01] [ 9.43355558e-02 -1.25030616e-02 9.95461941e-01 -1.61482877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.08719347 meters Centerline goodness : 0.887382 Centerline is valid? [False, False] Translation: X:9.85, Y:0.16, Z:-1.61 [[ 9.92084602e-01 -8.11479153e-02 -9.58287960e-02 9.84985825e+00] [ 8.24316925e-02 9.96551360e-01 9.50807714e-03 1.55249163e-01] [ 9.47267564e-02 -1.73321468e-02 9.95352419e-01 -1.61338143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.11719347 meters Centerline goodness : 0.885873 Centerline is valid? [False, False] Translation: X:9.85, Y:0.15, Z:-1.61 [[ 0.9920382 -0.08139632 -0.09609817 9.84967094] [ 0.08293594 0.99648105 0.0121307 0.14722688] [ 0.09477261 -0.02000411 0.99529794 -1.6110063 ] [ 0. 0. 0. 1. ]] SLAMing on 121.14719347 meters Centerline goodness : 0.886931 Centerline is valid? [False, False] Translation: X:9.85, Y:0.14, Z:-1.61 [[ 0.99176022 -0.08474914 -0.096069 9.8511144 ] [ 0.08613946 0.99622869 0.01041094 0.14177145] [ 0.09482437 -0.01860049 0.99532023 -1.61122068] [ 0. 0. 0. 1. ]] SLAMing on 121.17719347 meters Centerline goodness : 0.886957 Centerline is valid? [False, False] Translation: X:9.85, Y:0.14, Z:-1.61 [[ 9.91450055e-01 -8.81417315e-02 -9.62175801e-02 9.85326671e+00] [ 8.94236734e-02 9.95952241e-01 9.08514775e-03 1.35110871e-01] [ 9.50273339e-02 -1.76115997e-02 9.95318862e-01 -1.61169354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20719346999999 meters Centerline goodness : 0.883387 Centerline is valid? [False, False] Translation: X:9.86, Y:0.12, Z:-1.61 [[ 0.99070364 -0.09177563 -0.10041679 9.86088296] [ 0.09366174 0.99550249 0.0142223 0.12004316] [ 0.09865991 -0.0234953 0.9948438 -1.61254939] [ 0. 0. 0. 1. ]] SLAMing on 121.23719347 meters Centerline goodness : 0.884001 Centerline is valid? [False, False] Translation: X:9.86, Y:0.12, Z:-1.61 [[ 0.99042166 -0.09440808 -0.10075735 9.86342565] [ 0.0961646 0.99528429 0.01270997 0.11623464] [ 0.09908229 -0.02227752 0.99482984 -1.61340953] [ 0. 0. 0. 1. ]] SLAMing on 121.26719347 meters Centerline goodness : 0.883340 Centerline is valid? [False, False] Translation: X:9.87, Y:0.11, Z:-1.61 [[ 0.99040853 -0.09402572 -0.1012428 9.86502519] [ 0.0959503 0.9952834 0.01429994 0.11190492] [ 0.09942072 -0.02387706 0.99475897 -1.6135086 ] [ 0. 0. 0. 1. ]] SLAMing on 121.29719347 meters Centerline goodness : 0.880600 Centerline is valid? [False, False] Translation: X:9.87, Y:0.11, Z:-1.61 [[ 0.99044062 -0.09325411 -0.10164174 9.866242 ] [ 0.09536666 0.99531174 0.01611646 0.10725332] [ 0.0996623 -0.02565563 0.99469051 -1.61342207] [ 0. 0. 0. 1. ]] SLAMing on 121.32719347 meters Centerline goodness : 0.878714 Centerline is valid? [False, False] Translation: X:9.87, Y:0.10, Z:-1.61 [[ 0.99040315 -0.09264528 -0.10255953 9.87035348] [ 0.09490729 0.99533422 0.01738949 0.09893056] [ 0.10046996 -0.02695625 0.99457486 -1.61467232] [ 0. 0. 0. 1. ]] SLAMing on 121.35719347 meters Centerline goodness : 0.878362 Centerline is valid? [False, False] Translation: X:9.87, Y:0.10, Z:-1.61 [[ 0.99019944 -0.0950897 -0.10228887 9.8707382 ] [ 0.0971296 0.9951566 0.01513884 0.09670468] [ 0.1003539 -0.02492575 0.99463953 -1.61485725] [ 0. 0. 0. 1. ]] SLAMing on 121.38719347 meters Centerline goodness : 0.877185 Centerline is valid? [False, False] Translation: X:9.87, Y:0.09, Z:-1.61 [[ 0.9902262 -0.09405352 -0.10298544 9.87226092] [ 0.09630337 0.99520538 0.01708544 0.09330504] [ 0.10088472 -0.0268363 0.99453612 -1.61460307] [ 0. 0. 0. 1. ]] SLAMing on 121.41719347 meters Centerline goodness : 0.877907 Centerline is valid? [False, False] Translation: X:9.87, Y:0.09, Z:-1.61 [[ 0.990032 -0.09518507 -0.10380962 9.87447338] [ 0.09744765 0.99509657 0.01693442 0.08773105] [ 0.10168869 -0.02688162 0.99445301 -1.61400979] [ 0. 0. 0. 1. ]] SLAMing on 121.44719347 meters Centerline goodness : 0.876487 Centerline is valid? [False, False] Translation: X:9.88, Y:0.08, Z:-1.61 [[ 0.9899657 -0.09481845 -0.10477295 9.87601775] [ 0.09737458 0.99505586 0.01954551 0.08282528] [ 0.10240166 -0.02955161 0.99430408 -1.61248417] [ 0. 0. 0. 1. ]] SLAMing on 121.47719347 meters Centerline goodness : 0.876496 Centerline is valid? [False, False] Translation: X:9.88, Y:0.08, Z:-1.61 [[ 0.98959641 -0.09874739 -0.10463221 9.87671013] [ 0.10102899 0.99474294 0.01672203 0.07985411] [ 0.1024309 -0.02711895 0.99437039 -1.61228748] [ 0. 0. 0. 1. ]] SLAMing on 121.50719347 meters Centerline goodness : 0.878325 Centerline is valid? [False, False] Translation: X:9.88, Y:0.07, Z:-1.61 [[ 0.9894918 -0.09902895 -0.10535291 9.87870115] [ 0.10149493 0.99466781 0.01829558 0.07454874] [ 0.10297935 -0.02879612 0.99426658 -1.61196506] [ 0. 0. 0. 1. ]] SLAMing on 121.53719347 meters Centerline goodness : 0.878489 Centerline is valid? [False, False] Translation: X:9.89, Y:0.07, Z:-1.61 [[ 0.98923323 -0.10691607 -0.09993282 9.89041006] [ 0.10952712 0.99376192 0.02100149 0.06554332] [ 0.09706403 -0.03172073 0.99477252 -1.61319033] [ 0. 0. 0. 1. ]] SLAMing on 121.56719347 meters Centerline goodness : 0.878707 Centerline is valid? [False, False] Translation: X:9.89, Y:0.06, Z:-1.61 [[ 0.98879019 -0.1110336 -0.0998273 9.89108882] [ 0.113361 0.99339199 0.01793448 0.06188245] [ 0.09717631 -0.02904996 0.99484314 -1.61276514] [ 0. 0. 0. 1. ]] SLAMing on 121.59719347 meters Centerline goodness : 0.881015 Centerline is valid? [False, False] Translation: X:9.89, Y:0.06, Z:-1.61 [[ 0.98838056 -0.1148929 -0.09951626 9.89096274] [ 0.11693166 0.99302845 0.01488266 0.05926085] [ 0.09711256 -0.02634633 0.99492463 -1.61206236] [ 0. 0. 0. 1. ]] SLAMing on 121.62719347 meters Centerline goodness : 0.882289 Centerline is valid? [False, False] Translation: X:9.89, Y:0.06, Z:-1.61 [[ 0.98815623 -0.11724814 -0.0989956 9.88904481] [ 0.11910666 0.99279561 0.0130566 0.05704064] [ 0.09675154 -0.024693 0.99500221 -1.61028523] [ 0. 0. 0. 1. ]] SLAMing on 121.65719347 meters Centerline goodness : 0.884538 Centerline is valid? [False, False] Translation: X:9.89, Y:0.06, Z:-1.61 [[ 0.9877209 -0.12091306 -0.09893154 9.88904852] [ 0.12249133 0.99241905 0.01001528 0.05521302] [ 0.09697056 -0.02201055 0.99504384 -1.60916315] [ 0. 0. 0. 1. ]] SLAMing on 121.68719347 meters Centerline goodness : 0.883669 Centerline is valid? [False, False] Translation: X:9.90, Y:0.06, Z:-1.61 [[ 9.88268323e-01 -1.21638224e-01 -9.23572681e-02 9.89796761e+00] [ 1.22219595e-01 9.92502875e-01 6.43872702e-04 5.72733760e-02] [ 9.15865346e-02 -1.19241869e-02 9.95725726e-01 -1.61074313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.71719347 meters Centerline goodness : 0.885865 Centerline is valid? [False, False] Translation: X:9.90, Y:0.06, Z:-1.61 [[ 9.88026942e-01 -1.23487714e-01 -9.24853883e-02 9.89877390e+00] [ 1.23877440e-01 9.92296335e-01 -1.53708909e-03 5.75637186e-02] [ 9.19627235e-02 -9.93816770e-03 9.95712855e-01 -1.61064750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74719347 meters Centerline goodness : 0.886313 Centerline is valid? [False, False] Translation: X:9.91, Y:0.06, Z:-1.61 [[ 9.88564306e-01 -1.21471637e-01 -8.93602467e-02 9.90722128e+00] [ 1.21108572e-01 9.92593863e-01 -9.49404269e-03 5.76635813e-02] [ 8.98516894e-02 -1.43682011e-03 9.95954120e-01 -1.60961753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.77719347 meters Centerline goodness : 0.884396 Centerline is valid? [False, False] Translation: X:9.91, Y:0.06, Z:-1.61 [[ 9.88495205e-01 -1.21611411e-01 -8.99327172e-02 9.90919898e+00] [ 1.21197450e-01 9.92577338e-01 -1.00701006e-02 5.83015431e-02] [ 9.04898161e-02 -9.45369867e-04 9.95896932e-01 -1.61027914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.80719347 meters Centerline goodness : 0.884757 Centerline is valid? [False, False] Translation: X:9.91, Y:0.06, Z:-1.61 [[ 9.88736176e-01 -1.19095508e-01 -9.06478542e-02 9.91198699e+00] [ 1.18888160e-01 9.92877772e-01 -7.70296856e-03 5.80448670e-02] [ 9.09196284e-02 -3.16075290e-03 9.95853218e-01 -1.61214640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.83719347 meters Centerline goodness : 0.884107 Centerline is valid? [False, False] Translation: X:9.92, Y:0.06, Z:-1.61 [[ 9.89315273e-01 -1.17228089e-01 -8.66767875e-02 9.92171392e+00] [ 1.16294801e-01 9.93089738e-01 -1.57572606e-02 6.11413966e-02] [ 8.79250217e-02 5.50883875e-03 9.96111863e-01 -1.61345791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.86719347 meters Centerline goodness : 0.881812 Centerline is valid? [False, False] Translation: X:9.92, Y:0.06, Z:-1.61 [[ 0.9902212 -0.11129387 -0.08411693 9.92189843] [ 0.10929577 0.99361452 -0.02801117 0.06345401] [ 0.08669727 0.01854362 0.9960621 -1.61392883] [ 0. 0. 0. 1. ]] SLAMing on 121.89719347 meters Centerline goodness : 0.881433 Centerline is valid? [False, False] Translation: X:9.92, Y:0.06, Z:-1.61 [[ 0.99030486 -0.11039076 -0.0843218 9.92253613] [ 0.10842742 0.99372301 -0.02753307 0.06343626] [ 0.08683191 0.01812334 0.99605811 -1.61428538] [ 0. 0. 0. 1. ]] SLAMing on 121.92719347 meters Centerline goodness : 0.879848 Centerline is valid? [False, False] Translation: X:9.92, Y:0.06, Z:-1.61 [[ 0.99078786 -0.10549793 -0.08490942 9.92304036] [ 0.10393618 0.99432669 -0.02262069 0.06122622] [ 0.08681414 0.01358715 0.99613187 -1.6144869 ] [ 0. 0. 0. 1. ]] SLAMing on 121.95719346999999 meters Centerline goodness : 0.877947 Centerline is valid? [False, False] Translation: X:9.92, Y:0.06, Z:-1.61 [[ 9.91314298e-01 -9.98803316e-02 -8.55563077e-02 9.92392868e+00] [ 9.87761881e-02 9.94963537e-01 -1.70535692e-02 5.79675676e-02] [ 8.68287227e-02 8.45452101e-03 9.96187379e-01 -1.61497645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98719347 meters Centerline goodness : 0.875826 Centerline is valid? [False, False] Translation: X:9.93, Y:0.05, Z:-1.62 [[ 9.91706275e-01 -9.52313243e-02 -8.63114021e-02 9.92509450e+00] [ 9.45536773e-02 9.95448459e-01 -1.19149942e-02 5.43222580e-02] [ 8.70532329e-02 3.65511406e-03 9.96196956e-01 -1.61532588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.01719347 meters Centerline goodness : 0.877706 Centerline is valid? [False, False] Translation: X:9.93, Y:0.05, Z:-1.62 [[ 9.91761042e-01 -9.43398699e-02 -8.66603973e-02 9.92627890e+00] [ 9.37631147e-02 9.95536917e-01 -1.07109927e-02 5.15483082e-02] [ 8.72840984e-02 2.49719656e-03 9.96180330e-01 -1.61578287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04719347 meters Centerline goodness : 0.877486 Centerline is valid? [False, False] Translation: X:9.93, Y:0.05, Z:-1.62 [[ 9.91819013e-01 -9.34812439e-02 -8.69269914e-02 9.92708071e+00] [ 9.30238710e-02 9.95620384e-01 -9.30652269e-03 4.79766027e-02] [ 8.74162698e-02 1.14410092e-03 9.96171214e-01 -1.61599512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.07719347 meters Centerline goodness : 0.874728 Centerline is valid? [False, False] Translation: X:9.93, Y:0.04, Z:-1.62 [[ 9.91623206e-01 -9.53492338e-02 -8.71317498e-02 9.92862327e+00] [ 9.48539249e-02 9.95442798e-01 -9.81679940e-03 4.02801257e-02] [ 8.76706971e-02 1.46977763e-03 9.96148427e-01 -1.61622066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10719347 meters Centerline goodness : 0.873286 Centerline is valid? [False, False] Translation: X:9.93, Y:0.03, Z:-1.62 [[ 9.91615154e-01 -9.52501439e-02 -8.73315370e-02 9.92935826e+00] [ 9.48818542e-02 9.95453369e-01 -8.36802210e-03 3.47274626e-02] [ 8.77315281e-02 1.16793608e-05 9.96144156e-01 -1.61629381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.13719347 meters Centerline goodness : 0.871752 Centerline is valid? [False, False] Translation: X:9.93, Y:0.03, Z:-1.62 [[ 9.91286967e-01 -9.85811733e-02 -8.73607586e-02 9.93038390e+00] [ 9.80260572e-02 9.95127051e-01 -1.06322262e-02 3.04669944e-02] [ 8.79831915e-02 1.97595656e-03 9.96120000e-01 -1.61649464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.16719347 meters Centerline goodness : 0.873113 Centerline is valid? [False, False] Translation: X:9.93, Y:0.03, Z:-1.62 [[ 9.90931780e-01 -1.02121405e-01 -8.73236876e-02 9.93144572e+00] [ 1.01372317e-01 9.94763852e-01 -1.29819604e-02 2.58663849e-02] [ 8.81921839e-02 4.01203265e-03 9.96095398e-01 -1.61670075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.19719347 meters Centerline goodness : 0.874215 Centerline is valid? [False, False] Translation: X:9.93, Y:0.02, Z:-1.62 [[ 9.90164971e-01 -1.09434157e-01 -8.71636185e-02 9.93352808e+00] [ 1.08314347e-01 9.93962843e-01 -1.74890998e-02 1.63722288e-02] [ 8.85513030e-02 7.87602360e-03 9.96040479e-01 -1.61704336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.22719347 meters Centerline goodness : 0.875142 Centerline is valid? [False, False] Translation: X:9.94, Y:0.01, Z:-1.62 [[ 9.89890390e-01 -1.14893895e-01 -8.31649513e-02 9.94309219e+00] [ 1.14313800e-01 9.93375562e-01 -1.17195484e-02 1.14827106e-02] [ 8.39605348e-02 2.09416677e-03 9.96466880e-01 -1.61806574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.25719347 meters Centerline goodness : 0.873628 Centerline is valid? [False, False] Translation: X:9.94, Y:0.00, Z:-1.62 [[ 9.88896798e-01 -1.23582531e-01 -8.25256385e-02 9.94357976e+00] [ 1.22570509e-01 9.92310087e-01 -1.72383867e-02 2.63445357e-03] [ 8.40213870e-02 6.93177593e-03 9.96439841e-01 -1.61694702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.28719347 meters Centerline goodness : 0.876346 Centerline is valid? [False, False] Translation: X:9.94, Y:-0.00, Z:-1.62 [[ 9.88384947e-01 -1.27693886e-01 -8.23982264e-02 9.94456094e+00] [ 1.26440621e-01 9.91766968e-01 -2.02743642e-02 -2.98667029e-04] [ 8.43087515e-02 9.62039350e-03 9.96393237e-01 -1.61702300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.31719347 meters Centerline goodness : 0.874940 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.00, Z:-1.62 [[ 9.87854365e-01 -1.31005242e-01 -8.35546507e-02 9.94897919e+00] [ 1.29564950e-01 9.91316607e-01 -2.24568082e-02 -2.38263534e-03] [ 8.57710724e-02 1.13583019e-02 9.96250125e-01 -1.61844276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34719347 meters Centerline goodness : 0.874737 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.00, Z:-1.62 [[ 9.87398176e-01 -1.34264598e-01 -8.37726726e-02 9.95196497e+00] [ 1.32613837e-01 9.90852612e-01 -2.49934358e-02 -4.10156634e-03] [ 8.63621050e-02 1.35690574e-02 9.96171405e-01 -1.62017274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.37719347 meters Centerline goodness : 0.870806 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.01, Z:-1.62 [[ 9.86723254e-01 -1.40729618e-01 -8.10703091e-02 9.96303536e+00] [ 1.39548355e-01 9.90011530e-01 -2.00854918e-02 -7.31864263e-03] [ 8.30871644e-02 8.50559355e-03 9.96505985e-01 -1.62138536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40719347 meters Centerline goodness : 0.871942 Centerline is valid? [False, False] Translation: X:9.97, Y:-0.01, Z:-1.62 [[ 9.86842730e-01 -1.42933908e-01 -7.55733076e-02 9.97123211e+00] [ 1.42408880e-01 9.89731253e-01 -1.23190101e-02 -8.49787749e-03] [ 7.65580686e-02 1.39461547e-03 9.97064149e-01 -1.62271817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.43719347 meters Centerline goodness : 0.875113 Centerline is valid? [False, False] Translation: X:9.97, Y:-0.01, Z:-1.62 [[ 9.86820730e-01 -1.43081703e-01 -7.55809023e-02 9.97061674e+00] [ 1.42550734e-01 9.89709797e-01 -1.24018599e-02 -8.49291069e-03] [ 7.65776388e-02 1.46429937e-03 9.97062546e-01 -1.62180639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46719347 meters Centerline goodness : 0.875076 Centerline is valid? [False, False] Translation: X:9.97, Y:-0.01, Z:-1.63 [[ 9.87869812e-01 -1.42016531e-01 -6.28055629e-02 9.97377383e+00] [ 1.41542228e-01 9.89859962e-01 -1.19604568e-02 -7.64270495e-03] [ 6.38672947e-02 2.92573494e-03 9.97954112e-01 -1.62588750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.49719347 meters Centerline goodness : 0.878935 Centerline is valid? [False, False] Translation: X:9.98, Y:-0.00, Z:-1.63 [[ 9.88919609e-01 -1.36451913e-01 -5.84712136e-02 9.98275032e+00] [ 1.35714349e-01 9.90611873e-01 -1.64235372e-02 -2.87134705e-03] [ 6.01633015e-02 8.30617530e-03 9.98153988e-01 -1.62715533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52719347 meters Centerline goodness : 0.875664 Centerline is valid? [False, False] Translation: X:9.98, Y:-0.00, Z:-1.63 [[ 9.89429655e-01 -1.32451915e-01 -5.90376817e-02 9.98328590e+00] [ 1.31920779e-01 9.91177327e-01 -1.28223979e-02 -1.36380547e-03] [ 6.02151628e-02 4.89856373e-03 9.98173401e-01 -1.62778677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.55719347 meters Centerline goodness : 0.877056 Centerline is valid? [False, False] Translation: X:9.99, Y:0.00, Z:-1.63 [[ 9.89736957e-01 -1.29767476e-01 -5.98427752e-02 9.98552928e+00] [ 1.29358889e-01 9.91540449e-01 -1.06684301e-02 1.73089766e-03] [ 6.07209475e-02 2.81774461e-03 9.98150804e-01 -1.62961811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.58719347 meters Centerline goodness : 0.873997 Centerline is valid? [False, False] Translation: X:10.00, Y:0.01, Z:-1.63 [[ 9.90752951e-01 -1.23494884e-01 -5.61925633e-02 9.99767122e+00] [ 1.22895097e-01 9.92320626e-01 -1.40203779e-02 8.37070491e-03] [ 5.74924845e-02 6.98494029e-03 9.98321504e-01 -1.63367879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.61719347 meters Centerline goodness : 0.872693 Centerline is valid? [False, False] Translation: X:10.00, Y:0.01, Z:-1.64 [[ 9.90957465e-01 -1.21607766e-01 -5.66996783e-02 9.99975566e+00] [ 1.21108850e-01 9.92564666e-01 -1.21667788e-02 9.56726458e-03] [ 5.77576720e-02 5.18992745e-03 9.98317142e-01 -1.63539023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.64719347 meters Centerline goodness : 0.872845 Centerline is valid? [False, False] Translation: X:10.01, Y:0.01, Z:-1.64 [[ 0.99146436 -0.12051084 -0.04975493 10.00919521] [ 0.11967091 0.99262132 -0.01953944 0.01301082] [ 0.05174251 0.01341844 0.99857031 -1.63823035] [ 0. 0. 0. 1. ]] SLAMing on 122.67719347 meters Centerline goodness : 0.874837 Centerline is valid? [False, False] Translation: X:10.02, Y:0.02, Z:-1.64 [[ 0.99181717 -0.12038124 -0.04250954 10.01919308] [ 0.11929106 0.99248332 -0.02732224 0.01630597] [ 0.04547909 0.02202766 0.9987224 -1.64117632] [ 0. 0. 0. 1. ]] SLAMing on 122.70719346999999 meters Centerline goodness : 0.875893 Centerline is valid? [False, False] Translation: X:10.03, Y:0.02, Z:-1.64 [[ 0.99145844 -0.12473156 -0.03810785 10.02791552] [ 0.12400258 0.99206096 -0.02093805 0.01740022] [ 0.04041695 0.01603373 0.99905425 -1.64250198] [ 0. 0. 0. 1. ]] SLAMing on 122.73719347 meters Centerline goodness : 0.875407 Centerline is valid? [False, False] Translation: X:10.03, Y:0.02, Z:-1.64 [[ 9.91335866e-01 -1.26564575e-01 -3.51369908e-02 1.00349838e+01] [ 1.26226662e-01 9.91932625e-01 -1.16832444e-02 1.76420544e-02] [ 3.63322124e-02 7.14679417e-03 9.99314212e-01 -1.64204099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76719347 meters Centerline goodness : 0.874955 Centerline is valid? [False, False] Translation: X:10.03, Y:0.02, Z:-1.64 [[ 9.91256346e-01 -1.27218962e-01 -3.50170157e-02 1.00348997e+01] [ 1.26859453e-01 9.91844278e-01 -1.23129007e-02 1.94586172e-02] [ 3.62978611e-02 7.76300153e-03 9.99310863e-01 -1.64217307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.79719347 meters Centerline goodness : 0.874321 Centerline is valid? [False, False] Translation: X:10.04, Y:0.02, Z:-1.64 [[ 9.91193092e-01 -1.29054903e-01 -2.96831077e-02 1.00437711e+01] [ 1.28993640e-01 9.91637443e-01 -3.97765356e-03 2.10369745e-02] [ 2.99482167e-02 1.13690638e-04 9.99551445e-01 -1.64468898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82719347 meters Centerline goodness : 0.872594 Centerline is valid? [False, False] Translation: X:10.05, Y:0.03, Z:-1.65 [[ 9.91182342e-01 -1.29073446e-01 -2.99601402e-02 1.00456947e+01] [ 1.28993942e-01 9.91634807e-01 -4.57957521e-03 2.78827272e-02] [ 3.03006194e-02 6.74517506e-04 9.99540603e-01 -1.64687831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.85719347 meters Centerline goodness : 0.872594 Centerline is valid? [False, False] Translation: X:10.05, Y:0.03, Z:-1.65 [[ 9.91182342e-01 -1.29073446e-01 -2.99601402e-02 1.00456947e+01] [ 1.28993942e-01 9.91634807e-01 -4.57957521e-03 2.78827272e-02] [ 3.03006194e-02 6.74517506e-04 9.99540603e-01 -1.64687831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88719347 meters Centerline goodness : 0.870712 Centerline is valid? [False, False] Translation: X:10.05, Y:0.03, Z:-1.65 [[ 9.91591207e-01 -1.25779675e-01 -3.04360380e-02 1.00463344e+01] [ 1.25789737e-01 9.92055648e-01 -1.59152712e-03 2.98731158e-02] [ 3.03944251e-02 -2.25039691e-03 9.99535449e-01 -1.64770126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.91719347 meters Centerline goodness : 0.868104 Centerline is valid? [False, False] Translation: X:10.06, Y:0.04, Z:-1.65 [[ 9.92040452e-01 -1.21074397e-01 -3.45938068e-02 1.00563256e+01] [ 1.20913552e-01 9.92640348e-01 -6.71210805e-03 3.85420241e-02] [ 3.51518729e-02 2.47582266e-03 9.99378915e-01 -1.64671370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94719347 meters Centerline goodness : 0.866810 Centerline is valid? [False, False] Translation: X:10.06, Y:0.04, Z:-1.65 [[ 9.92438353e-01 -1.17696421e-01 -3.48377404e-02 1.00561261e+01] [ 1.17624922e-01 9.93049622e-01 -4.10194647e-03 4.20050533e-02] [ 3.50783893e-02 -2.68574854e-05 9.99384564e-01 -1.64701367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.97719347 meters Centerline goodness : 0.866171 Centerline is valid? [False, False] Translation: X:10.07, Y:0.05, Z:-1.65 [[ 9.93145617e-01 -1.12638107e-01 -3.12160249e-02 1.00660638e+01] [ 1.12406135e-01 9.93620727e-01 -9.09460623e-03 4.79057859e-02] [ 3.20412886e-02 5.52339562e-03 9.99471284e-01 -1.64897036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.00719347 meters Centerline goodness : 0.866331 Centerline is valid? [False, False] Translation: X:10.07, Y:0.05, Z:-1.65 [[ 9.93444407e-01 -1.09832221e-01 -3.17032136e-02 1.00670663e+01] [ 1.09656843e-01 9.93943255e-01 -7.22382849e-03 5.31192193e-02] [ 3.23046045e-02 3.69999770e-03 9.99471221e-01 -1.65007013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.03719347 meters Centerline goodness : 0.863801 Centerline is valid? [False, False] Translation: X:10.07, Y:0.06, Z:-1.65 [[ 9.93690149e-01 -1.07390588e-01 -3.23596902e-02 1.00687708e+01] [ 1.07264820e-01 9.94214698e-01 -5.60282353e-03 5.82496063e-02] [ 3.27741701e-02 2.09641419e-03 9.99460584e-01 -1.65161432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.06719347 meters Centerline goodness : 0.863850 Centerline is valid? [False, False] Translation: X:10.08, Y:0.07, Z:-1.65 [[ 9.94448163e-01 -1.01062519e-01 -2.93124378e-02 1.00803989e+01] [ 1.00839475e-01 9.94862055e-01 -8.99396174e-03 6.78941745e-02] [ 3.00707845e-02 5.98817790e-03 9.99529834e-01 -1.65460790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.09719347 meters Centerline goodness : 0.863456 Centerline is valid? [False, False] Translation: X:10.08, Y:0.07, Z:-1.65 [[ 9.94775526e-01 -9.77196611e-02 -2.95384758e-02 1.00800889e+01] [ 9.75808361e-02 9.95208854e-01 -6.10879253e-03 7.08524293e-02] [ 2.99939018e-02 3.19448814e-03 9.99544977e-01 -1.65464234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12719347 meters Centerline goodness : 0.862948 Centerline is valid? [False, False] Translation: X:10.08, Y:0.07, Z:-1.65 [[ 9.95069332e-01 -9.45535610e-02 -2.99440754e-02 1.00803695e+01] [ 9.44990511e-02 9.95519700e-01 -3.23352798e-03 7.37285234e-02] [ 3.01156586e-02 3.87897816e-04 9.99546345e-01 -1.65499714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.15719347 meters Centerline goodness : 0.865776 Centerline is valid? [False, False] Translation: X:10.08, Y:0.08, Z:-1.65 [[ 9.95283437e-01 -9.23101301e-02 -2.98281799e-02 1.00792632e+01] [ 9.22951968e-02 9.95729914e-01 -1.88001030e-03 8.02592315e-02] [ 2.98743550e-02 -8.81854616e-04 9.99553273e-01 -1.65487779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18719347 meters Centerline goodness : 0.865317 Centerline is valid? [False, False] Translation: X:10.08, Y:0.08, Z:-1.66 [[ 9.95563527e-01 -8.90646283e-02 -3.03439485e-02 1.00797269e+01] [ 8.91426495e-02 9.96018115e-01 1.22552708e-03 8.19057782e-02] [ 3.01139713e-02 -3.92503002e-03 9.99538765e-01 -1.65506595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.21719347 meters Centerline goodness : 0.866608 Centerline is valid? [False, False] Translation: X:10.08, Y:0.08, Z:-1.66 [[ 9.95794398e-01 -8.62606221e-02 -3.08645789e-02 1.00805353e+01] [ 8.64200590e-02 9.96251283e-01 3.86705857e-03 8.36628814e-02] [ 3.04153015e-02 -6.51811400e-03 9.99516095e-01 -1.65553344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24719347 meters Centerline goodness : 0.866454 Centerline is valid? [False, False] Translation: X:10.08, Y:0.09, Z:-1.65 [[ 9.95981391e-01 -8.41403542e-02 -3.06833794e-02 1.00785514e+01] [ 8.43526466e-02 9.96419724e-01 5.68899903e-03 8.57023071e-02] [ 3.00948500e-02 -8.25436142e-03 9.99512964e-01 -1.65415450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.27719347 meters Centerline goodness : 0.867814 Centerline is valid? [False, False] Translation: X:10.08, Y:0.09, Z:-1.65 [[ 9.96287642e-01 -8.04670551e-02 -3.05938960e-02 1.00778153e+01] [ 8.07465145e-02 9.96702488e-01 8.00945927e-03 9.12886860e-02] [ 2.98485147e-02 -1.04500758e-02 9.99499806e-01 -1.65430297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.30719347 meters Centerline goodness : 0.871213 Centerline is valid? [False, False] Translation: X:10.08, Y:0.09, Z:-1.65 [[ 0.99681466 -0.07333543 -0.03134419 10.07809269] [ 0.07385128 0.9971468 0.0156283 0.09221887] [ 0.03010865 -0.01789333 0.99938646 -1.65422516] [ 0. 0. 0. 1. ]] SLAMing on 123.33719347 meters Centerline goodness : 0.869986 Centerline is valid? [False, False] Translation: X:10.08, Y:0.10, Z:-1.65 [[ 0.99705841 -0.06981902 -0.03162025 10.07807143] [ 0.07042179 0.99734819 0.01836711 0.09553569] [ 0.03025402 -0.02053983 0.99933118 -1.65448387] [ 0. 0. 0. 1. ]] SLAMing on 123.36719347 meters Centerline goodness : 0.869054 Centerline is valid? [False, False] Translation: X:10.08, Y:0.10, Z:-1.65 [[ 0.9972718 -0.06652765 -0.03198474 10.0783397 ] [ 0.06718703 0.99753989 0.02000158 0.10096751] [ 0.03057539 -0.02209597 0.9992882 -1.65499087] [ 0. 0. 0. 1. ]] SLAMing on 123.39719347 meters Centerline goodness : 0.869108 Centerline is valid? [False, False] Translation: X:10.08, Y:0.10, Z:-1.66 [[ 0.99724561 -0.06683915 -0.03215149 10.07916545] [ 0.06746267 0.99754626 0.01871485 0.10371747] [ 0.03082171 -0.02083232 0.99930778 -1.65601661] [ 0. 0. 0. 1. ]] SLAMing on 123.42719347 meters Centerline goodness : 0.867608 Centerline is valid? [False, False] Translation: X:10.08, Y:0.11, Z:-1.66 [[ 0.99723414 -0.06700306 -0.03216616 10.07973179] [ 0.06758287 0.99756386 0.01728871 0.1072744 ] [ 0.03092941 -0.01941477 0.999333 -1.65722446] [ 0. 0. 0. 1. ]] SLAMing on 123.45719346999999 meters Centerline goodness : 0.866093 Centerline is valid? [False, False] Translation: X:10.08, Y:0.11, Z:-1.66 [[ 0.99744142 -0.06354868 -0.03274414 10.08082403] [ 0.06422126 0.99773697 0.01991425 0.11036154] [ 0.03140452 -0.02196617 0.99926535 -1.65821907] [ 0. 0. 0. 1. ]] SLAMing on 123.48719347 meters Centerline goodness : 0.866219 Centerline is valid? [False, False] Translation: X:10.08, Y:0.12, Z:-1.66 [[ 0.99768146 -0.05976758 -0.03255057 10.07944222] [ 0.06046321 0.99795322 0.02082234 0.11854103] [ 0.03123945 -0.02274217 0.99925317 -1.65823763] [ 0. 0. 0. 1. ]] SLAMing on 123.51719347 meters Centerline goodness : 0.867893 Centerline is valid? [False, False] Translation: X:10.08, Y:0.12, Z:-1.66 [[ 0.99770162 -0.05933775 -0.03271856 10.07951688] [ 0.06001577 0.99799413 0.02014492 0.12100526] [ 0.03145758 -0.02206225 0.99926157 -1.6582871 ] [ 0. 0. 0. 1. ]] SLAMing on 123.54719347 meters Centerline goodness : 0.866487 Centerline is valid? [False, False] Translation: X:10.08, Y:0.12, Z:-1.66 [[ 0.99770676 -0.05925572 -0.03271048 10.07964252] [ 0.05990727 0.99801714 0.01931064 0.12272677] [ 0.03150135 -0.02122595 0.9992783 -1.65872457] [ 0. 0. 0. 1. ]] SLAMing on 123.57719347 meters Centerline goodness : 0.867622 Centerline is valid? [False, False] Translation: X:10.08, Y:0.12, Z:-1.66 [[ 0.99776147 -0.05795876 -0.03335926 10.08170992] [ 0.05863696 0.99808452 0.01972314 0.12399398] [ 0.03215223 -0.02163508 0.9992488 -1.66016672] [ 0. 0. 0. 1. ]] SLAMing on 123.60719347 meters Centerline goodness : 0.866821 Centerline is valid? [False, False] Translation: X:10.08, Y:0.13, Z:-1.66 [[ 0.99793884 -0.05460377 -0.03371194 10.08335148] [ 0.05535075 0.99823252 0.02163635 0.12752421] [ 0.03247093 -0.02345774 0.99919736 -1.6625043 ] [ 0. 0. 0. 1. ]] SLAMing on 123.63719347 meters Centerline goodness : 0.863738 Centerline is valid? [False, False] Translation: X:10.08, Y:0.13, Z:-1.66 [[ 0.99793235 -0.05446305 -0.03412931 10.08463208] [ 0.05520347 0.99825129 0.02114092 0.12876784] [ 0.03291823 -0.02298126 0.9991938 -1.66351572] [ 0. 0. 0. 1. ]] SLAMing on 123.66719347 meters Centerline goodness : 0.864121 Centerline is valid? [False, False] Translation: X:10.09, Y:0.13, Z:-1.66 [[ 0.99795308 -0.05386784 -0.03446609 10.08599187] [ 0.05463368 0.99827113 0.02167761 0.12755394] [ 0.03323877 -0.02351625 0.99917074 -1.66455155] [ 0. 0. 0. 1. ]] SLAMing on 123.69719347 meters Centerline goodness : 0.861827 Centerline is valid? [False, False] Translation: X:10.09, Y:0.12, Z:-1.66 [[ 0.99804033 -0.05244077 -0.03413897 10.08598229] [ 0.05325822 0.99830441 0.02349206 0.12329675] [ 0.03284914 -0.0252642 0.99914096 -1.66489429] [ 0. 0. 0. 1. ]] SLAMing on 123.72719347 meters Centerline goodness : 0.863724 Centerline is valid? [False, False] Translation: X:10.09, Y:0.12, Z:-1.66 [[ 0.99805317 -0.05202841 -0.03439341 10.08647398] [ 0.05288823 0.99829786 0.0245807 0.12107651] [ 0.03305597 -0.02635185 0.99910604 -1.66451527] [ 0. 0. 0. 1. ]] SLAMing on 123.75719347 meters Centerline goodness : 0.863023 Centerline is valid? [False, False] Translation: X:10.09, Y:0.12, Z:-1.67 [[ 0.99794979 -0.05365372 -0.03489247 10.08865968] [ 0.05448207 0.9982443 0.0232385 0.11838474] [ 0.03358438 -0.02509187 0.99912086 -1.66534738] [ 0. 0. 0. 1. ]] SLAMing on 123.78719347 meters Centerline goodness : 0.864250 Centerline is valid? [False, False] Translation: X:10.09, Y:0.11, Z:-1.67 [[ 0.99779825 -0.05639887 -0.03489718 10.08926144] [ 0.0571743 0.99812974 0.02163593 0.11405233] [ 0.03361167 -0.02358351 0.99915668 -1.665065 ] [ 0. 0. 0. 1. ]] SLAMing on 123.81719347 meters Centerline goodness : 0.865379 Centerline is valid? [False, False] Translation: X:10.09, Y:0.10, Z:-1.66 [[ 0.99747822 -0.06172474 -0.03503234 10.09083189] [ 0.06241858 0.99786787 0.0190691 0.10243074] [ 0.03378061 -0.02120768 0.99920424 -1.6641354 ] [ 0. 0. 0. 1. ]] SLAMing on 123.84719347 meters Centerline goodness : 0.865031 Centerline is valid? [False, False] Translation: X:10.09, Y:0.09, Z:-1.66 [[ 0.9974747 -0.06138999 -0.03571406 10.09265655] [ 0.06220712 0.99781553 0.02223606 0.09476899] [ 0.03427097 -0.02440158 0.99911464 -1.66357921] [ 0. 0. 0. 1. ]] SLAMing on 123.87719347 meters Centerline goodness : 0.866229 Centerline is valid? [False, False] Translation: X:10.09, Y:0.09, Z:-1.66 [[ 0.9975054 -0.06072433 -0.03599357 10.09324127] [ 0.0616626 0.9977698 0.02555672 0.08714941] [ 0.03436138 -0.02771243 0.99902518 -1.66234936] [ 0. 0. 0. 1. ]] SLAMing on 123.90719347 meters Centerline goodness : 0.866995 Centerline is valid? [False, False] Translation: X:10.09, Y:0.08, Z:-1.66 [[ 0.99732858 -0.06350708 -0.03609085 10.09396435] [ 0.06439961 0.99763243 0.02412947 0.08185408] [ 0.03447301 -0.02638925 0.99905717 -1.66177151] [ 0. 0. 0. 1. ]] SLAMing on 123.93719347 meters Centerline goodness : 0.869858 Centerline is valid? [False, False] Translation: X:10.09, Y:0.07, Z:-1.66 [[ 0.99700698 -0.06859633 -0.03565993 10.09382216] [ 0.06939531 0.99735382 0.02167137 0.07031517] [ 0.03407899 -0.02408114 0.99912898 -1.66010663] [ 0. 0. 0. 1. ]] SLAMing on 123.96719347 meters Centerline goodness : 0.869292 Centerline is valid? [False, False] Translation: X:10.09, Y:0.07, Z:-1.66 [[ 0.99675221 -0.07217635 -0.03571563 10.09474642] [ 0.0728935 0.9971549 0.0192003 0.06552693] [ 0.03422821 -0.02174137 0.99917753 -1.66008931] [ 0. 0. 0. 1. ]] SLAMing on 123.99719347 meters Centerline goodness : 0.870809 Centerline is valid? [False, False] Translation: X:10.10, Y:0.06, Z:-1.66 [[ 0.99649633 -0.07568439 -0.03559411 10.09541135] [ 0.07632071 0.9969406 0.01686966 0.0605544 ] [ 0.03420844 -0.01952713 0.99922394 -1.66016814] [ 0. 0. 0. 1. ]] SLAMing on 124.02719347 meters Centerline goodness : 0.869185 Centerline is valid? [False, False] Translation: X:10.10, Y:0.06, Z:-1.66 [[ 0.99620664 -0.07936385 -0.03568894 10.0969161 ] [ 0.07991582 0.99669885 0.01431282 0.05574741] [ 0.0344352 -0.01711063 0.99926045 -1.66076225] [ 0. 0. 0. 1. ]] SLAMing on 124.05719347 meters Centerline goodness : 0.867635 Centerline is valid? [False, False] Translation: X:10.10, Y:0.05, Z:-1.66 [[ 0.99590338 -0.08312596 -0.03558829 10.09780881] [ 0.08358231 0.99643416 0.01153099 0.05164607] [ 0.03450286 -0.0144583 0.99930001 -1.6611271 ] [ 0. 0. 0. 1. ]] SLAMing on 124.08719347 meters Centerline goodness : 0.868695 Centerline is valid? [False, False] Translation: X:10.10, Y:0.05, Z:-1.66 [[ 9.95464654e-01 -8.79963710e-02 -3.61491539e-02 1.01030388e+01] [ 8.83319921e-02 9.96060616e-01 7.79150911e-03 4.56944728e-02] [ 3.53211240e-02 -1.09492987e-02 9.99316032e-01 -1.66471908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.11719347 meters Centerline goodness : 0.866745 Centerline is valid? [False, False] Translation: X:10.11, Y:0.05, Z:-1.67 [[ 9.95324447e-01 -8.92628615e-02 -3.68969813e-02 1.01066680e+01] [ 8.95748750e-02 9.95956271e-01 6.88826735e-03 4.53557933e-02] [ 3.61329134e-02 -1.01611034e-02 9.99295334e-01 -1.66711376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.14719347 meters Centerline goodness : 0.868066 Centerline is valid? [False, False] Translation: X:10.11, Y:0.04, Z:-1.67 [[ 9.95306415e-01 -8.92944886e-02 -3.73046060e-02 1.01081824e+01] [ 8.96202906e-02 9.95950332e-01 7.15125293e-03 4.47578413e-02] [ 3.65149673e-02 -1.04609376e-02 9.99278353e-01 -1.66802621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.17719347 meters Centerline goodness : 0.865304 Centerline is valid? [False, False] Translation: X:10.11, Y:0.04, Z:-1.67 [[ 9.95303000e-01 -8.87216431e-02 -3.87351120e-02 1.01112807e+01] [ 8.90822973e-02 9.95994637e-01 7.68287204e-03 4.18320199e-02] [ 3.78983268e-02 -1.10973984e-02 9.99219978e-01 -1.66821680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20719346999999 meters Centerline goodness : 0.863756 Centerline is valid? [False, False] Translation: X:10.11, Y:0.04, Z:-1.67 [[ 9.95349199e-01 -8.80123625e-02 -3.91637153e-02 1.01119922e+01] [ 8.84029597e-02 9.96049773e-01 8.35266439e-03 4.02012978e-02] [ 3.82738720e-02 -1.17760061e-02 9.99197897e-01 -1.66783658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.23719347 meters Centerline goodness : 0.867735 Centerline is valid? [False, False] Translation: X:10.12, Y:0.04, Z:-1.67 [[ 9.95798831e-01 -8.39901685e-02 -3.64738233e-02 1.01203867e+01] [ 8.41119537e-02 9.96454658e-01 1.81473962e-03 4.00491689e-02] [ 3.61920909e-02 -4.87500013e-03 9.99332961e-01 -1.66710087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26719347 meters Centerline goodness : 0.866254 Centerline is valid? [False, False] Translation: X:10.13, Y:0.04, Z:-1.67 [[ 9.96184541e-01 -8.04487206e-02 -3.38284503e-02 1.01294481e+01] [ 8.03098986e-02 9.96755072e-01 -5.44484850e-03 4.12769059e-02] [ 3.41567105e-02 2.70731449e-03 9.99412822e-01 -1.66689453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.29719347 meters Centerline goodness : 0.864273 Centerline is valid? [False, False] Translation: X:10.13, Y:0.04, Z:-1.67 [[ 9.96407103e-01 -7.72737260e-02 -3.46649227e-02 1.01319594e+01] [ 7.72403528e-02 9.97009842e-01 -2.30288039e-03 3.88419449e-02] [ 3.47392213e-02 -3.82924485e-04 9.99396338e-01 -1.66814417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32719347 meters Centerline goodness : 0.862999 Centerline is valid? [False, False] Translation: X:10.13, Y:0.04, Z:-1.67 [[ 9.96396182e-01 -7.72986301e-02 -3.49223407e-02 1.01328434e+01] [ 7.72769088e-02 9.97007716e-01 -1.97334278e-03 3.69828738e-02] [ 3.49703799e-02 -7.32459329e-04 9.99388081e-01 -1.66837133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.35719347 meters Centerline goodness : 0.861948 Centerline is valid? [False, False] Translation: X:10.14, Y:0.04, Z:-1.67 [[ 9.96577665e-01 -7.67743710e-02 -3.06374648e-02 1.01403919e+01] [ 7.64413464e-02 9.97003080e-01 -1.18986949e-02 3.62932140e-02] [ 3.14591616e-02 9.51600455e-03 9.99459737e-01 -1.66820505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38719347 meters Centerline goodness : 0.863285 Centerline is valid? [False, False] Translation: X:10.14, Y:0.03, Z:-1.67 [[ 9.96602209e-01 -7.63216573e-02 -3.09684121e-02 1.01409482e+01] [ 7.60296012e-02 9.97050244e-01 -1.05029127e-02 3.19207307e-02] [ 3.16786625e-02 8.11270993e-03 9.99465180e-01 -1.66789550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.41719347 meters Centerline goodness : 0.865112 Centerline is valid? [False, False] Translation: X:10.16, Y:0.02, Z:-1.67 [[ 9.96618655e-01 -7.75986652e-02 -2.70130149e-02 1.01566776e+01] [ 7.74766558e-02 9.96978797e-01 -5.53596991e-03 2.20348336e-02] [ 2.73609869e-02 3.42437283e-03 9.99619753e-01 -1.66930248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.44719347 meters Centerline goodness : 0.863949 Centerline is valid? [False, False] Translation: X:10.16, Y:0.02, Z:-1.67 [[ 9.96427017e-01 -7.97996996e-02 -2.76624016e-02 1.01594952e+01] [ 7.96292540e-02 9.96798466e-01 -7.21116571e-03 1.91946533e-02] [ 2.81492883e-02 4.98266393e-03 9.99591312e-01 -1.67049911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.47719347 meters Centerline goodness : 0.860577 Centerline is valid? [False, False] Translation: X:10.16, Y:0.01, Z:-1.67 [[ 9.96354478e-01 -8.03769770e-02 -2.85883690e-02 1.01630985e+01] [ 8.02165990e-02 9.96754837e-01 -6.71507153e-03 1.34663073e-02] [ 2.90353322e-02 4.39732986e-03 9.99568713e-01 -1.67211591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.50719347 meters Centerline goodness : 0.860489 Centerline is valid? [False, False] Translation: X:10.17, Y:0.01, Z:-1.67 [[ 9.96418878e-01 -7.93229038e-02 -2.92796199e-02 1.01655153e+01] [ 7.92037322e-02 9.96844837e-01 -5.20953203e-03 1.05282032e-02] [ 2.96004732e-02 2.87182089e-03 9.99557684e-01 -1.67334109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.53719347 meters Centerline goodness : 0.859733 Centerline is valid? [False, False] Translation: X:10.17, Y:0.01, Z:-1.67 [[ 9.96500050e-01 -7.79698486e-02 -3.01388864e-02 1.01685538e+01] [ 7.79018675e-02 9.96955148e-01 -3.42504878e-03 7.22998073e-03] [ 3.03141685e-02 1.06518575e-03 9.99539852e-01 -1.67495615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.56719347 meters Centerline goodness : 0.858559 Centerline is valid? [False, False] Translation: X:10.17, Y:0.00, Z:-1.68 [[ 9.96560211e-01 -7.69441189e-02 -3.07790161e-02 1.01708085e+01] [ 7.69191139e-02 9.97035336e-01 -1.99736666e-03 3.66988094e-03] [ 3.08414523e-02 -3.76998507e-04 9.99524218e-01 -1.67602304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.59719347 meters Centerline goodness : 0.858186 Centerline is valid? [False, False] Translation: X:10.17, Y:-0.00, Z:-1.68 [[ 9.96660552e-01 -7.55177966e-02 -3.10613232e-02 1.01719851e+01] [ 7.55600074e-02 9.97141239e-01 1.85740713e-04 -3.16737688e-03] [ 3.09584996e-02 -2.53211425e-03 9.99517463e-01 -1.67636328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62719347 meters Centerline goodness : 0.859065 Centerline is valid? [False, False] Translation: X:10.17, Y:-0.01, Z:-1.68 [[ 9.96674550e-01 -7.52371916e-02 -3.12922713e-02 1.01723483e+01] [ 7.53109590e-02 9.97159395e-01 1.18379752e-03 -6.30469094e-03] [ 3.11143167e-02 -3.53651182e-03 9.99509576e-01 -1.67598652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.65719347 meters Centerline goodness : 0.860018 Centerline is valid? [False, False] Translation: X:10.17, Y:-0.01, Z:-1.68 [[ 9.96421512e-01 -7.84815005e-02 -3.13819240e-02 1.01729193e+01] [ 7.84595522e-02 9.96915426e-01 -1.93209480e-03 -7.57982787e-03] [ 3.14367579e-02 -5.37030892e-04 9.99505599e-01 -1.67558143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68719347 meters Centerline goodness : 0.861274 Centerline is valid? [False, False] Translation: X:10.17, Y:-0.02, Z:-1.68 [[ 9.96149666e-01 -8.17770592e-02 -3.15967786e-02 1.01742882e+01] [ 8.17097430e-02 9.96650307e-01 -3.41800549e-03 -1.52406162e-02] [ 3.17704536e-02 8.23080365e-04 9.99494853e-01 -1.67535734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.71719347 meters Centerline goodness : 0.859554 Centerline is valid? [False, False] Translation: X:10.18, Y:-0.02, Z:-1.68 [[ 9.95858891e-01 -8.52244719e-02 -3.16521510e-02 1.01752191e+01] [ 8.50794757e-02 9.96356686e-01 -5.90228711e-03 -1.94962087e-02] [ 3.20398516e-02 3.18489669e-03 9.99481518e-01 -1.67533675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74719347 meters Centerline goodness : 0.859554 Centerline is valid? [False, False] Translation: X:10.18, Y:-0.02, Z:-1.68 [[ 9.95858891e-01 -8.52244719e-02 -3.16521510e-02 1.01752191e+01] [ 8.50794757e-02 9.96356686e-01 -5.90228711e-03 -1.94962087e-02] [ 3.20398516e-02 3.18489669e-03 9.99481518e-01 -1.67533675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.77719347 meters Centerline goodness : 0.859541 Centerline is valid? [False, False] Translation: X:10.18, Y:-0.02, Z:-1.68 [[ 9.95536988e-01 -8.88827555e-02 -3.17169079e-02 1.01764189e+01] [ 8.86505151e-02 9.96025166e-01 -8.65767261e-03 -2.30623783e-02] [ 3.23603562e-02 5.80731309e-03 9.99459395e-01 -1.67564958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.80719347 meters Centerline goodness : 0.858203 Centerline is valid? [False, False] Translation: X:10.18, Y:-0.03, Z:-1.68 [[ 9.95224763e-01 -9.22227238e-02 -3.19787530e-02 1.01786763e+01] [ 9.19117557e-02 9.95705680e-01 -1.10646819e-02 -2.65674899e-02] [ 3.28618411e-02 8.07262207e-03 9.99427302e-01 -1.67678398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.83719347 meters Centerline goodness : 0.859742 Centerline is valid? [False, False] Translation: X:10.18, Y:-0.03, Z:-1.68 [[ 0.99454531 -0.09931679 -0.03187148 10.18114883] [ 0.09883774 0.99497049 -0.01627361 -0.03319029] [ 0.03332743 0.01303473 0.99935948 -1.6778937 ] [ 0. 0. 0. 1. ]] SLAMing on 124.86719347 meters Centerline goodness : 0.860076 Centerline is valid? [False, False] Translation: X:10.18, Y:-0.04, Z:-1.68 [[ 0.9944882 -0.09974011 -0.03232833 10.18256208] [ 0.09929369 0.99494304 -0.01513608 -0.03793199] [ 0.03367452 0.01184265 0.99936269 -1.67802449] [ 0. 0. 0. 1. ]] SLAMing on 124.89719347 meters Centerline goodness : 0.859115 Centerline is valid? [False, False] Translation: X:10.18, Y:-0.04, Z:-1.68 [[ 0.99407468 -0.10374136 -0.03245395 10.1840269 ] [ 0.10318209 0.99449114 -0.01846181 -0.03985729] [ 0.03419042 0.01500376 0.99930271 -1.67844504] [ 0. 0. 0. 1. ]] SLAMing on 124.92719347 meters Centerline goodness : 0.857673 Centerline is valid? [False, False] Translation: X:10.19, Y:-0.04, Z:-1.68 [[ 0.99329046 -0.11100561 -0.03243159 10.18677704] [ 0.11023583 0.99360008 -0.02463617 -0.04322607] [ 0.03495878 0.02089575 0.99917028 -1.67962006] [ 0. 0. 0. 1. ]] SLAMing on 124.95719346999999 meters Centerline goodness : 0.859207 Centerline is valid? [False, False] Translation: X:10.20, Y:-0.05, Z:-1.68 [[ 0.99309055 -0.11397677 -0.02793647 10.19802346] [ 0.11351466 0.99338026 -0.01760926 -0.04535292] [ 0.02975859 0.01431639 0.99945458 -1.6822998 ] [ 0. 0. 0. 1. ]] SLAMing on 124.98719347 meters Centerline goodness : 0.859581 Centerline is valid? [False, False] Translation: X:10.20, Y:-0.05, Z:-1.68 [[ 0.99307212 -0.11406815 -0.02821757 10.19823762] [ 0.11361708 0.9933773 -0.01710824 -0.04718056] [ 0.0299822 0.01378372 0.99945539 -1.68163293] [ 0. 0. 0. 1. ]] SLAMing on 125.01719347 meters Centerline goodness : 0.861696 Centerline is valid? [False, False] Translation: X:10.20, Y:-0.05, Z:-1.68 [[ 0.99306737 -0.1140288 -0.02854157 10.19850359] [ 0.11358193 0.99338621 -0.016822 -0.04772268] [ 0.03027099 0.01346357 0.99945105 -1.68110285] [ 0. 0. 0. 1. ]] SLAMing on 125.04719347 meters Centerline goodness : 0.861250 Centerline is valid? [False, False] Translation: X:10.20, Y:-0.04, Z:-1.68 [[ 0.9933799 -0.11106887 -0.02932709 10.19995797] [ 0.11068288 0.99375032 -0.01447731 -0.04410954] [ 0.03075178 0.01113546 0.99946502 -1.68200691] [ 0. 0. 0. 1. ]] SLAMing on 125.07719347 meters Centerline goodness : 0.860849 Centerline is valid? [False, False] Translation: X:10.20, Y:-0.04, Z:-1.68 [[ 9.93748422e-01 -1.07515854e-01 -3.00734831e-02 1.02006484e+01] [ 1.07216800e-01 9.94170414e-01 -1.13906313e-02 -4.19961251e-02] [ 3.11228405e-02 8.09503923e-03 9.99482786e-01 -1.68199581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10719347 meters Centerline goodness : 0.862084 Centerline is valid? [False, False] Translation: X:10.22, Y:-0.03, Z:-1.68 [[ 0.99498575 -0.09592113 -0.02832844 10.21985201] [ 0.09539141 0.99524889 -0.01949666 -0.03462962] [ 0.03006399 0.01669661 0.99940852 -1.68174423] [ 0. 0. 0. 1. ]] SLAMing on 125.13719347 meters Centerline goodness : 0.862380 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.03, Z:-1.68 [[ 0.99562159 -0.08859794 -0.02980034 10.24507467] [ 0.08796986 0.99588527 -0.02176794 -0.03035087] [ 0.03160632 0.0190511 0.99931882 -1.67951107] [ 0. 0. 0. 1. ]] SLAMing on 125.16719347 meters Centerline goodness : 0.861681 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.03, Z:-1.68 [[ 0.99625567 -0.08217038 -0.02688238 10.25478571] [ 0.08147002 0.99633169 -0.02618758 -0.0265988 ] [ 0.02893561 0.02389942 0.99929553 -1.6807859 ] [ 0. 0. 0. 1. ]] SLAMing on 125.19719347 meters Centerline goodness : 0.860415 Centerline is valid? [False, False] Translation: X:10.27, Y:-0.02, Z:-1.68 [[ 0.99667688 -0.0785818 -0.02144989 10.26757346] [ 0.07791283 0.99649594 -0.03042086 -0.02146806] [ 0.02376526 0.02864855 0.999307 -1.68431216] [ 0. 0. 0. 1. ]] SLAMing on 125.22719347 meters Centerline goodness : 0.860188 Centerline is valid? [False, False] Translation: X:10.29, Y:-0.01, Z:-1.69 [[ 0.99688327 -0.07593469 -0.02139337 10.28877846] [ 0.07524603 0.99667235 -0.03134096 -0.0147135 ] [ 0.02370205 0.02963351 0.99927977 -1.68615655] [ 0. 0. 0. 1. ]] SLAMing on 125.25719347 meters Centerline goodness : 0.859805 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.01, Z:-1.69 [[ 0.9970582 -0.07424906 -0.01902666 10.30752976] [ 0.07363509 0.99679835 -0.03115968 -0.01230167] [ 0.02127932 0.02966699 0.99933331 -1.6865389 ] [ 0. 0. 0. 1. ]] SLAMing on 125.28719347 meters Centerline goodness : 0.858739 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.01, Z:-1.69 [[ 9.97186492e-01 -7.29181534e-02 -1.73793897e-02 1.03271099e+01] [ 7.23432861e-02 9.96876423e-01 -3.16835244e-02 -9.68140071e-03] [ 1.96354079e-02 3.03371004e-02 9.99346842e-01 -1.68725762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.31719347 meters Centerline goodness : 0.858399 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.01, Z:-1.69 [[ 9.97195185e-01 -7.27411867e-02 -1.76205247e-02 1.03282830e+01] [ 7.21403977e-02 9.96860910e-01 -3.26203818e-02 -7.29120595e-03] [ 1.99380576e-02 3.12577361e-02 9.99312478e-01 -1.68789792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34719347 meters Centerline goodness : 0.858956 Centerline is valid? [False, False] Translation: X:10.35, Y:-0.00, Z:-1.68 [[ 9.97449367e-01 -6.96928806e-02 -1.54163039e-02 1.03498374e+01] [ 6.87440705e-02 9.96100880e-01 -5.52927651e-02 -6.93113263e-04] [ 1.92097060e-02 5.40919540e-02 9.98351165e-01 -1.68397198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.37719347 meters Centerline goodness : 0.859770 Centerline is valid? [False, False] Translation: X:10.37, Y:0.00, Z:-1.68 [[ 9.97622228e-01 -6.77198268e-02 -1.28029732e-02 1.03681562e+01] [ 6.69256038e-02 9.96258801e-01 -5.46750820e-02 9.36911096e-04] [ 1.64576618e-02 5.36882304e-02 9.98422115e-01 -1.68403807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40719347 meters Centerline goodness : 0.862812 Centerline is valid? [False, False] Translation: X:10.38, Y:0.00, Z:-1.68 [[ 9.97822632e-01 -6.53810316e-02 -8.67847222e-03 1.03845907e+01] [ 6.48368548e-02 9.96506037e-01 -5.26488420e-02 2.90598358e-03] [ 1.20903856e-02 5.19715213e-02 9.98575377e-01 -1.68329316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.43719347 meters Centerline goodness : 0.861690 Centerline is valid? [False, False] Translation: X:10.39, Y:0.00, Z:-1.69 [[ 9.97751554e-01 -6.68029411e-02 -5.40396378e-03 1.03947913e+01] [ 6.65107573e-02 9.96861261e-01 -4.29411917e-02 1.74250916e-03] [ 8.25560004e-03 4.24852190e-02 9.99062987e-01 -1.68512694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46719347 meters Centerline goodness : 0.863681 Centerline is valid? [False, False] Translation: X:10.41, Y:-0.00, Z:-1.69 [[ 9.97559667e-01 -6.97805211e-02 -2.32173062e-03 1.04055847e+01] [ 6.96579368e-02 9.96964446e-01 -3.47802323e-02 -2.60094610e-04] [ 4.74166562e-03 3.45336300e-02 9.99392288e-01 -1.68730491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.49719347 meters Centerline goodness : 0.863000 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.00, Z:-1.69 [[ 9.97227808e-01 -7.44075599e-02 4.62895882e-04 1.04172783e+01] [ 7.43904442e-02 9.96820913e-01 -2.85329493e-02 -2.44348708e-03] [ 1.66164284e-03 2.84882855e-02 9.99592745e-01 -1.68983283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52719347 meters Centerline goodness : 0.863630 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.00, Z:-1.69 [[ 9.96552157e-01 -8.29649043e-02 7.89258613e-04 1.04184614e+01] [ 8.29390074e-02 9.95896641e-01 -3.62077642e-02 -4.92424682e-03] [ 2.21795369e-03 3.61483858e-02 9.99343972e-01 -1.69036266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.55719347 meters Centerline goodness : 0.864563 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.01, Z:-1.69 [[ 9.96464380e-01 -8.40160671e-02 1.99556849e-04 1.04203504e+01] [ 8.39685849e-02 9.95815561e-01 -3.60644546e-02 -7.63400477e-03] [ 2.83127182e-03 3.59537009e-02 9.99349446e-01 -1.69110406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.58719347 meters Centerline goodness : 0.863907 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.01, Z:-1.69 [[ 9.96407457e-01 -8.46885043e-02 -1.93510714e-04 1.04218416e+01] [ 8.46267247e-02 9.95762804e-01 -3.59827144e-02 -9.18874802e-03] [ 3.24001304e-03 3.58370688e-02 9.99352394e-01 -1.69193159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.61719347 meters Centerline goodness : 0.864153 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.01, Z:-1.69 [[ 9.96354396e-01 -8.53084276e-02 -6.24729461e-04 1.04235077e+01] [ 8.52303719e-02 9.95707109e-01 -3.60989948e-02 -9.81304658e-03] [ 3.70159605e-03 3.59141462e-02 9.99348024e-01 -1.69294828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.64719347 meters Centerline goodness : 0.863453 Centerline is valid? [False, False] Translation: X:10.44, Y:-0.01, Z:-1.69 [[ 9.95946053e-01 -8.98020503e-02 -5.20099275e-03 1.04354397e+01] [ 8.95672860e-02 9.95367071e-01 -3.49584752e-02 -6.52560270e-03] [ 8.31623967e-03 3.43509166e-02 9.99375232e-01 -1.69325865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.67719347 meters Centerline goodness : 0.862615 Centerline is valid? [False, False] Translation: X:10.44, Y:-0.01, Z:-1.69 [[ 9.95909545e-01 -9.01882504e-02 -5.50066306e-03 1.04363637e+01] [ 8.99394785e-02 9.95319244e-01 -3.53623040e-02 -5.55239307e-03] [ 8.66418013e-03 3.47229293e-02 9.99359420e-01 -1.69361725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70719346999999 meters Centerline goodness : 0.863581 Centerline is valid? [False, False] Translation: X:10.44, Y:-0.00, Z:-1.69 [[ 9.95890924e-01 -9.03587327e-02 -6.04708861e-03 1.04377835e+01] [ 9.00878883e-02 9.95294184e-01 -3.56883818e-02 -4.19850268e-03] [ 9.24338907e-03 3.49969660e-02 9.99344671e-01 -1.69407597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.73719347 meters Centerline goodness : 0.863777 Centerline is valid? [False, False] Translation: X:10.45, Y:0.00, Z:-1.69 [[ 9.96005358e-01 -8.92615579e-02 -2.38782457e-03 1.04544772e+01] [ 8.91138941e-02 9.95341809e-01 -3.67885332e-02 1.68514626e-03] [ 5.66050342e-03 3.64287878e-02 9.99320220e-01 -1.69370236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76719347 meters Centerline goodness : 0.861409 Centerline is valid? [False, False] Translation: X:10.46, Y:0.00, Z:-1.69 [[ 9.96006693e-01 -8.92689830e-02 1.30986019e-03 1.04626442e+01] [ 8.92725765e-02 9.95662066e-01 -2.62194066e-02 2.30146756e-03] [ 1.03640166e-03 2.62316390e-02 9.99655354e-01 -1.69417811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.79719347 meters Centerline goodness : 0.863576 Centerline is valid? [False, False] Translation: X:10.46, Y:0.00, Z:-1.69 [[ 9.96197830e-01 -8.71168902e-02 7.28336325e-04 1.04638387e+01] [ 8.71090665e-02 9.95906695e-01 -2.41218826e-02 4.43308056e-03] [ 1.37606838e-03 2.40936118e-02 9.99708760e-01 -1.69468833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82719347 meters Centerline goodness : 0.864077 Centerline is valid? [False, False] Translation: X:10.46, Y:0.01, Z:-1.69 [[ 9.96454724e-01 -8.41296063e-02 4.38773958e-04 1.04638399e+01] [ 8.41197880e-02 9.96227143e-01 -2.13387182e-02 6.75259388e-03] [ 1.35809944e-03 2.12999762e-02 9.99772207e-01 -1.69453783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.85719347 meters Centerline goodness : 0.862767 Centerline is valid? [False, False] Translation: X:10.48, Y:0.02, Z:-1.70 [[ 9.96889347e-01 -7.85615363e-02 6.30189852e-03 1.04763693e+01] [ 7.86878031e-02 9.96628801e-01 -2.32220478e-02 1.50651685e-02] [-4.45629382e-03 2.36456946e-02 9.99710469e-01 -1.69829275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88719347 meters Centerline goodness : 0.862152 Centerline is valid? [False, False] Translation: X:10.48, Y:0.02, Z:-1.70 [[ 9.97097170e-01 -7.59244944e-02 5.71878787e-03 1.04779593e+01] [ 7.60276826e-02 9.96889929e-01 -2.07427406e-02 1.67775900e-02] [-4.12611994e-03 2.11173142e-02 9.99768490e-01 -1.69935027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.91719347 meters Centerline goodness : 0.860893 Centerline is valid? [False, False] Translation: X:10.48, Y:0.02, Z:-1.70 [[ 9.97269297e-01 -7.36738195e-02 5.11053358e-03 1.04795456e+01] [ 7.37572476e-02 9.97100682e-01 -1.87109035e-02 1.86443046e-02] [-3.71721280e-03 1.90367484e-02 9.99811875e-01 -1.70026271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.94719347 meters Centerline goodness : 0.863997 Centerline is valid? [False, False] Translation: X:10.51, Y:0.03, Z:-1.70 [[ 9.97768216e-01 -6.66011033e-02 4.78329963e-03 1.05061938e+01] [ 6.66927693e-02 9.97517218e-01 -2.26158143e-02 2.63394353e-02] [-3.26518556e-03 2.28843522e-02 9.99732787e-01 -1.69867156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.97719347 meters Centerline goodness : 0.864386 Centerline is valid? [False, False] Translation: X:10.53, Y:0.03, Z:-1.70 [[ 9.97884907e-01 -6.48333774e-02 4.72714808e-03 1.05275840e+01] [ 6.49276018e-02 9.97609152e-01 -2.36724756e-02 3.17615978e-02] [-3.18107965e-03 2.39293285e-02 9.99708592e-01 -1.70037783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.00719347 meters Centerline goodness : 0.862049 Centerline is valid? [False, False] Translation: X:10.53, Y:0.03, Z:-1.70 [[ 9.98003278e-01 -6.30300786e-02 4.08232355e-03 1.05304891e+01] [ 6.31061589e-02 9.97754499e-01 -2.24404083e-02 3.49006025e-02] [-2.65873599e-03 2.26532208e-02 9.99739848e-01 -1.70255820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.03719347 meters Centerline goodness : 0.861821 Centerline is valid? [False, False] Translation: X:10.55, Y:0.04, Z:-1.71 [[ 9.98091250e-01 -6.16960291e-02 2.73060414e-03 1.05535203e+01] [ 6.17439785e-02 9.97801865e-01 -2.40649057e-02 4.16016972e-02] [-1.23989277e-03 2.41875702e-02 9.99706669e-01 -1.70541371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.06719347 meters Centerline goodness : 0.861899 Centerline is valid? [False, False] Translation: X:10.57, Y:0.05, Z:-1.71 [[ 9.98018170e-01 -6.27868296e-02 4.18884721e-03 1.05734317e+01] [ 6.28763826e-02 9.97666621e-01 -2.66059172e-02 4.55317454e-02] [-2.50857185e-03 2.68165684e-02 9.99637224e-01 -1.70632946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.09719347 meters Centerline goodness : 0.862806 Centerline is valid? [False, False] Translation: X:10.57, Y:0.05, Z:-1.71 [[ 9.97982752e-01 -6.33464752e-02 4.20133780e-03 1.05731724e+01] [ 6.34379569e-02 9.97611580e-01 -2.73269310e-02 4.66382445e-02] [-2.46023848e-03 2.75383301e-02 9.99617721e-01 -1.70579987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12719347 meters Centerline goodness : 0.860583 Centerline is valid? [False, False] Translation: X:10.59, Y:0.05, Z:-1.71 [[ 9.97879575e-01 -6.49000026e-02 4.93396964e-03 1.05931756e+01] [ 6.50126065e-02 9.97496936e-01 -2.78068964e-02 4.81660867e-02] [-3.11695195e-03 2.80687041e-02 9.99601137e-01 -1.70639141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.15719347 meters Centerline goodness : 0.864216 Centerline is valid? [False, False] Translation: X:10.59, Y:0.05, Z:-1.71 [[ 9.97818115e-01 -6.58553249e-02 4.69949559e-03 1.05939202e+01] [ 6.59634070e-02 9.97410248e-01 -2.86640246e-02 4.97452378e-02] [-2.79964641e-03 2.89114778e-02 9.99578055e-01 -1.70672505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18719347 meters Centerline goodness : 0.864389 Centerline is valid? [False, False] Translation: X:10.59, Y:0.06, Z:-1.71 [[ 9.97666422e-01 -6.80802017e-02 5.17653869e-03 1.05928195e+01] [ 6.82107748e-02 9.97165496e-01 -3.17531692e-02 5.65229789e-02] [-3.00010361e-03 3.20321665e-02 9.99482336e-01 -1.70588917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.21719347 meters Centerline goodness : 0.866404 Centerline is valid? [False, False] Translation: X:10.60, Y:0.06, Z:-1.70 [[ 9.97534106e-01 -7.01800710e-02 6.81434949e-04 1.06007762e+01] [ 7.01695364e-02 9.97097510e-01 -2.95430333e-02 5.87813605e-02] [ 1.39387508e-03 2.95179993e-02 9.99563277e-01 -1.70440233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24719347 meters Centerline goodness : 0.864351 Centerline is valid? [False, False] Translation: X:10.60, Y:0.06, Z:-1.70 [[ 9.97729809e-01 -6.73434286e-02 3.00051932e-04 1.06011421e+01] [ 6.73279598e-02 9.97383296e-01 -2.63345283e-02 5.92827573e-02] [ 1.47419064e-03 2.62949458e-02 9.99653141e-01 -1.70459792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.27719347 meters Centerline goodness : 0.864518 Centerline is valid? [False, False] Translation: X:10.60, Y:0.06, Z:-1.71 [[ 9.97943927e-01 -6.40927782e-02 -1.83153888e-04 1.06018829e+01] [ 6.40715709e-02 9.97679536e-01 -2.30299412e-02 6.03797051e-02] [ 1.65878180e-03 2.29708550e-02 9.99734759e-01 -1.70500160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.30719347 meters Centerline goodness : 0.866973 Centerline is valid? [False, False] Translation: X:10.62, Y:0.07, Z:-1.71 [[ 9.97968704e-01 -6.36937210e-02 -1.25497116e-03 1.06244928e+01] [ 6.36385566e-02 9.97624208e-01 -2.63831929e-02 7.09258154e-02] [ 2.93243334e-03 2.62497363e-02 9.99651115e-01 -1.70731799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.33719347 meters Centerline goodness : 0.867082 Centerline is valid? [False, False] Translation: X:10.63, Y:0.07, Z:-1.71 [[ 9.98174684e-01 -6.03672785e-02 -1.75855886e-03 1.06254626e+01] [ 6.03087523e-02 9.97897916e-01 -2.37192607e-02 7.48052516e-02] [ 3.18672944e-03 2.35699091e-02 9.99717112e-01 -1.70788500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.36719347 meters Centerline goodness : 0.868216 Centerline is valid? [False, False] Translation: X:10.63, Y:0.08, Z:-1.71 [[ 9.98666792e-01 -5.15423117e-02 -2.83342641e-03 1.06275295e+01] [ 5.14909429e-02 9.98546583e-01 -1.59186948e-02 8.27951732e-02] [ 3.64979459e-03 1.57515761e-02 9.99869275e-01 -1.70934780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.39719347 meters Centerline goodness : 0.868710 Centerline is valid? [False, False] Translation: X:10.63, Y:0.08, Z:-1.71 [[ 9.99017838e-01 -4.41760997e-02 -3.43963442e-03 1.06280912e+01] [ 4.41442240e-02 9.98985978e-01 -8.84887191e-03 8.48375044e-02] [ 3.82705521e-03 8.68834090e-03 9.99954932e-01 -1.70949656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.42719347 meters Centerline goodness : 0.870975 Centerline is valid? [False, False] Translation: X:10.63, Y:0.09, Z:-1.71 [[ 9.99290905e-01 -3.74205684e-02 -4.16999604e-03 1.06290374e+01] [ 3.74104329e-02 9.99296901e-01 -2.48265940e-03 8.78272647e-02] [ 4.25996664e-03 2.32489760e-03 9.99988224e-01 -1.70967802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.45719346999999 meters Centerline goodness : 0.871568 Centerline is valid? [False, False] Translation: X:10.63, Y:0.09, Z:-1.71 [[ 9.99510294e-01 -3.10007309e-02 -4.25745495e-03 1.06276304e+01] [ 3.10152787e-02 9.99513146e-01 3.39459684e-03 9.20604281e-02] [ 4.15014721e-03 -3.52498064e-03 9.99985175e-01 -1.70822378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48719347 meters Centerline goodness : 0.877649 Centerline is valid? [False, False] Translation: X:10.62, Y:0.10, Z:-1.70 [[ 9.99725782e-01 -2.31260742e-02 -3.68054186e-03 1.06235512e+01] [ 2.31589549e-02 9.99689859e-01 9.15693446e-03 1.02292810e-01] [ 3.46763643e-03 -9.23966097e-03 9.99951301e-01 -1.70483239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.51719347 meters Centerline goodness : 0.877977 Centerline is valid? [False, False] Translation: X:10.62, Y:0.11, Z:-1.70 [[ 9.99803540e-01 -1.93704927e-02 -4.20293717e-03 1.06240888e+01] [ 1.94199210e-02 9.99738715e-01 1.20568877e-02 1.05748254e-01] [ 3.96829114e-03 -1.21361397e-02 9.99918480e-01 -1.70462694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54719347 meters Centerline goodness : 0.880265 Centerline is valid? [False, False] Translation: X:10.62, Y:0.11, Z:-1.70 [[ 9.99870969e-01 -1.49908970e-02 -5.77220446e-03 1.06205678e+01] [ 1.49777235e-02 9.99885139e-01 -2.31874444e-03 1.13534158e-01] [ 5.80630152e-03 2.23199077e-03 9.99980652e-01 -1.70363099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.57719347 meters Centerline goodness : 0.880600 Centerline is valid? [False, False] Translation: X:10.62, Y:0.11, Z:-1.70 [[ 9.99942190e-01 -8.40065791e-03 -6.71166420e-03 1.06221263e+01] [ 8.43718463e-03 9.99949649e-01 5.43262372e-03 1.13310943e-01] [ 6.66568865e-03 -5.48893721e-03 9.99962719e-01 -1.70331098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60719347 meters Centerline goodness : 0.881102 Centerline is valid? [False, False] Translation: X:10.63, Y:0.12, Z:-1.71 [[ 9.99964419e-01 -3.92581208e-03 -7.46653612e-03 1.06253320e+01] [ 3.99479049e-03 9.99949276e-01 9.24597492e-03 1.16318821e-01] [ 7.42985942e-03 -9.27547319e-03 9.99929379e-01 -1.70577683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.63719347 meters Centerline goodness : 0.879742 Centerline is valid? [False, False] Translation: X:10.63, Y:0.12, Z:-1.71 [[ 9.99961764e-01 -3.02043756e-03 -8.20657235e-03 1.06283757e+01] [ 3.09996379e-03 9.99948196e-01 9.69517644e-03 1.17943448e-01] [ 8.17686354e-03 -9.72024581e-03 9.99919325e-01 -1.70780703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.66719347 meters Centerline goodness : 0.879742 Centerline is valid? [False, False] Translation: X:10.63, Y:0.12, Z:-1.71 [[ 9.99962682e-01 -2.98295320e-03 -8.10777004e-03 1.06282575e+01] [ 3.05971125e-03 9.99950465e-01 9.47136172e-03 1.18514976e-01] [ 8.07911579e-03 -9.49581570e-03 9.99922276e-01 -1.70781140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.69719347 meters Centerline goodness : 0.878823 Centerline is valid? [False, False] Translation: X:10.63, Y:0.12, Z:-1.71 [[ 9.99961183e-01 -2.91442934e-03 -8.31495650e-03 1.06288070e+01] [ 2.99164626e-03 9.99952379e-01 9.28923494e-03 1.19382756e-01] [ 8.28748771e-03 -9.31374977e-03 9.99922283e-01 -1.70803233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.72719347 meters Centerline goodness : 0.879738 Centerline is valid? [False, False] Translation: X:10.64, Y:0.12, Z:-1.71 [[ 9.99982373e-01 -2.02601519e-03 -5.58115433e-03 1.06394859e+01] [ 2.14282578e-03 9.99777103e-01 2.10036139e-02 1.18395776e-01] [ 5.53735667e-03 -2.10152031e-02 9.99763822e-01 -1.71026588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.75719347 meters Centerline goodness : 0.880474 Centerline is valid? [False, False] Translation: X:10.64, Y:0.12, Z:-1.71 [[ 9.99979923e-01 -1.62331902e-03 -6.12519247e-03 1.06408235e+01] [ 1.75099218e-03 9.99780111e-01 2.08964802e-02 1.19189799e-01] [ 6.08992396e-03 -2.09067858e-02 9.99762881e-01 -1.71063387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.78719347 meters Centerline goodness : 0.882653 Centerline is valid? [False, False] Translation: X:10.65, Y:0.12, Z:-1.71 [[ 9.99986904e-01 -1.44954540e-03 -4.90829103e-03 1.06504134e+01] [ 1.60902381e-03 9.99465710e-01 3.26451339e-02 1.17018221e-01] [ 4.85834797e-03 -3.26526039e-02 9.99454953e-01 -1.71074048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.81719347 meters Centerline goodness : 0.884755 Centerline is valid? [False, False] Translation: X:10.66, Y:0.11, Z:-1.71 [[ 9.99996967e-01 -2.42846274e-03 -4.09812742e-04 1.06616200e+01] [ 2.44360774e-03 9.99104260e-01 4.22457854e-02 1.13345221e-01] [ 3.06853340e-04 -4.22466587e-02 9.99107164e-01 -1.71355508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84719347 meters Centerline goodness : 0.884882 Centerline is valid? [False, False] Translation: X:10.66, Y:0.11, Z:-1.71 [[ 9.99983727e-01 -5.64812474e-03 -8.02151809e-04 1.06624131e+01] [ 5.67486601e-03 9.99239541e-01 3.85763486e-02 1.13583543e-01] [ 5.83657777e-04 -3.85802730e-02 9.99255334e-01 -1.71343633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.87719347 meters Centerline goodness : 0.885370 Centerline is valid? [False, False] Translation: X:10.66, Y:0.11, Z:-1.71 [[ 9.99983228e-01 -5.74446310e-03 -7.38345388e-04 1.06623821e+01] [ 5.76899646e-03 9.99214394e-01 3.92086003e-02 1.12511214e-01] [ 5.12532981e-04 -3.92122022e-02 9.99230774e-01 -1.71273275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90719347 meters Centerline goodness : 0.886041 Centerline is valid? [False, False] Translation: X:10.67, Y:0.11, Z:-1.71 [[ 9.99915530e-01 -1.27851294e-02 -2.33952904e-03 1.06727220e+01] [ 1.29016896e-02 9.98145468e-01 5.94909315e-02 1.06094979e-01] [ 1.57459105e-03 -5.95160902e-02 9.98226104e-01 -1.71052504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.93719347 meters Centerline goodness : 0.885668 Centerline is valid? [False, False] Translation: X:10.67, Y:0.11, Z:-1.71 [[ 9.99806372e-01 -1.95700395e-02 -2.05726444e-03 1.06723142e+01] [ 1.96508468e-02 9.98439341e-01 5.22754941e-02 1.06792323e-01] [ 1.03102026e-03 -5.23057991e-02 9.98630583e-01 -1.71034292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96719347 meters Centerline goodness : 0.883392 Centerline is valid? [False, False] Translation: X:10.68, Y:0.10, Z:-1.71 [[ 9.99615767e-01 -2.74091318e-02 -4.13000064e-03 1.06782780e+01] [ 2.75666555e-02 9.98617820e-01 4.47496330e-02 1.03616583e-01] [ 2.89774364e-03 -4.48462891e-02 9.98989696e-01 -1.71228070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.99719347 meters Centerline goodness : 0.883181 Centerline is valid? [False, False] Translation: X:10.68, Y:0.10, Z:-1.71 [[ 9.99468281e-01 -3.23515277e-02 -4.06610644e-03 1.06793217e+01] [ 3.24873792e-02 9.98686973e-01 3.96093496e-02 1.03974319e-01] [ 2.77934456e-03 -3.97203857e-02 9.99206969e-01 -1.71342955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.02719347 meters Centerline goodness : 0.884363 Centerline is valid? [False, False] Translation: X:10.68, Y:0.10, Z:-1.71 [[ 9.99330831e-01 -3.63496917e-02 -4.07307469e-03 1.06799172e+01] [ 3.64715425e-02 9.98704433e-01 3.54863719e-02 1.04015419e-01] [ 2.77787907e-03 -3.56111768e-02 9.99361860e-01 -1.71379068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.05719347 meters Centerline goodness : 0.885154 Centerline is valid? [False, False] Translation: X:10.68, Y:0.10, Z:-1.71 [[ 9.99186003e-01 -4.01398702e-02 -4.01521188e-03 1.06802285e+01] [ 4.02464942e-02 9.98694943e-01 3.14424908e-02 1.04265768e-01] [ 2.74787430e-03 -3.15784949e-02 9.99497498e-01 -1.71393072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.08719347 meters Centerline goodness : 0.886627 Centerline is valid? [False, False] Translation: X:10.68, Y:0.10, Z:-1.71 [[ 9.99040878e-01 -4.35745383e-02 -4.31086750e-03 1.06806020e+01] [ 4.36775027e-02 9.98661762e-01 2.76940737e-02 1.04855866e-01] [ 3.09834206e-03 -2.78557997e-02 9.99607150e-01 -1.71318086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.11719347 meters Centerline goodness : 0.887912 Centerline is valid? [False, False] Translation: X:10.68, Y:0.11, Z:-1.71 [[ 9.99034034e-01 -4.36857283e-02 -4.74924722e-03 1.06811848e+01] [ 4.38000745e-02 9.98662573e-01 2.74703318e-02 1.06107157e-01] [ 3.54283400e-03 -2.76518138e-02 9.99611337e-01 -1.71283222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.14719347 meters Centerline goodness : 0.887669 Centerline is valid? [False, False] Translation: X:10.68, Y:0.11, Z:-1.71 [[ 9.99040514e-01 -4.35140100e-02 -4.95810107e-03 1.06811332e+01] [ 4.36331539e-02 9.98677459e-01 2.71933827e-02 1.07848373e-01] [ 3.76825065e-03 -2.73836286e-02 9.99617896e-01 -1.71221948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.17719347 meters Centerline goodness : 0.885308 Centerline is valid? [False, False] Translation: X:10.68, Y:0.11, Z:-1.71 [[ 9.99045692e-01 -4.33634397e-02 -5.22660472e-03 1.06817194e+01] [ 4.34888134e-02 9.98691643e-01 2.69021501e-02 1.08913482e-01] [ 4.05319669e-03 -2.71037760e-02 9.99624408e-01 -1.71226657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20719346999999 meters Centerline goodness : 0.885110 Centerline is valid? [False, False] Translation: X:10.68, Y:0.11, Z:-1.71 [[ 9.99282043e-01 -3.69861998e-02 -8.21090842e-03 1.06838348e+01] [ 3.71285312e-02 9.99149858e-01 1.79174239e-02 1.07950973e-01] [ 7.54123056e-03 -1.82094189e-02 9.99805755e-01 -1.71306934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.23719347 meters Centerline goodness : 0.884633 Centerline is valid? [False, False] Translation: X:10.68, Y:0.11, Z:-1.71 [[ 9.99288180e-01 -3.68112748e-02 -8.25007382e-03 1.06841363e+01] [ 3.69537283e-02 9.99157787e-01 1.78364470e-02 1.08116673e-01] [ 7.58654315e-03 -1.81286217e-02 9.99806880e-01 -1.71331302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26719347 meters Centerline goodness : 0.884855 Centerline is valid? [False, False] Translation: X:10.68, Y:0.11, Z:-1.71 [[ 9.99420612e-01 -3.29439292e-02 -8.55201349e-03 1.06844889e+01] [ 3.31259531e-02 9.99206923e-01 2.20951688e-02 1.07611354e-01] [ 7.81732941e-03 -2.23656608e-02 9.99719294e-01 -1.71313095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.29719347 meters Centerline goodness : 0.889125 Centerline is valid? [False, False] Translation: X:10.68, Y:0.11, Z:-1.71 [[ 9.99637223e-01 -2.57466207e-02 -7.90782586e-03 1.06810170e+01] [ 2.59622278e-02 9.99256754e-01 2.84938822e-02 1.10392048e-01] [ 7.16832723e-03 -2.86888500e-02 9.99562687e-01 -1.71054642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32719347 meters Centerline goodness : 0.889377 Centerline is valid? [False, False] Translation: X:10.68, Y:0.11, Z:-1.71 [[ 9.99677106e-01 -2.42380114e-02 -7.62911136e-03 1.06802973e+01] [ 2.44459322e-02 9.99296099e-01 2.84552889e-02 1.13026419e-01] [ 6.93404160e-03 -2.86326016e-02 9.99565952e-01 -1.71053508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.35719347 meters Centerline goodness : 0.888877 Centerline is valid? [False, False] Translation: X:10.68, Y:0.12, Z:-1.71 [[ 9.99802836e-01 -1.79445699e-02 -8.50190929e-03 1.06767545e+01] [ 1.80815733e-02 9.99703291e-01 1.63213570e-02 1.17067979e-01] [ 8.20650696e-03 -1.64718669e-02 9.99830651e-01 -1.70898002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38719347 meters Centerline goodness : 0.888532 Centerline is valid? [False, False] Translation: X:10.68, Y:0.12, Z:-1.71 [[ 9.99824716e-01 -1.66950040e-02 -8.47429400e-03 1.06770320e+01] [ 1.68331215e-02 9.99722200e-01 1.64975150e-02 1.18116573e-01] [ 8.19651376e-03 -1.66372721e-02 9.99827994e-01 -1.70966626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.41719347 meters Centerline goodness : 0.888616 Centerline is valid? [False, False] Translation: X:10.68, Y:0.12, Z:-1.71 [[ 9.99897912e-01 -1.16980517e-02 -8.20496189e-03 1.06769487e+01] [ 1.18662547e-02 9.99714063e-01 2.07601767e-02 1.18321656e-01] [ 7.95976216e-03 -2.08554195e-02 9.99750816e-01 -1.71054045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.44719347 meters Centerline goodness : 0.887394 Centerline is valid? [False, False] Translation: X:10.68, Y:0.12, Z:-1.71 [[ 9.99914654e-01 -9.52985776e-03 -8.93681653e-03 1.06799845e+01] [ 9.72938993e-03 9.99698241e-01 2.25558539e-02 1.18041444e-01] [ 8.71916568e-03 -2.26408787e-02 9.99705640e-01 -1.71263665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.47719347 meters Centerline goodness : 0.884277 Centerline is valid? [False, False] Translation: X:10.68, Y:0.12, Z:-1.71 [[ 9.99922960e-01 -7.97915271e-03 -9.50828113e-03 1.06828753e+01] [ 8.20615529e-03 9.99676371e-01 2.40792899e-02 1.16336891e-01] [ 9.31307165e-03 -2.41554613e-02 9.99664834e-01 -1.71489147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.50719347 meters Centerline goodness : 0.882846 Centerline is valid? [False, False] Translation: X:10.69, Y:0.11, Z:-1.72 [[ 9.99914729e-01 -7.99797924e-03 -1.03231424e-02 1.06871482e+01] [ 8.24559218e-03 9.99673838e-01 2.41707857e-02 1.14030318e-01] [ 1.01264579e-02 -2.42538450e-02 9.99654543e-01 -1.71824384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.53719347 meters Centerline goodness : 0.880705 Centerline is valid? [False, False] Translation: X:10.71, Y:0.10, Z:-1.72 [[ 9.99915589e-01 -8.91414091e-03 -9.45268267e-03 1.07089223e+01] [ 9.17868108e-03 9.99556716e-01 2.83217897e-02 1.04844368e-01] [ 9.19602802e-03 -2.84061622e-02 9.99554162e-01 -1.72172770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.56719347 meters Centerline goodness : 0.879798 Centerline is valid? [False, False] Translation: X:10.73, Y:0.10, Z:-1.72 [[ 9.99936732e-01 -9.76557472e-03 -5.58253666e-03 1.07255868e+01] [ 9.94164957e-03 9.99424418e-01 3.24344955e-02 9.89118289e-02] [ 5.26258196e-03 -3.24879431e-02 9.99458273e-01 -1.72319090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.59719347 meters Centerline goodness : 0.880510 Centerline is valid? [False, False] Translation: X:10.74, Y:0.09, Z:-1.72 [[ 9.99932679e-01 -1.14531108e-02 -1.86105188e-03 1.07423022e+01] [ 1.15097049e-02 9.99357300e-01 3.39486833e-02 9.37936892e-02] [ 1.47103775e-03 -3.39678180e-02 9.99421845e-01 -1.72277347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62719347 meters Centerline goodness : 0.877529 Centerline is valid? [False, False] Translation: X:10.74, Y:0.08, Z:-1.72 [[ 9.99781648e-01 -2.08278833e-02 -1.68979496e-03 1.07422217e+01] [ 2.08658001e-02 9.99420850e-01 2.68808936e-02 8.43481945e-02] [ 1.12894420e-03 -2.69102830e-02 9.99637215e-01 -1.72133962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.65719347 meters Centerline goodness : 0.876411 Centerline is valid? [False, False] Translation: X:10.74, Y:0.08, Z:-1.72 [[ 9.99690715e-01 -2.47816668e-02 -2.08407557e-03 1.07434361e+01] [ 2.48250560e-02 9.99396010e-01 2.43173097e-02 7.96940846e-02] [ 1.48019335e-03 -2.43615260e-02 9.99702118e-01 -1.72122044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68719347 meters Centerline goodness : 0.875284 Centerline is valid? [False, False] Translation: X:10.74, Y:0.08, Z:-1.72 [[ 9.99585471e-01 -2.87034860e-02 -2.23535566e-03 1.07440087e+01] [ 2.87446133e-02 9.99360164e-01 2.12840222e-02 7.62050714e-02] [ 1.62299977e-03 -2.13394538e-02 9.99770971e-01 -1.72115779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.71719347 meters Centerline goodness : 0.873589 Centerline is valid? [False, False] Translation: X:10.75, Y:0.07, Z:-1.72 [[ 9.99474537e-01 -3.23118371e-02 -2.56800965e-03 1.07451494e+01] [ 3.23534487e-02 9.99309445e-01 1.82725836e-02 7.33993833e-02] [ 1.97581555e-03 -1.83460660e-02 9.99829745e-01 -1.72144095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74719347 meters Centerline goodness : 0.872451 Centerline is valid? [False, False] Translation: X:10.75, Y:0.07, Z:-1.72 [[ 9.99348519e-01 -3.59832289e-02 -2.78294111e-03 1.07459264e+01] [ 3.60240204e-02 9.99217240e-01 1.63455474e-02 6.58841301e-02] [ 2.19259716e-03 -1.64351513e-02 9.99862530e-01 -1.72141780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.77719347 meters Centerline goodness : 0.871747 Centerline is valid? [False, False] Translation: X:10.75, Y:0.06, Z:-1.72 [[ 9.99270166e-01 -3.80544131e-02 -3.31619341e-03 1.07482989e+01] [ 3.80993645e-02 9.99165072e-01 1.47512109e-02 6.30876033e-02] [ 2.75207595e-03 -1.48667898e-02 9.99885696e-01 -1.72284258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.80719347 meters Centerline goodness : 0.871049 Centerline is valid? [False, False] Translation: X:10.75, Y:0.06, Z:-1.72 [[ 9.99270166e-01 -3.80345342e-02 -3.53685165e-03 1.07488987e+01] [ 3.80856519e-02 9.99150713e-01 1.57268892e-02 5.98807119e-02] [ 2.93568294e-03 -1.58501144e-02 9.99870069e-01 -1.72304269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.83719347 meters Centerline goodness : 0.870719 Centerline is valid? [False, False] Translation: X:10.75, Y:0.06, Z:-1.72 [[ 9.99139061e-01 -4.12521952e-02 -4.40374888e-03 1.07516301e+01] [ 4.13080473e-02 9.99055915e-01 1.34508069e-02 5.58939212e-02] [ 3.84471605e-03 -1.36211369e-02 9.99899836e-01 -1.72423402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.86719347 meters Centerline goodness : 0.872535 Centerline is valid? [False, False] Translation: X:10.75, Y:0.06, Z:-1.73 [[ 9.99008710e-01 -4.42285633e-02 -5.04304999e-03 1.07541255e+01] [ 4.42795549e-02 9.98964076e-01 1.04926763e-02 5.51150991e-02] [ 4.57374977e-03 -1.07055790e-02 9.99932233e-01 -1.72542280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.89719347 meters Centerline goodness : 0.870786 Centerline is valid? [False, False] Translation: X:10.76, Y:0.06, Z:-1.73 [[ 9.98837518e-01 -4.79156841e-02 -5.26299814e-03 1.07550355e+01] [ 4.79500010e-02 9.98827931e-01 6.60012374e-03 5.52913982e-02] [ 4.94058010e-03 -6.84481199e-03 9.99964369e-01 -1.72553780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.92719347 meters Centerline goodness : 0.870134 Centerline is valid? [False, False] Translation: X:10.76, Y:0.05, Z:-1.73 [[ 9.98774499e-01 -4.91446590e-02 -5.85687348e-03 1.07564079e+01] [ 4.91837919e-02 9.98767030e-01 6.73601931e-03 5.23608937e-02] [ 5.51861276e-03 -7.01582755e-03 9.99960161e-01 -1.72591990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95719346999999 meters Centerline goodness : 0.869321 Centerline is valid? [False, False] Translation: X:10.76, Y:0.05, Z:-1.73 [[ 9.98748786e-01 -4.96578288e-02 -5.91289632e-03 1.07566029e+01] [ 4.96964724e-02 9.98742702e-01 6.57839225e-03 5.17790848e-02] [ 5.57879338e-03 -6.86401136e-03 9.99960880e-01 -1.72595441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98719347 meters Centerline goodness : 0.868972 Centerline is valid? [False, False] Translation: X:10.76, Y:0.05, Z:-1.73 [[ 9.98718918e-01 -5.02201198e-02 -6.20173535e-03 1.07571526e+01] [ 5.02585543e-02 9.98716963e-01 6.20526359e-03 5.18343481e-02] [ 5.88214921e-03 -6.50900439e-03 9.99961516e-01 -1.72592458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.01719347 meters Centerline goodness : 0.869417 Centerline is valid? [False, False] Translation: X:10.76, Y:0.05, Z:-1.73 [[ 9.98704031e-01 -5.04940755e-02 -6.37234035e-03 1.07574213e+01] [ 5.05319151e-02 9.98704879e-01 5.92368094e-03 5.25176220e-02] [ 6.06497661e-03 -6.23801060e-03 9.99962151e-01 -1.72578319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.04719347 meters Centerline goodness : 0.869946 Centerline is valid? [False, False] Translation: X:10.76, Y:0.06, Z:-1.72 [[ 9.98681928e-01 -5.08938227e-02 -6.65028967e-03 1.07576186e+01] [ 5.09272536e-02 9.98690058e-01 4.95813193e-03 5.51128587e-02] [ 6.38923989e-03 -5.29027774e-03 9.99965595e-01 -1.72499280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.07719347 meters Centerline goodness : 0.868609 Centerline is valid? [False, False] Translation: X:10.76, Y:0.06, Z:-1.72 [[ 9.98663339e-01 -5.12192258e-02 -6.93731582e-03 1.07582042e+01] [ 5.12493808e-02 9.98676882e-01 4.24098114e-03 5.63959057e-02] [ 6.71091716e-03 -4.59084552e-03 9.99966943e-01 -1.72468071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.10719347 meters Centerline goodness : 0.866598 Centerline is valid? [False, False] Translation: X:10.76, Y:0.06, Z:-1.72 [[ 9.98664834e-01 -5.11975072e-02 -6.88220945e-03 1.07578215e+01] [ 5.12258048e-02 9.98679085e-01 4.00019988e-03 5.70619801e-02] [ 6.66831837e-03 -4.34740567e-03 9.99968316e-01 -1.72404753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.13719347 meters Centerline goodness : 0.869262 Centerline is valid? [False, False] Translation: X:10.76, Y:0.06, Z:-1.72 [[ 9.98672203e-01 -5.10515193e-02 -6.89731150e-03 1.07574270e+01] [ 5.10776699e-02 9.98687941e-01 3.66989180e-03 5.80880942e-02] [ 6.70090827e-03 -4.01731753e-03 9.99969479e-01 -1.72317708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.16719347 meters Centerline goodness : 0.872030 Centerline is valid? [False, False] Translation: X:10.76, Y:0.06, Z:-1.72 [[ 9.98926771e-01 -4.63169955e-02 2.07302667e-04 1.07642905e+01] [ 4.63171262e-02 9.98926556e-01 -6.77398772e-04 6.26318578e-02] [-1.75705063e-04 6.86273432e-04 9.99999749e-01 -1.72414717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.19719347 meters Centerline goodness : 0.870752 Centerline is valid? [False, False] Translation: X:10.76, Y:0.06, Z:-1.72 [[ 9.99080408e-01 -4.28755082e-02 -1.72393606e-04 1.07642572e+01] [ 4.28758131e-02 9.99076968e-01 2.62252208e-03 6.40134376e-02] [ 5.97925141e-05 -2.62750195e-03 9.99996546e-01 -1.72328271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.22719347 meters Centerline goodness : 0.873497 Centerline is valid? [False, False] Translation: X:10.76, Y:0.07, Z:-1.72 [[ 9.99166417e-01 -4.08223688e-02 -7.92507418e-05 1.07621810e+01] [ 4.08223402e-02 9.99157537e-01 4.21334096e-03 6.64330131e-02] [-9.28145826e-05 -4.21306399e-03 9.99991121e-01 -1.72083717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.25719347 meters Centerline goodness : 0.874374 Centerline is valid? [False, False] Translation: X:10.76, Y:0.07, Z:-1.72 [[ 9.99184937e-01 -4.03635266e-02 -4.96493571e-04 1.07623026e+01] [ 4.03648574e-02 9.99180348e-01 3.05140582e-03 7.15519064e-02] [ 3.72921119e-04 -3.06895963e-03 9.99995221e-01 -1.71948990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.28719347 meters Centerline goodness : 0.875134 Centerline is valid? [False, False] Translation: X:10.76, Y:0.07, Z:-1.72 [[ 9.99317248e-01 -3.69404945e-02 -6.62124810e-04 1.07623035e+01] [ 3.69440549e-02 9.99295700e-01 6.57575664e-03 7.19870394e-02] [ 4.18746774e-04 -6.59572860e-03 9.99978160e-01 -1.71930141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.31719347 meters Centerline goodness : 0.875798 Centerline is valid? [False, False] Translation: X:10.76, Y:0.07, Z:-1.72 [[ 9.99307524e-01 -3.71993385e-02 -8.25472220e-04 1.07628620e+01] [ 3.72035003e-02 9.99290970e-01 5.78419090e-03 7.42589816e-02] [ 6.09718860e-04 -5.81089594e-03 9.99982931e-01 -1.71949293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.34719347 meters Centerline goodness : 0.875801 Centerline is valid? [False, False] Translation: X:10.76, Y:0.08, Z:-1.72 [[ 9.99295650e-01 -3.75152137e-02 -9.01050912e-04 1.07633876e+01] [ 3.75193135e-02 9.99283030e-01 5.07225476e-03 7.66212800e-02] [ 7.10118163e-04 -5.10248893e-03 9.99986730e-01 -1.71988638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.37719347 meters Centerline goodness : 0.874242 Centerline is valid? [False, False] Translation: X:10.78, Y:0.09, Z:-1.72 [[ 9.99241640e-01 -3.87707976e-02 3.60138002e-03 1.07756946e+01] [ 3.87910705e-02 9.99230851e-01 -5.74107076e-03 8.56674998e-02] [-3.37602413e-03 5.87641835e-03 9.99977035e-01 -1.72361537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.40719347 meters Centerline goodness : 0.875474 Centerline is valid? [False, False] Translation: X:10.79, Y:0.09, Z:-1.73 [[ 9.99313449e-01 -3.66079744e-02 5.69966733e-03 1.07861970e+01] [ 3.66843568e-02 9.99229822e-01 -1.39291252e-02 8.99639600e-02] [-5.18536052e-03 1.41286508e-02 9.99886740e-01 -1.72519681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.43719347 meters Centerline goodness : 0.874932 Centerline is valid? [False, False] Translation: X:10.80, Y:0.09, Z:-1.73 [[ 9.99337148e-01 -3.48157321e-02 1.06361922e-02 1.07979397e+01] [ 3.50381558e-02 9.99154789e-01 -2.14950220e-02 9.37689035e-02] [-9.87883741e-03 2.18534465e-02 9.99712376e-01 -1.72946669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.46719347 meters Centerline goodness : 0.874343 Centerline is valid? [False, False] Translation: X:10.80, Y:0.10, Z:-1.73 [[ 9.99271234e-01 -3.67994538e-02 1.01391120e-02 1.08007088e+01] [ 3.70384287e-02 9.99013789e-01 -2.44868174e-02 9.89594816e-02] [-9.22801123e-03 2.48445090e-02 9.99648735e-01 -1.73147244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.49719347 meters Centerline goodness : 0.872733 Centerline is valid? [False, False] Translation: X:10.80, Y:0.10, Z:-1.73 [[ 9.99377603e-01 -3.38925321e-02 9.78283169e-03 1.08017061e+01] [ 3.40957244e-02 9.99189217e-01 -2.14100283e-02 1.00367509e-01] [-9.04925987e-03 2.17302555e-02 9.99722915e-01 -1.73220871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52719347 meters Centerline goodness : 0.873878 Centerline is valid? [False, False] Translation: X:10.80, Y:0.10, Z:-1.73 [[ 9.99477034e-01 -3.09343843e-02 9.41923345e-03 1.08026037e+01] [ 3.11048514e-02 9.99344466e-01 -1.85236843e-02 1.02960814e-01] [-8.84004005e-03 1.88069809e-02 9.99784052e-01 -1.73275528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.55719347 meters Centerline goodness : 0.873878 Centerline is valid? [False, False] Translation: X:10.80, Y:0.10, Z:-1.73 [[ 9.99477034e-01 -3.09343843e-02 9.41923345e-03 1.08026037e+01] [ 3.11048514e-02 9.99344466e-01 -1.85236843e-02 1.02960814e-01] [-8.84004005e-03 1.88069809e-02 9.99784052e-01 -1.73275528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58719347 meters Centerline goodness : 0.871355 Centerline is valid? [False, False] Translation: X:10.80, Y:0.11, Z:-1.73 [[ 9.99566718e-01 -2.79765112e-02 9.14828072e-03 1.08031143e+01] [ 2.81177993e-02 9.99481337e-01 -1.56986414e-02 1.05909859e-01] [-8.70434262e-03 1.59490690e-02 9.99834917e-01 -1.73297308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.61719347 meters Centerline goodness : 0.872036 Centerline is valid? [False, False] Translation: X:10.80, Y:0.11, Z:-1.73 [[ 9.99638932e-01 -2.53069696e-02 9.03123388e-03 1.08030498e+01] [ 2.54351407e-02 9.99573171e-01 -1.43711252e-02 1.14015740e-01] [-8.66368946e-03 1.45956470e-02 9.99855943e-01 -1.73245648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64719347 meters Centerline goodness : 0.871579 Centerline is valid? [False, False] Translation: X:10.80, Y:0.12, Z:-1.73 [[ 9.99719379e-01 -2.19765412e-02 8.84282342e-03 1.08032549e+01] [ 2.20768787e-02 9.99691120e-01 -1.14138180e-02 1.16732327e-01] [-8.58925581e-03 1.16058370e-02 9.99895759e-01 -1.73237018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.67719347 meters Centerline goodness : 0.875305 Centerline is valid? [False, False] Translation: X:10.80, Y:0.12, Z:-1.73 [[ 9.99788739e-01 -1.86216006e-02 8.70132633e-03 1.08031252e+01] [ 1.86931955e-02 9.99791472e-01 -8.22046402e-03 1.18667477e-01] [-8.54643367e-03 8.38138295e-03 9.99928353e-01 -1.73186293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70719347 meters Centerline goodness : 0.877734 Centerline is valid? [False, False] Translation: X:10.80, Y:0.12, Z:-1.73 [[ 9.99838800e-01 -1.56663841e-02 8.77149615e-03 1.08027621e+01] [ 1.57229161e-02 9.99855818e-01 -6.41353901e-03 1.24341478e-01] [-8.66975449e-03 6.55041864e-03 9.99940962e-01 -1.73146454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.73719347 meters Centerline goodness : 0.877976 Centerline is valid? [False, False] Translation: X:10.80, Y:0.13, Z:-1.73 [[ 9.99876243e-01 -1.30569593e-02 8.77584285e-03 1.08024198e+01] [ 1.30918286e-02 9.99906584e-01 -3.92769335e-03 1.27100134e-01] [-8.72373932e-03 4.04209910e-03 9.99953778e-01 -1.73100338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.76719347 meters Centerline goodness : 0.879955 Centerline is valid? [False, False] Translation: X:10.80, Y:0.13, Z:-1.73 [[ 9.99911507e-01 -9.99870008e-03 8.77518595e-03 1.08022593e+01] [ 1.00062623e-02 9.99949601e-01 -8.18294686e-04 1.29167821e-01] [-8.76656181e-03 9.06029085e-04 9.99961162e-01 -1.73074820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.79719347 meters Centerline goodness : 0.883353 Centerline is valid? [False, False] Translation: X:10.80, Y:0.13, Z:-1.73 [[ 9.99932722e-01 -7.34697372e-03 8.97630761e-03 1.08016034e+01] [ 7.33733351e-03 9.99972469e-01 1.10642196e-03 1.34905042e-01] [-8.98418934e-03 -1.04048536e-03 9.99959100e-01 -1.73001773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.82719347 meters Centerline goodness : 0.883444 Centerline is valid? [False, False] Translation: X:10.80, Y:0.14, Z:-1.73 [[ 9.99955454e-01 -4.09294480e-03 8.50519687e-03 1.08025411e+01] [ 4.05443038e-03 9.99981472e-01 4.54065858e-03 1.36225698e-01] [-8.52362395e-03 -4.50597258e-03 9.99953521e-01 -1.73013463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.85719347 meters Centerline goodness : 0.883716 Centerline is valid? [False, False] Translation: X:10.80, Y:0.14, Z:-1.73 [[ 9.99965418e-01 -1.03535939e-03 8.25166227e-03 1.08033302e+01] [ 9.71164741e-04 9.99969265e-01 7.77981568e-03 1.37451221e-01] [-8.25946356e-03 -7.77153292e-03 9.99935690e-01 -1.73052316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88719347 meters Centerline goodness : 0.884814 Centerline is valid? [False, False] Translation: X:10.80, Y:0.14, Z:-1.73 [[ 9.99967904e-01 2.23667583e-03 7.69338540e-03 1.08048657e+01] [-2.32383066e-03 9.99933019e-01 1.13383185e-02 1.38619866e-01] [-7.66750994e-03 -1.13558327e-02 9.99906123e-01 -1.73124302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.91719347 meters Centerline goodness : 0.884437 Centerline is valid? [False, False] Translation: X:10.81, Y:0.14, Z:-1.73 [[ 9.99968161e-01 3.89045616e-03 6.96711193e-03 1.08080935e+01] [-3.97910907e-03 9.99910720e-01 1.27561546e-02 1.40928155e-01] [-6.91686265e-03 -1.27834713e-02 9.99894364e-01 -1.73375222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.94719347 meters Centerline goodness : 0.882262 Centerline is valid? [False, False] Translation: X:10.81, Y:0.15, Z:-1.74 [[ 9.99967012e-01 5.33957064e-03 6.12070812e-03 1.08122263e+01] [-5.42085672e-03 9.99896301e-01 1.33417514e-02 1.46410612e-01] [-6.04883418e-03 -1.33744908e-02 9.99892261e-01 -1.73721221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.97719347 meters Centerline goodness : 0.883468 Centerline is valid? [False, False] Translation: X:10.81, Y:0.15, Z:-1.74 [[ 9.99950574e-01 7.48174622e-03 6.54781339e-03 1.08104316e+01] [-7.58086894e-03 9.99855023e-01 1.52467235e-02 1.48955439e-01] [-6.43279199e-03 -1.52956081e-02 9.99862322e-01 -1.73574765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.00719347 meters Centerline goodness : 0.884805 Centerline is valid? [False, False] Translation: X:10.81, Y:0.15, Z:-1.73 [[ 9.99927972e-01 9.74450471e-03 7.00678087e-03 1.08084580e+01] [-9.86647671e-03 9.99796617e-01 1.75891348e-02 1.51396624e-01] [-6.83395840e-03 -1.76570001e-02 9.99820748e-01 -1.73355861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.03719347 meters Centerline goodness : 0.886032 Centerline is valid? [False, False] Translation: X:10.81, Y:0.16, Z:-1.73 [[ 9.99901204e-01 1.20150676e-02 7.29522355e-03 1.08064490e+01] [-1.21502531e-02 9.99749845e-01 1.87781352e-02 1.56703684e-01] [-7.06777805e-03 -1.88649188e-02 9.99797060e-01 -1.73078782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.06719347 meters Centerline goodness : 0.886990 Centerline is valid? [False, False] Translation: X:10.81, Y:0.16, Z:-1.73 [[ 9.99869631e-01 1.43590655e-02 7.38499415e-03 1.08052253e+01] [-1.45102003e-02 9.99677610e-01 2.08358012e-02 1.58762082e-01] [-7.08343067e-03 -2.09402426e-02 9.99755636e-01 -1.72923888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.09719347 meters Centerline goodness : 0.887051 Centerline is valid? [False, False] Translation: X:10.81, Y:0.16, Z:-1.73 [[ 9.99874369e-01 1.41550056e-02 7.13317176e-03 1.08058751e+01] [-1.42928999e-02 9.99704433e-01 1.96662058e-02 1.61752877e-01] [-6.85268818e-03 -1.97656888e-02 9.99781155e-01 -1.72937280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.12719347 meters Centerline goodness : 0.886385 Centerline is valid? [False, False] Translation: X:10.81, Y:0.17, Z:-1.73 [[ 9.99878832e-01 1.38423958e-02 7.12106071e-03 1.08065540e+01] [-1.39661806e-02 9.99746905e-01 1.76372490e-02 1.68495277e-01] [-6.87511662e-03 -1.77345660e-02 9.99819093e-01 -1.72990733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.15719347 meters Centerline goodness : 0.888283 Centerline is valid? [False, False] Translation: X:10.81, Y:0.17, Z:-1.73 [[ 9.99883933e-01 1.34592062e-02 7.13933646e-03 1.08065079e+01] [-1.35738692e-02 9.99775606e-01 1.62630837e-02 1.72357588e-01] [-6.91884624e-03 -1.63581045e-02 9.99842259e-01 -1.72975508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.18719347 meters Centerline goodness : 0.886106 Centerline is valid? [False, False] Translation: X:10.81, Y:0.17, Z:-1.73 [[ 9.99883189e-01 1.36282988e-02 6.91944091e-03 1.08070793e+01] [-1.37343898e-02 9.99785170e-01 1.55235591e-02 1.74732137e-01] [-6.70639471e-03 -1.56167801e-02 9.99855560e-01 -1.72983880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.21719347 meters Centerline goodness : 0.885279 Centerline is valid? [False, False] Translation: X:10.81, Y:0.18, Z:-1.73 [[ 9.99884100e-01 1.36091235e-02 6.82483257e-03 1.08074364e+01] [-1.37107052e-02 9.99792509e-01 1.50650496e-02 1.75805104e-01] [-6.61839436e-03 -1.51568768e-02 9.99863224e-01 -1.72993442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.24719347 meters Centerline goodness : 0.884005 Centerline is valid? [False, False] Translation: X:10.81, Y:0.18, Z:-1.73 [[ 9.99878890e-01 1.39055475e-02 6.98862794e-03 1.08076520e+01] [-1.40048300e-02 9.99798749e-01 1.43640402e-02 1.77896730e-01] [-6.78748163e-03 -1.44601751e-02 9.99872409e-01 -1.73019219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.27719347 meters Centerline goodness : 0.881631 Centerline is valid? [False, False] Translation: X:10.81, Y:0.18, Z:-1.73 [[ 9.99863625e-01 1.51662962e-02 6.53563867e-03 1.08096228e+01] [-1.52650742e-02 9.99765824e-01 1.53386365e-02 1.79074024e-01] [-6.30147788e-03 -1.54363117e-02 9.99860996e-01 -1.73134656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30719347 meters Centerline goodness : 0.879378 Centerline is valid? [False, False] Translation: X:10.81, Y:0.18, Z:-1.73 [[ 9.99864065e-01 1.52141745e-02 6.35450136e-03 1.08099950e+01] [-1.53078346e-02 9.99770905e-01 1.49602067e-02 1.80715385e-01] [-6.12543838e-03 -1.50554467e-02 9.99867898e-01 -1.73120326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.33719347 meters Centerline goodness : 0.874149 Centerline is valid? [False, False] Translation: X:10.82, Y:0.18, Z:-1.73 [[ 9.99820522e-01 1.57775964e-02 1.04876893e-02 1.08168639e+01] [-1.60740740e-02 9.99455567e-01 2.88130722e-02 1.77897565e-01] [-1.00273785e-02 -2.89764808e-02 9.99529797e-01 -1.73054976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.36719347 meters Centerline goodness : 0.873089 Centerline is valid? [False, False] Translation: X:10.84, Y:0.18, Z:-1.73 [[ 9.99863610e-01 1.28030525e-02 1.04327663e-02 1.08372582e+01] [-1.30828781e-02 9.99544117e-01 2.72102274e-02 1.77503744e-01] [-1.00796362e-02 -2.73430068e-02 9.99575290e-01 -1.73137329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.39719347 meters Centerline goodness : 0.873213 Centerline is valid? [False, False] Translation: X:10.84, Y:0.18, Z:-1.73 [[ 9.99866470e-01 1.27544314e-02 1.02160226e-02 1.08380899e+01] [-1.30327029e-02 9.99532652e-01 2.76518619e-02 1.75490343e-01] [-9.85856439e-03 -2.77813119e-02 9.99565409e-01 -1.73182888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42719347 meters Centerline goodness : 0.871664 Centerline is valid? [False, False] Translation: X:10.84, Y:0.17, Z:-1.73 [[ 9.99929527e-01 9.63576550e-03 6.93496127e-03 1.08377279e+01] [-9.91191230e-03 9.99111920e-01 4.09527322e-02 1.71282994e-01] [-6.53419155e-03 -4.10185848e-02 9.99137018e-01 -1.73132791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.45719347 meters Centerline goodness : 0.868633 Centerline is valid? [False, False] Translation: X:10.85, Y:0.17, Z:-1.73 [[ 9.99974617e-01 4.44374227e-03 5.56947609e-03 1.08488047e+01] [-4.71181274e-03 9.98783684e-01 4.90810735e-02 1.68748144e-01] [-5.34459821e-03 -4.91060700e-02 9.98779269e-01 -1.73104328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48719347 meters Centerline goodness : 0.867859 Centerline is valid? [False, False] Translation: X:10.85, Y:0.17, Z:-1.73 [[ 9.99986723e-01 7.74127547e-04 5.09453338e-03 1.08499769e+01] [-1.00301194e-03 9.98982904e-01 4.50793864e-02 1.69987252e-01] [-5.05445456e-03 -4.50838978e-02 9.98970417e-01 -1.73141386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.51719347 meters Centerline goodness : 0.866235 Centerline is valid? [False, False] Translation: X:10.84, Y:0.17, Z:-1.73 [[ 9.99999892e-01 3.78852579e-04 2.67554264e-04 1.08416626e+01] [-3.87641981e-04 9.99433505e-01 3.36529029e-02 1.71674491e-01] [-2.54653207e-04 -3.36530030e-02 9.99433545e-01 -1.72935643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.54719347 meters Centerline goodness : 0.864094 Centerline is valid? [False, False] Translation: X:10.84, Y:0.17, Z:-1.73 [[ 9.99999978e-01 -3.57634826e-05 -2.07800389e-04 1.08424557e+01] [ 4.28099264e-05 9.99421518e-01 3.40092306e-02 1.70302771e-01] [ 2.06463892e-04 -3.40092387e-02 9.99421497e-01 -1.72929313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.57719347 meters Centerline goodness : 0.862548 Centerline is valid? [False, False] Translation: X:10.83, Y:0.17, Z:-1.73 [[ 9.99983723e-01 6.04468777e-04 -5.67340158e-03 1.08334941e+01] [-4.65952218e-04 9.99702540e-01 2.43847250e-02 1.72922260e-01] [ 5.68645377e-03 -2.43816846e-02 9.99686550e-01 -1.72658850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.60719347 meters Centerline goodness : 0.862879 Centerline is valid? [False, False] Translation: X:10.82, Y:0.18, Z:-1.73 [[ 9.99955331e-01 7.73711912e-04 -9.42005760e-03 1.08180540e+01] [-5.86017740e-04 9.99801576e-01 1.99114309e-02 1.76378708e-01] [ 9.43359415e-03 -1.99050212e-02 9.99757369e-01 -1.72701576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.63719347 meters Centerline goodness : 0.861387 Centerline is valid? [False, False] Translation: X:10.82, Y:0.18, Z:-1.73 [[ 9.99949718e-01 9.09117654e-04 -9.98675354e-03 1.08198096e+01] [-7.13693161e-04 9.99808537e-01 1.95545346e-02 1.78238355e-01] [ 1.00026188e-02 -1.95464239e-02 9.99758913e-01 -1.72805313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.66719347 meters Centerline goodness : 0.858121 Centerline is valid? [False, False] Translation: X:10.82, Y:0.18, Z:-1.73 [[ 9.99940935e-01 3.90735512e-03 -1.01419884e-02 1.08202024e+01] [-3.67979976e-03 9.99743224e-01 2.23594604e-02 1.80908813e-01] [ 1.02267505e-02 -2.23208192e-02 9.99698552e-01 -1.72804108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.69719347 meters Centerline goodness : 0.856029 Centerline is valid? [False, False] Translation: X:10.82, Y:0.18, Z:-1.73 [[ 9.99944288e-01 3.37511950e-03 -1.00014367e-02 1.08193193e+01] [-3.16053719e-03 9.99766130e-01 2.13938314e-02 1.82969470e-01] [ 1.00713044e-02 -2.13610296e-02 9.99721099e-01 -1.72671080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.72719347 meters Centerline goodness : 0.856283 Centerline is valid? [False, False] Translation: X:10.82, Y:0.18, Z:-1.72 [[ 9.99951136e-01 2.23682435e-03 -9.62921314e-03 1.08172550e+01] [-2.04226841e-03 9.99794532e-01 2.01673942e-02 1.84493065e-01] [ 9.67234556e-03 -2.01467433e-02 9.99750246e-01 -1.72436272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.75719347 meters Centerline goodness : 0.856118 Centerline is valid? [False, False] Translation: X:10.81, Y:0.19, Z:-1.72 [[ 9.99958591e-01 5.88002301e-04 -9.08128513e-03 1.08146182e+01] [-4.20308102e-04 9.99829571e-01 1.84567920e-02 1.85558314e-01] [ 9.09059005e-03 -1.84522108e-02 9.99788416e-01 -1.72215464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.78719347 meters Centerline goodness : 0.854135 Centerline is valid? [False, False] Translation: X:10.81, Y:0.19, Z:-1.72 [[ 9.99953957e-01 -5.07767889e-03 -8.14258914e-03 1.08116503e+01] [ 5.18414530e-03 9.99900649e-01 1.31078932e-02 1.87159905e-01] [ 8.07522249e-03 -1.31495020e-02 9.99880934e-01 -1.71969696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.81719347 meters Centerline goodness : 0.853545 Centerline is valid? [False, False] Translation: X:10.81, Y:0.19, Z:-1.72 [[ 9.99945640e-01 -6.85160951e-03 -7.85957984e-03 1.08102057e+01] [ 6.94507556e-03 9.99904752e-01 1.19269876e-02 1.87305831e-01] [ 7.77711217e-03 -1.19809246e-02 9.99897982e-01 -1.71840344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.84719347 meters Centerline goodness : 0.853019 Centerline is valid? [False, False] Translation: X:10.81, Y:0.19, Z:-1.72 [[ 9.99939486e-01 -7.79119788e-03 -7.76667355e-03 1.08099813e+01] [ 7.88011198e-03 9.99903005e-01 1.14840608e-02 1.87385511e-01] [ 7.67644564e-03 -1.15445681e-02 9.99903893e-01 -1.71829090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.87719347 meters Centerline goodness : 0.852113 Centerline is valid? [False, False] Translation: X:10.81, Y:0.19, Z:-1.72 [[ 9.99928424e-01 -8.97596491e-03 -7.91071214e-03 1.08106939e+01] [ 9.05820895e-03 9.99904653e-01 1.04227690e-02 1.90301208e-01] [ 7.81640347e-03 -1.04936799e-02 9.99914390e-01 -1.71882579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.90719347 meters Centerline goodness : 0.852359 Centerline is valid? [False, False] Translation: X:10.81, Y:0.19, Z:-1.72 [[ 9.99925325e-01 -9.24162849e-03 -7.99602787e-03 1.08112101e+01] [ 9.32015417e-03 9.99908153e-01 9.83969985e-03 1.92153320e-01] [ 7.90435861e-03 -9.91348928e-03 9.99919619e-01 -1.71931846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.93719347 meters Centerline goodness : 0.852205 Centerline is valid? [False, False] Translation: X:10.79, Y:0.19, Z:-1.72 [[ 9.99932370e-01 -7.05644243e-03 -9.24452020e-03 1.07930449e+01] [ 7.14523186e-03 9.99928323e-01 9.60698705e-03 1.93288167e-01] [ 9.17606643e-03 -9.67239157e-03 9.99911118e-01 -1.71982625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.96719347 meters Centerline goodness : 0.850378 Centerline is valid? [False, False] Translation: X:10.79, Y:0.19, Z:-1.72 [[ 9.99927726e-01 -7.33402065e-03 -9.52650650e-03 1.07938504e+01] [ 7.42126594e-03 9.99930550e-01 9.15532678e-03 1.94701980e-01] [ 9.45869953e-03 -9.22536383e-03 9.99912709e-01 -1.72016291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.99719347 meters Centerline goodness : 0.850838 Centerline is valid? [False, False] Translation: X:10.80, Y:0.20, Z:-1.72 [[ 9.99928220e-01 -6.69329489e-03 -9.93755513e-03 1.07965709e+01] [ 6.78849419e-03 9.99931095e-01 9.57712723e-03 1.98862830e-01] [ 9.87276784e-03 -9.64390082e-03 9.99904757e-01 -1.72267087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02719347 meters Centerline goodness : 0.848470 Centerline is valid? [False, False] Translation: X:10.80, Y:0.20, Z:-1.72 [[ 9.99941898e-01 -4.04414072e-03 -9.99226019e-03 1.07969325e+01] [ 4.16919350e-03 9.99912855e-01 1.25259918e-02 2.00286491e-01] [ 9.94073254e-03 -1.25669237e-02 9.99871619e-01 -1.72321701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.05719347 meters Centerline goodness : 0.847659 Centerline is valid? [False, False] Translation: X:10.80, Y:0.20, Z:-1.72 [[ 9.99948342e-01 -1.32605479e-03 -1.00774172e-02 1.07971074e+01] [ 1.48142477e-03 9.99879917e-01 1.54258468e-02 2.02008452e-01] [ 1.00557515e-02 -1.54399788e-02 9.99830230e-01 -1.72342990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08719347 meters Centerline goodness : 0.847428 Centerline is valid? [False, False] Translation: X:10.80, Y:0.21, Z:-1.72 [[ 9.99947983e-01 6.63120321e-04 -1.01780194e-02 1.07976818e+01] [-4.95343490e-04 9.99864107e-01 1.64779096e-02 2.08902709e-01] [ 1.01875631e-02 -1.64720108e-02 9.99812426e-01 -1.72391274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.11719347 meters Centerline goodness : 0.846774 Centerline is valid? [False, False] Translation: X:10.80, Y:0.21, Z:-1.72 [[ 9.99938297e-01 3.74611732e-03 -1.04579181e-02 1.07984432e+01] [-3.54498958e-03 9.99809669e-01 1.91848385e-02 2.11690847e-01] [ 1.05277963e-02 -1.91465815e-02 9.99761258e-01 -1.72428772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14719347 meters Centerline goodness : 0.846193 Centerline is valid? [False, False] Translation: X:10.78, Y:0.22, Z:-1.72 [[ 9.99862740e-01 7.41747980e-03 -1.48149274e-02 1.07838955e+01] [-7.16398653e-03 9.99828272e-01 1.70910595e-02 2.17202696e-01] [ 1.49391558e-02 -1.69825797e-02 9.99744174e-01 -1.72458382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.17719347 meters Centerline goodness : 0.845355 Centerline is valid? [False, False] Translation: X:10.78, Y:0.23, Z:-1.73 [[ 0.99977667 0.01608543 -0.01370665 10.78344793] [-0.01588787 0.99977004 0.01440256 0.22741548] [ 0.01393517 -0.01418158 0.99980233 -1.73201303] [ 0. 0. 0. 1. ]] SLAMing on 130.20719347 meters Centerline goodness : 0.844905 Centerline is valid? [False, False] Translation: X:10.78, Y:0.23, Z:-1.73 [[ 0.99970954 0.01975717 -0.01380202 10.78455915] [-0.01952701 0.99967124 0.01661678 0.23278059] [ 0.01412578 -0.01634244 0.99976667 -1.73283336] [ 0. 0. 0. 1. ]] SLAMing on 130.23719347 meters Centerline goodness : 0.844894 Centerline is valid? [False, False] Translation: X:10.79, Y:0.24, Z:-1.73 [[ 9.99651216e-01 2.43165579e-02 -1.03029594e-02 1.07924544e+01] [-2.42088581e-02 9.99652281e-01 1.04521583e-02 2.39482092e-01] [ 1.05535374e-02 -1.01990899e-02 9.99892295e-01 -1.73287370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.26719347 meters Centerline goodness : 0.845898 Centerline is valid? [False, False] Translation: X:10.79, Y:0.24, Z:-1.73 [[ 9.99553279e-01 2.80526550e-02 -1.03097093e-02 1.07926626e+01] [-2.79191978e-02 9.99527349e-01 1.28684663e-02 2.44001304e-01] [ 1.06658311e-02 -1.25748789e-02 9.99864047e-01 -1.73271370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.29719347 meters Centerline goodness : 0.846049 Centerline is valid? [False, False] Translation: X:10.80, Y:0.25, Z:-1.73 [[ 9.99509768e-01 3.08762974e-02 -5.18436035e-03 1.07999409e+01] [-3.08493132e-02 9.99510486e-01 5.20665277e-03 2.52056085e-01] [ 5.34258469e-03 -5.04416634e-03 9.99973006e-01 -1.73276376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.32719347 meters Centerline goodness : 0.845400 Centerline is valid? [False, False] Translation: X:10.80, Y:0.25, Z:-1.73 [[ 9.99516495e-01 3.06359513e-02 -5.31166321e-03 1.08000695e+01] [-3.06118212e-02 9.99520919e-01 4.56616532e-03 2.53522426e-01] [ 5.44900731e-03 -4.40135787e-03 9.99975468e-01 -1.73254622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.35719347 meters Centerline goodness : 0.846160 Centerline is valid? [False, False] Translation: X:10.80, Y:0.25, Z:-1.73 [[ 9.99523820e-01 3.03741858e-02 -5.43522926e-03 1.08002925e+01] [-3.03518182e-02 9.99530656e-01 4.15154288e-03 2.54154968e-01] [ 5.55877800e-03 -3.98459691e-03 9.99976611e-01 -1.73251952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.38719347 meters Centerline goodness : 0.845957 Centerline is valid? [False, False] Translation: X:10.81, Y:0.25, Z:-1.74 [[ 9.99634016e-01 2.70514886e-02 -2.27613129e-04 1.08103069e+01] [-2.70471819e-02 9.99570094e-01 1.13171142e-02 2.53321106e-01] [ 5.33660062e-04 -1.13068160e-02 9.99935934e-01 -1.73534238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.41719347 meters Centerline goodness : 0.844656 Centerline is valid? [False, False] Translation: X:10.82, Y:0.25, Z:-1.74 [[ 9.99628100e-01 2.70309703e-02 3.60394807e-03 1.08209956e+01] [-2.71075844e-02 9.99362231e-01 2.32445710e-02 2.51493147e-01] [-2.97332628e-03 -2.33336207e-02 9.99723312e-01 -1.73851676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.44719347 meters Centerline goodness : 0.844384 Centerline is valid? [False, False] Translation: X:10.82, Y:0.25, Z:-1.74 [[ 9.99598048e-01 2.82176456e-02 2.73993320e-03 1.08241073e+01] [-2.82758266e-02 9.99306485e-01 2.42286335e-02 2.52142588e-01] [-2.05435802e-03 -2.42963686e-02 9.99702689e-01 -1.74032834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.47719347 meters Centerline goodness : 0.844384 Centerline is valid? [False, False] Translation: X:10.82, Y:0.25, Z:-1.74 [[ 9.99598034e-01 2.82180738e-02 2.74047764e-03 1.08241065e+01] [-2.82762684e-02 9.99306466e-01 2.42288989e-02 2.52142413e-01] [-2.05488417e-03 -2.42966502e-02 9.99702681e-01 -1.74032826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.50719347 meters Centerline goodness : 0.844293 Centerline is valid? [False, False] Translation: X:10.83, Y:0.25, Z:-1.74 [[ 9.99556355e-01 2.97290377e-02 1.81033379e-03 1.08275463e+01] [-2.97652723e-02 9.99238568e-01 2.52252495e-02 2.52865749e-01] [-1.05903295e-03 -2.52679435e-02 9.99680154e-01 -1.74243100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.53719347 meters Centerline goodness : 0.842900 Centerline is valid? [False, False] Translation: X:10.83, Y:0.25, Z:-1.74 [[ 9.99467883e-01 3.26023907e-02 1.01687154e-03 1.08310042e+01] [-3.26179839e-02 9.99098819e-01 2.71590894e-02 2.51727194e-01] [-1.30503914e-04 -2.71778059e-02 9.99630607e-01 -1.74447614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.56719347 meters Centerline goodness : 0.845258 Centerline is valid? [False, False] Translation: X:10.83, Y:0.25, Z:-1.75 [[ 9.99444023e-01 3.33340052e-02 6.99063581e-04 1.08320605e+01] [-3.33405772e-02 9.99060298e-01 2.76934316e-02 2.50497975e-01] [ 2.24726322e-04 -2.77013419e-02 9.99616219e-01 -1.74504422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.59719347 meters Centerline goodness : 0.845621 Centerline is valid? [False, False] Translation: X:10.83, Y:0.25, Z:-1.75 [[ 9.99527929e-01 3.07211884e-02 3.56590138e-04 1.08330180e+01] [-3.07208403e-02 9.99236358e-01 2.41439683e-02 2.50998078e-01] [ 3.85413568e-04 -2.41435254e-02 9.99708428e-01 -1.74532064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.62719347 meters Centerline goodness : 0.846618 Centerline is valid? [False, False] Translation: X:10.83, Y:0.25, Z:-1.75 [[ 9.99610342e-01 2.79134650e-02 -4.52726161e-05 1.08339413e+01] [-2.79066957e-02 9.99401112e-01 2.04605157e-02 2.52222003e-01] [ 6.16369390e-04 -2.04512796e-02 9.99790661e-01 -1.74541841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.65719347 meters Centerline goodness : 0.846919 Centerline is valid? [False, False] Translation: X:10.83, Y:0.25, Z:-1.74 [[ 9.99608628e-01 2.79748189e-02 2.79856337e-05 1.08333225e+01] [-2.79695100e-02 9.99398415e-01 2.05064616e-02 2.52410583e-01] [ 5.45695750e-04 -2.04992186e-02 9.99789720e-01 -1.74441635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.68719347 meters Centerline goodness : 0.848454 Centerline is valid? [False, False] Translation: X:10.83, Y:0.25, Z:-1.74 [[ 9.99601021e-01 2.82425197e-02 -3.99546086e-04 1.08345190e+01] [-2.82281127e-02 9.99385247e-01 2.07918736e-02 2.51795908e-01] [ 9.86515366e-04 -2.07722997e-02 9.99783746e-01 -1.74493504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.71719347 meters Centerline goodness : 0.845271 Centerline is valid? [False, False] Translation: X:10.86, Y:0.25, Z:-1.75 [[ 9.99670528e-01 2.54737387e-02 -3.15020242e-03 1.08568095e+01] [-2.54043102e-02 9.99469033e-01 2.04027536e-02 2.51772343e-01] [ 3.66826418e-03 -2.03160027e-02 9.99786879e-01 -1.74635851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.74719347 meters Centerline goodness : 0.846045 Centerline is valid? [False, False] Translation: X:10.86, Y:0.25, Z:-1.75 [[ 9.99713820e-01 2.35927818e-02 -3.95706838e-03 1.08600006e+01] [-2.35186249e-02 9.99564161e-01 1.78426884e-02 2.51701952e-01] [ 4.37630239e-03 -1.77445173e-02 9.99832976e-01 -1.74856038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.77719347 meters Centerline goodness : 0.841444 Centerline is valid? [False, False] Translation: X:10.88, Y:0.25, Z:-1.75 [[ 9.99726542e-01 2.21683636e-02 -7.44341204e-03 1.08839834e+01] [-2.20226755e-02 9.99574715e-01 1.91152123e-02 2.49037103e-01] [ 7.86399944e-03 -1.89460612e-02 9.99789580e-01 -1.75197806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80719347 meters Centerline goodness : 0.845064 Centerline is valid? [False, False] Translation: X:10.89, Y:0.25, Z:-1.75 [[ 9.99711278e-01 2.27325975e-02 -7.78396596e-03 1.08851509e+01] [-2.25760075e-02 9.99552074e-01 1.96462461e-02 2.47868800e-01] [ 8.22708953e-03 -1.94648429e-02 9.99776693e-01 -1.75262698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.83719347 meters Centerline goodness : 0.843491 Centerline is valid? [False, False] Translation: X:10.89, Y:0.25, Z:-1.75 [[ 9.99768588e-01 1.99081850e-02 -8.15079653e-03 1.08860050e+01] [-1.97752368e-02 9.99675149e-01 1.60790750e-02 2.48857310e-01] [ 8.46825394e-03 -1.59141701e-02 9.99837501e-01 -1.75267247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86719347 meters Centerline goodness : 0.843799 Centerline is valid? [False, False] Translation: X:10.89, Y:0.25, Z:-1.75 [[ 9.99812118e-01 1.74243859e-02 -8.49237306e-03 1.08865276e+01] [-1.73093738e-02 9.99759936e-01 1.34333782e-02 2.46822790e-01] [ 8.72440271e-03 -1.32838566e-02 9.99873704e-01 -1.75220333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.89719347 meters Centerline goodness : 0.843743 Centerline is valid? [False, False] Translation: X:10.89, Y:0.25, Z:-1.75 [[ 9.99836143e-01 1.55757763e-02 -9.22405853e-03 1.08889806e+01] [-1.54694513e-02 9.99814341e-01 1.14882202e-02 2.45082702e-01] [ 9.40128395e-03 -1.13436466e-02 9.99891463e-01 -1.75337361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92719347 meters Centerline goodness : 0.843465 Centerline is valid? [False, False] Translation: X:10.89, Y:0.24, Z:-1.75 [[ 9.99876175e-01 1.25341572e-02 -9.51472492e-03 1.08892739e+01] [-1.24550694e-02 9.99887765e-01 8.32639056e-03 2.43404339e-01] [ 9.61802132e-03 -8.20685298e-03 9.99920067e-01 -1.75291950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.95719347 meters Centerline goodness : 0.846309 Centerline is valid? [False, False] Translation: X:10.90, Y:0.23, Z:-1.76 [[ 9.99943461e-01 1.00587313e-02 -3.44905675e-03 1.09008205e+01] [-1.00084360e-02 9.99847630e-01 1.43020194e-02 2.33233415e-01] [ 3.59239139e-03 -1.42666911e-02 9.99891772e-01 -1.75514362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98719347 meters Centerline goodness : 0.842345 Centerline is valid? [False, False] Translation: X:10.90, Y:0.23, Z:-1.76 [[ 9.99963487e-01 7.59995817e-03 -3.90703691e-03 1.09022144e+01] [-7.55159806e-03 9.99896488e-01 1.22469162e-02 2.29493073e-01] [ 3.99970854e-03 -1.22169647e-02 9.99917371e-01 -1.75571765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.01719347 meters Centerline goodness : 0.844105 Centerline is valid? [False, False] Translation: X:10.91, Y:0.22, Z:-1.76 [[ 9.99985771e-01 5.10908443e-03 1.53486915e-03 1.09138750e+01] [-5.13798334e-03 9.99797540e-01 1.94545523e-02 2.23290967e-01] [-1.43516345e-03 -1.94621616e-02 9.99809564e-01 -1.75952233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.04719347 meters Centerline goodness : 0.843522 Centerline is valid? [False, False] Translation: X:10.91, Y:0.22, Z:-1.76 [[ 9.99996867e-01 2.22121919e-03 1.15454753e-03 1.09149441e+01] [-2.24050838e-03 9.99853262e-01 1.69833732e-02 2.19617963e-01] [-1.11665432e-03 -1.69859067e-02 9.99855106e-01 -1.75990620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.07719347 meters Centerline goodness : 0.840911 Centerline is valid? [False, False] Translation: X:10.94, Y:0.21, Z:-1.76 [[ 9.99998339e-01 4.96379094e-04 1.75366214e-03 1.09362727e+01] [-5.31853467e-04 9.99794066e-01 2.02865252e-02 2.08197895e-01] [-1.74323120e-03 -2.02874242e-02 9.99792669e-01 -1.76242177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.10719347 meters Centerline goodness : 0.840473 Centerline is valid? [False, False] Translation: X:10.94, Y:0.20, Z:-1.76 [[ 9.99998581e-01 -1.35133508e-03 1.00564269e-03 1.09384414e+01] [ 1.33223604e-03 9.99823200e-01 1.87561749e-02 2.03736111e-01] [-1.03081077e-03 -1.87548085e-02 9.99823582e-01 -1.76316764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.13719347 meters Centerline goodness : 0.839856 Centerline is valid? [False, False] Translation: X:10.94, Y:0.20, Z:-1.76 [[ 9.99995141e-01 -3.09355508e-03 3.83505703e-04 1.09404892e+01] [ 3.08654700e-03 9.99849096e-01 1.70955722e-02 2.00002523e-01] [-4.36333924e-04 -1.70943054e-02 9.99853786e-01 -1.76404863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.16719347 meters Centerline goodness : 0.838111 Centerline is valid? [False, False] Translation: X:10.94, Y:0.19, Z:-1.77 [[ 9.99999922e-01 -9.56122422e-05 -3.83322039e-04 1.09433578e+01] [ 1.03641535e-04 9.99779437e-01 2.10015924e-02 1.89852261e-01] [ 3.81229483e-04 -2.10016305e-02 9.99779369e-01 -1.76537891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.19719347 meters Centerline goodness : 0.835936 Centerline is valid? [False, False] Translation: X:10.95, Y:0.19, Z:-1.77 [[ 9.99999001e-01 -7.74826636e-04 -1.18256446e-03 1.09466008e+01] [ 7.98861721e-04 9.99790328e-01 2.04612495e-02 1.85575213e-01] [ 1.16646258e-03 -2.04621738e-02 9.99789947e-01 -1.76736345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.22719347 meters Centerline goodness : 0.835888 Centerline is valid? [False, False] Translation: X:10.95, Y:0.18, Z:-1.77 [[ 9.99995974e-01 -2.01684582e-03 -1.99611473e-03 1.09497235e+01] [ 2.05559582e-03 9.99805693e-01 1.96048901e-02 1.80428448e-01] [ 1.95618683e-03 -1.96089144e-02 9.99805813e-01 -1.76918075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.25719347 meters Centerline goodness : 0.835007 Centerline is valid? [False, False] Translation: X:10.97, Y:0.17, Z:-1.77 [[ 9.99985642e-01 -5.35841810e-03 -5.06627531e-05 1.09692798e+01] [ 5.35822899e-03 9.99741394e-01 2.21005376e-02 1.65250209e-01] [-6.77742691e-05 -2.21004917e-02 9.99755752e-01 -1.77209806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.28719347 meters Centerline goodness : 0.835132 Centerline is valid? [False, False] Translation: X:10.97, Y:0.16, Z:-1.77 [[ 9.99965493e-01 -8.29715673e-03 -4.13434031e-04 1.09707293e+01] [ 8.30387722e-03 9.99756353e-01 2.04519116e-02 1.58843157e-01] [ 2.43640583e-04 -2.04546390e-02 9.99790752e-01 -1.77272381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.31719347 meters Centerline goodness : 0.832943 Centerline is valid? [False, False] Translation: X:10.99, Y:0.15, Z:-1.77 [[ 9.99927751e-01 -1.18472824e-02 2.03357512e-03 1.09888131e+01] [ 1.17990361e-02 9.99681899e-01 2.22908837e-02 1.51774023e-01] [-2.29701463e-03 -2.22652790e-02 9.99749459e-01 -1.77421688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.34719347 meters Centerline goodness : 0.832734 Centerline is valid? [False, False] Translation: X:11.01, Y:0.13, Z:-1.77 [[ 9.99738608e-01 -2.23880129e-02 4.63602457e-03 1.10099014e+01] [ 2.22113405e-02 9.99134150e-01 3.51796302e-02 1.34504886e-01] [-5.41961249e-03 -3.50674622e-02 9.99370252e-01 -1.77442811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.37719347 meters Centerline goodness : 0.832302 Centerline is valid? [False, False] Translation: X:11.03, Y:0.13, Z:-1.78 [[ 9.99613068e-01 -2.67803346e-02 7.51853327e-03 1.10282510e+01] [ 2.64929717e-02 9.98999791e-01 3.60213754e-02 1.25952807e-01] [-8.47567765e-03 -3.58082493e-02 9.99322737e-01 -1.77632462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.40719347 meters Centerline goodness : 0.833788 Centerline is valid? [False, False] Translation: X:11.03, Y:0.12, Z:-1.78 [[ 9.99431965e-01 -3.29243943e-02 7.19253345e-03 1.10303036e+01] [ 3.26870948e-02 9.98986753e-01 3.09357480e-02 1.20225344e-01] [-8.20378640e-03 -3.06830724e-02 9.99495496e-01 -1.77709266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.43719347 meters Centerline goodness : 0.833641 Centerline is valid? [False, False] Translation: X:11.03, Y:0.11, Z:-1.78 [[ 9.99327185e-01 -3.60065854e-02 6.97883179e-03 1.10314976e+01] [ 3.57852394e-02 9.98921046e-01 2.95999933e-02 1.14012209e-01] [-8.03709664e-03 -2.93303388e-02 9.99537461e-01 -1.77700330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.46719347 meters Centerline goodness : 0.835274 Centerline is valid? [False, False] Translation: X:11.03, Y:0.11, Z:-1.78 [[ 9.99105836e-01 -4.16947928e-02 7.00521817e-03 1.10318546e+01] [ 4.14986103e-02 9.98796573e-01 2.61394461e-02 1.05122541e-01] [-8.08666669e-03 -2.58253663e-02 9.99633761e-01 -1.77578506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.49719347 meters Centerline goodness : 0.834782 Centerline is valid? [False, False] Translation: X:11.03, Y:0.10, Z:-1.78 [[ 9.98947125e-01 -4.53475074e-02 6.94587369e-03 1.10324615e+01] [ 4.51743066e-02 9.98706465e-01 2.33383387e-02 1.01713076e-01] [-7.99522445e-03 -2.29999914e-02 9.99703494e-01 -1.77562611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52719347 meters Centerline goodness : 0.834685 Centerline is valid? [False, False] Translation: X:11.03, Y:0.10, Z:-1.78 [[ 9.98924234e-01 -4.59024418e-02 6.58341112e-03 1.10332189e+01] [ 4.57274600e-02 9.98650051e-01 2.46388814e-02 9.62513554e-02] [-7.70550867e-03 -2.43113330e-02 9.99674739e-01 -1.77519185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.55719347 meters Centerline goodness : 0.833410 Centerline is valid? [False, False] Translation: X:11.03, Y:0.09, Z:-1.78 [[ 9.98747371e-01 -4.96038925e-02 6.56824093e-03 1.10341384e+01] [ 4.94502835e-02 9.98539002e-01 2.17837088e-02 9.24996532e-02] [-7.63920150e-03 -2.14316205e-02 9.99741131e-01 -1.77572245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58719347 meters Centerline goodness : 0.833057 Centerline is valid? [False, False] Translation: X:11.04, Y:0.09, Z:-1.78 [[ 9.98402431e-01 -5.61520697e-02 6.28739799e-03 1.10370912e+01] [ 5.60415542e-02 9.98291169e-01 1.65555460e-02 8.50817491e-02] [-7.20628206e-03 -1.61767418e-02 9.99843179e-01 -1.77754950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.61719347 meters Centerline goodness : 0.832163 Centerline is valid? [False, False] Translation: X:11.04, Y:0.08, Z:-1.78 [[ 9.98240779e-01 -5.89863320e-02 5.99664422e-03 1.10390584e+01] [ 5.88973723e-02 9.98164979e-01 1.40632115e-02 8.22572282e-02] [-6.81517751e-03 -1.36852846e-02 9.99883126e-01 -1.77874279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64719347 meters Centerline goodness : 0.833497 Centerline is valid? [False, False] Translation: X:11.04, Y:0.08, Z:-1.78 [[ 9.98159139e-01 -6.03954672e-02 5.54260396e-03 1.10415532e+01] [ 6.03195925e-02 9.98094921e-01 1.29643978e-02 8.02448380e-02] [-6.31503573e-03 -1.26062046e-02 9.99900597e-01 -1.78047130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.67719347 meters Centerline goodness : 0.834362 Centerline is valid? [False, False] Translation: X:11.04, Y:0.08, Z:-1.78 [[ 9.98175168e-01 -6.01225797e-02 5.62229518e-03 1.10416260e+01] [ 6.00421041e-02 9.98104168e-01 1.35282991e-02 7.89062636e-02] [-6.42499250e-03 -1.31660378e-02 9.99892682e-01 -1.78054713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.70719347 meters Centerline goodness : 0.836258 Centerline is valid? [False, False] Translation: X:11.04, Y:0.08, Z:-1.78 [[ 9.98184254e-01 -5.99941127e-02 5.37598843e-03 1.10422793e+01] [ 5.99168855e-02 9.98111680e-01 1.35292441e-02 7.95459925e-02] [-6.17751184e-03 -1.31825660e-02 9.99894024e-01 -1.78075052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.73719347 meters Centerline goodness : 0.836553 Centerline is valid? [False, False] Translation: X:11.06, Y:0.08, Z:-1.78 [[ 9.98273355e-01 -5.81540141e-02 8.27164743e-03 1.10553825e+01] [ 5.81091262e-02 9.98294712e-01 5.56750197e-03 8.22101069e-02] [-8.58131448e-03 -5.07723067e-03 9.99950290e-01 -1.78489503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.76719347 meters Centerline goodness : 0.835920 Centerline is valid? [False, False] Translation: X:11.06, Y:0.08, Z:-1.79 [[ 9.98195435e-01 -5.95514449e-02 7.71361855e-03 1.10587003e+01] [ 5.95229498e-02 9.98219425e-01 3.87267124e-03 8.37254317e-02] [-7.93050705e-03 -3.40654542e-03 9.99962751e-01 -1.78770916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.79719347 meters Centerline goodness : 0.837509 Centerline is valid? [False, False] Translation: X:11.07, Y:0.09, Z:-1.79 [[ 9.98208310e-01 -5.90441384e-02 9.69331393e-03 1.10701168e+01] [ 5.91041034e-02 9.98233668e-01 -6.02066669e-03 8.51304544e-02] [-9.32070725e-03 6.58279415e-03 9.99934893e-01 -1.78979601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.82719347 meters Centerline goodness : 0.837743 Centerline is valid? [False, False] Translation: X:11.07, Y:0.09, Z:-1.79 [[ 9.98100301e-01 -6.09044692e-02 9.29699770e-03 1.10725639e+01] [ 6.09783308e-02 9.98107991e-01 -7.87920618e-03 8.59248123e-02] [-8.79952883e-03 8.43115346e-03 9.99925739e-01 -1.79173315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.85719347 meters Centerline goodness : 0.838046 Centerline is valid? [False, False] Translation: X:11.07, Y:0.09, Z:-1.79 [[ 9.98006916e-01 -6.24759792e-02 8.88522581e-03 1.10745568e+01] [ 6.25592038e-02 9.97996808e-01 -9.41903330e-03 8.74620207e-02] [-8.27896367e-03 9.95611303e-03 9.99916164e-01 -1.79316102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88719347 meters Centerline goodness : 0.839982 Centerline is valid? [False, False] Translation: X:11.08, Y:0.09, Z:-1.79 [[ 9.97842505e-01 -6.51070117e-02 8.45062658e-03 1.10767277e+01] [ 6.52075468e-02 9.97796863e-01 -1.22227395e-02 9.30376279e-02] [-7.63622265e-03 1.27474137e-02 9.99889590e-01 -1.79471068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.91719347 meters Centerline goodness : 0.841081 Centerline is valid? [False, False] Translation: X:11.08, Y:0.09, Z:-1.79 [[ 9.97795067e-01 -6.58475668e-02 8.31282456e-03 1.10769398e+01] [ 6.59518785e-02 9.97738527e-01 -1.29684799e-02 9.46987312e-02] [-7.44008249e-03 1.34881317e-02 9.99881351e-01 -1.79456033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.94719347 meters Centerline goodness : 0.841633 Centerline is valid? [False, False] Translation: X:11.08, Y:0.10, Z:-1.79 [[ 9.97764125e-01 -6.63211809e-02 8.26143263e-03 1.10772235e+01] [ 6.64277198e-02 9.97701681e-01 -1.33684011e-02 9.52559871e-02] [-7.35583708e-03 1.38872992e-02 9.99876510e-01 -1.79473766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.97719347 meters Centerline goodness : 0.843051 Centerline is valid? [False, False] Translation: X:11.08, Y:0.10, Z:-1.80 [[ 9.97537766e-01 -6.96638358e-02 8.08428018e-03 1.10794977e+01] [ 6.97915293e-02 9.97420711e-01 -1.67650837e-02 9.76578081e-02] [-6.89550844e-03 1.72880185e-02 9.99826773e-01 -1.79669249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.00719347 meters Centerline goodness : 0.844639 Centerline is valid? [False, False] Translation: X:11.08, Y:0.10, Z:-1.80 [[ 9.97492852e-01 -7.02927968e-02 8.18126159e-03 1.10793122e+01] [ 7.04270845e-02 9.97363721e-01 -1.74824026e-02 9.89922756e-02] [-6.93080653e-03 1.80147540e-02 9.99813699e-01 -1.79654212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.03719347 meters Centerline goodness : 0.846940 Centerline is valid? [False, False] Translation: X:11.08, Y:0.10, Z:-1.80 [[ 9.97684620e-01 -6.75280617e-02 8.08459081e-03 1.10789054e+01] [ 6.76373587e-02 9.97610199e-01 -1.41094850e-02 9.91039503e-02] [-7.11248407e-03 1.46236366e-02 9.99867772e-01 -1.79630875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.06719347 meters Centerline goodness : 0.851564 Centerline is valid? [False, False] Translation: X:11.08, Y:0.10, Z:-1.80 [[ 9.97831295e-01 -6.53067773e-02 8.22993094e-03 1.10782206e+01] [ 6.54056974e-02 9.97781886e-01 -1.23855553e-02 1.04899205e-01] [-7.40281532e-03 1.28969790e-02 9.99889427e-01 -1.79606182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.09719347 meters Centerline goodness : 0.850621 Centerline is valid? [False, False] Translation: X:11.08, Y:0.11, Z:-1.80 [[ 9.98044115e-01 -6.20062390e-02 7.94805500e-03 1.10783807e+01] [ 6.20792514e-02 9.98027946e-01 -9.29437223e-03 1.07431296e-01] [-7.35607194e-03 9.76960281e-03 9.99925219e-01 -1.79620140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.12719347 meters Centerline goodness : 0.852142 Centerline is valid? [False, False] Translation: X:11.08, Y:0.11, Z:-1.80 [[ 9.98251877e-01 -5.86145897e-02 7.58419107e-03 1.10788365e+01] [ 5.86627266e-02 9.98258055e-01 -6.28816458e-03 1.10197268e-01] [-7.20240163e-03 6.72208142e-03 9.99951468e-01 -1.79645437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.15719347 meters Centerline goodness : 0.851360 Centerline is valid? [False, False] Translation: X:11.08, Y:0.11, Z:-1.80 [[ 9.98456773e-01 -5.50319132e-02 7.45396642e-03 1.10785767e+01] [ 5.50571780e-02 9.98477987e-01 -3.22759887e-03 1.12747885e-01] [-7.26500044e-03 3.63301230e-03 9.99967010e-01 -1.79628238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.18719347 meters Centerline goodness : 0.855818 Centerline is valid? [False, False] Translation: X:11.08, Y:0.12, Z:-1.80 [[ 9.98658756e-01 -5.11917331e-02 7.75216500e-03 1.10770955e+01] [ 5.12062561e-02 9.98686675e-01 -1.68653056e-03 1.20206160e-01] [-7.65564746e-03 2.08122786e-03 9.99968529e-01 -1.79505436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.21719347 meters Centerline goodness : 0.857770 Centerline is valid? [False, False] Translation: X:11.08, Y:0.12, Z:-1.80 [[ 9.98831441e-01 -4.77417427e-02 7.51517787e-03 1.10771371e+01] [ 4.77340856e-02 9.98859364e-01 1.19506915e-03 1.23531106e-01] [-7.56366047e-03 -8.34942497e-04 9.99971047e-01 -1.79502470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24719347 meters Centerline goodness : 0.858419 Centerline is valid? [False, False] Translation: X:11.08, Y:0.13, Z:-1.80 [[ 9.98977526e-01 -4.45927239e-02 7.44257196e-03 1.10770007e+01] [ 4.45648333e-02 9.98998990e-01 3.87221092e-03 1.27481968e-01] [-7.60779431e-03 -3.53657470e-03 9.99964806e-01 -1.79515754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.27719347 meters Centerline goodness : 0.860444 Centerline is valid? [False, False] Translation: X:11.08, Y:0.13, Z:-1.80 [[ 9.98947169e-01 -4.53089857e-02 7.18678629e-03 1.10778092e+01] [ 4.52947493e-02 9.98971392e-01 2.13153875e-03 1.33684802e-01] [-7.27597177e-03 -1.80377091e-03 9.99971903e-01 -1.79577514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30719347 meters Centerline goodness : 0.860471 Centerline is valid? [False, False] Translation: X:11.08, Y:0.14, Z:-1.80 [[ 9.98880159e-01 -4.69113485e-02 6.14435350e-03 1.10817528e+01] [ 4.69108053e-02 9.98899055e-01 2.32570730e-04 1.41911645e-01] [-6.14849911e-03 5.59262823e-05 9.99981096e-01 -1.79871797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.33719347 meters Centerline goodness : 0.858015 Centerline is valid? [False, False] Translation: X:11.09, Y:0.15, Z:-1.80 [[ 9.98760700e-01 -4.94931431e-02 5.24332250e-03 1.10853581e+01] [ 4.95072151e-02 9.98770411e-01 -2.58880592e-03 1.45417094e-01] [-5.10874722e-03 2.84517991e-03 9.99982903e-01 -1.80117861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36719347 meters Centerline goodness : 0.858015 Centerline is valid? [False, False] Translation: X:11.09, Y:0.15, Z:-1.80 [[ 9.98760700e-01 -4.94931431e-02 5.24332250e-03 1.10853581e+01] [ 4.95072151e-02 9.98770411e-01 -2.58880592e-03 1.45417094e-01] [-5.10874722e-03 2.84517991e-03 9.99982903e-01 -1.80117861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.39719347 meters Centerline goodness : 0.860807 Centerline is valid? [False, False] Translation: X:11.09, Y:0.15, Z:-1.80 [[ 9.98697160e-01 -5.08010745e-02 4.82009671e-03 1.10869125e+01] [ 5.08205611e-02 9.98699749e-01 -4.01022464e-03 1.47939130e-01] [-4.61010566e-03 4.24995998e-03 9.99980342e-01 -1.80226722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42719347 meters Centerline goodness : 0.859513 Centerline is valid? [False, False] Translation: X:11.09, Y:0.16, Z:-1.80 [[ 9.98555146e-01 -5.35568119e-02 4.39177458e-03 1.10889640e+01] [ 5.35897978e-02 9.98532783e-01 -7.77270775e-03 1.56070266e-01] [-3.96904945e-03 7.99683164e-03 9.99960148e-01 -1.80385718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.45719347 meters Centerline goodness : 0.859179 Centerline is valid? [False, False] Translation: X:11.09, Y:0.16, Z:-1.80 [[ 9.98697543e-01 -5.08776329e-02 3.83200452e-03 1.10901601e+01] [ 5.08970279e-02 9.98690647e-01 -5.14629214e-03 1.58981849e-01] [-3.56515591e-03 5.33462696e-03 9.99979415e-01 -1.80466443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48719347 meters Centerline goodness : 0.861496 Centerline is valid? [False, False] Translation: X:11.09, Y:0.16, Z:-1.81 [[ 9.98832711e-01 -4.81969626e-02 3.20426111e-03 1.10917600e+01] [ 4.82061197e-02 9.98833358e-01 -2.84472017e-03 1.62969483e-01] [-3.06341602e-03 2.99586456e-03 9.99990820e-01 -1.80588543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.51719347 meters Centerline goodness : 0.860395 Centerline is valid? [False, False] Translation: X:11.09, Y:0.17, Z:-1.81 [[ 9.99031862e-01 -4.39393419e-02 2.16165840e-03 1.10942663e+01] [ 4.39386687e-02 9.99034166e-01 3.57991933e-04 1.73046879e-01] [-2.17530053e-03 -2.62664955e-04 9.99997600e-01 -1.80786725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.54719347 meters Centerline goodness : 0.857616 Centerline is valid? [False, False] Translation: X:11.10, Y:0.18, Z:-1.81 [[ 9.99156515e-01 -4.10380352e-02 1.46229847e-03 1.10952745e+01] [ 4.10341682e-02 9.99154405e-01 2.58304771e-03 1.77160338e-01] [-1.56706516e-03 -2.52086475e-03 9.99995595e-01 -1.80819175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.57719347 meters Centerline goodness : 0.856718 Centerline is valid? [False, False] Translation: X:11.10, Y:0.18, Z:-1.81 [[ 9.99274391e-01 -3.80744985e-02 1.01198948e-03 1.10957674e+01] [ 3.80687687e-02 9.99261695e-01 5.18017850e-03 1.79586146e-01] [-1.20847502e-03 -5.13789453e-03 9.99986071e-01 -1.80833403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.60719347 meters Centerline goodness : 0.856300 Centerline is valid? [False, False] Translation: X:11.10, Y:0.18, Z:-1.81 [[ 9.99295784e-01 -3.75217160e-02 2.36926380e-04 1.10979530e+01] [ 3.75202475e-02 9.99285465e-01 4.55966316e-03 1.83289387e-01] [-4.07843474e-04 -4.54756264e-03 9.99989577e-01 -1.80976752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.63719347 meters Centerline goodness : 0.859153 Centerline is valid? [False, False] Translation: X:11.10, Y:0.19, Z:-1.81 [[ 9.99402503e-01 -3.45625510e-02 -2.58798562e-04 1.10982236e+01] [ 3.45634195e-02 9.99389633e-01 5.07267153e-03 1.92378470e-01] [ 8.33161320e-05 -5.07858558e-03 9.99987100e-01 -1.80997861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.66719347 meters Centerline goodness : 0.858259 Centerline is valid? [False, False] Translation: X:11.10, Y:0.20, Z:-1.81 [[ 9.99497159e-01 -3.16883680e-02 -1.13023042e-03 1.10992595e+01] [ 3.16959120e-02 9.99469899e-01 7.43573642e-03 1.96219270e-01] [ 8.94004928e-04 -7.46782111e-03 9.99971716e-01 -1.80974861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.69719347 meters Centerline goodness : 0.857327 Centerline is valid? [False, False] Translation: X:11.10, Y:0.20, Z:-1.81 [[ 9.99580447e-01 -2.89177904e-02 -1.64028298e-03 1.10994623e+01] [ 2.89323029e-02 9.99534806e-01 9.64849096e-03 2.00262212e-01] [ 1.36050689e-03 -9.69190007e-03 9.99952107e-01 -1.80928581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.72719347 meters Centerline goodness : 0.859328 Centerline is valid? [False, False] Translation: X:11.10, Y:0.20, Z:-1.81 [[ 9.99663983e-01 -2.58039838e-02 -2.46498689e-03 1.11003183e+01] [ 2.58323669e-02 9.99590917e-01 1.22755054e-02 2.04050525e-01] [ 2.14722157e-03 -1.23350570e-02 9.99921615e-01 -1.80884990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.75719347 meters Centerline goodness : 0.859379 Centerline is valid? [False, False] Translation: X:11.10, Y:0.21, Z:-1.81 [[ 9.99804550e-01 -1.96032350e-02 -2.56398265e-03 1.11002867e+01] [ 1.96435349e-02 9.99666376e-01 1.67710492e-02 2.12090260e-01] [ 2.23436042e-03 -1.68181370e-02 9.99856069e-01 -1.80877646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.78719347 meters Centerline goodness : 0.858034 Centerline is valid? [False, False] Translation: X:11.10, Y:0.22, Z:-1.81 [[ 9.99866249e-01 -1.60769342e-02 -3.00283986e-03 1.11012111e+01] [ 1.61320081e-02 9.99683237e-01 1.93179743e-02 2.16180911e-01] [ 2.69131487e-03 -1.93638323e-02 9.99808881e-01 -1.80910267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.81719347 meters Centerline goodness : 0.859242 Centerline is valid? [False, False] Translation: X:11.09, Y:0.22, Z:-1.81 [[ 9.99918891e-01 -9.78561463e-03 -8.15184367e-03 1.10902470e+01] [ 9.90235837e-03 9.99847193e-01 1.44060512e-02 2.22054176e-01] [ 8.00962594e-03 -1.44856052e-02 9.99862997e-01 -1.80554844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.84719347 meters Centerline goodness : 0.859650 Centerline is valid? [False, False] Translation: X:11.09, Y:0.23, Z:-1.80 [[ 9.99991399e-01 1.17141129e-03 -3.97854358e-03 1.10896730e+01] [-1.14142411e-03 9.99970989e-01 7.53115126e-03 2.33217558e-01] [ 3.98725024e-03 -7.52654528e-03 9.99963726e-01 -1.80482949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.87719347 meters Centerline goodness : 0.861461 Centerline is valid? [False, False] Translation: X:11.09, Y:0.24, Z:-1.80 [[ 9.99974855e-01 5.64033032e-03 -4.29829190e-03 1.10901268e+01] [-5.59399250e-03 9.99926920e-01 1.07173481e-02 2.36784083e-01] [ 4.35842717e-03 -1.06930341e-02 9.99933329e-01 -1.80437329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.90719347 meters Centerline goodness : 0.862921 Centerline is valid? [False, False] Translation: X:11.09, Y:0.24, Z:-1.80 [[ 9.99945197e-01 9.55641821e-03 -4.27515751e-03 1.10894463e+01] [-9.49757580e-03 9.99862699e-01 1.35786324e-02 2.40237060e-01] [ 4.40433362e-03 -1.35372847e-02 9.99898667e-01 -1.80313974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.93719347 meters Centerline goodness : 0.864934 Centerline is valid? [False, False] Translation: X:11.09, Y:0.24, Z:-1.80 [[ 9.99898519e-01 1.35766925e-02 -4.31562871e-03 1.10890863e+01] [-1.35024181e-02 9.99767739e-01 1.67973859e-02 2.43062347e-01] [ 4.54267931e-03 -1.67374099e-02 9.99849600e-01 -1.80224288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.96719347 meters Centerline goodness : 0.863459 Centerline is valid? [False, False] Translation: X:11.09, Y:0.25, Z:-1.80 [[ 9.99731344e-01 2.26837301e-02 -4.76311605e-03 1.10913394e+01] [-2.25587911e-02 9.99437298e-01 2.48231208e-02 2.46417811e-01] [ 5.32351681e-03 -2.47090018e-02 9.99680512e-01 -1.80362547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.99719347 meters Centerline goodness : 0.862586 Centerline is valid? [False, False] Translation: X:11.09, Y:0.25, Z:-1.81 [[ 9.99683807e-01 2.45202074e-02 -5.57185161e-03 1.10948185e+01] [-2.43678897e-02 9.99366652e-01 2.59326289e-02 2.47683621e-01] [ 6.20419613e-03 -2.57886549e-02 9.99648165e-01 -1.80603652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02719347 meters Centerline goodness : 0.859209 Centerline is valid? [False, False] Translation: X:11.10, Y:0.25, Z:-1.81 [[ 9.99652792e-01 2.56326586e-02 -6.10420850e-03 1.10971866e+01] [-2.54606110e-02 9.99317411e-01 2.67669613e-02 2.47240287e-01] [ 6.78615021e-03 -2.66022507e-02 9.99623063e-01 -1.80781845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.05719347 meters Centerline goodness : 0.860396 Centerline is valid? [False, False] Translation: X:11.10, Y:0.25, Z:-1.81 [[ 9.99630128e-01 2.64123475e-02 -6.48033084e-03 1.10988138e+01] [-2.62235070e-02 9.99272972e-01 2.76741007e-02 2.45325648e-01] [ 7.20655742e-03 -2.74939278e-02 9.99595993e-01 -1.80903893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.08719347 meters Centerline goodness : 0.858056 Centerline is valid? [False, False] Translation: X:11.10, Y:0.24, Z:-1.81 [[ 9.99637981e-01 2.58402135e-02 -7.49600782e-03 1.11031744e+01] [-2.56281132e-02 9.99303307e-01 2.71311718e-02 2.40219493e-01] [ 8.19186068e-03 -2.69292413e-02 9.99603776e-01 -1.81199756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.11719347 meters Centerline goodness : 0.857480 Centerline is valid? [False, False] Translation: X:11.10, Y:0.24, Z:-1.81 [[ 9.99706997e-01 2.28759397e-02 -7.91276931e-03 1.11041495e+01] [-2.26815214e-02 9.99458355e-01 2.38441778e-02 2.39431524e-01] [ 8.45394138e-03 -2.36577177e-02 9.99684372e-01 -1.81229339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14719347 meters Centerline goodness : 0.858667 Centerline is valid? [False, False] Translation: X:11.11, Y:0.23, Z:-1.81 [[ 9.99741544e-01 2.11018149e-02 -8.45918950e-03 1.11055391e+01] [-2.09080413e-02 9.99530981e-01 2.23756919e-02 2.34792840e-01] [ 8.92738969e-03 -2.21930437e-02 9.99713844e-01 -1.81257977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.17719347 meters Centerline goodness : 0.858029 Centerline is valid? [False, False] Translation: X:11.11, Y:0.23, Z:-1.81 [[ 9.99780537e-01 1.88336998e-02 -9.17441066e-03 1.11076542e+01] [-1.86422077e-02 9.99615442e-01 2.05289253e-02 2.31129814e-01] [ 9.55751818e-03 -2.03533887e-02 9.99747165e-01 -1.81359925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.20719347 meters Centerline goodness : 0.858741 Centerline is valid? [False, False] Translation: X:11.11, Y:0.23, Z:-1.81 [[ 9.99831805e-01 1.56240418e-02 -9.60469112e-03 1.11086014e+01] [-1.54498203e-02 9.99719450e-01 1.79533924e-02 2.27202310e-01] [ 9.88250107e-03 -1.78019820e-02 9.99792691e-01 -1.81388201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.23719347 meters Centerline goodness : 0.857709 Centerline is valid? [False, False] Translation: X:11.11, Y:0.22, Z:-1.82 [[ 9.99892062e-01 1.03816075e-02 -1.03964659e-02 1.11111278e+01] [-1.02472455e-02 9.99864351e-01 1.28947448e-02 2.23573927e-01] [ 1.05289238e-02 -1.27868178e-02 9.99862810e-01 -1.81505562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.26719347 meters Centerline goodness : 0.859083 Centerline is valid? [False, False] Translation: X:11.13, Y:0.21, Z:-1.82 [[ 9.99976126e-01 2.49322734e-03 -6.44447873e-03 1.11267393e+01] [-2.40660108e-03 9.99907120e-01 1.34149154e-02 2.10830285e-01] [ 6.47732660e-03 -1.33990859e-02 9.99889248e-01 -1.81658903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.29719347 meters Centerline goodness : 0.857585 Centerline is valid? [False, False] Translation: X:11.14, Y:0.20, Z:-1.82 [[ 9.99991771e-01 -4.00335415e-03 -6.56689534e-04 1.11376897e+01] [ 4.01388230e-03 9.99849098e-01 1.69017929e-02 2.03440356e-01] [ 5.88926575e-04 -1.69042897e-02 9.99856939e-01 -1.81932116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.32719347 meters Centerline goodness : 0.857564 Centerline is valid? [False, False] Translation: X:11.15, Y:0.20, Z:-1.82 [[ 9.99954868e-01 -8.97902199e-03 3.10462475e-03 1.11539158e+01] [ 8.91758953e-03 9.99774638e-01 1.92652558e-02 1.95567382e-01] [-3.27690824e-03 -1.92367006e-02 9.99809587e-01 -1.82174723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.35719347 meters Centerline goodness : 0.858020 Centerline is valid? [False, False] Translation: X:11.17, Y:0.19, Z:-1.83 [[ 9.99859822e-01 -1.44250099e-02 8.50026222e-03 1.11663944e+01] [ 1.42122220e-02 9.99596759e-01 2.45831712e-02 1.87674246e-01] [-8.85144706e-03 -2.44589175e-02 9.99661649e-01 -1.82623841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.38719347 meters Centerline goodness : 0.858571 Centerline is valid? [False, False] Translation: X:11.18, Y:0.18, Z:-1.83 [[ 0.99974777 -0.01824732 0.01309324 11.17786405] [ 0.01780643 0.99929557 0.03303471 0.17967437] [-0.01368682 -0.03279323 0.99936844 -1.82961631] [ 0. 0. 0. 1. ]] SLAMing on 133.41719347 meters Centerline goodness : 0.858298 Centerline is valid? [False, False] Translation: X:11.18, Y:0.16, Z:-1.82 [[ 9.99613462e-01 -2.74812353e-02 4.20813789e-03 1.11840143e+01] [ 2.70132323e-02 9.95867488e-01 8.67077370e-02 1.58911410e-01] [-6.57358343e-03 -8.65605458e-02 9.96224904e-01 -1.81978042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.44719347 meters Centerline goodness : 0.858665 Centerline is valid? [False, False] Translation: X:11.18, Y:0.16, Z:-1.82 [[ 9.99520941e-01 -3.06820036e-02 4.06241626e-03 1.11845566e+01] [ 3.02357194e-02 9.96044779e-01 8.35499773e-02 1.57947327e-01] [-6.60982921e-03 -8.33871218e-02 9.96495308e-01 -1.81968800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.47719347 meters Centerline goodness : 0.861035 Centerline is valid? [False, False] Translation: X:11.19, Y:0.15, Z:-1.82 [[ 9.99464959e-01 -3.24596543e-02 4.02068934e-03 1.11851235e+01] [ 3.20193876e-02 9.96097057e-01 8.22521195e-02 1.53175616e-01] [-6.67487219e-03 -8.20793713e-02 9.96603443e-01 -1.81929094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.50719347 meters Centerline goodness : 0.860352 Centerline is valid? [False, False] Translation: X:11.18, Y:0.15, Z:-1.82 [[ 9.99378136e-01 -3.49472990e-02 4.69346012e-03 1.11841045e+01] [ 3.44668121e-02 9.96267071e-01 7.91451991e-02 1.52007804e-01] [-7.44185070e-03 -7.89342129e-02 9.96852050e-01 -1.81915913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.53719347 meters Centerline goodness : 0.861828 Centerline is valid? [False, False] Translation: X:11.19, Y:0.15, Z:-1.82 [[ 9.99324344e-01 -3.65641186e-02 3.73099999e-03 1.11859967e+01] [ 3.61726464e-02 9.96420921e-01 7.63995279e-02 1.51660448e-01] [-6.51112784e-03 -7.62129480e-02 9.97070304e-01 -1.81928317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.56719347 meters Centerline goodness : 0.862078 Centerline is valid? [False, False] Translation: X:11.19, Y:0.15, Z:-1.82 [[ 9.99341502e-01 -3.61024222e-02 3.62996094e-03 1.11861234e+01] [ 3.57153753e-02 9.96381900e-01 7.71201751e-02 1.50407684e-01] [-6.40105250e-03 -7.69397462e-02 9.97015196e-01 -1.81895590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.59719347 meters Centerline goodness : 0.859589 Centerline is valid? [False, False] Translation: X:11.19, Y:0.15, Z:-1.82 [[ 9.99362953e-01 -3.54919482e-02 3.74294496e-03 1.11857590e+01] [ 3.50919881e-02 9.96331870e-01 7.80471525e-02 1.48527170e-01] [-6.49926085e-03 -7.78660855e-02 9.96942642e-01 -1.81831867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.62719347 meters Centerline goodness : 0.861036 Centerline is valid? [False, False] Translation: X:11.19, Y:0.15, Z:-1.82 [[ 9.99371189e-01 -3.52782433e-02 3.55975190e-03 1.11862646e+01] [ 3.48917573e-02 9.96321040e-01 7.82748456e-02 1.47448044e-01] [-6.30805476e-03 -7.81014195e-02 9.96925462e-01 -1.81836801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.65719347 meters Centerline goodness : 0.862378 Centerline is valid? [False, False] Translation: X:11.19, Y:0.15, Z:-1.81 [[ 9.99371122e-01 -3.54583545e-02 -2.54719734e-04 1.11930344e+01] [ 3.53839965e-02 9.96756116e-01 7.22856645e-02 1.49142997e-01] [-2.30923726e-03 -7.22492186e-02 9.97383937e-01 -1.81480951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.68719347 meters Centerline goodness : 0.861898 Centerline is valid? [False, False] Translation: X:11.19, Y:0.15, Z:-1.81 [[ 9.99387559e-01 -3.49906043e-02 -4.05069464e-04 1.11933785e+01] [ 3.49273375e-02 9.96738352e-01 7.27512095e-02 1.48587233e-01] [-2.14186051e-03 -7.27208017e-02 9.97350038e-01 -1.81477336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.71719347 meters Centerline goodness : 0.863027 Centerline is valid? [False, False] Translation: X:11.20, Y:0.15, Z:-1.82 [[ 9.99451740e-01 -3.30831049e-02 -1.31442897e-03 1.11956237e+01] [ 3.30888967e-02 9.96660902e-01 7.46469749e-02 1.45252909e-01] [-1.15951374e-03 -7.46495420e-02 9.97209156e-01 -1.81531389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.74719347 meters Centerline goodness : 0.861367 Centerline is valid? [False, False] Translation: X:11.20, Y:0.15, Z:-1.81 [[ 9.99428325e-01 -3.34442950e-02 -4.94998749e-03 1.12028192e+01] [ 3.37036101e-02 9.97118276e-01 6.79647660e-02 1.45989141e-01] [ 2.66268931e-03 -6.80927447e-02 9.97675442e-01 -1.81215534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.77719347 meters Centerline goodness : 0.861975 Centerline is valid? [False, False] Translation: X:11.20, Y:0.15, Z:-1.81 [[ 9.99362964e-01 -3.54422832e-02 -4.18451140e-03 1.12012549e+01] [ 3.56401249e-02 9.97225513e-01 6.53533358e-02 1.45272520e-01] [ 1.85663009e-03 -6.54608399e-02 9.97853412e-01 -1.81158739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80719347 meters Centerline goodness : 0.865802 Centerline is valid? [False, False] Translation: X:11.21, Y:0.14, Z:-1.81 [[ 9.99474442e-01 -3.23934965e-02 -1.22555906e-03 1.12067864e+01] [ 3.24109910e-02 9.97877112e-01 5.64871373e-02 1.44788573e-01] [-6.06858548e-04 -5.64971716e-02 9.98402575e-01 -1.81020110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.83719347 meters Centerline goodness : 0.863986 Centerline is valid? [False, False] Translation: X:11.21, Y:0.14, Z:-1.81 [[ 9.99501147e-01 -3.15469508e-02 -1.49886958e-03 1.12062265e+01] [ 3.15804681e-02 9.97766112e-01 5.88681514e-02 1.42790034e-01] [-3.61589398e-04 -5.88861198e-02 9.98264641e-01 -1.80784718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86719347 meters Centerline goodness : 0.864924 Centerline is valid? [False, False] Translation: X:11.21, Y:0.14, Z:-1.80 [[ 9.99497831e-01 -3.12424220e-02 -5.29118794e-03 1.12142090e+01] [ 3.14767890e-02 9.98133911e-01 5.23250140e-02 1.42823291e-01] [ 3.64655394e-03 -5.24652876e-02 9.98616091e-01 -1.80420474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.89719347 meters Centerline goodness : 0.864291 Centerline is valid? [False, False] Translation: X:11.22, Y:0.14, Z:-1.80 [[ 9.99430475e-01 -3.28910821e-02 -7.54339194e-03 1.12185421e+01] [ 3.32244256e-02 9.98225344e-01 4.94196411e-02 1.40867982e-01] [ 5.90453954e-03 -4.96421203e-02 9.98749616e-01 -1.80385471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92719347 meters Centerline goodness : 0.863347 Centerline is valid? [False, False] Translation: X:11.22, Y:0.13, Z:-1.80 [[ 9.99251448e-01 -3.80024409e-02 -7.23591417e-03 1.12185037e+01] [ 3.83011316e-02 9.98161661e-01 4.69714914e-02 1.33493166e-01] [ 5.43758078e-03 -4.72134745e-02 9.98870022e-01 -1.80246429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.95719347 meters Centerline goodness : 0.862784 Centerline is valid? [False, False] Translation: X:11.23, Y:0.13, Z:-1.80 [[ 9.99021732e-01 -4.28040947e-02 -1.11080767e-02 1.12269475e+01] [ 4.31830955e-02 9.98401013e-01 3.64779042e-02 1.32556429e-01] [ 9.52891140e-03 -3.69219001e-02 9.99272722e-01 -1.79946689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98719347 meters Centerline goodness : 0.862951 Centerline is valid? [False, False] Translation: X:11.25, Y:0.12, Z:-1.78 [[ 0.99859526 -0.04989445 -0.0178342 11.25098337] [ 0.05122656 0.99512232 0.08430544 0.11731276] [ 0.01354084 -0.08510059 0.99628035 -1.78237551] [ 0. 0. 0. 1. ]] SLAMing on 134.01719347 meters Centerline goodness : 0.864757 Centerline is valid? [False, False] Translation: X:11.25, Y:0.11, Z:-1.78 [[ 0.99817707 -0.05771999 -0.01763332 11.2515352 ] [ 0.05891705 0.99526626 0.07729074 0.11478531] [ 0.01308863 -0.07818875 0.99685265 -1.78199966] [ 0. 0. 0. 1. ]] SLAMing on 134.04719347 meters Centerline goodness : 0.861648 Centerline is valid? [False, False] Translation: X:11.26, Y:0.11, Z:-1.78 [[ 0.99732806 -0.07080291 -0.01799119 11.25639649] [ 0.07184633 0.99522074 0.06613451 0.10760473] [ 0.01322269 -0.06725041 0.99764851 -1.78425614] [ 0. 0. 0. 1. ]] SLAMing on 134.07719347 meters Centerline goodness : 0.861291 Centerline is valid? [False, False] Translation: X:11.26, Y:0.10, Z:-1.79 [[ 0.99684311 -0.07732838 -0.01800375 11.2590353 ] [ 0.07827959 0.99512022 0.06006715 0.10489155] [ 0.013271 -0.06128685 0.99803196 -1.78598371] [ 0. 0. 0. 1. ]] SLAMing on 134.10719347 meters Centerline goodness : 0.859401 Centerline is valid? [False, False] Translation: X:11.26, Y:0.10, Z:-1.79 [[ 0.99654447 -0.08111374 -0.01787948 11.25986299] [ 0.08200973 0.99500441 0.05692655 0.10188608] [ 0.01317264 -0.05819613 0.99821826 -1.78629078] [ 0. 0. 0. 1. ]] SLAMing on 134.13719347 meters Centerline goodness : 0.857089 Centerline is valid? [False, False] Translation: X:11.26, Y:0.10, Z:-1.79 [[ 0.99623248 -0.08491637 -0.01760831 11.26107735] [ 0.08575442 0.9948465 0.05409828 0.09849764] [ 0.01292374 -0.05540445 0.99838035 -1.78746928] [ 0. 0. 0. 1. ]] SLAMing on 134.16719347 meters Centerline goodness : 0.858870 Centerline is valid? [False, False] Translation: X:11.26, Y:0.10, Z:-1.79 [[ 0.99610937 -0.08625623 -0.01805492 11.26362058] [ 0.08710326 0.99478543 0.05305635 0.09842795] [ 0.01338433 -0.05442257 0.99842829 -1.7893779 ] [ 0. 0. 0. 1. ]] SLAMing on 134.19719347 meters Centerline goodness : 0.856538 Centerline is valid? [False, False] Translation: X:11.26, Y:0.10, Z:-1.79 [[ 0.99582464 -0.08954663 -0.01773951 11.26370619] [ 0.09032458 0.99468536 0.04942174 0.09916892] [ 0.01321968 -0.0508177 0.99862045 -1.78948788] [ 0. 0. 0. 1. ]] SLAMing on 134.22719347 meters Centerline goodness : 0.855705 Centerline is valid? [False, False] Translation: X:11.27, Y:0.10, Z:-1.79 [[ 0.99558863 -0.09172046 -0.01976469 11.26780231] [ 0.09252886 0.99469953 0.0448471 0.09851918] [ 0.01554653 -0.04647807 0.99879833 -1.78801988] [ 0. 0. 0. 1. ]] SLAMing on 134.25719347 meters Centerline goodness : 0.853699 Centerline is valid? [False, False] Translation: X:11.27, Y:0.10, Z:-1.79 [[ 0.99534561 -0.09423415 -0.02017511 11.27046097] [ 0.09501344 0.99459077 0.04197189 0.09877451] [ 0.01611079 -0.04369345 0.99891507 -1.78968277] [ 0. 0. 0. 1. ]] SLAMing on 134.28719347 meters Centerline goodness : 0.853624 Centerline is valid? [False, False] Translation: X:11.27, Y:0.10, Z:-1.79 [[ 0.99502568 -0.09763604 -0.01977648 11.27058286] [ 0.0983303 0.99443363 0.0378538 0.10101303] [ 0.0159705 -0.03961013 0.99908757 -1.78999407] [ 0. 0. 0. 1. ]] SLAMing on 134.31719347 meters Centerline goodness : 0.853624 Centerline is valid? [False, False] Translation: X:11.27, Y:0.10, Z:-1.79 [[ 0.99502568 -0.09763604 -0.01977648 11.27058286] [ 0.0983303 0.99443363 0.0378538 0.10101303] [ 0.0159705 -0.03961013 0.99908757 -1.78999407] [ 0. 0. 0. 1. ]] SLAMing on 134.34719347 meters Centerline goodness : 0.853589 Centerline is valid? [False, False] Translation: X:11.27, Y:0.10, Z:-1.79 [[ 0.99499425 -0.09796661 -0.01972286 11.27035202] [ 0.09864737 0.99442865 0.0371531 0.10303239] [ 0.01597321 -0.03891273 0.99911494 -1.7898487 ] [ 0. 0. 0. 1. ]] SLAMing on 134.37719347 meters Centerline goodness : 0.855244 Centerline is valid? [False, False] Translation: X:11.27, Y:0.11, Z:-1.79 [[ 0.99517065 -0.0963 -0.01901803 11.26629695] [ 0.09696563 0.99456618 0.03789177 0.10941134] [ 0.01526572 -0.03955287 0.99910086 -1.78713572] [ 0. 0. 0. 1. ]] SLAMing on 134.40719347 meters Centerline goodness : 0.856466 Centerline is valid? [False, False] Translation: X:11.26, Y:0.11, Z:-1.79 [[ 0.99508903 -0.09719999 -0.01870762 11.26477992] [ 0.09782638 0.99454734 0.03613295 0.11362788] [ 0.01509349 -0.0377856 0.99917187 -1.78596067] [ 0. 0. 0. 1. ]] SLAMing on 134.43719347 meters Centerline goodness : 0.858301 Centerline is valid? [False, False] Translation: X:11.26, Y:0.12, Z:-1.78 [[ 0.99500176 -0.09814776 -0.01839874 11.26308404] [ 0.09873669 0.99451775 0.03443135 0.11718487] [ 0.01491852 -0.03607588 0.99923769 -1.78456273] [ 0. 0. 0. 1. ]] SLAMing on 134.46719347 meters Centerline goodness : 0.857013 Centerline is valid? [False, False] Translation: X:11.26, Y:0.12, Z:-1.78 [[ 0.99464749 -0.10173044 -0.01809084 11.26267883] [ 0.10223677 0.99431666 0.02969871 0.12138386] [ 0.01496676 -0.0313893 0.99939517 -1.78414012] [ 0. 0. 0. 1. ]] SLAMing on 134.49719347 meters Centerline goodness : 0.860037 Centerline is valid? [False, False] Translation: X:11.27, Y:0.13, Z:-1.78 [[ 0.99465926 -0.10222569 -0.01424282 11.26793001] [ 0.10247792 0.99456741 0.0182742 0.12768562] [ 0.01229735 -0.01963617 0.99973156 -1.78219239] [ 0. 0. 0. 1. ]] SLAMing on 134.52719347 meters Centerline goodness : 0.858762 Centerline is valid? [False, False] Translation: X:11.27, Y:0.13, Z:-1.78 [[ 0.99460528 -0.10275839 -0.0141789 11.26740325] [ 0.10299426 0.99453584 0.01704827 0.13113638] [ 0.01234957 -0.01841665 0.99975413 -1.78175016] [ 0. 0. 0. 1. ]] SLAMing on 134.55719347 meters Centerline goodness : 0.859766 Centerline is valid? [False, False] Translation: X:11.27, Y:0.13, Z:-1.78 [[ 0.99479903 -0.10088532 -0.01403748 11.26509183] [ 0.10113655 0.99470028 0.01851371 0.13458259] [ 0.01209532 -0.01983712 0.99973006 -1.77998862] [ 0. 0. 0. 1. ]] SLAMing on 134.58719347 meters Centerline goodness : 0.856242 Centerline is valid? [False, False] Translation: X:11.26, Y:0.14, Z:-1.78 [[ 0.99542486 -0.09441616 -0.01466065 11.26421493] [ 0.09475248 0.99520551 0.02424806 0.13979189] [ 0.01230095 -0.02552626 0.99959847 -1.77934467] [ 0. 0. 0. 1. ]] SLAMing on 134.61719347 meters Centerline goodness : 0.856850 Centerline is valid? [False, False] Translation: X:11.27, Y:0.14, Z:-1.78 [[ 0.99568878 -0.09148452 -0.01531159 11.26659477] [ 0.09186471 0.995424 0.02630463 0.14348832] [ 0.01283506 -0.02759782 0.9995367 -1.78169164] [ 0. 0. 0. 1. ]] SLAMing on 134.64719347 meters Centerline goodness : 0.856461 Centerline is valid? [False, False] Translation: X:11.27, Y:0.15, Z:-1.78 [[ 0.9959733 -0.08825983 -0.01572859 11.268271 ] [ 0.08868305 0.9956486 0.02862121 0.14664596] [ 0.01313404 -0.02990082 0.99946658 -1.78374154] [ 0. 0. 0. 1. ]] SLAMing on 134.67719347 meters Centerline goodness : 0.853421 Centerline is valid? [False, False] Translation: X:11.26, Y:0.15, Z:-1.78 [[ 0.99649552 -0.08116702 -0.02021383 11.25934225] [ 0.08162859 0.99639361 0.02316358 0.15182297] [ 0.01826081 -0.02473243 0.99952731 -1.783042 ] [ 0. 0. 0. 1. ]] SLAMing on 134.70719347 meters Centerline goodness : 0.852643 Centerline is valid? [False, False] Translation: X:11.26, Y:0.16, Z:-1.78 [[ 0.99650868 -0.08102569 -0.0201319 11.25944663] [ 0.08146322 0.99643448 0.02195589 0.15540896] [ 0.01828112 -0.02351925 0.99955622 -1.78383153] [ 0. 0. 0. 1. ]] SLAMing on 134.73719347 meters Centerline goodness : 0.853520 Centerline is valid? [False, False] Translation: X:11.26, Y:0.16, Z:-1.78 [[ 0.99653157 -0.08079127 -0.01993982 11.25941725] [ 0.08120254 0.99648146 0.02075694 0.15944742] [ 0.01819268 -0.02230411 0.99958569 -1.78482193] [ 0. 0. 0. 1. ]] SLAMing on 134.76719347 meters Centerline goodness : 0.850770 Centerline is valid? [False, False] Translation: X:11.26, Y:0.16, Z:-1.79 [[ 0.99652842 -0.08082853 -0.01994614 11.259709 ] [ 0.08121413 0.99650895 0.01934382 0.16352695] [ 0.01831297 -0.02089657 0.99961391 -1.78573351] [ 0. 0. 0. 1. ]] SLAMing on 134.79719347 meters Centerline goodness : 0.850959 Centerline is valid? [False, False] Translation: X:11.26, Y:0.17, Z:-1.79 [[ 0.99653292 -0.08067675 -0.02033249 11.26095565] [ 0.08105304 0.99653964 0.01841605 0.16632251] [ 0.01877638 -0.02000021 0.99962365 -1.78694559] [ 0. 0. 0. 1. ]] SLAMing on 134.82719347 meters Centerline goodness : 0.848755 Centerline is valid? [False, False] Translation: X:11.26, Y:0.17, Z:-1.79 [[ 0.99651291 -0.08092026 -0.02034525 11.26341082] [ 0.08125407 0.99656253 0.01615252 0.17008752] [ 0.01896825 -0.01774933 0.99966253 -1.79073054] [ 0. 0. 0. 1. ]] SLAMing on 134.85719347 meters Centerline goodness : 0.848732 Centerline is valid? [False, False] Translation: X:11.27, Y:0.17, Z:-1.79 [[ 0.99659139 -0.07972589 -0.0211986 11.26628426] [ 0.08009499 0.99663931 0.01717221 0.17031999] [ 0.01975829 -0.01881158 0.9996278 -1.79263047] [ 0. 0. 0. 1. ]] SLAMing on 134.88719347 meters Centerline goodness : 0.851708 Centerline is valid? [False, False] Translation: X:11.27, Y:0.17, Z:-1.79 [[ 0.9965153 -0.08045756 -0.02199648 11.26775851] [ 0.08082865 0.99659084 0.01653559 0.17214641] [ 0.02059107 -0.01825592 0.99962129 -1.79266433] [ 0. 0. 0. 1. ]] SLAMing on 134.91719347 meters Centerline goodness : 0.849457 Centerline is valid? [False, False] Translation: X:11.27, Y:0.17, Z:-1.79 [[ 0.99628458 -0.08305655 -0.02277391 11.2708255 ] [ 0.08338451 0.99642121 0.01384884 0.17330549] [ 0.02154217 -0.01569638 0.99964472 -1.7941467 ] [ 0. 0. 0. 1. ]] SLAMing on 134.94719347 meters Centerline goodness : 0.847999 Centerline is valid? [False, False] Translation: X:11.27, Y:0.17, Z:-1.79 [[ 9.95923090e-01 -8.72400373e-02 -2.29428755e-02 1.12719284e+01] [ 8.74845210e-02 9.96116926e-01 9.87568891e-03 1.73542170e-01] [ 2.19922312e-02 -1.18425731e-02 9.99687999e-01 -1.79429933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.97719347 meters Centerline goodness : 0.849530 Centerline is valid? [False, False] Translation: X:11.27, Y:0.17, Z:-1.79 [[ 9.95567604e-01 -9.11619003e-02 -2.31225841e-02 1.12733750e+01] [ 9.13324153e-02 9.95799723e-01 6.42656537e-03 1.72202627e-01] [ 2.24396049e-02 -8.50992174e-03 9.99711981e-01 -1.79469325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.00719347 meters Centerline goodness : 0.851868 Centerline is valid? [False, False] Translation: X:11.27, Y:0.17, Z:-1.79 [[ 9.95126140e-01 -9.58158098e-02 -2.33087109e-02 1.12735905e+01] [ 9.59298780e-02 9.95380752e-01 3.82330858e-03 1.67808499e-01] [ 2.28347088e-02 -6.04067610e-03 9.99721004e-01 -1.79248017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.03719347 meters Centerline goodness : 0.852857 Centerline is valid? [False, False] Translation: X:11.27, Y:0.17, Z:-1.79 [[ 9.95076372e-01 -9.62149599e-02 -2.37843589e-02 1.12735339e+01] [ 9.63433018e-02 9.95338843e-01 4.30772118e-03 1.66561465e-01] [ 2.32590291e-02 -6.57797524e-03 9.99707831e-01 -1.79076417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.06719347 meters Centerline goodness : 0.856003 Centerline is valid? [False, False] Translation: X:11.27, Y:0.17, Z:-1.79 [[ 9.95076769e-01 -9.61164372e-02 -2.41630978e-02 1.12730915e+01] [ 9.62645553e-02 9.95343020e-01 5.04065326e-03 1.65393310e-01] [ 2.35660811e-02 -7.34188682e-03 9.99695322e-01 -1.78893993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.09719347 meters Centerline goodness : 0.857901 Centerline is valid? [False, False] Translation: X:11.27, Y:0.17, Z:-1.79 [[ 9.95089223e-01 -9.59525158e-02 -2.43012828e-02 1.12726071e+01] [ 9.61097526e-02 9.95356179e-01 5.38447243e-03 1.65076055e-01] [ 2.36717783e-02 -7.69362076e-03 9.99690180e-01 -1.78774731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.12719347 meters Centerline goodness : 0.859338 Centerline is valid? [False, False] Translation: X:11.27, Y:0.16, Z:-1.79 [[ 9.95412323e-01 -9.23973484e-02 -2.48402535e-02 1.12726352e+01] [ 9.26544430e-02 9.95653917e-01 9.40378575e-03 1.64232017e-01] [ 2.38634109e-02 -1.16622041e-02 9.99647203e-01 -1.78708874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.15719347 meters Centerline goodness : 0.860088 Centerline is valid? [False, False] Translation: X:11.27, Y:0.17, Z:-1.79 [[ 0.99580894 -0.08805053 -0.02473186 11.27116607] [ 0.08838693 0.99600329 0.0128531 0.16632335] [ 0.02350129 -0.0149852 0.99961149 -1.78630921] [ 0. 0. 0. 1. ]] SLAMing on 135.18719347 meters Centerline goodness : 0.860425 Centerline is valid? [False, False] Translation: X:11.27, Y:0.17, Z:-1.79 [[ 0.99616938 -0.08374616 -0.02516238 11.27173624] [ 0.08419266 0.99630033 0.01724105 0.16544174] [ 0.02362542 -0.0192935 0.99953469 -1.78669686] [ 0. 0. 0. 1. ]] SLAMing on 135.21719347 meters Centerline goodness : 0.862155 Centerline is valid? [False, False] Translation: X:11.25, Y:0.16, Z:-1.79 [[ 0.99709277 -0.07166657 -0.02588282 11.25304471] [ 0.07199051 0.99733543 0.01180733 0.16479933] [ 0.02496766 -0.01363632 0.99959525 -1.786456 ] [ 0. 0. 0. 1. ]] SLAMing on 135.24719347 meters Centerline goodness : 0.861474 Centerline is valid? [False, False] Translation: X:11.25, Y:0.17, Z:-1.79 [[ 0.99719262 -0.07016011 -0.02616182 11.25386465] [ 0.07049044 0.99744118 0.01192449 0.16684821] [ 0.02525825 -0.01373517 0.9995866 -1.787349 ] [ 0. 0. 0. 1. ]] SLAMing on 135.27719347 meters Centerline goodness : 0.862184 Centerline is valid? [False, False] Translation: X:11.25, Y:0.17, Z:-1.79 [[ 0.99745338 -0.06619077 -0.02656196 11.25436283] [ 0.0666279 0.99765083 0.01592304 0.16675268] [ 0.02544561 -0.01765225 0.99952034 -1.7876774 ] [ 0. 0. 0. 1. ]] SLAMing on 135.30719347 meters Centerline goodness : 0.859997 Centerline is valid? [False, False] Translation: X:11.26, Y:0.17, Z:-1.79 [[ 0.99749696 -0.06524892 -0.02724693 11.25790156] [ 0.06569224 0.99771634 0.01570459 0.16864793] [ 0.02616 -0.01745519 0.99950536 -1.79116222] [ 0. 0. 0. 1. ]] SLAMing on 135.33719347 meters Centerline goodness : 0.858106 Centerline is valid? [False, False] Translation: X:11.26, Y:0.17, Z:-1.79 [[ 0.99745485 -0.0656682 -0.02777611 11.25972092] [ 0.06611565 0.99769143 0.01550888 0.16840267] [ 0.02669354 -0.01730585 0.99949385 -1.79219271] [ 0. 0. 0. 1. ]] SLAMing on 135.36719347 meters Centerline goodness : 0.856828 Centerline is valid? [False, False] Translation: X:11.26, Y:0.17, Z:-1.79 [[ 0.9974259 -0.06584136 -0.02839881 11.26140968] [ 0.06631764 0.99766757 0.01616762 0.16700074] [ 0.02726808 -0.01800934 0.99946592 -1.79258975] [ 0. 0. 0. 1. ]] SLAMing on 135.39719347 meters Centerline goodness : 0.855677 Centerline is valid? [False, False] Translation: X:11.26, Y:0.16, Z:-1.79 [[ 0.99713681 -0.07004232 -0.02850022 11.26298228] [ 0.07043213 0.99743303 0.01291019 0.16404649] [ 0.0275228 -0.01488056 0.99951041 -1.79331924] [ 0. 0. 0. 1. ]] SLAMing on 135.42719347 meters Centerline goodness : 0.854531 Centerline is valid? [False, False] Translation: X:11.26, Y:0.16, Z:-1.79 [[ 0.99712593 -0.06988716 -0.0292518 11.26478225] [ 0.07033608 0.99741637 0.01460878 0.16047539] [ 0.02815526 -0.01662425 0.99946531 -1.79322672] [ 0. 0. 0. 1. ]] SLAMing on 135.45719347 meters Centerline goodness : 0.853770 Centerline is valid? [False, False] Translation: X:11.27, Y:0.16, Z:-1.79 [[ 0.99696342 -0.0719427 -0.02980235 11.26760808] [ 0.07233988 0.99730209 0.01246919 0.15899455] [ 0.02882487 -0.01458722 0.99947803 -1.79490738] [ 0. 0. 0. 1. ]] SLAMing on 135.48719347 meters Centerline goodness : 0.854979 Centerline is valid? [False, False] Translation: X:11.27, Y:0.15, Z:-1.79 [[ 0.99698037 -0.07158108 -0.03010468 11.26847257] [ 0.0720279 0.99730396 0.01402797 0.15487994] [ 0.02901938 -0.01615399 0.99944831 -1.79462931] [ 0. 0. 0. 1. ]] SLAMing on 135.51719347 meters Centerline goodness : 0.854717 Centerline is valid? [False, False] Translation: X:11.27, Y:0.15, Z:-1.79 [[ 0.99700754 -0.07113882 -0.03025285 11.26880469] [ 0.07161067 0.99732272 0.01480901 0.1538279 ] [ 0.02911836 -0.01693112 0.99943257 -1.79457172] [ 0. 0. 0. 1. ]] SLAMing on 135.54719347 meters Centerline goodness : 0.854874 Centerline is valid? [False, False] Translation: X:11.27, Y:0.15, Z:-1.79 [[ 0.997025 -0.07072547 -0.03064407 11.2698809 ] [ 0.0712293 0.99733683 0.01567282 0.15251451] [ 0.02945399 -0.01780895 0.99940748 -1.79485504] [ 0. 0. 0. 1. ]] SLAMing on 135.57719347 meters Centerline goodness : 0.853750 Centerline is valid? [False, False] Translation: X:11.29, Y:0.15, Z:-1.79 [[ 9.97169442e-01 -6.80894208e-02 -3.18894277e-02 1.12861520e+01] [ 6.82161278e-02 9.97666349e-01 2.90109351e-03 1.51404459e-01] [ 3.16174751e-02 -5.06825507e-03 9.99487193e-01 -1.79289570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.60719347 meters Centerline goodness : 0.852490 Centerline is valid? [False, False] Translation: X:11.29, Y:0.14, Z:-1.78 [[ 0.99693463 -0.06763947 -0.03932234 11.29417741] [ 0.06905384 0.99697049 0.03579672 0.14090076] [ 0.03678194 -0.03840235 0.99858517 -1.7833774 ] [ 0. 0. 0. 1. ]] SLAMing on 135.63719347 meters Centerline goodness : 0.853811 Centerline is valid? [False, False] Translation: X:11.29, Y:0.14, Z:-1.78 [[ 0.9969517 -0.06732232 -0.03943376 11.29422307] [ 0.06879779 0.99693172 0.03733641 0.13780151] [ 0.03679919 -0.03993556 0.9985244 -1.7823722 ] [ 0. 0. 0. 1. ]] SLAMing on 135.66719347 meters Centerline goodness : 0.852655 Centerline is valid? [False, False] Translation: X:11.30, Y:0.14, Z:-1.78 [[ 0.99706209 -0.06751414 -0.03618043 11.30038166] [ 0.06848012 0.99730947 0.02615908 0.13927449] [ 0.03431698 -0.02855987 0.99900284 -1.78101266] [ 0. 0. 0. 1. ]] SLAMing on 135.69719347 meters Centerline goodness : 0.854064 Centerline is valid? [False, False] Translation: X:11.30, Y:0.14, Z:-1.78 [[ 0.99687442 -0.07047271 -0.03570688 11.2988821 ] [ 0.07135529 0.99716036 0.02407563 0.13593061] [ 0.03390881 -0.02654825 0.99907226 -1.77891725] [ 0. 0. 0. 1. ]] SLAMing on 135.72719347 meters Centerline goodness : 0.855133 Centerline is valid? [False, False] Translation: X:11.30, Y:0.13, Z:-1.78 [[ 0.99687511 -0.07032014 -0.03598752 11.2993315 ] [ 0.07125956 0.99713123 0.02552221 0.13222789] [ 0.03408955 -0.02800691 0.99902628 -1.77822556] [ 0. 0. 0. 1. ]] SLAMing on 135.75719347 meters Centerline goodness : 0.855728 Centerline is valid? [False, False] Translation: X:11.30, Y:0.13, Z:-1.78 [[ 0.99660672 -0.07395104 -0.03614251 11.30038754] [ 0.07478457 0.99695079 0.0222799 0.13052285] [ 0.03438468 -0.0249072 0.99909826 -1.77830884] [ 0. 0. 0. 1. ]] SLAMing on 135.78719347 meters Centerline goodness : 0.856878 Centerline is valid? [False, False] Translation: X:11.30, Y:0.13, Z:-1.78 [[ 0.99637258 -0.07710688 -0.03600299 11.30084087] [ 0.07786594 0.99675963 0.02017774 0.12652532] [ 0.03433049 -0.02290796 0.99914796 -1.77788433] [ 0. 0. 0. 1. ]] SLAMing on 135.81719347 meters Centerline goodness : 0.856670 Centerline is valid? [False, False] Translation: X:11.30, Y:0.13, Z:-1.78 [[ 0.99622282 -0.07886572 -0.03633575 11.30310365] [ 0.07956938 0.99666056 0.01834236 0.12654019] [ 0.03476783 -0.02116429 0.99917129 -1.77933763] [ 0. 0. 0. 1. ]] SLAMing on 135.84719347 meters Centerline goodness : 0.858409 Centerline is valid? [False, False] Translation: X:11.30, Y:0.12, Z:-1.78 [[ 0.99650596 -0.07498207 -0.0367909 11.30346556] [ 0.07586375 0.99684867 0.02318226 0.12422193] [ 0.03493671 -0.02589236 0.99905406 -1.77899201] [ 0. 0. 0. 1. ]] SLAMing on 135.87719347 meters Centerline goodness : 0.859062 Centerline is valid? [False, False] Translation: X:11.30, Y:0.12, Z:-1.78 [[ 0.99652795 -0.07454379 -0.03708474 11.30421116] [ 0.07543879 0.99687704 0.0233484 0.12466938] [ 0.03522844 -0.02606496 0.99903933 -1.77924562] [ 0. 0. 0. 1. ]] SLAMing on 135.90719347 meters Centerline goodness : 0.857302 Centerline is valid? [False, False] Translation: X:11.31, Y:0.12, Z:-1.78 [[ 0.99704265 -0.06777578 -0.03622709 11.30506352] [ 0.06825144 0.99759529 0.012057 0.12489532] [ 0.03532281 -0.0144939 0.99927085 -1.77969996] [ 0. 0. 0. 1. ]] SLAMing on 135.93719347 meters Centerline goodness : 0.857393 Centerline is valid? [False, False] Translation: X:11.31, Y:0.12, Z:-1.78 [[ 0.99730043 -0.06369419 -0.03653626 11.30560811] [ 0.06433652 0.99778882 0.01668187 0.12197486] [ 0.03539293 -0.01898745 0.99919308 -1.77992512] [ 0. 0. 0. 1. ]] SLAMing on 135.96719347 meters Centerline goodness : 0.858123 Centerline is valid? [False, False] Translation: X:11.31, Y:0.12, Z:-1.78 [[ 0.99731392 -0.06341509 -0.03665329 11.3063679 ] [ 0.06406609 0.99780311 0.01686692 0.12151563] [ 0.03550315 -0.01916984 0.99918569 -1.78062536] [ 0. 0. 0. 1. ]] SLAMing on 135.99719347 meters Centerline goodness : 0.856752 Centerline is valid? [False, False] Translation: X:11.31, Y:0.12, Z:-1.78 [[ 0.99732167 -0.06315598 -0.03688919 11.30716046] [ 0.06382656 0.9978112 0.01729128 0.12021508] [ 0.0357164 -0.01959947 0.99916975 -1.7809918 ] [ 0. 0. 0. 1. ]] SLAMing on 136.02719347 meters Centerline goodness : 0.856560 Centerline is valid? [False, False] Translation: X:11.31, Y:0.12, Z:-1.78 [[ 0.99719528 -0.06480623 -0.03743974 11.30978549] [ 0.06544598 0.99772588 0.01612131 0.1154057 ] [ 0.03630984 -0.01852637 0.99916884 -1.78217636] [ 0. 0. 0. 1. ]] SLAMing on 136.05719347 meters Centerline goodness : 0.856627 Centerline is valid? [False, False] Translation: X:11.31, Y:0.11, Z:-1.78 [[ 0.99707483 -0.06634334 -0.03795183 11.31267477] [ 0.06694268 0.99764787 0.01474432 0.11323985] [ 0.03688437 -0.01724179 0.99917079 -1.7839652 ] [ 0. 0. 0. 1. ]] SLAMing on 136.08719347 meters Centerline goodness : 0.853304 Centerline is valid? [False, False] Translation: X:11.31, Y:0.11, Z:-1.78 [[ 0.99710911 -0.06579601 -0.03800412 11.31335415] [ 0.06643839 0.99766394 0.01589343 0.11036919] [ 0.03686962 -0.01837241 0.99915118 -1.78454484] [ 0. 0. 0. 1. ]] SLAMing on 136.11719347 meters Centerline goodness : 0.855581 Centerline is valid? [False, False] Translation: X:11.31, Y:0.11, Z:-1.79 [[ 0.99712396 -0.06540716 -0.03828469 11.31451691] [ 0.06609017 0.99767131 0.01685386 0.1076438 ] [ 0.03709318 -0.01933563 0.99912473 -1.78517922] [ 0. 0. 0. 1. ]] SLAMing on 136.14719347 meters Centerline goodness : 0.854628 Centerline is valid? [False, False] Translation: X:11.32, Y:0.10, Z:-1.79 [[ 0.99703996 -0.0665663 -0.0384739 11.31635319] [ 0.06724522 0.9975979 0.01662884 0.1004151 ] [ 0.03727456 -0.0191668 0.99912123 -1.78616203] [ 0. 0. 0. 1. ]] SLAMing on 136.17719347 meters Centerline goodness : 0.854628 Centerline is valid? [False, False] Translation: X:11.32, Y:0.10, Z:-1.79 [[ 0.99703996 -0.0665663 -0.0384739 11.31635319] [ 0.06724522 0.9975979 0.01662884 0.1004151 ] [ 0.03727456 -0.0191668 0.99912123 -1.78616203] [ 0. 0. 0. 1. ]] SLAMing on 136.20719347 meters Centerline goodness : 0.852879 Centerline is valid? [False, False] Translation: X:11.32, Y:0.10, Z:-1.79 [[ 0.99690267 -0.06821601 -0.0391361 11.31918142] [ 0.06885187 0.99751209 0.01513473 0.09674573] [ 0.0380063 -0.01778245 0.99911926 -1.78748332] [ 0. 0. 0. 1. ]] SLAMing on 136.23719347 meters Centerline goodness : 0.854230 Centerline is valid? [False, False] Translation: X:11.32, Y:0.09, Z:-1.79 [[ 0.9967803 -0.06956588 -0.03986998 11.32228038] [ 0.0701749 0.99743528 0.01408318 0.09271568] [ 0.03878801 -0.01683571 0.99910562 -1.78895266] [ 0. 0. 0. 1. ]] SLAMing on 136.26719347 meters Centerline goodness : 0.854464 Centerline is valid? [False, False] Translation: X:11.32, Y:0.09, Z:-1.79 [[ 0.99658359 -0.072232 -0.04004617 11.32344137] [ 0.0727491 0.99728273 0.01160737 0.08944612] [ 0.03909893 -0.01448104 0.99913041 -1.78906092] [ 0. 0. 0. 1. ]] SLAMing on 136.29719347 meters Centerline goodness : 0.856559 Centerline is valid? [False, False] Translation: X:11.32, Y:0.08, Z:-1.79 [[ 9.96464747e-01 -7.41659879e-02 -3.94640864e-02 1.13213069e+01] [ 7.46619117e-02 9.97145527e-01 1.12426240e-02 8.22792368e-02] [ 3.85176169e-02 -1.41493426e-02 9.99157740e-01 -1.78702950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.32719347 meters Centerline goodness : 0.858617 Centerline is valid? [False, False] Translation: X:11.32, Y:0.08, Z:-1.79 [[ 9.96263890e-01 -7.69507479e-02 -3.92026122e-02 1.13207171e+01] [ 7.73486394e-02 9.96965851e-01 8.73381846e-03 7.97544220e-02] [ 3.84115918e-02 -1.17334567e-02 9.99193112e-01 -1.78604959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.35719347 meters Centerline goodness : 0.858646 Centerline is valid? [False, False] Translation: X:11.32, Y:0.08, Z:-1.79 [[ 9.96100858e-01 -7.87855797e-02 -3.96977657e-02 1.13230455e+01] [ 7.91287321e-02 9.96838793e-01 7.14588625e-03 7.70117880e-02] [ 3.90092801e-02 -1.02592573e-02 9.99186181e-01 -1.78703945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38719347 meters Centerline goodness : 0.859604 Centerline is valid? [False, False] Translation: X:11.32, Y:0.08, Z:-1.79 [[ 9.95879839e-01 -8.16485842e-02 -3.94570106e-02 1.13232258e+01] [ 8.18835007e-02 9.96632318e-01 4.37209537e-03 7.51324186e-02] [ 3.89671565e-02 -7.58495979e-03 9.99211704e-01 -1.78710200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.41719347 meters Centerline goodness : 0.860150 Centerline is valid? [False, False] Translation: X:11.32, Y:0.07, Z:-1.79 [[ 9.95968879e-01 -8.05249189e-02 -3.95187141e-02 1.13241241e+01] [ 8.08384048e-02 9.96706691e-01 6.39722176e-03 6.88215070e-02] [ 3.88734310e-02 -9.56606360e-03 9.99198352e-01 -1.78768394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.44719347 meters Centerline goodness : 0.860646 Centerline is valid? [False, False] Translation: X:11.33, Y:0.07, Z:-1.79 [[ 9.95918749e-01 -8.10088562e-02 -3.97920996e-02 1.13258674e+01] [ 8.13184143e-02 9.96668760e-01 6.22076027e-03 6.63773659e-02] [ 3.91556059e-02 -9.43120222e-03 9.99188616e-01 -1.78870092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.47719347 meters Centerline goodness : 0.861602 Centerline is valid? [False, False] Translation: X:11.33, Y:0.06, Z:-1.79 [[ 9.95848277e-01 -8.17169167e-02 -4.01067801e-02 1.13276210e+01] [ 8.20113559e-02 9.96614813e-01 5.74910032e-03 6.40572905e-02] [ 3.95012124e-02 -9.01444307e-03 9.99178860e-01 -1.78955262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.50719347 meters Centerline goodness : 0.864646 Centerline is valid? [False, False] Translation: X:11.34, Y:0.06, Z:-1.79 [[ 9.96114091e-01 -8.02481171e-02 -3.62898986e-02 1.13365896e+01] [ 8.01996310e-02 9.96774911e-01 -2.79216052e-03 6.34060645e-02] [ 3.63969261e-02 -1.29126035e-04 9.99337404e-01 -1.79026299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.53719347 meters Centerline goodness : 0.864917 Centerline is valid? [False, False] Translation: X:11.34, Y:0.06, Z:-1.79 [[ 9.95928233e-01 -8.25414195e-02 -3.62473408e-02 1.13378551e+01] [ 8.24296855e-02 9.96586410e-01 -4.56877535e-03 6.01130789e-02] [ 3.65007205e-02 1.56231545e-03 9.99332405e-01 -1.79115153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.56719347 meters Centerline goodness : 0.863643 Centerline is valid? [False, False] Translation: X:11.34, Y:0.06, Z:-1.79 [[ 9.95945908e-01 -8.21586424e-02 -3.66293147e-02 1.13388772e+01] [ 8.20912817e-02 9.96619212e-01 -3.34173301e-03 5.64212462e-02] [ 3.67800310e-02 3.21237929e-04 9.99323334e-01 -1.79134364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.59719347 meters Centerline goodness : 0.864946 Centerline is valid? [False, False] Translation: X:11.34, Y:0.05, Z:-1.79 [[ 9.95670048e-01 -8.55080149e-02 -3.64627918e-02 1.13393107e+01] [ 8.53369564e-02 9.96332702e-01 -6.22497945e-03 5.37660314e-02] [ 3.68613576e-02 3.08640191e-03 9.99315623e-01 -1.79141874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.62719347 meters Centerline goodness : 0.869198 Centerline is valid? [False, False] Translation: X:11.34, Y:0.05, Z:-1.79 [[ 9.95379010e-01 -8.88053455e-02 -3.65272152e-02 1.13406551e+01] [ 8.85771638e-02 9.96038608e-01 -7.82165090e-03 4.61008366e-02] [ 3.70771210e-02 4.55003001e-03 9.99302049e-01 -1.79162614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.65719347 meters Centerline goodness : 0.868493 Centerline is valid? [False, False] Translation: X:11.34, Y:0.04, Z:-1.79 [[ 9.95036787e-01 -9.25798302e-02 -3.64796904e-02 1.13413857e+01] [ 9.22426482e-02 9.95677729e-01 -1.08237442e-02 4.32920642e-02] [ 3.73240757e-02 7.40504040e-03 9.99275777e-01 -1.79165636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.68719347 meters Centerline goodness : 0.869432 Centerline is valid? [False, False] Translation: X:11.34, Y:0.04, Z:-1.79 [[ 9.94983164e-01 -9.29888767e-02 -3.68994864e-02 1.13425719e+01] [ 9.26940040e-02 9.95648103e-01 -9.62683519e-03 3.85063700e-02] [ 3.76340923e-02 6.15817779e-03 9.99272611e-01 -1.79174121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.71719347 meters Centerline goodness : 0.873729 Centerline is valid? [False, False] Translation: X:11.35, Y:0.03, Z:-1.79 [[ 9.94275065e-01 -1.00187848e-01 -3.71414897e-02 1.13454108e+01] [ 9.96890579e-02 9.94904795e-01 -1.50512433e-02 3.36367907e-02] [ 3.84601979e-02 1.12624758e-02 9.99196662e-01 -1.79286260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.74719347 meters Centerline goodness : 0.873405 Centerline is valid? [False, False] Translation: X:11.35, Y:0.03, Z:-1.79 [[ 9.94213628e-01 -1.00621992e-01 -3.76095184e-02 1.13466484e+01] [ 1.00156339e-01 9.94872202e-01 -1.40715986e-02 2.93768310e-02] [ 3.88325767e-02 1.02233435e-02 9.99193432e-01 -1.79293553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.77719347 meters Centerline goodness : 0.875795 Centerline is valid? [False, False] Translation: X:11.35, Y:0.03, Z:-1.79 [[ 9.94166310e-01 -1.00923201e-01 -3.80506948e-02 1.13475686e+01] [ 1.00489468e-01 9.94851231e-01 -1.31489511e-02 2.53601967e-02] [ 3.91818148e-02 9.24855010e-03 9.99189296e-01 -1.79265132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80719347 meters Centerline goodness : 0.877015 Centerline is valid? [False, False] Translation: X:11.36, Y:0.02, Z:-1.79 [[ 9.93931786e-01 -1.04981442e-01 -3.28405445e-02 1.13571569e+01] [ 1.04814579e-01 9.94468760e-01 -6.76672495e-03 2.14391042e-02] [ 3.33692761e-02 3.28349519e-03 9.99437697e-01 -1.79444746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.83719347 meters Centerline goodness : 0.878357 Centerline is valid? [False, False] Translation: X:11.36, Y:0.02, Z:-1.79 [[ 9.93874888e-01 -1.05448281e-01 -3.30660900e-02 1.13576750e+01] [ 1.05267654e-01 9.94418138e-01 -7.16156413e-03 2.20907596e-02] [ 3.36366943e-02 3.63690902e-03 9.99427509e-01 -1.79448839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86719347 meters Centerline goodness : 0.882521 Centerline is valid? [False, False] Translation: X:11.37, Y:0.03, Z:-1.80 [[ 0.99425263 -0.10378297 -0.02628317 11.36706693] [ 0.10343702 0.99453463 -0.01420035 0.02513095] [ 0.02761328 0.01140009 0.99955367 -1.79711343] [ 0. 0. 0. 1. ]] SLAMing on 136.89719347 meters Centerline goodness : 0.881279 Centerline is valid? [False, False] Translation: X:11.38, Y:0.03, Z:-1.80 [[ 0.99446454 -0.10325012 -0.01948573 11.37835091] [ 0.10282317 0.99446134 -0.02177258 0.02849029] [ 0.02162583 0.01964848 0.99957304 -1.80065865] [ 0. 0. 0. 1. ]] SLAMing on 136.92719347 meters Centerline goodness : 0.882913 Centerline is valid? [False, False] Translation: X:11.38, Y:0.03, Z:-1.80 [[ 0.9942674 -0.10504084 -0.01996884 11.37985667] [ 0.10457624 0.99424993 -0.02304099 0.02933687] [ 0.02227427 0.02082064 0.99953507 -1.80109942] [ 0. 0. 0. 1. ]] SLAMing on 136.95719347 meters Centerline goodness : 0.882077 Centerline is valid? [False, False] Translation: X:11.38, Y:0.03, Z:-1.80 [[ 0.99413843 -0.10619564 -0.02027965 11.38112453] [ 0.10570709 0.99411217 -0.02381195 0.03004144] [ 0.02268897 0.02152867 0.99951074 -1.8018216 ] [ 0. 0. 0. 1. ]] SLAMing on 136.98719347 meters Centerline goodness : 0.882968 Centerline is valid? [False, False] Translation: X:11.39, Y:0.03, Z:-1.80 [[ 0.99361431 -0.11044145 -0.02309284 11.38768572] [ 0.10983725 0.99361008 -0.02597662 0.03375027] [ 0.02581417 0.02327428 0.99939579 -1.80228211] [ 0. 0. 0. 1. ]] SLAMing on 137.01719347 meters Centerline goodness : 0.883495 Centerline is valid? [False, False] Translation: X:11.39, Y:0.04, Z:-1.81 [[ 0.99306786 -0.11499236 -0.02435122 11.39302384] [ 0.11424406 0.9929945 -0.03016996 0.04312234] [ 0.02764994 0.02717883 0.99924811 -1.80517577] [ 0. 0. 0. 1. ]] SLAMing on 137.04719347 meters Centerline goodness : 0.881842 Centerline is valid? [False, False] Translation: X:11.40, Y:0.05, Z:-1.81 [[ 0.99320078 -0.11362428 -0.02533231 11.39557113] [ 0.11289161 0.993193 -0.02869058 0.04641762] [ 0.02841982 0.0256357 0.99926729 -1.80663169] [ 0. 0. 0. 1. ]] SLAMing on 137.07719347 meters Centerline goodness : 0.881843 Centerline is valid? [False, False] Translation: X:11.42, Y:0.05, Z:-1.81 [[ 0.99318191 -0.11354538 -0.02640339 11.41691809] [ 0.11274981 0.99317372 -0.02989065 0.05172642] [ 0.02961709 0.02670988 0.99920439 -1.80713553] [ 0. 0. 0. 1. ]] SLAMing on 137.10719347 meters Centerline goodness : 0.878648 Centerline is valid? [False, False] Translation: X:11.42, Y:0.05, Z:-1.81 [[ 0.99343128 -0.11120162 -0.02699063 11.41802208] [ 0.1104569 0.99349553 -0.02767514 0.05450689] [ 0.02989259 0.02451205 0.99925252 -1.80786364] [ 0. 0. 0. 1. ]] SLAMing on 137.13719347 meters Centerline goodness : 0.879876 Centerline is valid? [False, False] Translation: X:11.42, Y:0.06, Z:-1.81 [[ 0.99355688 -0.10985658 -0.02786156 11.42075829] [ 0.10912243 0.99367149 -0.02663214 0.05859775] [ 0.03061096 0.02342022 0.99925696 -1.80975349] [ 0. 0. 0. 1. ]] SLAMing on 137.16719347 meters Centerline goodness : 0.880506 Centerline is valid? [False, False] Translation: X:11.44, Y:0.07, Z:-1.81 [[ 0.99376834 -0.10745608 -0.02962557 11.4425364 ] [ 0.10662547 0.99389574 -0.0283243 0.07336684] [ 0.03248834 0.02498895 0.99915968 -1.81261486] [ 0. 0. 0. 1. ]] SLAMing on 137.19719347 meters Centerline goodness : 0.879059 Centerline is valid? [False, False] Translation: X:11.46, Y:0.08, Z:-1.82 [[ 0.99423163 -0.10428162 -0.02507614 11.456136 ] [ 0.10340867 0.99406102 -0.03390173 0.08200663] [ 0.02846255 0.03111308 0.99911053 -1.81715178] [ 0. 0. 0. 1. ]] SLAMing on 137.22719347 meters Centerline goodness : 0.880040 Centerline is valid? [False, False] Translation: X:11.48, Y:0.09, Z:-1.82 [[ 0.99455565 -0.10137093 -0.02414545 11.47567888] [ 0.10052847 0.99435753 -0.03386924 0.08951127] [ 0.02744257 0.03125754 0.99913456 -1.81825905] [ 0. 0. 0. 1. ]] SLAMing on 137.25719347 meters Centerline goodness : 0.879815 Centerline is valid? [False, False] Translation: X:11.49, Y:0.10, Z:-1.82 [[ 0.99490698 -0.09818147 -0.02281427 11.49452096] [ 0.09735007 0.99463202 -0.03507295 0.10285809] [ 0.02613532 0.03267335 0.99912432 -1.81953039] [ 0. 0. 0. 1. ]] SLAMing on 137.28719347 meters Centerline goodness : 0.881884 Centerline is valid? [False, False] Translation: X:11.51, Y:0.11, Z:-1.82 [[ 0.995327 -0.0943978 -0.02032786 11.50607451] [ 0.09350539 0.99476975 -0.04110819 0.10879426] [ 0.02410207 0.03901533 0.99894789 -1.82190081] [ 0. 0. 0. 1. ]] SLAMing on 137.31719347 meters Centerline goodness : 0.882727 Centerline is valid? [False, False] Translation: X:11.51, Y:0.11, Z:-1.82 [[ 0.99561338 -0.09121773 -0.02081628 11.50667839] [ 0.09036721 0.9951571 -0.03867955 0.11251678] [ 0.02424373 0.03662877 0.99903482 -1.82207609] [ 0. 0. 0. 1. ]] SLAMing on 137.34719347 meters Centerline goodness : 0.881217 Centerline is valid? [False, False] Translation: X:11.51, Y:0.12, Z:-1.82 [[ 0.99578286 -0.08914499 -0.02167195 11.50862098] [ 0.08829657 0.99539268 -0.03737819 0.11738714] [ 0.02490417 0.035307 0.99906616 -1.82291744] [ 0. 0. 0. 1. ]] SLAMing on 137.37719347 meters Centerline goodness : 0.882958 Centerline is valid? [False, False] Translation: X:11.51, Y:0.13, Z:-1.82 [[ 0.99624294 -0.08378055 -0.02192759 11.50746436] [ 0.0830177 0.99597968 -0.03365316 0.12705319] [ 0.02465891 0.03170634 0.999193 -1.82176228] [ 0. 0. 0. 1. ]] SLAMing on 137.40719347 meters Centerline goodness : 0.883224 Centerline is valid? [False, False] Translation: X:11.51, Y:0.13, Z:-1.82 [[ 0.99650164 -0.08062586 -0.02199893 11.50655091] [ 0.07991431 0.9963037 -0.03150628 0.13248851] [ 0.02445784 0.02963803 0.99926143 -1.82101719] [ 0. 0. 0. 1. ]] SLAMing on 137.43719347 meters Centerline goodness : 0.886263 Centerline is valid? [False, False] Translation: X:11.51, Y:0.14, Z:-1.82 [[ 0.99676913 -0.07809177 -0.01878747 11.51198817] [ 0.0777516 0.99680657 -0.0182031 0.13580327] [ 0.02014898 0.01668353 0.99965778 -1.81953417] [ 0. 0. 0. 1. ]] SLAMing on 137.46719347 meters Centerline goodness : 0.886199 Centerline is valid? [False, False] Translation: X:11.52, Y:0.15, Z:-1.82 [[ 9.97239724e-01 -7.35844004e-02 -9.91302757e-03 1.15182911e+01] [ 7.33727620e-02 9.97099053e-01 -2.02463857e-02 1.45816321e-01] [ 1.13740886e-02 1.94631539e-02 9.99745876e-01 -1.81999339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.49719347 meters Centerline goodness : 0.889102 Centerline is valid? [False, False] Translation: X:11.52, Y:0.15, Z:-1.82 [[ 9.97483915e-01 -7.01594837e-02 -1.01727790e-02 1.15178519e+01] [ 6.99780190e-02 9.97399988e-01 -1.72145568e-02 1.48031524e-01] [ 1.13540941e-02 1.64593726e-02 9.99800067e-01 -1.81937897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52719347 meters Centerline goodness : 0.890359 Centerline is valid? [False, False] Translation: X:11.52, Y:0.15, Z:-1.82 [[ 9.97709770e-01 -6.68185229e-02 -1.05118502e-02 1.15179919e+01] [ 6.66649020e-02 9.97672331e-01 -1.43426173e-02 1.50986518e-01] [ 1.14457346e-02 1.36089979e-02 9.99841883e-01 -1.81931123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.55719347 meters Centerline goodness : 0.889588 Centerline is valid? [False, False] Translation: X:11.52, Y:0.15, Z:-1.82 [[ 9.98139703e-01 -5.99131606e-02 -1.12936580e-02 1.15182825e+01] [ 5.98367035e-02 9.98183700e-01 -6.99072503e-03 1.52804830e-01] [ 1.16919818e-02 6.30194493e-03 9.99911788e-01 -1.81887023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58719347 meters Centerline goodness : 0.893175 Centerline is valid? [False, False] Translation: X:11.52, Y:0.16, Z:-1.82 [[ 9.98701360e-01 -4.96760935e-02 -1.13084147e-02 1.15166838e+01] [ 4.96918764e-02 9.98763969e-01 1.11882736e-03 1.61968938e-01] [ 1.12388582e-02 -1.67931075e-03 9.99935432e-01 -1.81854520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.61719347 meters Centerline goodness : 0.891387 Centerline is valid? [False, False] Translation: X:11.52, Y:0.17, Z:-1.82 [[ 9.98912738e-01 -4.52579935e-02 -1.11828557e-02 1.15159033e+01] [ 4.53031231e-02 9.98965999e-01 3.81566484e-03 1.66774937e-01] [ 1.09986033e-02 -4.31813450e-03 9.99930190e-01 -1.81862090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64719347 meters Centerline goodness : 0.892467 Centerline is valid? [False, False] Translation: X:11.51, Y:0.17, Z:-1.82 [[ 9.99200267e-01 -3.83125035e-02 -1.14445819e-02 1.15147867e+01] [ 3.84291365e-02 9.99209765e-01 1.01511600e-02 1.69018823e-01] [ 1.10466217e-02 -1.05828472e-02 9.99882981e-01 -1.81742015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.67719347 meters Centerline goodness : 0.895213 Centerline is valid? [False, False] Translation: X:11.51, Y:0.17, Z:-1.82 [[ 9.99359595e-01 -3.39641064e-02 -1.12622937e-02 1.15135324e+01] [ 3.41089296e-02 9.99334522e-01 1.29264973e-02 1.72349557e-01] [ 1.08157620e-02 -1.33023639e-02 9.99853022e-01 -1.81667811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.70719347 meters Centerline goodness : 0.896966 Centerline is valid? [False, False] Translation: X:11.51, Y:0.18, Z:-1.81 [[ 9.99694409e-01 -2.38147931e-02 -6.62910971e-03 1.15143294e+01] [ 2.38692404e-02 9.99680972e-01 8.25912009e-03 1.80592883e-01] [ 6.43030560e-03 -8.41482799e-03 9.99943919e-01 -1.81422243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.73719347 meters Centerline goodness : 0.897660 Centerline is valid? [False, False] Translation: X:11.51, Y:0.18, Z:-1.81 [[ 9.99780511e-01 -1.98771992e-02 -6.62016522e-03 1.15138973e+01] [ 1.99522281e-02 9.99735173e-01 1.14670263e-02 1.82721076e-01] [ 6.39047966e-03 -1.15965964e-02 9.99912337e-01 -1.81404657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.76719347 meters Centerline goodness : 0.893462 Centerline is valid? [False, False] Translation: X:11.51, Y:0.18, Z:-1.82 [[ 9.99796351e-01 -1.90846503e-02 -6.55997889e-03 1.15142923e+01] [ 1.91564562e-02 9.99755287e-01 1.10632973e-02 1.84751860e-01] [ 6.34723441e-03 -1.11867102e-02 9.99917282e-01 -1.81511182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.79719347 meters Centerline goodness : 0.893590 Centerline is valid? [False, False] Translation: X:11.53, Y:0.18, Z:-1.82 [[ 9.99863511e-01 -1.63782331e-02 -2.17111847e-03 1.15266555e+01] [ 1.64268289e-02 9.99560853e-01 2.46629404e-02 1.79062845e-01] [ 1.76622964e-03 -2.46952388e-02 9.99693466e-01 -1.81986490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.82719347 meters Centerline goodness : 0.893033 Centerline is valid? [False, False] Translation: X:11.53, Y:0.18, Z:-1.82 [[ 9.99870280e-01 -1.59257409e-02 -2.40698785e-03 1.15275833e+01] [ 1.59824333e-02 9.99541227e-01 2.57273595e-02 1.76764902e-01] [ 1.99615632e-03 -2.57624917e-02 9.99666099e-01 -1.82031939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.85719347 meters Centerline goodness : 0.894442 Centerline is valid? [False, False] Translation: X:11.53, Y:0.18, Z:-1.82 [[ 9.99881765e-01 -1.51517246e-02 -2.62321921e-03 1.15284619e+01] [ 1.52164787e-02 9.99526810e-01 2.67322811e-02 1.75058490e-01] [ 2.21693777e-03 -2.67690366e-02 9.99639187e-01 -1.82082965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88719347 meters Centerline goodness : 0.892481 Centerline is valid? [False, False] Translation: X:11.53, Y:0.17, Z:-1.82 [[ 9.99893072e-01 -1.44017034e-02 -2.53685978e-03 1.15285795e+01] [ 1.44657834e-02 9.99520671e-01 2.73709589e-02 1.74240213e-01] [ 2.14145536e-03 -2.74047298e-02 9.99622126e-01 -1.82115168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.91719347 meters Centerline goodness : 0.890499 Centerline is valid? [False, False] Translation: X:11.54, Y:0.17, Z:-1.83 [[ 9.99952618e-01 -5.79662806e-03 -7.82057016e-03 1.15353570e+01] [ 5.95371735e-03 9.99777925e-01 2.02152111e-02 1.69067133e-01] [ 7.70165334e-03 -2.02608148e-02 9.99765064e-01 -1.82558273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.94719347 meters Centerline goodness : 0.888546 Centerline is valid? [False, False] Translation: X:11.54, Y:0.16, Z:-1.83 [[ 9.99945729e-01 -5.28804880e-03 -8.97642417e-03 1.15410482e+01] [ 5.47609616e-03 9.99763314e-01 2.10553518e-02 1.64803483e-01] [ 8.86295785e-03 -2.11033649e-02 9.99738014e-01 -1.82989580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.97719347 meters Centerline goodness : 0.883362 Centerline is valid? [False, False] Translation: X:11.55, Y:0.16, Z:-1.83 [[ 9.99934654e-01 -5.71741611e-03 -9.89941803e-03 1.15454621e+01] [ 5.92447050e-03 9.99761620e-01 2.10143836e-02 1.59580277e-01] [ 9.77691023e-03 -2.10716593e-02 9.99730162e-01 -1.83307609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.00719347 meters Centerline goodness : 0.887623 Centerline is valid? [False, False] Translation: X:11.55, Y:0.15, Z:-1.83 [[ 9.99916925e-01 -7.42212729e-03 -1.05382561e-02 1.15481388e+01] [ 7.63024064e-03 9.99773903e-01 1.98474568e-02 1.54716665e-01] [ 1.03885631e-02 -1.99262174e-02 9.99747480e-01 -1.83473369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.03719347 meters Centerline goodness : 0.883856 Centerline is valid? [False, False] Translation: X:11.56, Y:0.14, Z:-1.84 [[ 9.99948840e-01 -7.78812588e-03 -6.45470904e-03 1.15643434e+01] [ 7.95569385e-03 9.99620993e-01 2.63548218e-02 1.40707148e-01] [ 6.24700799e-03 -2.64048251e-02 9.99631812e-01 -1.83655087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.06719347 meters Centerline goodness : 0.882929 Centerline is valid? [False, False] Translation: X:11.57, Y:0.14, Z:-1.84 [[ 9.99924181e-01 -1.02718895e-02 -6.79117633e-03 1.15653035e+01] [ 1.04358083e-02 9.99643908e-01 2.45591203e-02 1.36004537e-01] [ 6.53648948e-03 -2.46281297e-02 9.99675312e-01 -1.83660291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.09719347 meters Centerline goodness : 0.883611 Centerline is valid? [False, False] Translation: X:11.57, Y:0.13, Z:-1.84 [[ 9.99896603e-01 -1.24673483e-02 -7.16576958e-03 1.15665673e+01] [ 1.26303631e-02 9.99651685e-01 2.31728715e-02 1.30593981e-01] [ 6.87436938e-03 -2.32609817e-02 9.99705792e-01 -1.83688023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.12719347 meters Centerline goodness : 0.883611 Centerline is valid? [False, False] Translation: X:11.57, Y:0.13, Z:-1.84 [[ 9.99896603e-01 -1.24673483e-02 -7.16576958e-03 1.15665673e+01] [ 1.26303631e-02 9.99651685e-01 2.31728715e-02 1.30593981e-01] [ 6.87436938e-03 -2.32609817e-02 9.99705792e-01 -1.83688023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.15719347 meters Centerline goodness : 0.883533 Centerline is valid? [False, False] Translation: X:11.57, Y:0.12, Z:-1.84 [[ 9.99861058e-01 -1.49891799e-02 -7.29305750e-03 1.15668210e+01] [ 1.51470115e-02 9.99641232e-01 2.20901444e-02 1.24830464e-01] [ 6.95932784e-03 -2.21975432e-02 9.99729382e-01 -1.83611812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.18719347 meters Centerline goodness : 0.884822 Centerline is valid? [False, False] Translation: X:11.57, Y:0.11, Z:-1.84 [[ 9.99790934e-01 -1.90568467e-02 -7.41107332e-03 1.15676366e+01] [ 1.92045898e-02 9.99607367e-01 2.04033168e-02 1.11657403e-01] [ 7.01934061e-03 -2.05413777e-02 9.99764363e-01 -1.83549389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.21719347 meters Centerline goodness : 0.883174 Centerline is valid? [False, False] Translation: X:11.57, Y:0.11, Z:-1.84 [[ 9.99727018e-01 -2.21291772e-02 -7.49597699e-03 1.15684104e+01] [ 2.22641450e-02 9.99582276e-01 1.84277542e-02 1.05622627e-01] [ 7.08505470e-03 -1.85896152e-02 9.99802095e-01 -1.83587682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.24719347 meters Centerline goodness : 0.884776 Centerline is valid? [False, False] Translation: X:11.57, Y:0.10, Z:-1.84 [[ 9.99670165e-01 -2.43803088e-02 -8.07229655e-03 1.15707081e+01] [ 2.45168703e-02 9.99550162e-01 1.72741610e-02 9.88771845e-02] [ 7.64751594e-03 -1.74663708e-02 9.99818204e-01 -1.83708857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.27719347 meters Centerline goodness : 0.885070 Centerline is valid? [False, False] Translation: X:11.57, Y:0.09, Z:-1.84 [[ 9.99603906e-01 -2.69237830e-02 -8.19398174e-03 1.15719704e+01] [ 2.70499001e-02 9.99510931e-01 1.56908281e-02 9.29030627e-02] [ 7.76751786e-03 -1.59062594e-02 9.99843316e-01 -1.83798128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30719347 meters Centerline goodness : 0.884585 Centerline is valid? [False, False] Translation: X:11.57, Y:0.09, Z:-1.84 [[ 9.99556875e-01 -2.84570943e-02 -8.73197950e-03 1.15748789e+01] [ 2.85860906e-02 9.99478453e-01 1.50218867e-02 8.73508727e-02] [ 8.29994612e-03 -1.52648433e-02 9.99849036e-01 -1.84012640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.33719347 meters Centerline goodness : 0.885117 Centerline is valid? [False, False] Translation: X:11.58, Y:0.08, Z:-1.84 [[ 9.99485989e-01 -3.05297924e-02 -9.78209340e-03 1.15785188e+01] [ 3.06689549e-02 9.99425763e-01 1.44068978e-02 7.56419505e-02] [ 9.33663656e-03 -1.46994991e-02 9.99848364e-01 -1.84143325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36719347 meters Centerline goodness : 0.885641 Centerline is valid? [False, False] Translation: X:11.58, Y:0.07, Z:-1.84 [[ 9.99399094e-01 -3.32435376e-02 -9.81416274e-03 1.15788868e+01] [ 3.33675429e-02 9.99361765e-01 1.27541939e-02 6.96623973e-02] [ 9.38390448e-03 -1.30740044e-02 9.99870498e-01 -1.84128366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.39719347 meters Centerline goodness : 0.883826 Centerline is valid? [False, False] Translation: X:11.58, Y:0.06, Z:-1.84 [[ 9.99312891e-01 -3.56341950e-02 -1.01955534e-02 1.15800445e+01] [ 3.57495871e-02 9.99296111e-01 1.13687566e-02 6.33177757e-02] [ 9.78326036e-03 -1.17254319e-02 9.99883394e-01 -1.84131440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42719347 meters Centerline goodness : 0.885384 Centerline is valid? [False, False] Translation: X:11.58, Y:0.05, Z:-1.84 [[ 9.99233534e-01 -3.77744957e-02 -1.02679921e-02 1.15791958e+01] [ 3.78843769e-02 9.99224561e-01 1.07261392e-02 5.11211054e-02] [ 9.85485545e-03 -1.11069144e-02 9.99889753e-01 -1.83913110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.45719347 meters Centerline goodness : 0.886800 Centerline is valid? [False, False] Translation: X:11.59, Y:0.05, Z:-1.84 [[ 9.99241995e-01 -3.83209705e-02 -6.85118430e-03 1.15851708e+01] [ 3.83151185e-02 9.99265222e-01 -9.83437564e-04 4.82969639e-02] [ 6.88383648e-03 7.20188175e-04 9.99976047e-01 -1.83711294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48719347 meters Centerline goodness : 0.887196 Centerline is valid? [False, False] Translation: X:11.59, Y:0.04, Z:-1.84 [[ 9.99148291e-01 -4.06607969e-02 -7.02801714e-03 1.15851645e+01] [ 4.06430699e-02 9.99170223e-01 -2.64706991e-03 4.36154135e-02] [ 7.12981742e-03 2.35917518e-03 9.99971800e-01 -1.83617699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.51719347 meters Centerline goodness : 0.886645 Centerline is valid? [False, False] Translation: X:11.59, Y:0.04, Z:-1.84 [[ 9.99171378e-01 -4.00338961e-02 -7.33791994e-03 1.15855123e+01] [ 4.00282302e-02 9.99198128e-01 -9.17447572e-04 3.74579405e-02] [ 7.36876487e-03 6.22963406e-04 9.99972656e-01 -1.83561919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.54719347 meters Centerline goodness : 0.888751 Centerline is valid? [False, False] Translation: X:11.59, Y:0.03, Z:-1.84 [[ 9.99072903e-01 -4.23576564e-02 -7.69171714e-03 1.15864852e+01] [ 4.23511672e-02 9.99102282e-01 -1.00466413e-03 2.77236606e-02] [ 7.72736736e-03 6.77979510e-04 9.99969914e-01 -1.83513770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.57719347 meters Centerline goodness : 0.888553 Centerline is valid? [False, False] Translation: X:11.59, Y:0.02, Z:-1.84 [[ 9.98942712e-01 -4.52783440e-02 -7.95800655e-03 1.15875827e+01] [ 4.52553599e-02 9.98970811e-01 -3.04498980e-03 2.29445782e-02] [ 8.08768835e-03 2.68162792e-03 9.99963698e-01 -1.83537018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.60719347 meters Centerline goodness : 0.886981 Centerline is valid? [False, False] Translation: X:11.59, Y:0.02, Z:-1.84 [[ 9.98803787e-01 -4.81843342e-02 -8.32261607e-03 1.15892252e+01] [ 4.81445361e-02 9.98828272e-01 -4.91796000e-03 1.76006371e-02] [ 8.54983285e-03 4.51138858e-03 9.99953273e-01 -1.83604202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.63719347 meters Centerline goodness : 0.886732 Centerline is valid? [False, False] Translation: X:11.59, Y:0.01, Z:-1.84 [[ 9.98676747e-01 -5.07095079e-02 -8.56155300e-03 1.15906769e+01] [ 5.06536654e-02 9.98694351e-01 -6.61810529e-03 1.24808617e-02] [ 8.88597548e-03 6.17567382e-03 9.99941449e-01 -1.83675652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.66719347 meters Centerline goodness : 0.888823 Centerline is valid? [False, False] Translation: X:11.59, Y:0.00, Z:-1.84 [[ 9.98541850e-01 -5.33134265e-02 -8.47654411e-03 1.15910260e+01] [ 5.32506768e-02 9.98553282e-01 -7.46385459e-03 4.51784500e-03] [ 8.86220460e-03 7.00158946e-03 9.99936218e-01 -1.83660833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.69719347 meters Centerline goodness : 0.885941 Centerline is valid? [False, False] Translation: X:11.60, Y:0.00, Z:-1.84 [[ 9.98635636e-01 -5.20693460e-02 -3.95589733e-03 1.16034342e+01] [ 5.20076502e-02 9.98543424e-01 -1.43608693e-02 2.59475207e-03] [ 4.69789633e-03 1.41355389e-02 9.99889052e-01 -1.84050570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.72719347 meters Centerline goodness : 0.885566 Centerline is valid? [False, False] Translation: X:11.61, Y:-0.01, Z:-1.84 [[ 9.98571315e-01 -5.32349290e-02 -4.62293582e-03 1.16056877e+01] [ 5.31637264e-02 9.98482579e-01 -1.43581862e-02 -5.63270505e-03] [ 5.38027790e-03 1.40919003e-02 9.99886229e-01 -1.84140551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.75719347 meters Centerline goodness : 0.885653 Centerline is valid? [False, False] Translation: X:11.61, Y:-0.01, Z:-1.84 [[ 9.98630708e-01 -5.20414500e-02 -5.32886034e-03 1.16080272e+01] [ 5.19720910e-02 9.98571327e-01 -1.24180010e-02 -1.01127278e-02] [ 5.96749792e-03 1.21240452e-02 9.99908694e-01 -1.84277893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.78719347 meters Centerline goodness : 0.885379 Centerline is valid? [False, False] Translation: X:11.61, Y:-0.01, Z:-1.84 [[ 9.98684059e-01 -5.09204817e-02 -6.10364491e-03 1.16104216e+01] [ 5.08524728e-02 9.98647530e-01 -1.08229407e-02 -1.30316801e-02] [ 6.64649927e-03 1.04983130e-02 9.99922802e-01 -1.84419140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.81719347 meters Centerline goodness : 0.884150 Centerline is valid? [False, False] Translation: X:11.61, Y:-0.01, Z:-1.84 [[ 9.98713226e-01 -5.03158966e-02 -6.34056314e-03 1.16111233e+01] [ 5.02509661e-02 9.98686412e-01 -1.00145255e-02 -1.43364747e-02] [ 6.83612409e-03 9.68301965e-03 9.99929751e-01 -1.84449500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.84719347 meters Centerline goodness : 0.883745 Centerline is valid? [False, False] Translation: X:11.62, Y:-0.02, Z:-1.85 [[ 9.98967739e-01 -4.54240566e-02 -3.33598810e-04 1.16221142e+01] [ 4.54152911e-02 9.98875116e-01 -1.36364945e-02 -1.50184533e-02] [ 9.52648448e-04 1.36072676e-02 9.99906963e-01 -1.84802431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.87719347 meters Centerline goodness : 0.885439 Centerline is valid? [False, False] Translation: X:11.64, Y:-0.01, Z:-1.84 [[ 9.99107694e-01 -4.22305728e-02 -6.28822895e-04 1.16363594e+01] [ 4.21936025e-02 9.98672816e-01 -2.95348317e-02 -1.44954194e-02] [ 1.87526119e-03 2.94819453e-02 9.99563554e-01 -1.84402561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.90719347 meters Centerline goodness : 0.885665 Centerline is valid? [False, False] Translation: X:11.65, Y:-0.03, Z:-1.85 [[ 9.99072848e-01 -4.27643969e-02 4.96504893e-03 1.16469879e+01] [ 4.28600379e-02 9.98858424e-01 -2.10918253e-02 -2.50246914e-02] [-4.05740176e-03 2.12850721e-02 9.99765214e-01 -1.84683491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.93719347 meters Centerline goodness : 0.885053 Centerline is valid? [False, False] Translation: X:11.65, Y:-0.03, Z:-1.85 [[ 9.99024004e-01 -4.39678635e-02 4.22694655e-03 1.16502480e+01] [ 4.40481673e-02 9.98802716e-01 -2.12813083e-02 -2.87934790e-02] [-3.28619203e-03 2.14467271e-02 9.99764592e-01 -1.84910647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.96719347 meters Centerline goodness : 0.884739 Centerline is valid? [False, False] Translation: X:11.65, Y:-0.03, Z:-1.85 [[ 9.98932957e-01 -4.60524188e-02 3.48161621e-03 1.16536798e+01] [ 4.61187682e-02 9.98687346e-01 -2.22855133e-02 -3.23663515e-02] [-2.45074426e-03 2.24223015e-02 9.99745585e-01 -1.85159524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.99719346999998 meters Centerline goodness : 0.881750 Centerline is valid? [False, False] Translation: X:11.65, Y:-0.03, Z:-1.85 [[ 9.98748072e-01 -4.99099342e-02 3.35957560e-03 1.16548563e+01] [ 4.99795802e-02 9.98424271e-01 -2.55150412e-02 -3.46878208e-02] [-2.08082780e-03 2.56510083e-02 9.99668793e-01 -1.85237696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02719347 meters Centerline goodness : 0.882551 Centerline is valid? [False, False] Translation: X:11.66, Y:-0.04, Z:-1.85 [[ 9.98309661e-01 -5.80127615e-02 3.51294346e-03 1.16556618e+01] [ 5.80952228e-02 9.97805982e-01 -3.17516417e-02 -4.09441982e-02] [-1.66323558e-03 3.19020559e-02 9.99489616e-01 -1.85244498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.05719347 meters Centerline goodness : 0.880140 Centerline is valid? [False, False] Translation: X:11.66, Y:-0.04, Z:-1.85 [[ 9.98061043e-01 -6.21528708e-02 3.34297673e-03 1.16568408e+01] [ 6.22319859e-02 9.97445706e-01 -3.50605675e-02 -4.36438718e-02] [-1.15532286e-03 3.52006267e-02 9.99379598e-01 -1.85288871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08719347 meters Centerline goodness : 0.880814 Centerline is valid? [False, False] Translation: X:11.66, Y:-0.05, Z:-1.85 [[ 9.97794738e-01 -6.63000289e-02 3.15708825e-03 1.16582553e+01] [ 6.63725702e-02 9.97046282e-01 -3.86444532e-02 -4.55335898e-02] [-5.85634741e-04 3.87687761e-02 9.99248037e-01 -1.85363836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.11719347 meters Centerline goodness : 0.878751 Centerline is valid? [False, False] Translation: X:11.66, Y:-0.05, Z:-1.86 [[ 9.97606922e-01 -6.90875633e-02 2.70873695e-03 1.16612533e+01] [ 6.91405327e-02 9.96769143e-01 -4.08761927e-02 -4.75694905e-02] [ 1.24051142e-04 4.09656563e-02 9.99160547e-01 -1.85581124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14719347 meters Centerline goodness : 0.880166 Centerline is valid? [False, False] Translation: X:11.66, Y:-0.05, Z:-1.86 [[ 9.97277463e-01 -7.37012670e-02 2.40500927e-03 1.16632062e+01] [ 7.37348992e-02 9.96269418e-01 -4.48376159e-02 -4.90306535e-02] [ 9.08551918e-04 4.48928770e-02 9.98991393e-01 -1.85680657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.17719347 meters Centerline goodness : 0.878480 Centerline is valid? [False, False] Translation: X:11.66, Y:-0.05, Z:-1.86 [[ 9.97264411e-01 -7.38838971e-02 2.20545430e-03 1.16637900e+01] [ 7.39083418e-02 9.96254719e-01 -4.48786298e-02 -4.89083636e-02] [ 1.11861382e-03 4.49188618e-02 9.98990012e-01 -1.85698557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.20719347 meters Centerline goodness : 0.876987 Centerline is valid? [False, False] Translation: X:11.66, Y:-0.05, Z:-1.86 [[ 9.97525598e-01 -7.02825760e-02 1.74404177e-03 1.16640966e+01] [ 7.02953381e-02 9.96698626e-01 -4.06252807e-02 -5.01272590e-02] [ 1.11696534e-03 4.06473554e-02 9.99172930e-01 -1.85673501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.23719347 meters Centerline goodness : 0.876852 Centerline is valid? [False, False] Translation: X:11.67, Y:-0.05, Z:-1.86 [[ 9.97747840e-01 -6.70680118e-02 1.06302073e-03 1.16651583e+01] [ 6.70613938e-02 9.97063215e-01 -3.69826171e-02 -5.10424264e-02] [ 1.42045173e-03 3.69706140e-02 9.99315344e-01 -1.85683738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.26719347 meters Centerline goodness : 0.876957 Centerline is valid? [False, False] Translation: X:11.67, Y:-0.05, Z:-1.86 [[ 9.98062958e-01 -6.16689111e-02 8.20230682e-03 1.16749390e+01] [ 6.19519211e-02 9.97257341e-01 -4.04938878e-02 -4.81812119e-02] [-5.68259673e-03 4.09235981e-02 9.99146119e-01 -1.85992521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.29719347 meters Centerline goodness : 0.876693 Centerline is valid? [False, False] Translation: X:11.68, Y:-0.05, Z:-1.86 [[ 9.98292844e-01 -5.78734183e-02 7.87815705e-03 1.16751824e+01] [ 5.81257511e-02 9.97628829e-01 -3.68526251e-02 -4.64949442e-02] [-5.72668920e-03 3.72476357e-02 9.99289657e-01 -1.85995535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32719347 meters Centerline goodness : 0.874679 Centerline is valid? [False, False] Translation: X:11.68, Y:-0.05, Z:-1.86 [[ 9.98634508e-01 -5.18028718e-02 6.75140313e-03 1.16778746e+01] [ 5.19849984e-02 9.98185534e-01 -3.03842075e-02 -4.51071384e-02] [-5.16516373e-03 3.06936898e-02 9.99515492e-01 -1.86143575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.35719347 meters Centerline goodness : 0.872418 Centerline is valid? [False, False] Translation: X:11.68, Y:-0.04, Z:-1.86 [[ 9.98824142e-01 -4.80920940e-02 6.12234974e-03 1.16789721e+01] [ 4.82409921e-02 9.98468398e-01 -2.70862527e-02 -4.25880692e-02] [-4.81033812e-03 2.73497514e-02 9.99614352e-01 -1.86181593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.38719347 meters Centerline goodness : 0.868109 Centerline is valid? [False, False] Translation: X:11.70, Y:-0.04, Z:-1.86 [[ 9.99235609e-01 -3.83334939e-02 7.66432761e-03 1.17011382e+01] [ 3.85857091e-02 9.98605345e-01 -3.60348079e-02 -3.84919783e-02] [-6.27229843e-03 3.63029968e-02 9.99321145e-01 -1.86255459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.41719347 meters Centerline goodness : 0.867146 Centerline is valid? [False, False] Translation: X:11.72, Y:-0.04, Z:-1.86 [[ 9.99305046e-01 -3.56268543e-02 1.09613635e-02 1.17183534e+01] [ 3.60190031e-02 9.98630543e-01 -3.79429781e-02 -3.52748840e-02] [-9.59456348e-03 3.83114269e-02 9.99219785e-01 -1.86354692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.44719347 meters Centerline goodness : 0.866245 Centerline is valid? [False, False] Translation: X:11.72, Y:-0.03, Z:-1.86 [[ 9.99429528e-01 -3.20987041e-02 1.05020225e-02 1.17189626e+01] [ 3.24439047e-02 9.98876510e-01 -3.45414229e-02 -3.35241090e-02] [-9.38148863e-03 3.48624446e-02 9.99348086e-01 -1.86333692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.47719347 meters Centerline goodness : 0.867675 Centerline is valid? [False, False] Translation: X:11.72, Y:-0.03, Z:-1.86 [[ 9.99537424e-01 -2.86446425e-02 1.02187109e-02 1.17193981e+01] [ 2.89506203e-02 9.99094738e-01 -3.11699620e-02 -3.14371189e-02] [-9.31660790e-03 3.14513816e-02 9.99461861e-01 -1.86326595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.50719347 meters Centerline goodness : 0.866720 Centerline is valid? [False, False] Translation: X:11.75, Y:-0.03, Z:-1.86 [[ 9.99726577e-01 -2.16971091e-02 8.71819080e-03 1.17461625e+01] [ 2.19969731e-02 9.99112789e-01 -3.59133475e-02 -2.66210411e-02] [-7.93124010e-03 3.60953018e-02 9.99316879e-01 -1.86215822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.53719347 meters Centerline goodness : 0.865344 Centerline is valid? [False, False] Translation: X:11.75, Y:-0.03, Z:-1.86 [[ 9.99731308e-01 -2.14499834e-02 8.78696919e-03 1.17462508e+01] [ 2.17554378e-02 9.99104744e-01 -3.62823829e-02 -2.51981081e-02] [-8.00084609e-03 3.64637985e-02 9.99302946e-01 -1.86199598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.56719347 meters Centerline goodness : 0.866970 Centerline is valid? [False, False] Translation: X:11.77, Y:-0.03, Z:-1.86 [[ 9.99776167e-01 -1.81629457e-02 1.08500386e-02 1.17650758e+01] [ 1.85391559e-02 9.99192622e-01 -3.56427182e-02 -2.52698787e-02] [-1.01939018e-02 3.58358907e-02 9.99305696e-01 -1.86275988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.59719347 meters Centerline goodness : 0.864408 Centerline is valid? [False, False] Translation: X:11.77, Y:-0.03, Z:-1.86 [[ 9.99866674e-01 -1.37756840e-02 8.76721528e-03 1.17741930e+01] [ 1.41282924e-02 9.99037954e-01 -4.15157519e-02 -2.55372473e-02] [-8.18687294e-03 4.16340825e-02 9.99099384e-01 -1.86072604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.62719347 meters Centerline goodness : 0.865425 Centerline is valid? [False, False] Translation: X:11.79, Y:-0.03, Z:-1.86 [[ 9.99878397e-01 -1.03436988e-02 1.16704248e-02 1.17921197e+01] [ 1.08017825e-02 9.99145428e-01 -3.98965468e-02 -2.65076603e-02] [-1.12477737e-02 4.00177566e-02 9.99135660e-01 -1.86142187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.65719347 meters Centerline goodness : 0.864768 Centerline is valid? [False, False] Translation: X:11.79, Y:-0.03, Z:-1.86 [[ 9.99923521e-01 -4.53957877e-03 1.15041063e-02 1.17943017e+01] [ 4.92336906e-03 9.99424731e-01 -3.35554299e-02 -2.79184717e-02] [-1.13451609e-02 3.36095026e-02 9.99370646e-01 -1.86384323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.68719347 meters Centerline goodness : 0.865136 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.03, Z:-1.87 [[ 9.99943037e-01 -1.77635418e-03 1.05246161e-02 1.17976528e+01] [ 2.09245328e-03 9.99544709e-01 -3.00997834e-02 -2.83342434e-02] [-1.04663564e-02 3.01200911e-02 9.99491488e-01 -1.86597870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.71719347 meters Centerline goodness : 0.864921 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.03, Z:-1.87 [[ 9.99952100e-01 1.15698885e-03 9.71902381e-03 1.18006955e+01] [-8.99662433e-04 9.99650015e-01 -2.64393408e-02 -3.00693522e-02] [-9.74621232e-03 2.64293305e-02 9.99603172e-01 -1.86802900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74719346999998 meters Centerline goodness : 0.862841 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.04, Z:-1.87 [[ 9.99960461e-01 4.41189947e-05 8.89240072e-03 1.18037051e+01] [ 1.95661893e-04 9.99636439e-01 -2.69620229e-02 -3.69785672e-02] [-8.89035733e-03 2.69626968e-02 9.99596906e-01 -1.87015645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.77719347 meters Centerline goodness : 0.863532 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.04, Z:-1.87 [[ 9.99963368e-01 4.91050128e-04 8.54529300e-03 1.18045459e+01] [-2.72323666e-04 9.99672780e-01 -2.55784976e-02 -4.28025481e-02] [-8.55505713e-03 2.55752335e-02 9.99636293e-01 -1.87040720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80719347 meters Centerline goodness : 0.863524 Centerline is valid? [False, False] Translation: X:11.81, Y:-0.05, Z:-1.87 [[ 9.99967080e-01 1.35282359e-04 8.11302173e-03 1.18060787e+01] [ 7.00724979e-05 9.99679746e-01 -2.53061353e-02 -4.69800189e-02] [-8.11384697e-03 2.53058707e-02 9.99646827e-01 -1.87130306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.83719347 meters Centerline goodness : 0.863639 Centerline is valid? [False, False] Translation: X:11.81, Y:-0.05, Z:-1.87 [[ 9.99968088e-01 7.70714603e-04 7.95164063e-03 1.18062243e+01] [-5.78498754e-04 9.99708248e-01 -2.41471491e-02 -4.96450174e-02] [-7.96793128e-03 2.41417785e-02 9.99676791e-01 -1.87104738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86719347 meters Centerline goodness : 0.864450 Centerline is valid? [False, False] Translation: X:11.81, Y:-0.05, Z:-1.87 [[ 9.99965363e-01 2.91484385e-03 7.79591836e-03 1.18075252e+01] [-2.74812019e-03 9.99769099e-01 -2.13118963e-02 -5.29100355e-02] [-7.85623912e-03 2.12897340e-02 9.99742480e-01 -1.87213187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.89719347 meters Centerline goodness : 0.863828 Centerline is valid? [False, False] Translation: X:11.82, Y:-0.05, Z:-1.87 [[ 9.99937800e-01 1.81471532e-03 1.10047106e-02 1.18247022e+01] [-1.52582582e-03 9.99655471e-01 -2.62032507e-02 -5.32918516e-02] [-1.10484706e-02 2.61848296e-02 9.99596061e-01 -1.87309401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92719347 meters Centerline goodness : 0.866533 Centerline is valid? [False, False] Translation: X:11.82, Y:-0.06, Z:-1.87 [[ 9.99938522e-01 2.13523019e-03 1.08808437e-02 1.18247755e+01] [-1.86544659e-03 9.99692068e-01 -2.47444763e-02 -5.73432711e-02] [-1.09303283e-02 2.47226574e-02 9.99634592e-01 -1.87273404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.95719347 meters Centerline goodness : 0.865312 Centerline is valid? [False, False] Translation: X:11.82, Y:-0.06, Z:-1.87 [[ 9.99940169e-01 -1.30973401e-03 1.08601745e-02 1.18246899e+01] [ 1.60594171e-03 9.99625696e-01 -2.73109654e-02 -6.11593779e-02] [-1.08203394e-02 2.73267721e-02 9.99567991e-01 -1.87253957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98719347 meters Centerline goodness : 0.865312 Centerline is valid? [False, False] Translation: X:11.82, Y:-0.06, Z:-1.87 [[ 9.99939515e-01 -1.36433253e-03 1.09134880e-02 1.18246546e+01] [ 1.66062302e-03 9.99629008e-01 -2.71861938e-02 -6.14964388e-02] [-1.08723481e-02 2.72026727e-02 9.99570811e-01 -1.87250349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.01719347 meters Centerline goodness : 0.867192 Centerline is valid? [False, False] Translation: X:11.82, Y:-0.07, Z:-1.87 [[ 9.99928834e-01 -5.04698717e-03 1.08099796e-02 1.18246624e+01] [ 5.36445284e-03 9.99549114e-01 -2.95430269e-02 -6.65765409e-02] [-1.06560022e-02 2.95989141e-02 9.99505054e-01 -1.87209077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.04719347 meters Centerline goodness : 0.869993 Centerline is valid? [False, False] Translation: X:11.83, Y:-0.08, Z:-1.87 [[ 9.99837550e-01 -1.48542930e-02 1.02089755e-02 1.18263417e+01] [ 1.52157756e-02 9.99225337e-01 -3.62933436e-02 -7.55166290e-02] [-9.66195506e-03 3.64427852e-02 9.99289032e-01 -1.87163207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.07719347 meters Centerline goodness : 0.871782 Centerline is valid? [False, False] Translation: X:11.83, Y:-0.08, Z:-1.87 [[ 9.99765489e-01 -1.91931592e-02 1.00294642e-02 1.18276441e+01] [ 1.95775155e-02 9.99018085e-01 -3.97440255e-02 -7.82416203e-02] [-9.25680273e-03 3.99310570e-02 9.99159558e-01 -1.87276786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.10719347 meters Centerline goodness : 0.872498 Centerline is valid? [False, False] Translation: X:11.83, Y:-0.08, Z:-1.87 [[ 9.99713270e-01 -2.19549900e-02 9.55801022e-03 1.18302884e+01] [ 2.23355045e-02 9.98879911e-01 -4.17138813e-02 -8.07616353e-02] [-8.63147656e-03 4.19154037e-02 9.99083879e-01 -1.87491405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.13719347 meters Centerline goodness : 0.871434 Centerline is valid? [False, False] Translation: X:11.83, Y:-0.08, Z:-1.88 [[ 9.99692269e-01 -2.32242667e-02 8.71787487e-03 1.18333641e+01] [ 2.35720774e-02 9.98832113e-01 -4.21754385e-02 -8.21998471e-02] [-7.72819974e-03 4.23679583e-02 9.99072185e-01 -1.87680396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.16719347 meters Centerline goodness : 0.871070 Centerline is valid? [False, False] Translation: X:11.84, Y:-0.08, Z:-1.88 [[ 9.99716453e-01 -2.23981676e-02 8.08304546e-03 1.18367588e+01] [ 2.27087098e-02 9.98916371e-01 -4.06250985e-02 -8.36030693e-02] [-7.16435868e-03 4.07971349e-02 9.99141765e-01 -1.87961520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.19719347 meters Centerline goodness : 0.871424 Centerline is valid? [False, False] Translation: X:11.84, Y:-0.09, Z:-1.88 [[ 9.99775872e-01 -1.98842163e-02 7.26798329e-03 1.18393990e+01] [ 2.01431056e-02 9.99094464e-01 -3.74767666e-02 -8.51983662e-02] [-6.51620573e-03 3.76147668e-02 9.99271069e-01 -1.88105674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.22719347 meters Centerline goodness : 0.871570 Centerline is valid? [False, False] Translation: X:11.86, Y:-0.09, Z:-1.88 [[ 9.99793386e-01 -1.83033679e-02 8.84147594e-03 1.18588717e+01] [ 1.86383357e-02 9.99048913e-01 -3.94193173e-02 -8.51823701e-02] [-8.11156066e-03 3.95759631e-02 9.99183640e-01 -1.88238289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.25719347 meters Centerline goodness : 0.871206 Centerline is valid? [False, False] Translation: X:11.88, Y:-0.08, Z:-1.88 [[ 9.99792862e-01 -1.70885490e-02 1.10550575e-02 1.18774501e+01] [ 1.75371216e-02 9.98970440e-01 -4.18390999e-02 -8.41302261e-02] [-1.03287061e-02 4.20243074e-02 9.99063199e-01 -1.88314654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.28719347 meters Centerline goodness : 0.874334 Centerline is valid? [False, False] Translation: X:11.88, Y:-0.08, Z:-1.88 [[ 9.99766634e-01 -1.95825955e-02 9.12139981e-03 1.18811629e+01] [ 1.99578769e-02 9.98873522e-01 -4.30507781e-02 -8.13751801e-02] [-8.26807878e-03 4.32227753e-02 9.99031246e-01 -1.88250459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.31719347 meters Centerline goodness : 0.875698 Centerline is valid? [False, False] Translation: X:11.88, Y:-0.08, Z:-1.88 [[ 9.99748900e-01 -2.07587149e-02 8.43874346e-03 1.18830476e+01] [ 2.11085316e-02 9.98820491e-01 -4.37270618e-02 -8.13911872e-02] [-7.52107228e-03 4.38942114e-02 9.99007874e-01 -1.88319440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.34719347 meters Centerline goodness : 0.879285 Centerline is valid? [False, False] Translation: X:11.90, Y:-0.08, Z:-1.88 [[ 9.99499280e-01 -3.03757515e-02 8.86024339e-03 1.19019382e+01] [ 3.06907591e-02 9.98810224e-01 -3.78974217e-02 -8.01634984e-02] [-7.69853902e-03 3.81503733e-02 9.99242354e-01 -1.88265110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.37719347 meters Centerline goodness : 0.879938 Centerline is valid? [False, False] Translation: X:11.90, Y:-0.08, Z:-1.88 [[ 9.99454981e-01 -3.19483700e-02 8.30918830e-03 1.19044852e+01] [ 3.22509722e-02 9.98708041e-01 -3.92698770e-02 -7.81555532e-02] [-7.04384461e-03 3.95164536e-02 9.99194092e-01 -1.88447480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.40719347 meters Centerline goodness : 0.879908 Centerline is valid? [False, False] Translation: X:11.92, Y:-0.08, Z:-1.88 [[ 9.99329674e-01 -3.59969076e-02 6.66527081e-03 1.19206259e+01] [ 3.61742095e-02 9.98932492e-01 -2.87280736e-02 -7.65647694e-02] [-5.62403377e-03 2.89499273e-02 9.99565041e-01 -1.88168709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.43719347 meters Centerline goodness : 0.882004 Centerline is valid? [False, False] Translation: X:11.94, Y:-0.08, Z:-1.88 [[ 9.99357733e-01 -3.51668790e-02 6.88564616e-03 1.19418700e+01] [ 3.53485526e-02 9.98973410e-01 -2.83302856e-02 -7.52890345e-02] [-5.88228969e-03 2.85554877e-02 9.99574901e-01 -1.88316042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.46719347 meters Centerline goodness : 0.880342 Centerline is valid? [False, False] Translation: X:11.94, Y:-0.07, Z:-1.88 [[ 9.99322122e-01 -3.62329185e-02 6.51711675e-03 1.19434342e+01] [ 3.64092475e-02 9.98905799e-01 -2.93525462e-02 -7.32642315e-02] [-5.44645730e-03 2.95699321e-02 9.99547875e-01 -1.88418211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.49719346999998 meters Centerline goodness : 0.884217 Centerline is valid? [False, False] Translation: X:11.97, Y:-0.07, Z:-1.89 [[ 9.99266785e-01 -3.79761273e-02 4.86897147e-03 1.19673451e+01] [ 3.81199227e-02 9.98695773e-01 -3.39650419e-02 -6.70887242e-02] [-3.57276047e-03 3.41257430e-02 9.99411161e-01 -1.88773122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52719347 meters Centerline goodness : 0.883118 Centerline is valid? [False, False] Translation: X:11.97, Y:-0.06, Z:-1.89 [[ 9.99333386e-01 -3.62991640e-02 3.89281847e-03 1.19704755e+01] [ 3.64061660e-02 9.98814812e-01 -3.23042206e-02 -6.39153826e-02] [-2.71558854e-03 3.24244088e-02 9.99470501e-01 -1.88944128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.55719347 meters Centerline goodness : 0.880662 Centerline is valid? [False, False] Translation: X:11.97, Y:-0.06, Z:-1.89 [[ 9.99434533e-01 -3.34656938e-02 3.26520070e-03 1.19721031e+01] [ 3.35480431e-02 9.98995563e-01 -2.97051203e-02 -6.09840449e-02] [-2.26781855e-03 2.97978642e-02 9.99553372e-01 -1.89010816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58719347 meters Centerline goodness : 0.879981 Centerline is valid? [False, False] Translation: X:11.97, Y:-0.06, Z:-1.89 [[ 9.99527583e-01 -3.06177140e-02 2.67693912e-03 1.19735703e+01] [ 3.06793035e-02 9.99158684e-01 -2.72159052e-02 -5.73897868e-02] [-1.84139817e-03 2.72851746e-02 9.99625994e-01 -1.89063035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.61719347 meters Centerline goodness : 0.881638 Centerline is valid? [False, False] Translation: X:11.99, Y:-0.04, Z:-1.89 [[ 9.99699925e-01 -2.40615396e-02 4.59369961e-03 1.19937767e+01] [ 2.41733918e-02 9.99367457e-01 -2.60831888e-02 -4.49028894e-02] [-3.96319222e-03 2.61864071e-02 9.99649221e-01 -1.89360214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64719347 meters Centerline goodness : 0.881442 Centerline is valid? [False, False] Translation: X:12.00, Y:-0.04, Z:-1.89 [[ 9.99833028e-01 -1.78755526e-02 3.79223117e-03 1.19956137e+01] [ 1.79484108e-02 9.99636101e-01 -2.01375432e-02 -3.99428118e-02] [-3.43088147e-03 2.02022453e-02 9.99790027e-01 -1.89411827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.67719347 meters Centerline goodness : 0.877972 Centerline is valid? [False, False] Translation: X:12.01, Y:-0.03, Z:-1.90 [[ 9.99853122e-01 -1.51282965e-02 8.05415061e-03 1.20108800e+01] [ 1.53191916e-02 9.99589943e-01 -2.41923091e-02 -3.22803512e-02] [-7.68485953e-03 2.43121389e-02 9.99674879e-01 -1.89658458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70719347 meters Centerline goodness : 0.875808 Centerline is valid? [False, False] Translation: X:12.01, Y:-0.02, Z:-1.90 [[ 9.99894238e-01 -1.25598539e-02 7.33233337e-03 1.20127968e+01] [ 1.27290515e-02 9.99642704e-01 -2.35039692e-02 -2.37769943e-02] [-7.03450713e-03 2.35948170e-02 9.99696854e-01 -1.89722177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.73719347 meters Centerline goodness : 0.875497 Centerline is valid? [False, False] Translation: X:12.03, Y:-0.02, Z:-1.90 [[ 9.99919415e-01 -9.88704934e-03 7.96299814e-03 1.20334717e+01] [ 1.00734508e-02 9.99667916e-01 -2.37188287e-02 -2.02334669e-02] [-7.72584453e-03 2.37971322e-02 9.99686955e-01 -1.89881062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.76719347 meters Centerline goodness : 0.878237 Centerline is valid? [False, False] Translation: X:12.05, Y:-0.02, Z:-1.90 [[ 9.99931852e-01 -6.72499677e-03 9.54284137e-03 1.20540720e+01] [ 6.95160846e-03 9.99689808e-01 -2.39157270e-02 -1.51239293e-02] [-9.37904807e-03 2.39804353e-02 9.99668431e-01 -1.90118529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.79719347 meters Centerline goodness : 0.874997 Centerline is valid? [False, False] Translation: X:12.07, Y:-0.01, Z:-1.90 [[ 9.99938318e-01 -2.97974113e-03 1.06995535e-02 1.20747789e+01] [ 3.22916949e-03 9.99721647e-01 -2.33709375e-02 -9.81966523e-03] [-1.06269359e-02 2.34040467e-02 9.99669605e-01 -1.90281755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.82719347 meters Centerline goodness : 0.875596 Centerline is valid? [False, False] Translation: X:12.10, Y:-0.00, Z:-1.90 [[ 9.99921076e-01 -6.06795535e-04 1.25488267e-02 1.20952097e+01] [ 9.22823705e-04 9.99682169e-01 -2.51934467e-02 -4.04859945e-03] [-1.25295510e-02 2.52030387e-02 9.99603830e-01 -1.90478429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.85719347 meters Centerline goodness : 0.877353 Centerline is valid? [False, False] Translation: X:12.12, Y:0.01, Z:-1.90 [[ 9.99908679e-01 5.42044940e-03 1.23794781e-02 1.21176113e+01] [-5.04095029e-03 9.99522554e-01 -3.04836336e-02 5.15989986e-03] [-1.25388026e-02 3.04184455e-02 9.99458602e-01 -1.90094025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88719347 meters Centerline goodness : 0.878941 Centerline is valid? [False, False] Translation: X:12.13, Y:0.01, Z:-1.90 [[ 9.99831290e-01 8.15186838e-03 1.64602397e-02 1.21348391e+01] [-7.64887069e-03 9.99508746e-01 -3.03934513e-02 9.40330642e-03] [-1.66999170e-02 3.02624213e-02 9.99402471e-01 -1.90102077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.91719347 meters Centerline goodness : 0.878678 Centerline is valid? [False, False] Translation: X:12.15, Y:0.01, Z:-1.90 [[ 9.99735325e-01 1.12726598e-02 2.00551032e-02 1.21529072e+01] [-1.06736227e-02 9.99500978e-01 -2.97299354e-02 1.38396378e-02] [-2.03802307e-02 2.95080061e-02 9.99356755e-01 -1.90159499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.94719347 meters Centerline goodness : 0.877265 Centerline is valid? [False, False] Translation: X:12.17, Y:0.02, Z:-1.90 [[ 9.99686949e-01 1.23830543e-02 2.17408488e-02 1.21728814e+01] [-1.16727031e-02 9.99403509e-01 -3.25019055e-02 1.97182349e-02] [-2.21303535e-02 3.22379562e-02 9.99235188e-01 -1.90341451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.97719347 meters Centerline goodness : 0.876421 Centerline is valid? [False, False] Translation: X:12.18, Y:0.02, Z:-1.90 [[ 0.99961281 0.01875545 0.02055373 12.17663212] [-0.01819058 0.99946085 -0.02733324 0.02464859] [-0.02105529 0.02694877 0.99941505 -1.90472281] [ 0. 0. 0. 1. ]] SLAMing on 141.00719347 meters Centerline goodness : 0.877393 Centerline is valid? [False, False] Translation: X:12.18, Y:0.03, Z:-1.91 [[ 0.99954418 0.02255009 0.02007323 12.17822634] [-0.02206348 0.99946505 -0.02414139 0.02625453] [-0.02060688 0.0236875 0.99950701 -1.90505876] [ 0. 0. 0. 1. ]] SLAMing on 141.03719347 meters Centerline goodness : 0.880270 Centerline is valid? [False, False] Translation: X:12.18, Y:0.03, Z:-1.90 [[ 0.99943929 0.02693569 0.01988929 12.17878351] [-0.02653098 0.99944105 -0.02033954 0.02793565] [-0.02042603 0.01980046 0.99959528 -1.9046996 ] [ 0. 0. 0. 1. ]] SLAMing on 141.06719347 meters Centerline goodness : 0.878458 Centerline is valid? [False, False] Translation: X:12.18, Y:0.03, Z:-1.90 [[ 0.99933261 0.03074968 0.01971802 12.17945498] [-0.03041356 0.99939068 -0.01712568 0.03006966] [-0.02023262 0.01651455 0.9996589 -1.90437429] [ 0. 0. 0. 1. ]] SLAMing on 141.09719347 meters Centerline goodness : 0.880948 Centerline is valid? [False, False] Translation: X:12.18, Y:0.03, Z:-1.91 [[ 9.99092846e-01 3.78304115e-02 1.95536501e-02 1.21810479e+01] [-3.76323221e-02 9.99237520e-01 -1.04012704e-02 3.24960339e-02] [-1.99322252e-02 9.65598557e-03 9.99754704e-01 -1.90505830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.12719347 meters Centerline goodness : 0.880076 Centerline is valid? [False, False] Translation: X:12.18, Y:0.03, Z:-1.91 [[ 9.99097465e-01 3.80544973e-02 1.88708767e-02 1.21831747e+01] [-3.78569610e-02 9.99225699e-01 -1.07169332e-02 3.36483525e-02] [-1.92640924e-02 9.99286680e-03 9.99764491e-01 -1.90612949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.15719347 meters Centerline goodness : 0.879100 Centerline is valid? [False, False] Translation: X:12.18, Y:0.03, Z:-1.90 [[ 9.99081967e-01 4.25449662e-02 5.01493910e-03 1.21834607e+01] [-4.25151628e-02 9.99078360e-01 -5.90687647e-03 3.23219677e-02] [-5.26162499e-03 5.68824281e-03 9.99969979e-01 -1.90311792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.18719347 meters Centerline goodness : 0.877203 Centerline is valid? [False, False] Translation: X:12.19, Y:0.03, Z:-1.91 [[ 9.99016171e-01 4.41203416e-02 4.48159337e-03 1.21863190e+01] [-4.41022551e-02 9.99018783e-01 -4.05747547e-03 3.02195132e-02] [-4.65621316e-03 3.85583524e-03 9.99981726e-01 -1.90537909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.21719347 meters Centerline goodness : 0.876878 Centerline is valid? [False, False] Translation: X:12.19, Y:0.03, Z:-1.91 [[ 9.98991487e-01 4.46869053e-02 4.36917189e-03 1.21868825e+01] [-4.46735087e-02 9.98996777e-01 -3.11718202e-03 2.74341985e-02] [-4.50408586e-03 2.91885206e-03 9.99985597e-01 -1.90590357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24719346999998 meters Centerline goodness : 0.878587 Centerline is valid? [False, False] Translation: X:12.19, Y:0.03, Z:-1.91 [[ 9.99073045e-01 4.28734333e-02 3.86252151e-03 1.21889260e+01] [-4.28539535e-02 9.99068874e-01 -4.99231455e-03 2.53838042e-02] [-4.07296269e-03 4.82216258e-03 9.99980079e-01 -1.90744677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.27719347 meters Centerline goodness : 0.880982 Centerline is valid? [False, False] Translation: X:12.19, Y:0.02, Z:-1.91 [[ 9.99186397e-01 4.01397733e-02 3.91693845e-03 1.21887737e+01] [-4.01115293e-02 9.99170401e-01 -7.04094266e-03 2.10323295e-02] [-4.19631081e-03 6.87809974e-03 9.99967541e-01 -1.90779656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30719347 meters Centerline goodness : 0.882630 Centerline is valid? [False, False] Translation: X:12.19, Y:0.02, Z:-1.91 [[ 9.99289712e-01 3.75197491e-02 3.51288569e-03 1.21896975e+01] [-3.74852193e-02 9.99252713e-01 -9.42731103e-03 1.89781259e-02] [-3.86397090e-03 9.28893363e-03 9.99949391e-01 -1.90835726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.33719347 meters Centerline goodness : 0.883022 Centerline is valid? [False, False] Translation: X:12.19, Y:0.01, Z:-1.91 [[ 9.99284044e-01 3.76960863e-02 3.22574576e-03 1.21906230e+01] [-3.76706198e-02 9.99261145e-01 -7.62151815e-03 1.32851799e-02] [-3.51066381e-03 7.49454563e-03 9.99965753e-01 -1.90923570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36719347 meters Centerline goodness : 0.882298 Centerline is valid? [False, False] Translation: X:12.19, Y:0.01, Z:-1.91 [[ 9.99395292e-01 3.46698695e-02 2.65542321e-03 1.21917074e+01] [-3.46427056e-02 9.99352969e-01 -9.67085229e-03 8.30534970e-03] [-2.98899226e-03 9.57301320e-03 9.99949710e-01 -1.90988141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.39719347 meters Centerline goodness : 0.888655 Centerline is valid? [False, False] Translation: X:12.19, Y:0.00, Z:-1.91 [[ 9.99484532e-01 3.20156055e-02 2.38137927e-03 1.21926303e+01] [-3.19879112e-02 9.99429061e-01 -1.08777657e-02 2.21150619e-03] [-2.72827790e-03 1.07959832e-02 9.99938000e-01 -1.91109339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42719347 meters Centerline goodness : 0.889735 Centerline is valid? [False, False] Translation: X:12.19, Y:-0.01, Z:-1.91 [[ 9.99640456e-01 2.67400031e-02 1.98268496e-03 1.21942917e+01] [-2.67117040e-02 9.99556815e-01 -1.31399335e-02 -9.48574877e-03] [-2.33316812e-03 1.30822482e-02 9.99911702e-01 -1.91376028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.45719347 meters Centerline goodness : 0.890127 Centerline is valid? [False, False] Translation: X:12.19, Y:-0.02, Z:-1.92 [[ 9.99636154e-01 2.68885304e-02 2.13695376e-03 1.21944780e+01] [-2.68653352e-02 9.99586731e-01 -1.02284872e-02 -1.69247278e-02] [-2.41109961e-03 1.01673556e-02 9.99945404e-01 -1.91529556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48719347 meters Centerline goodness : 0.889047 Centerline is valid? [False, False] Translation: X:12.20, Y:-0.02, Z:-1.92 [[ 9.99710914e-01 2.39779871e-02 1.77325342e-03 1.21959659e+01] [-2.39556800e-02 9.99644768e-01 -1.16817282e-02 -2.19463139e-02] [-2.05272783e-03 1.16358717e-02 9.99930194e-01 -1.91707199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.51719347 meters Centerline goodness : 0.891163 Centerline is valid? [False, False] Translation: X:12.20, Y:-0.03, Z:-1.92 [[ 9.99780804e-01 2.08521164e-02 1.87988112e-03 1.21954312e+01] [-2.08306751e-02 9.99724869e-01 -1.07827836e-02 -3.39076507e-02] [-2.10420777e-03 1.07412608e-02 9.99940097e-01 -1.91798456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.54719347 meters Centerline goodness : 0.894541 Centerline is valid? [False, False] Translation: X:12.20, Y:-0.04, Z:-1.92 [[ 9.99840217e-01 1.78099810e-02 1.53107180e-03 1.21955928e+01] [-1.77894901e-02 9.99763721e-01 -1.24914205e-02 -3.92718011e-02] [-1.75318200e-03 1.24621876e-02 9.99920807e-01 -1.91782465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.57719347 meters Centerline goodness : 0.899054 Centerline is valid? [False, False] Translation: X:12.20, Y:-0.04, Z:-1.92 [[ 9.99895145e-01 1.44297067e-02 1.21776067e-03 1.21960090e+01] [-1.44100772e-02 9.99786230e-01 -1.48271177e-02 -4.40580188e-02] [-1.43145131e-03 1.48080150e-02 9.99889331e-01 -1.91770052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.60719347 meters Centerline goodness : 0.895602 Centerline is valid? [False, False] Translation: X:12.20, Y:-0.05, Z:-1.92 [[ 9.99942845e-01 1.06591389e-02 8.29844635e-04 1.21970456e+01] [-1.06428344e-02 9.99787550e-01 -1.76517549e-02 -4.78677267e-02] [-1.01782084e-03 1.76419142e-02 9.99843851e-01 -1.91812790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.63719347 meters Centerline goodness : 0.898689 Centerline is valid? [False, False] Translation: X:12.20, Y:-0.05, Z:-1.92 [[ 9.99975877e-01 6.93506879e-03 3.87893145e-04 1.21984929e+01] [-6.92560077e-03 9.99763558e-01 -2.06122441e-02 -5.07355745e-02] [-5.30748762e-04 2.06090605e-02 9.99787470e-01 -1.91894757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.66719347 meters Centerline goodness : 0.901537 Centerline is valid? [False, False] Translation: X:12.20, Y:-0.06, Z:-1.92 [[ 9.99998357e-01 -1.71077546e-03 -5.98969257e-04 1.21960965e+01] [ 1.70477550e-03 9.99949755e-01 -9.87830839e-03 -5.96796505e-02] [ 6.15838729e-04 9.87727106e-03 9.99951029e-01 -1.91758398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.69719347 meters Centerline goodness : 0.903533 Centerline is valid? [False, False] Translation: X:12.21, Y:-0.06, Z:-1.92 [[ 9.99967699e-01 -6.49716676e-03 4.73159520e-03 1.22057812e+01] [ 6.51742392e-03 9.99969608e-01 -4.27849428e-03 -6.46188571e-02] [-4.70365331e-03 4.30919389e-03 9.99979653e-01 -1.91969800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.72719347 meters Centerline goodness : 0.902342 Centerline is valid? [False, False] Translation: X:12.21, Y:-0.07, Z:-1.92 [[ 9.99932499e-01 -1.06962374e-02 4.53744553e-03 1.22064680e+01] [ 1.07322861e-02 9.99910435e-01 -7.99619105e-03 -6.64410677e-02] [-4.45150998e-03 8.04434846e-03 9.99957735e-01 -1.91987325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.75719347 meters Centerline goodness : 0.906564 Centerline is valid? [False, False] Translation: X:12.21, Y:-0.07, Z:-1.92 [[ 9.99923384e-01 -1.16255027e-02 4.25140858e-03 1.22075934e+01] [ 1.16587854e-02 9.99900909e-01 -7.88948113e-03 -6.88812584e-02] [-4.15926813e-03 7.93844293e-03 9.99959840e-01 -1.92041690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.78719347 meters Centerline goodness : 0.903976 Centerline is valid? [False, False] Translation: X:12.23, Y:-0.07, Z:-1.92 [[ 9.99884418e-01 -1.51735624e-02 9.56138687e-04 1.22316811e+01] [ 1.51841277e-02 9.99809901e-01 -1.22313101e-02 -6.82420115e-02] [-7.70364380e-04 1.22444145e-02 9.99924738e-01 -1.92281457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.81719347 meters Centerline goodness : 0.905067 Centerline is valid? [False, False] Translation: X:12.23, Y:-0.07, Z:-1.92 [[ 9.99869738e-01 -1.61324980e-02 4.98576432e-04 1.22333992e+01] [ 1.61376910e-02 9.99781894e-01 -1.32566675e-02 -6.63193435e-02] [-2.84604528e-04 1.32629865e-02 9.99912002e-01 -1.92371830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.84719347 meters Centerline goodness : 0.903067 Centerline is valid? [False, False] Translation: X:12.23, Y:-0.06, Z:-1.92 [[ 9.99852029e-01 -1.72010719e-02 2.05599534e-04 1.22347142e+01] [ 1.72022335e-02 9.99743336e-01 -1.47426255e-02 -6.29678220e-02] [ 4.80421975e-05 1.47439808e-02 9.99891300e-01 -1.92444415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.87719347 meters Centerline goodness : 0.903998 Centerline is valid? [False, False] Translation: X:12.24, Y:-0.06, Z:-1.93 [[ 9.99887760e-01 -1.49769602e-02 -3.98086597e-04 1.22365433e+01] [ 1.49709555e-02 9.99812760e-01 -1.22603501e-02 -6.10459204e-02] [ 5.81634835e-04 1.22530143e-02 9.99924760e-01 -1.92509538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.90719347 meters Centerline goodness : 0.901243 Centerline is valid? [False, False] Translation: X:12.25, Y:-0.05, Z:-1.93 [[ 9.99909468e-01 -1.32309748e-02 2.44888784e-03 1.22545909e+01] [ 1.32711400e-02 9.99764258e-01 -1.71844685e-02 -5.14606066e-02] [-2.22094326e-03 1.72154123e-02 9.99849337e-01 -1.92791222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.93719347 meters Centerline goodness : 0.901243 Centerline is valid? [False, False] Translation: X:12.25, Y:-0.05, Z:-1.93 [[ 9.99909468e-01 -1.32309748e-02 2.44888784e-03 1.22545909e+01] [ 1.32711400e-02 9.99764258e-01 -1.71844685e-02 -5.14606066e-02] [-2.22094326e-03 1.72154123e-02 9.99849337e-01 -1.92791222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.96719347 meters Centerline goodness : 0.899168 Centerline is valid? [False, False] Translation: X:12.28, Y:-0.05, Z:-1.93 [[ 9.99945532e-01 -1.01183482e-02 2.55972578e-03 1.22755807e+01] [ 1.01610229e-02 9.99799619e-01 -1.72474690e-02 -4.74642464e-02] [-2.38469696e-03 1.72725390e-02 9.99847975e-01 -1.92929560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.99719346999998 meters Centerline goodness : 0.898626 Centerline is valid? [False, False] Translation: X:12.30, Y:-0.04, Z:-1.93 [[ 9.99967809e-01 -7.46782732e-03 2.93473529e-03 1.22963601e+01] [ 7.52176070e-03 9.99794638e-01 -1.88176609e-02 -4.25053737e-02] [-2.79360557e-03 1.88391295e-02 9.99818625e-01 -1.93131757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02719347 meters Centerline goodness : 0.895305 Centerline is valid? [False, False] Translation: X:12.31, Y:-0.03, Z:-1.94 [[ 9.99968490e-01 -3.84781641e-03 6.94360786e-03 1.23137736e+01] [ 4.01164325e-03 9.99710206e-01 -2.37362934e-02 -3.02568762e-02] [-6.85026274e-03 2.37634008e-02 9.99694141e-01 -1.93631207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.05719347 meters Centerline goodness : 0.896960 Centerline is valid? [False, False] Translation: X:12.33, Y:-0.02, Z:-1.94 [[ 9.99959456e-01 -8.45271896e-04 8.96504070e-03 1.23336966e+01] [ 1.06669055e-03 9.99693794e-01 -2.47220551e-02 -2.46072227e-02] [-8.94139870e-03 2.47306157e-02 9.99654164e-01 -1.93820804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08719347 meters Centerline goodness : 0.893589 Centerline is valid? [False, False] Translation: X:12.34, Y:-0.02, Z:-1.94 [[ 9.99959686e-01 2.36346916e-03 8.66259444e-03 1.23353152e+01] [-2.16782390e-03 9.99743923e-01 -2.25252878e-02 -1.91474004e-02] [-8.71361398e-03 2.25056007e-02 9.99708743e-01 -1.93919299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.11719347 meters Centerline goodness : 0.889434 Centerline is valid? [False, False] Translation: X:12.37, Y:-0.01, Z:-1.94 [[ 9.99935355e-01 1.07731824e-02 3.63656514e-03 1.23682503e+01] [-1.06572717e-02 9.99477486e-01 -3.05151964e-02 -6.31399757e-03] [-3.96341076e-03 3.04744679e-02 9.99527688e-01 -1.94112756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14719347 meters Centerline goodness : 0.888030 Centerline is valid? [False, False] Translation: X:12.37, Y:-0.00, Z:-1.94 [[ 9.99849577e-01 1.70782499e-02 3.02586744e-03 1.23706573e+01] [-1.69991893e-02 9.99556079e-01 -2.44677820e-02 -3.91737722e-03] [-3.44239109e-03 2.44126642e-02 9.99696040e-01 -1.94221733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.17719347 meters Centerline goodness : 0.887740 Centerline is valid? [False, False] Translation: X:12.37, Y:0.00, Z:-1.94 [[ 9.99781823e-01 2.07501135e-02 2.39573049e-03 1.23725648e+01] [-2.06916604e-02 9.99537650e-01 -2.22787084e-02 4.36177668e-04] [-2.85690855e-03 2.22242761e-02 9.99748928e-01 -1.94218625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.20719347 meters Centerline goodness : 0.885064 Centerline is valid? [False, False] Translation: X:12.37, Y:0.00, Z:-1.94 [[ 9.99686078e-01 2.49618998e-02 2.15621439e-03 1.23730048e+01] [-2.49159256e-02 9.99504833e-01 -1.92167911e-02 3.61034290e-03] [-2.63483432e-03 1.91570344e-02 9.99813015e-01 -1.94132244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.23719347 meters Centerline goodness : 0.880944 Centerline is valid? [False, False] Translation: X:12.37, Y:0.01, Z:-1.94 [[ 9.99567988e-01 2.93403794e-02 1.72636604e-03 1.23738642e+01] [-2.93057512e-02 9.99417445e-01 -1.74912219e-02 9.94276510e-03] [-2.23855942e-03 1.74330730e-02 9.99845526e-01 -1.94006314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.26719347 meters Centerline goodness : 0.882796 Centerline is valid? [False, False] Translation: X:12.38, Y:0.01, Z:-1.94 [[ 9.99560994e-01 2.96087794e-02 1.06724760e-03 1.23756151e+01] [-2.95835840e-02 9.99386379e-01 -1.87530659e-02 1.40135597e-02] [-1.62184810e-03 1.87132602e-02 9.99823576e-01 -1.94021167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.29719347 meters Centerline goodness : 0.883237 Centerline is valid? [False, False] Translation: X:12.38, Y:0.02, Z:-1.94 [[ 9.99469070e-01 3.25800804e-02 3.41562697e-04 1.23782462e+01] [-3.25704170e-02 9.99340761e-01 -1.60378328e-02 1.58595655e-02] [-8.63851408e-04 1.60181930e-02 9.99871327e-01 -1.94149954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.32719347 meters Centerline goodness : 0.880112 Centerline is valid? [False, False] Translation: X:12.38, Y:0.02, Z:-1.94 [[ 9.99415506e-01 3.41840274e-02 -3.14978772e-04 1.23810745e+01] [-3.41849178e-02 9.99303918e-01 -1.49355651e-02 1.76535304e-02] [-1.95798247e-04 1.49376029e-02 9.99888409e-01 -1.94317383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.35719347 meters Centerline goodness : 0.879500 Centerline is valid? [False, False] Translation: X:12.38, Y:0.02, Z:-1.94 [[ 9.99333456e-01 3.64948897e-02 -8.75880753e-04 1.23836067e+01] [-3.65030063e-02 9.99254984e-01 -1.25302929e-02 1.81043360e-02] [ 4.17936551e-04 1.25539132e-02 9.99921109e-01 -1.94473750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38719347 meters Centerline goodness : 0.878622 Centerline is valid? [False, False] Translation: X:12.38, Y:0.02, Z:-1.94 [[ 9.99300464e-01 3.73730028e-02 -1.35714140e-03 1.23844585e+01] [-3.73870825e-02 9.99222496e-01 -1.25143783e-02 1.92006132e-02] [ 8.88386317e-04 1.25563636e-02 9.99920771e-01 -1.94430740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.41719347 meters Centerline goodness : 0.879987 Centerline is valid? [False, False] Translation: X:12.39, Y:0.02, Z:-1.94 [[ 9.99290979e-01 3.76080322e-02 -1.78198850e-03 1.23853696e+01] [-3.76268106e-02 9.99219284e-01 -1.20434773e-02 1.79776567e-02] [ 1.32766579e-03 1.21019888e-02 9.99925887e-01 -1.94446099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.44719347 meters Centerline goodness : 0.879223 Centerline is valid? [False, False] Translation: X:12.39, Y:0.02, Z:-1.94 [[ 9.99288383e-01 3.76590712e-02 -2.12641165e-03 1.23862838e+01] [-3.76812305e-02 9.99222762e-01 -1.15757158e-02 1.64912675e-02] [ 1.68882822e-03 1.16476041e-02 9.99930738e-01 -1.94476792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.47719347 meters Centerline goodness : 0.878136 Centerline is valid? [False, False] Translation: X:12.39, Y:0.01, Z:-1.94 [[ 9.99277380e-01 3.79435845e-02 -2.23644776e-03 1.23861070e+01] [-3.79648524e-02 9.99225052e-01 -1.03906115e-02 1.34180267e-02] [ 1.84045758e-03 1.04680095e-02 9.99943515e-01 -1.94437487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.50719347 meters Centerline goodness : 0.879535 Centerline is valid? [False, False] Translation: X:12.39, Y:0.01, Z:-1.94 [[ 9.99283206e-01 3.77601433e-02 -2.69188979e-03 1.23871427e+01] [-3.77850727e-02 9.99236795e-01 -9.90532369e-03 1.13623406e-02] [ 2.31580888e-03 9.99993686e-03 9.99947318e-01 -1.94470004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.53719347 meters Centerline goodness : 0.880769 Centerline is valid? [False, False] Translation: X:12.39, Y:0.01, Z:-1.95 [[ 9.99314641e-01 3.68397372e-02 -3.61684797e-03 1.23894471e+01] [-3.68742537e-02 9.99269960e-01 -9.99182724e-03 8.89925167e-03] [ 3.24611123e-03 1.01183478e-02 9.99943539e-01 -1.94558988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.56719347 meters Centerline goodness : 0.879777 Centerline is valid? [False, False] Translation: X:12.39, Y:0.01, Z:-1.95 [[ 9.99317547e-01 3.67490421e-02 -3.73467626e-03 1.23895176e+01] [-3.67814191e-02 9.99282755e-01 -9.00572817e-03 5.21166951e-03] [ 3.40104570e-03 9.13694887e-03 9.99952473e-01 -1.94558625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.59719347 meters Centerline goodness : 0.881723 Centerline is valid? [False, False] Translation: X:12.39, Y:-0.00, Z:-1.95 [[ 9.99307466e-01 3.70457798e-02 -3.49250749e-03 1.23883995e+01] [-3.70683380e-02 9.99290725e-01 -6.63212940e-03 -2.67442717e-03] [ 3.24433794e-03 6.75699788e-03 9.99971908e-01 -1.94505161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.62719347 meters Centerline goodness : 0.881762 Centerline is valid? [False, False] Translation: X:12.39, Y:-0.00, Z:-1.94 [[ 9.99406783e-01 3.42095163e-02 -3.97383046e-03 1.23885477e+01] [-3.42458694e-02 9.99368553e-01 -9.47180285e-03 -4.50374250e-03] [ 3.64729541e-03 9.60227129e-03 9.99947245e-01 -1.94429916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.65719347 meters Centerline goodness : 0.881970 Centerline is valid? [False, False] Translation: X:12.39, Y:-0.01, Z:-1.94 [[ 9.99406185e-01 3.41842722e-02 -4.32581422e-03 1.23890683e+01] [-3.42201053e-02 9.99378174e-01 -8.49998150e-03 -7.93828971e-03] [ 4.03255863e-03 8.64296390e-03 9.99954518e-01 -1.94426484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.68719347 meters Centerline goodness : 0.885186 Centerline is valid? [False, False] Translation: X:12.39, Y:-0.01, Z:-1.94 [[ 9.99405454e-01 3.41672700e-02 -4.61918981e-03 1.23893352e+01] [-3.42021853e-02 9.99385242e-01 -7.70374350e-03 -1.06016850e-02] [ 4.35313424e-03 7.85714965e-03 9.99959657e-01 -1.94403076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.71719347 meters Centerline goodness : 0.887067 Centerline is valid? [False, False] Translation: X:12.39, Y:-0.02, Z:-1.94 [[ 9.99474886e-01 3.20563205e-02 -4.72701809e-03 1.23881943e+01] [-3.20977748e-02 9.99444470e-01 -8.97132480e-03 -1.50042318e-02] [ 4.43680442e-03 9.11834059e-03 9.99948584e-01 -1.94252633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74719346999998 meters Centerline goodness : 0.887720 Centerline is valid? [False, False] Translation: X:12.39, Y:-0.02, Z:-1.94 [[ 9.99470350e-01 3.21254544e-02 -5.19365655e-03 1.23890713e+01] [-3.21655802e-02 9.99451833e-01 -7.83636027e-03 -1.83736388e-02] [ 4.93906293e-03 7.99926672e-03 9.99955808e-01 -1.94283817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.77719347 meters Centerline goodness : 0.887596 Centerline is valid? [False, False] Translation: X:12.39, Y:-0.02, Z:-1.94 [[ 9.99467336e-01 3.20953429e-02 -5.91045098e-03 1.23908974e+01] [-3.21346618e-02 9.99461211e-01 -6.68214942e-03 -2.18018779e-02] [ 5.69280062e-03 6.86852042e-03 9.99960207e-01 -1.94387149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80719347 meters Centerline goodness : 0.887757 Centerline is valid? [False, False] Translation: X:12.39, Y:-0.03, Z:-1.95 [[ 9.99459762e-01 3.22515683e-02 -6.32624178e-03 1.23922252e+01] [-3.22847262e-02 9.99465127e-01 -5.21113809e-03 -2.56825892e-02] [ 6.15479067e-03 5.41256382e-03 9.99966411e-01 -1.94513864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.83719347 meters Centerline goodness : 0.887753 Centerline is valid? [False, False] Translation: X:12.40, Y:-0.03, Z:-1.95 [[ 9.99478333e-01 3.14313503e-02 -7.42509555e-03 1.23954914e+01] [-3.14652736e-02 9.99494729e-01 -4.49694941e-03 -3.04033440e-02] [ 7.27999868e-03 4.72823616e-03 9.99962322e-01 -1.94737229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.86719347 meters Centerline goodness : 0.890192 Centerline is valid? [False, False] Translation: X:12.40, Y:-0.04, Z:-1.95 [[ 9.99666824e-01 2.45653207e-02 -7.92374687e-03 1.23967365e+01] [-2.46359416e-02 9.99656500e-01 -8.94160546e-03 -3.82493815e-02] [ 7.70137165e-03 9.13383530e-03 9.99928628e-01 -1.94921980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.89719347 meters Centerline goodness : 0.891631 Centerline is valid? [False, False] Translation: X:12.40, Y:-0.04, Z:-1.95 [[ 9.99757963e-01 2.02502796e-02 -8.59889667e-03 1.23983381e+01] [-2.03553554e-02 9.99716982e-01 -1.23132457e-02 -4.03480130e-02] [ 8.34711636e-03 1.24852990e-02 9.99887215e-01 -1.95027358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92719347 meters Centerline goodness : 0.892324 Centerline is valid? [False, False] Translation: X:12.40, Y:-0.04, Z:-1.95 [[ 9.99854533e-01 1.46516681e-02 -8.73162759e-03 1.23991910e+01] [-1.47919586e-02 9.99758945e-01 -1.62249898e-02 -4.33604328e-02] [ 8.49179962e-03 1.63517875e-02 9.99830240e-01 -1.95105717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.95719347 meters Centerline goodness : 0.890135 Centerline is valid? [False, False] Translation: X:12.40, Y:-0.04, Z:-1.95 [[ 9.99866690e-01 1.32101778e-02 -9.59651394e-03 1.24015838e+01] [-1.33716934e-02 9.99766647e-01 -1.69661183e-02 -4.42072582e-02] [ 9.37014912e-03 1.70921782e-02 9.99810011e-01 -1.95193451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98719347 meters Centerline goodness : 0.891172 Centerline is valid? [False, False] Translation: X:12.41, Y:-0.05, Z:-1.95 [[ 9.99941726e-01 8.60065042e-03 -6.52481877e-03 1.24133858e+01] [-8.68065695e-03 9.99886249e-01 -1.23342896e-02 -4.53770989e-02] [ 6.41799365e-03 1.23902105e-02 9.99902641e-01 -1.95452304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.01719347 meters Centerline goodness : 0.891715 Centerline is valid? [False, False] Translation: X:12.42, Y:-0.05, Z:-1.96 [[ 9.99947296e-01 7.23209920e-03 -7.28717270e-03 1.24159726e+01] [-7.33100735e-03 9.99880112e-01 -1.36388726e-02 -4.53003876e-02] [ 7.18766138e-03 1.36915761e-02 9.99880432e-01 -1.95588247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.04719347 meters Centerline goodness : 0.890874 Centerline is valid? [False, False] Translation: X:12.42, Y:-0.04, Z:-1.96 [[ 9.99948897e-01 6.10803786e-03 -8.05581937e-03 1.24187878e+01] [-6.22916659e-03 9.99866618e-01 -1.50977936e-02 -4.32690706e-02] [ 7.96252697e-03 1.51472030e-02 9.99853569e-01 -1.95767767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.07719347 meters Centerline goodness : 0.892981 Centerline is valid? [False, False] Translation: X:12.42, Y:-0.04, Z:-1.96 [[ 9.99948128e-01 5.74043854e-03 -8.41355586e-03 1.24199165e+01] [-5.87342187e-03 9.99856856e-01 -1.58672951e-02 -4.07548882e-02] [ 8.32126628e-03 1.59158884e-02 9.99838708e-01 -1.95819370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.10719347 meters Centerline goodness : 0.894968 Centerline is valid? [False, False] Translation: X:12.43, Y:-0.04, Z:-1.96 [[ 9.99990839e-01 3.89884555e-03 -1.76683410e-03 1.24301910e+01] [-3.91556683e-03 9.99946622e-01 -9.56146074e-03 -3.95876197e-02] [ 1.72946114e-03 9.56829130e-03 9.99952727e-01 -1.96173725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.13719347 meters Centerline goodness : 0.894686 Centerline is valid? [False, False] Translation: X:12.45, Y:-0.04, Z:-1.96 [[ 9.99994675e-01 3.20703233e-03 6.04873210e-04 1.24498502e+01] [-3.19871258e-03 9.99906601e-01 -1.32874887e-02 -3.65223482e-02] [-6.47430121e-04 1.32854831e-02 9.99911534e-01 -1.96336983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.16719347 meters Centerline goodness : 0.894187 Centerline is valid? [False, False] Translation: X:12.45, Y:-0.03, Z:-1.96 [[ 9.99998777e-01 1.55194046e-03 1.91571212e-04 1.24513778e+01] [-1.54880666e-03 9.99880243e-01 -1.53980842e-02 -3.22882676e-02] [-2.15445180e-04 1.53977687e-02 9.99881424e-01 -1.96423003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.19719347 meters Centerline goodness : 0.893160 Centerline is valid? [False, False] Translation: X:12.45, Y:-0.03, Z:-1.96 [[ 9.99999444e-01 1.05027547e-03 -9.62981607e-05 1.24524350e+01] [-1.05169808e-03 9.99868138e-01 -1.62049818e-02 -2.97445296e-02] [ 7.92657676e-05 1.62050741e-02 9.99868686e-01 -1.96479687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.22719347 meters Centerline goodness : 0.892238 Centerline is valid? [False, False] Translation: X:12.46, Y:-0.03, Z:-1.97 [[ 9.99998340e-01 1.66475692e-03 -7.40419462e-04 1.24554748e+01] [-1.67619827e-03 9.99874869e-01 -1.57301126e-02 -2.79433293e-02] [ 7.14139999e-04 1.57313276e-02 9.99876000e-01 -1.96695432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.25719347 meters Centerline goodness : 0.893209 Centerline is valid? [False, False] Translation: X:12.46, Y:-0.02, Z:-1.97 [[ 9.99995708e-01 2.38343812e-03 -1.70370577e-03 1.24593004e+01] [-2.40990386e-03 9.99873769e-01 -1.57047389e-02 -2.46232982e-02] [ 1.66605943e-03 1.57087772e-02 9.99875221e-01 -1.96959645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.28719347 meters Centerline goodness : 0.894322 Centerline is valid? [False, False] Translation: X:12.46, Y:-0.02, Z:-1.97 [[ 9.99990129e-01 3.78254501e-03 -2.33102346e-03 1.24619627e+01] [-3.81625739e-03 9.99885666e-01 -1.46318466e-02 -2.21495828e-02] [ 2.27541133e-03 1.46405980e-02 9.99890232e-01 -1.97124450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.31719347 meters Centerline goodness : 0.892710 Centerline is valid? [False, False] Translation: X:12.46, Y:-0.02, Z:-1.97 [[ 9.99972718e-01 6.86984153e-03 -2.71453892e-03 1.24630112e+01] [-6.90161336e-03 9.99905688e-01 -1.18736380e-02 -1.92046034e-02] [ 2.63271290e-03 1.18920488e-02 9.99925821e-01 -1.97143587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.34719347 meters Centerline goodness : 0.892835 Centerline is valid? [False, False] Translation: X:12.48, Y:-0.01, Z:-1.97 [[ 9.99968268e-01 7.96501627e-03 -1.47654392e-04 1.24817823e+01] [-7.96634662e-03 9.99849052e-01 -1.54405425e-02 -1.35792910e-02] [ 2.46479316e-05 1.54412288e-02 9.99880777e-01 -1.97307720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.37719347 meters Centerline goodness : 0.890826 Centerline is valid? [False, False] Translation: X:12.50, Y:-0.00, Z:-1.98 [[ 9.99952568e-01 9.65664055e-03 1.26942577e-03 1.25022927e+01] [-9.62976954e-03 9.99759584e-01 -1.96987945e-02 -4.84866314e-03] [-1.45934476e-03 1.96856359e-02 9.99805154e-01 -1.97584216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.40719347 meters Centerline goodness : 0.889381 Centerline is valid? [False, False] Translation: X:12.51, Y:-0.00, Z:-1.98 [[ 9.99941052e-01 1.08458878e-02 5.09842734e-04 1.25050526e+01] [-1.08344088e-02 9.99765111e-01 -1.87706905e-02 -3.92441893e-03] [-7.13307781e-04 1.87640602e-02 9.99823685e-01 -1.97738191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.43719347 meters Centerline goodness : 0.891123 Centerline is valid? [False, False] Translation: X:12.51, Y:-0.00, Z:-1.98 [[ 9.99940828e-01 1.08780113e-02 9.44509918e-05 1.25059889e+01] [-1.08742312e-02 9.99758956e-01 -1.90730253e-02 -2.60246959e-03] [-3.01904809e-04 1.90708696e-02 9.99818089e-01 -1.97747502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.46719347 meters Centerline goodness : 0.891961 Centerline is valid? [False, False] Translation: X:12.51, Y:-0.00, Z:-1.98 [[ 9.99941516e-01 1.08120033e-02 -2.54307659e-04 1.25067832e+01] [-1.08149108e-02 9.99749437e-01 -1.95984776e-02 -5.60859077e-04] [ 4.23451335e-05 1.96000818e-02 9.99807899e-01 -1.97750275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.49719346999998 meters Centerline goodness : 0.891976 Centerline is valid? [False, False] Translation: X:12.51, Y:0.00, Z:-1.98 [[ 9.99945644e-01 1.04120851e-02 -5.46364565e-04 1.25075347e+01] [-1.04210813e-02 9.99736596e-01 -2.04484444e-02 2.12147843e-03] [ 3.33309707e-04 2.04530266e-02 9.99790759e-01 -1.97759362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52719347 meters Centerline goodness : 0.891232 Centerline is valid? [False, False] Translation: X:12.51, Y:0.00, Z:-1.98 [[ 9.99927042e-01 1.20168945e-02 -1.22655131e-03 1.25098358e+01] [-1.20375601e-02 9.99755959e-01 -1.85234945e-02 3.77811572e-03] [ 1.00365710e-03 1.85369077e-02 9.99827673e-01 -1.97863528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.55719347 meters Centerline goodness : 0.888697 Centerline is valid? [False, False] Translation: X:12.51, Y:0.01, Z:-1.98 [[ 9.99920046e-01 1.25015339e-02 -1.90062476e-03 1.25116473e+01] [-1.25342593e-02 9.99753778e-01 -1.83105257e-02 8.56977526e-03] [ 1.67124713e-03 1.83328846e-02 9.99830542e-01 -1.97899983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.58719347 meters Centerline goodness : 0.888531 Centerline is valid? [False, False] Translation: X:12.51, Y:0.01, Z:-1.98 [[ 9.99927159e-01 1.18340395e-02 -2.37326262e-03 1.25128121e+01] [-1.18773809e-02 9.99745773e-01 -1.91655268e-02 1.03807594e-02] [ 2.14585367e-03 1.91923190e-02 9.99813508e-01 -1.97924163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.61719347 meters Centerline goodness : 0.890377 Centerline is valid? [False, False] Translation: X:12.51, Y:0.01, Z:-1.98 [[ 9.99935900e-01 1.09547693e-02 -2.86162519e-03 1.25139862e+01] [-1.10099118e-02 9.99738906e-01 -2.00225043e-02 1.16524621e-02] [ 2.64153612e-03 2.00527271e-02 9.99795434e-01 -1.97951131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64719347 meters Centerline goodness : 0.888931 Centerline is valid? [False, False] Translation: X:12.51, Y:0.01, Z:-1.98 [[ 9.99968630e-01 3.48534006e-03 -7.11278157e-03 1.25141862e+01] [-3.56691699e-03 9.99927640e-01 -1.14887873e-02 1.37014844e-02] [ 7.07222456e-03 1.15137976e-02 9.99908704e-01 -1.97886310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.67719347 meters Centerline goodness : 0.886173 Centerline is valid? [False, False] Translation: X:12.52, Y:0.02, Z:-1.98 [[ 9.99967636e-01 1.49931248e-03 -7.90432566e-03 1.25171105e+01] [-1.60433011e-03 9.99910310e-01 -1.32965399e-02 1.59751430e-02] [ 7.88368105e-03 1.33087908e-02 9.99880355e-01 -1.98064235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.70719347 meters Centerline goodness : 0.886562 Centerline is valid? [False, False] Translation: X:12.52, Y:0.02, Z:-1.98 [[ 9.99961505e-01 -9.13531019e-04 -8.72662735e-03 1.25199710e+01] [ 7.77484512e-04 9.99878314e-01 -1.55805063e-02 1.89784701e-02] [ 8.73979872e-03 1.55731217e-02 9.99840534e-01 -1.98222271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.73719347 meters Centerline goodness : 0.888975 Centerline is valid? [False, False] Translation: X:12.52, Y:0.02, Z:-1.98 [[ 9.99951678e-01 -2.84493194e-03 -9.40995552e-03 1.25220231e+01] [ 2.68090536e-03 9.99845048e-01 -1.73980949e-02 2.17497475e-02] [ 9.45799382e-03 1.73720269e-02 9.99804360e-01 -1.98301066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.76719347 meters Centerline goodness : 0.890448 Centerline is valid? [False, False] Translation: X:12.53, Y:0.03, Z:-1.98 [[ 9.99954323e-01 -9.23672907e-03 -2.45663167e-03 1.25298550e+01] [ 9.20013173e-03 9.99852350e-01 -1.45132752e-02 2.65043329e-02] [ 2.59032414e-03 1.44900109e-02 9.99891659e-01 -1.98440726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.79719347 meters Centerline goodness : 0.890448 Centerline is valid? [False, False] Translation: X:12.53, Y:0.03, Z:-1.98 [[ 9.99954323e-01 -9.23672907e-03 -2.45663167e-03 1.25298550e+01] [ 9.20013173e-03 9.99852350e-01 -1.45132752e-02 2.65043329e-02] [ 2.59032414e-03 1.44900109e-02 9.99891659e-01 -1.98440726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.82719347 meters Centerline goodness : 0.889829 Centerline is valid? [False, False] Translation: X:12.53, Y:0.03, Z:-1.98 [[ 9.99946462e-01 -1.00379326e-02 -2.51238583e-03 1.25293353e+01] [ 9.99700592e-03 9.99825127e-01 -1.58042921e-02 2.99774189e-02] [ 2.67058890e-03 1.57783297e-02 9.99871948e-01 -1.98327075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.85719347 meters Centerline goodness : 0.892801 Centerline is valid? [False, False] Translation: X:12.55, Y:0.03, Z:-1.98 [[ 9.99944321e-01 -1.04397612e-02 1.53844806e-03 1.25462195e+01] [ 1.04656982e-02 9.99784203e-01 -1.79448038e-02 3.37246243e-02] [-1.35077661e-03 1.79599055e-02 9.99837795e-01 -1.98287669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.88719347 meters Centerline goodness : 0.894823 Centerline is valid? [False, False] Translation: X:12.55, Y:0.04, Z:-1.98 [[ 9.99984594e-01 -5.25892891e-03 1.77618666e-03 1.25454853e+01] [ 5.28380653e-03 9.99883723e-01 -1.43046448e-02 4.22283482e-02] [-1.70075302e-03 1.43138094e-02 9.99896106e-01 -1.98185301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.91719347 meters Centerline goodness : 0.893306 Centerline is valid? [False, False] Translation: X:12.55, Y:0.05, Z:-1.98 [[ 9.99996753e-01 -2.18320957e-03 1.31416578e-03 1.25468877e+01] [ 2.19920266e-03 9.99922009e-01 -1.22938999e-02 4.70869640e-02] [-1.28722313e-03 1.22967502e-02 9.99923564e-01 -1.98224195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.94719347 meters Centerline goodness : 0.895708 Centerline is valid? [False, False] Translation: X:12.55, Y:0.05, Z:-1.98 [[ 9.99998852e-01 1.05050906e-03 1.09210124e-03 1.25479512e+01] [-1.03971363e-03 9.99951055e-01 -9.83902248e-03 5.18525896e-02] [-1.10238376e-03 9.83787571e-03 9.99950999e-01 -1.98300896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.97719347 meters Centerline goodness : 0.894627 Centerline is valid? [False, False] Translation: X:12.55, Y:0.06, Z:-1.98 [[ 9.99990539e-01 4.24351613e-03 9.56757380e-04 1.25487130e+01] [-4.23629358e-03 9.99963433e-01 -7.42870070e-03 5.65122818e-02] [-9.88246206e-04 7.42457731e-03 9.99971949e-01 -1.98355696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.00719347 meters Centerline goodness : 0.894386 Centerline is valid? [False, False] Translation: X:12.55, Y:0.07, Z:-1.98 [[ 9.99957773e-01 9.14004958e-03 9.54887680e-04 1.25491416e+01] [-9.13587699e-03 9.99949080e-01 -4.28632696e-03 6.79339491e-02] [-9.94016298e-04 4.27742222e-03 9.99990358e-01 -1.98375067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.03719347 meters Centerline goodness : 0.893050 Centerline is valid? [False, False] Translation: X:12.55, Y:0.07, Z:-1.98 [[ 9.99927908e-01 1.19797047e-02 8.15918479e-04 1.25495507e+01] [-1.19776524e-02 9.99925201e-01 -2.47541438e-03 7.40046715e-02] [-8.45512183e-04 2.46546314e-03 9.99996603e-01 -1.98369239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.06719347 meters Centerline goodness : 0.891466 Centerline is valid? [False, False] Translation: X:12.55, Y:0.08, Z:-1.98 [[ 9.99888851e-01 1.48975278e-02 5.90303091e-04 1.25502151e+01] [-1.48970267e-02 9.99888677e-01 -8.44436382e-04 8.06235188e-02] [-6.02817391e-04 8.35548763e-04 9.99999469e-01 -1.98369021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.09719347 meters Centerline goodness : 0.892553 Centerline is valid? [False, False] Translation: X:12.55, Y:0.09, Z:-1.98 [[ 9.99838589e-01 1.79662914e-02 9.44798791e-05 1.25517395e+01] [-1.79663688e-02 9.99838192e-01 8.94061134e-04 8.68367404e-02] [-7.84016286e-05 -8.95614283e-04 9.99999596e-01 -1.98412401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.12719347 meters Centerline goodness : 0.891964 Centerline is valid? [False, False] Translation: X:12.55, Y:0.10, Z:-1.98 [[ 9.99665906e-01 2.58446654e-02 -3.60565751e-04 1.25533143e+01] [-2.58424973e-02 9.99653065e-01 5.09058401e-03 9.73831934e-02] [ 4.92005098e-04 -5.07956536e-03 9.99986978e-01 -1.98412506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.15719347 meters Centerline goodness : 0.890791 Centerline is valid? [False, False] Translation: X:12.55, Y:0.10, Z:-1.98 [[ 9.99549868e-01 2.99976433e-02 -4.51352484e-04 1.25538777e+01] [-2.99931055e-02 9.99518417e-01 7.95908469e-03 1.01930101e-01] [ 6.89888904e-04 -7.94196458e-03 9.99968224e-01 -1.98418844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.18719347 meters Centerline goodness : 0.890457 Centerline is valid? [False, False] Translation: X:12.55, Y:0.11, Z:-1.98 [[ 9.99432234e-01 3.36892641e-02 -4.92648089e-04 1.25544284e+01] [-3.36824031e-02 9.99379429e-01 1.03078590e-02 1.07054471e-01] [ 8.39606551e-04 -1.02854130e-02 9.99946751e-01 -1.98425056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.21719347 meters Centerline goodness : 0.890965 Centerline is valid? [False, False] Translation: X:12.56, Y:0.12, Z:-1.98 [[ 9.99027724e-01 4.40823233e-02 -5.96294816e-04 1.25560822e+01] [-4.40629398e-02 9.98846536e-01 1.90802474e-02 1.15557125e-01] [ 1.43670865e-03 -1.90354216e-02 9.99817778e-01 -1.98495949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24719346999998 meters Centerline goodness : 0.893073 Centerline is valid? [False, False] Translation: X:12.57, Y:0.12, Z:-1.99 [[ 9.98841690e-01 4.79022867e-02 4.54419312e-03 1.25677953e+01] [-4.79576288e-02 9.98765141e-01 1.29714549e-02 1.21025563e-01] [-3.91721933e-03 -1.31743587e-02 9.99905541e-01 -1.98864914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.27719347 meters Centerline goodness : 0.890241 Centerline is valid? [False, False] Translation: X:12.57, Y:0.12, Z:-1.99 [[ 9.98831262e-01 4.81504547e-02 4.20051183e-03 1.25686015e+01] [-4.81979226e-02 9.98765179e-01 1.20447850e-02 1.24532206e-01] [-3.61536308e-03 -1.22331637e-02 9.99918636e-01 -1.98870298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30719347 meters Centerline goodness : 0.893150 Centerline is valid? [False, False] Translation: X:12.57, Y:0.13, Z:-1.99 [[ 9.98818349e-01 4.84547915e-02 3.74690431e-03 1.25699198e+01] [-4.84952597e-02 9.98756143e-01 1.15921245e-02 1.26290428e-01] [-3.18054972e-03 -1.17601338e-02 9.99925789e-01 -1.98920581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.33719347 meters Centerline goodness : 0.891144 Centerline is valid? [False, False] Translation: X:12.57, Y:0.13, Z:-1.99 [[ 9.98772159e-01 4.94308575e-02 3.28083307e-03 1.25715440e+01] [-4.94657376e-02 9.98708763e-01 1.15736005e-02 1.27356591e-01] [-2.70450374e-03 -1.17216788e-02 9.99927641e-01 -1.99036029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36719347 meters Centerline goodness : 0.891663 Centerline is valid? [False, False] Translation: X:12.57, Y:0.13, Z:-1.99 [[ 9.98767141e-01 4.95528556e-02 2.95170045e-03 1.25725213e+01] [-4.95840303e-02 9.98702124e-01 1.16401020e-02 1.27208348e-01] [-2.37106921e-03 -1.17721086e-02 9.99927895e-01 -1.99085262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.39719347 meters Centerline goodness : 0.892390 Centerline is valid? [False, False] Translation: X:12.57, Y:0.13, Z:-1.99 [[ 9.98767035e-01 4.95682166e-02 2.72071569e-03 1.25730634e+01] [-4.95970550e-02 9.98699374e-01 1.18191994e-02 1.26520239e-01] [-2.13132042e-03 -1.19395662e-02 9.99926449e-01 -1.99096451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42719347 meters Centerline goodness : 0.890856 Centerline is valid? [False, False] Translation: X:12.57, Y:0.12, Z:-1.99 [[ 9.98762943e-01 4.96631465e-02 2.48091586e-03 1.25735474e+01] [-4.96901391e-02 9.98688153e-01 1.23638025e-02 1.24654605e-01] [-1.86363594e-03 -1.24717848e-02 9.99920488e-01 -1.99093863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.45719347 meters Centerline goodness : 0.892939 Centerline is valid? [False, False] Translation: X:12.59, Y:0.12, Z:-1.99 [[ 9.98809541e-01 4.85169425e-02 5.06035596e-03 1.25922792e+01] [-4.85955219e-02 9.98677676e-01 1.67742156e-02 1.15614694e-01] [-4.23983088e-03 -1.70001573e-02 9.99846497e-01 -1.99307953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48719347 meters Centerline goodness : 0.891599 Centerline is valid? [False, False] Translation: X:12.59, Y:0.11, Z:-1.99 [[ 9.98914579e-01 4.63786427e-02 4.32273692e-03 1.25944407e+01] [-4.64382098e-02 9.98810270e-01 1.48841075e-02 1.12894332e-01] [-3.62728933e-03 -1.50686921e-02 9.99879881e-01 -1.99421055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.51719347 meters Centerline goodness : 0.890717 Centerline is valid? [False, False] Translation: X:12.60, Y:0.10, Z:-1.99 [[ 9.99096285e-01 4.19791223e-02 6.66081489e-03 1.26028699e+01] [-4.21266765e-02 9.98828244e-01 2.38218688e-02 1.03943243e-01] [-5.65298890e-03 -2.40809386e-02 9.99694029e-01 -1.99397980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.54719347 meters Centerline goodness : 0.893190 Centerline is valid? [False, False] Translation: X:12.60, Y:0.10, Z:-1.99 [[ 9.99224145e-01 3.88765689e-02 6.30243852e-03 1.26034070e+01] [-3.90003302e-02 9.99021146e-01 2.08740070e-02 1.01634037e-01] [-5.48475958e-03 -2.11036090e-02 9.99762249e-01 -1.99392181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.57719347 meters Centerline goodness : 0.891854 Centerline is valid? [False, False] Translation: X:12.60, Y:0.10, Z:-1.99 [[ 9.99348468e-01 3.56086902e-02 5.88734325e-03 1.26039287e+01] [-3.57094795e-02 9.99199977e-01 1.80066185e-02 9.89745238e-02] [-5.24144114e-03 -1.82051206e-02 9.99820534e-01 -1.99371655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.60719347 meters Centerline goodness : 0.891825 Centerline is valid? [False, False] Translation: X:12.61, Y:0.09, Z:-1.99 [[ 9.99553291e-01 2.93302712e-02 5.74055023e-03 1.26050837e+01] [-2.94912226e-02 9.99105257e-01 3.03142370e-02 9.43968080e-02] [-4.84628912e-03 -3.04699912e-02 9.99523933e-01 -1.99336857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.63719347 meters Centerline goodness : 0.890724 Centerline is valid? [False, False] Translation: X:12.61, Y:0.09, Z:-1.99 [[ 9.99569026e-01 2.88111831e-02 5.62832437e-03 1.26050709e+01] [-2.89717605e-02 9.99102290e-01 3.09071363e-02 9.17373333e-02] [-4.73280060e-03 -3.10568786e-02 9.99506414e-01 -1.99275912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.66719347 meters Centerline goodness : 0.888462 Centerline is valid? [False, False] Translation: X:12.60, Y:0.09, Z:-1.99 [[ 9.99726383e-01 2.32233334e-02 2.79923953e-03 1.26049336e+01] [-2.33264881e-02 9.98697600e-01 4.53759656e-02 8.51127725e-02] [-1.74181262e-03 -4.54288464e-02 9.98966058e-01 -1.99017825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.69719347 meters Centerline goodness : 0.891006 Centerline is valid? [False, False] Translation: X:12.60, Y:0.08, Z:-1.99 [[ 9.99792707e-01 2.01615403e-02 2.83809780e-03 1.26045612e+01] [-2.02626080e-02 9.98920531e-01 4.17995101e-02 8.46386294e-02] [-1.99229165e-03 -4.18483526e-02 9.99121988e-01 -1.98977501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.72719347 meters Centerline goodness : 0.890068 Centerline is valid? [False, False] Translation: X:12.59, Y:0.09, Z:-1.99 [[ 9.99795189e-01 2.00954577e-02 -2.39829490e-03 1.25945465e+01] [-2.00126991e-02 9.99331011e-01 3.06108244e-02 8.55859859e-02] [ 3.01182899e-03 -3.05565586e-02 9.99528502e-01 -1.98621988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.75719347 meters Centerline goodness : 0.890672 Centerline is valid? [False, False] Translation: X:12.59, Y:0.08, Z:-1.99 [[ 9.99785491e-01 2.05960508e-02 -2.18501363e-03 1.25942296e+01] [-2.05161425e-02 9.99282859e-01 3.18253813e-02 8.20297538e-02] [ 2.83892384e-03 -3.17737264e-02 9.99491056e-01 -1.98626649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.78719347 meters Centerline goodness : 0.887748 Centerline is valid? [False, False] Translation: X:12.57, Y:0.08, Z:-1.98 [[ 9.99851122e-01 1.67240541e-02 -4.24740994e-03 1.25744663e+01] [-1.65223209e-02 9.98905256e-01 4.37641777e-02 8.05960843e-02] [ 4.97467459e-03 -4.36874851e-02 9.99032860e-01 -1.98493937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.81719347 meters Centerline goodness : 0.888489 Centerline is valid? [False, False] Translation: X:12.57, Y:0.08, Z:-1.99 [[ 9.99847668e-01 1.68813027e-02 -4.43423997e-03 1.25749965e+01] [-1.66704065e-02 9.98895564e-01 4.39289123e-02 7.99947048e-02] [ 5.17091990e-03 -4.38482999e-02 9.99024819e-01 -1.98512893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.84719347 meters Centerline goodness : 0.888000 Centerline is valid? [False, False] Translation: X:12.58, Y:0.08, Z:-1.99 [[ 9.99812789e-01 1.86427621e-02 -5.18028020e-03 1.25767093e+01] [-1.83903176e-02 9.98812204e-01 4.51217971e-02 7.79476941e-02] [ 6.01532202e-03 -4.50180828e-02 9.98968062e-01 -1.98557838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.87719347 meters Centerline goodness : 0.887549 Centerline is valid? [False, False] Translation: X:12.58, Y:0.08, Z:-1.99 [[ 9.99768159e-01 2.06418108e-02 -6.12732603e-03 1.25798972e+01] [-2.03325418e-02 9.98695115e-01 4.68471351e-02 7.66202796e-02] [ 7.08634027e-03 -4.67116899e-02 9.98883277e-01 -1.98727337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.90719347 meters Centerline goodness : 0.885907 Centerline is valid? [False, False] Translation: X:12.59, Y:0.08, Z:-1.99 [[ 9.99641976e-01 2.48209447e-02 -9.99205288e-03 1.25875119e+01] [-2.43169327e-02 9.98563550e-01 4.77443484e-02 7.50061103e-02] [ 1.11627596e-02 -4.74842787e-02 9.98809610e-01 -1.98661481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.93719347 meters Centerline goodness : 0.883959 Centerline is valid? [False, False] Translation: X:12.59, Y:0.07, Z:-1.99 [[ 0.99949248 0.02877084 -0.01367588 12.59442766] [-0.02807625 0.99842737 0.04852322 0.07298824] [ 0.01505043 -0.04811462 0.99872843 -1.98549784] [ 0. 0. 0. 1. ]] SLAMing on 144.96719347 meters Centerline goodness : 0.886555 Centerline is valid? [False, False] Translation: X:12.60, Y:0.07, Z:-1.99 [[ 9.99388539e-01 3.35080569e-02 -9.98789607e-03 1.26034263e+01] [-3.30631054e-02 9.98578594e-01 4.18045670e-02 6.89842815e-02] [ 1.13744890e-02 -4.14487743e-02 9.99075883e-01 -1.98646612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.99719346999998 meters Centerline goodness : 0.884650 Centerline is valid? [False, False] Translation: X:12.61, Y:0.07, Z:-1.99 [[ 9.99360693e-01 3.51743947e-02 -6.40059458e-03 1.26131586e+01] [-3.49475814e-02 9.98855992e-01 3.26400501e-02 6.75735795e-02] [ 7.54136626e-03 -3.23954977e-02 9.99446677e-01 -1.98814127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02719347 meters Centerline goodness : 0.884180 Centerline is valid? [False, False] Translation: X:12.61, Y:0.07, Z:-1.99 [[ 9.99441716e-01 3.27062884e-02 -6.82319123e-03 1.26140675e+01] [-3.24881535e-02 9.99023385e-01 2.99465618e-02 6.62046609e-02] [ 7.79596849e-03 -2.97081702e-02 9.99528212e-01 -1.98844489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.05719347 meters Centerline goodness : 0.881487 Centerline is valid? [False, False] Translation: X:12.63, Y:0.06, Z:-1.99 [[ 9.99468137e-01 3.24045997e-02 -3.65861651e-03 1.26318099e+01] [-3.22669606e-02 9.98937602e-01 3.29015310e-02 5.60776155e-02] [ 4.72089054e-03 -3.27659794e-02 9.99451902e-01 -1.98896182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08719347 meters Centerline goodness : 0.884960 Centerline is valid? [False, False] Translation: X:12.63, Y:0.05, Z:-1.99 [[ 9.99552927e-01 2.96832705e-02 -3.58453088e-03 1.26310958e+01] [-2.95584315e-02 9.99084356e-01 3.09313605e-02 5.13491737e-02] [ 4.49939267e-03 -3.08115788e-02 9.99515083e-01 -1.98807688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.11719347 meters Centerline goodness : 0.884432 Centerline is valid? [False, False] Translation: X:12.63, Y:0.05, Z:-1.99 [[ 9.99630390e-01 2.69644758e-02 -3.46430481e-03 1.26305767e+01] [-2.68536228e-02 9.99223786e-01 2.88220011e-02 4.66996038e-02] [ 4.23878592e-03 -2.87183191e-02 9.99578557e-01 -1.98774833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14719347 meters Centerline goodness : 0.885317 Centerline is valid? [False, False] Translation: X:12.63, Y:0.04, Z:-1.99 [[ 9.99699236e-01 2.42606179e-02 -3.58601136e-03 1.26310130e+01] [-2.41574558e-02 9.99358155e-01 2.64517375e-02 4.27858622e-02] [ 4.22544520e-03 -2.63571529e-02 9.99643660e-01 -1.98809813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.17719347 meters Centerline goodness : 0.883795 Centerline is valid? [False, False] Translation: X:12.63, Y:0.04, Z:-1.99 [[ 9.99762710e-01 2.14425798e-02 -3.83916775e-03 1.26316405e+01] [-2.13451592e-02 9.99488004e-01 2.38351251e-02 3.96255842e-02] [ 4.34828868e-03 -2.37475216e-02 9.99708531e-01 -1.98845788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.20719347 meters Centerline goodness : 0.883926 Centerline is valid? [False, False] Translation: X:12.63, Y:0.03, Z:-1.99 [[ 9.99847372e-01 1.70354669e-02 -3.87626883e-03 1.26314984e+01] [-1.69527563e-02 9.99647055e-01 2.04540719e-02 2.98640243e-02] [ 4.22334539e-03 -2.03852366e-02 9.99783279e-01 -1.98820760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.23719347 meters Centerline goodness : 0.886608 Centerline is valid? [False, False] Translation: X:12.63, Y:0.03, Z:-1.99 [[ 9.99927074e-01 1.14679178e-02 -3.78606114e-03 1.26303299e+01] [-1.14095262e-02 9.99820890e-01 1.51000202e-02 2.53429071e-02] [ 3.95854881e-03 -1.50557218e-02 9.99878820e-01 -1.98704778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.26719347 meters Centerline goodness : 0.888256 Centerline is valid? [False, False] Translation: X:12.63, Y:0.02, Z:-1.99 [[ 9.99975118e-01 6.17174412e-03 -3.41660409e-03 1.26281665e+01] [-6.13592015e-03 9.99927111e-01 1.03982751e-02 2.02047812e-02] [ 3.48053055e-03 -1.03770523e-02 9.99940100e-01 -1.98521222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.29719347 meters Centerline goodness : 0.888551 Centerline is valid? [False, False] Translation: X:12.63, Y:0.01, Z:-1.99 [[ 9.99995464e-01 -4.92980008e-05 -3.01151459e-03 1.26278623e+01] [ 6.99586017e-05 9.99976462e-01 6.86081484e-03 5.84942559e-03] [ 3.01110548e-03 -6.86099440e-03 9.99971930e-01 -1.98555383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32719347 meters Centerline goodness : 0.888132 Centerline is valid? [False, False] Translation: X:12.63, Y:-0.00, Z:-1.99 [[ 9.99979375e-01 -5.32715528e-03 -3.58775562e-03 1.26301963e+01] [ 5.33564530e-03 9.99982978e-01 2.36098658e-03 -3.76651576e-04] [ 3.57511721e-03 -2.38008087e-03 9.99990777e-01 -1.98699290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.35719347 meters Centerline goodness : 0.892681 Centerline is valid? [False, False] Translation: X:12.63, Y:-0.01, Z:-1.99 [[ 9.99956398e-01 -8.47990772e-03 -3.91069769e-03 1.26313822e+01] [ 8.48217983e-03 9.99963866e-01 5.64780128e-04 -8.16658885e-03] [ 3.90576710e-03 -5.97926743e-04 9.99992194e-01 -1.98742144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38719347 meters Centerline goodness : 0.893785 Centerline is valid? [False, False] Translation: X:12.63, Y:-0.02, Z:-1.99 [[ 9.99925424e-01 -1.15028877e-02 -4.10247686e-03 1.26321620e+01] [ 1.14982201e-02 9.99933221e-01 -1.15955015e-03 -1.60104452e-02] [ 4.11554108e-03 1.11229249e-03 9.99990913e-01 -1.98757963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.41719347 meters Centerline goodness : 0.896114 Centerline is valid? [False, False] Translation: X:12.63, Y:-0.03, Z:-1.99 [[ 9.99876648e-01 -1.52688535e-02 -3.68122009e-03 1.26308475e+01] [ 1.52626418e-02 9.99882057e-01 -1.70964619e-03 -3.29174877e-02] [ 3.70689026e-03 1.65325016e-03 9.99991763e-01 -1.98573617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.44719347 meters Centerline goodness : 0.900359 Centerline is valid? [False, False] Translation: X:12.63, Y:-0.04, Z:-1.99 [[ 9.99840449e-01 -1.73879998e-02 -4.09077894e-03 1.26323524e+01] [ 1.73771779e-02 9.99845450e-01 -2.66626402e-03 -3.92220587e-02] [ 4.13650771e-03 2.59475242e-03 9.99988078e-01 -1.98631551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.47719347 meters Centerline goodness : 0.900731 Centerline is valid? [False, False] Translation: X:12.63, Y:-0.05, Z:-1.99 [[ 9.99816268e-01 -1.85619703e-02 -4.78366034e-03 1.26349840e+01] [ 1.85493085e-02 9.99824361e-01 -2.67778492e-03 -4.54340746e-02] [ 4.83252511e-03 2.58855933e-03 9.99984973e-01 -1.98776946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.50719347 meters Centerline goodness : 0.900164 Centerline is valid? [False, False] Translation: X:12.64, Y:-0.06, Z:-1.99 [[ 9.99783690e-01 -1.99356911e-02 -5.92798203e-03 1.26387876e+01] [ 1.99245834e-02 9.99799629e-01 -1.92696542e-03 -5.81943594e-02] [ 5.96520962e-03 1.80843603e-03 9.99980573e-01 -1.98951612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.53719347 meters Centerline goodness : 0.902935 Centerline is valid? [False, False] Translation: X:12.64, Y:-0.06, Z:-1.99 [[ 9.99735193e-01 -2.20237144e-02 -6.67079814e-03 1.26415913e+01] [ 2.20038856e-02 9.99753289e-01 -3.03143587e-03 -6.47347613e-02] [ 6.73591586e-03 2.88384965e-03 9.99973155e-01 -1.99100484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.56719347 meters Centerline goodness : 0.902964 Centerline is valid? [False, False] Translation: X:12.64, Y:-0.07, Z:-1.99 [[ 9.99666553e-01 -2.47451482e-02 -7.37972332e-03 1.26445876e+01] [ 2.47108998e-02 9.99683607e-01 -4.69650979e-03 -7.09244624e-02] [ 7.49360426e-03 4.51258415e-03 9.99961741e-01 -1.99267774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.59719347 meters Centerline goodness : 0.900496 Centerline is valid? [False, False] Translation: X:12.65, Y:-0.08, Z:-1.99 [[ 9.99595018e-01 -2.73636234e-02 -7.81225262e-03 1.26466745e+01] [ 2.73162689e-02 9.99608197e-01 -6.10527389e-03 -7.73027078e-02] [ 7.97625417e-03 5.88939978e-03 9.99950846e-01 -1.99386761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.62719347 meters Centerline goodness : 0.901526 Centerline is valid? [False, False] Translation: X:12.65, Y:-0.09, Z:-2.00 [[ 9.99407226e-01 -3.34225850e-02 -8.25387608e-03 1.26495657e+01] [ 3.33389350e-02 9.99393347e-01 -1.00724203e-02 -8.74018229e-02] [ 8.58551516e-03 9.79127421e-03 9.99915206e-01 -1.99574902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.65719347 meters Centerline goodness : 0.901704 Centerline is valid? [False, False] Translation: X:12.67, Y:-0.09, Z:-2.00 [[ 9.99413091e-01 -3.36686049e-02 -6.31652526e-03 1.26689689e+01] [ 3.36056006e-02 9.99386842e-01 -9.82874484e-03 -9.31486841e-02] [ 6.64357236e-03 9.61070564e-03 9.99931746e-01 -1.99615201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.68719347 meters Centerline goodness : 0.902641 Centerline is valid? [False, False] Translation: X:12.67, Y:-0.10, Z:-2.00 [[ 9.99426080e-01 -3.32289380e-02 -6.58391561e-03 1.26694864e+01] [ 3.31751009e-02 9.99416535e-01 -8.12419721e-03 -9.84508068e-02] [ 6.85003257e-03 7.90111251e-03 9.99945323e-01 -1.99582390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.71719347 meters Centerline goodness : 0.904883 Centerline is valid? [False, False] Translation: X:12.69, Y:-0.10, Z:-2.00 [[ 9.99474430e-01 -3.22891039e-02 -2.87702296e-03 1.26869212e+01] [ 3.22606184e-02 9.99434805e-01 -9.45110268e-03 -1.02243418e-01] [ 3.18056452e-03 9.35332093e-03 9.99951199e-01 -1.99587118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74719346999998 meters Centerline goodness : 0.904883 Centerline is valid? [False, False] Translation: X:12.69, Y:-0.10, Z:-2.00 [[ 9.99474430e-01 -3.22891039e-02 -2.87702296e-03 1.26869212e+01] [ 3.22606184e-02 9.99434805e-01 -9.45110268e-03 -1.02243418e-01] [ 3.18056452e-03 9.35332093e-03 9.99951199e-01 -1.99587118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.77719347 meters Centerline goodness : 0.906221 Centerline is valid? [False, False] Translation: X:12.69, Y:-0.10, Z:-2.00 [[ 9.99485868e-01 -3.18961946e-02 -3.26061664e-03 1.26873406e+01] [ 3.18663965e-02 9.99453264e-01 -8.81513456e-03 -1.03723772e-01] [ 3.54000319e-03 8.70669832e-03 9.99955830e-01 -1.99530545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80719347 meters Centerline goodness : 0.904212 Centerline is valid? [False, False] Translation: X:12.69, Y:-0.11, Z:-1.99 [[ 9.99500531e-01 -3.13948930e-02 -3.61231669e-03 1.26878493e+01] [ 3.13645939e-02 9.99474708e-01 -8.15910577e-03 -1.05403926e-01] [ 3.86657342e-03 8.04173171e-03 9.99960189e-01 -1.99499094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.83719347 meters Centerline goodness : 0.903143 Centerline is valid? [False, False] Translation: X:12.71, Y:-0.11, Z:-2.00 [[ 9.99702282e-01 -2.40338791e-02 -4.20951015e-03 1.27086298e+01] [ 2.39570834e-02 9.99561007e-01 -1.74313465e-02 -1.06887409e-01] [ 4.62660508e-03 1.73253093e-02 9.99839201e-01 -1.99595360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86719347 meters Centerline goodness : 0.905657 Centerline is valid? [False, False] Translation: X:12.72, Y:-0.11, Z:-2.00 [[ 9.99808294e-01 -1.95796958e-02 -9.93198373e-05 1.27228702e+01] [ 1.95726938e-02 9.99563094e-01 -2.21479250e-02 -1.07011057e-01] [ 5.32926079e-04 2.21417352e-02 9.99754700e-01 -2.00106620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.89719347 meters Centerline goodness : 0.905652 Centerline is valid? [False, False] Translation: X:12.75, Y:-0.11, Z:-2.01 [[ 9.99888419e-01 -1.48233696e-02 -1.84880384e-03 1.27465408e+01] [ 1.47790816e-02 9.99648157e-01 -2.20258947e-02 -1.07539385e-01] [ 2.17465133e-03 2.19961134e-02 9.99755691e-01 -2.00513223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92719347 meters Centerline goodness : 0.904466 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.11, Z:-2.00 [[ 9.99944283e-01 -9.81876005e-03 -3.87583520e-03 1.27743185e+01] [ 9.69999006e-03 9.99516027e-01 -2.95570941e-02 -1.07941037e-01] [ 4.16417342e-03 2.95178517e-02 9.99555579e-01 -2.00477795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.95719347 meters Centerline goodness : 0.903619 Centerline is valid? [False, False] Translation: X:12.79, Y:-0.11, Z:-2.00 [[ 9.99979425e-01 -6.39584277e-03 -4.92814309e-04 1.27917525e+01] [ 6.37954842e-03 9.99588026e-01 -2.79835427e-02 -1.11325648e-01] [ 6.71589622e-04 2.79798230e-02 9.99608263e-01 -2.00424252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98719347 meters Centerline goodness : 0.903244 Centerline is valid? [False, False] Translation: X:12.81, Y:-0.12, Z:-2.00 [[ 9.99990315e-01 -3.03093330e-03 3.19114402e-03 1.28075139e+01] [ 3.11114064e-03 9.99671590e-01 -2.54368331e-02 -1.20220000e-01] [-3.11299867e-03 2.54465148e-02 9.99671338e-01 -2.00202394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.01719347 meters Centerline goodness : 0.904289 Centerline is valid? [False, False] Translation: X:12.81, Y:-0.12, Z:-2.00 [[ 9.99992643e-01 -2.68530284e-03 2.73920114e-03 1.28086190e+01] [ 2.75090720e-03 9.99702518e-01 -2.42344201e-02 -1.24178616e-01] [-2.67330952e-03 2.42417771e-02 9.99702551e-01 -2.00220326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04719347 meters Centerline goodness : 0.905617 Centerline is valid? [False, False] Translation: X:12.81, Y:-0.13, Z:-2.00 [[ 9.99994619e-01 -2.24943935e-03 2.38772162e-03 1.28097106e+01] [ 2.30379775e-03 9.99732521e-01 -2.30126018e-02 -1.27650530e-01] [-2.33531751e-03 2.30179788e-02 9.99732324e-01 -2.00270990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.07719347 meters Centerline goodness : 0.906869 Centerline is valid? [False, False] Translation: X:12.83, Y:-0.13, Z:-2.00 [[ 9.99999350e-01 -5.23051243e-05 1.13862737e-03 1.28315667e+01] [ 7.90413051e-05 9.99723982e-01 -2.34936971e-02 -1.30891986e-01] [-1.13708425e-03 2.34937719e-02 9.99723337e-01 -2.00471337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.10719347 meters Centerline goodness : 0.903290 Centerline is valid? [False, False] Translation: X:12.83, Y:-0.13, Z:-2.01 [[ 9.99999804e-01 2.16869588e-05 6.25589743e-04 1.28338546e+01] [-7.44383679e-06 9.99740991e-01 -2.27585354e-02 -1.33958237e-01] [-6.25921273e-04 2.27585263e-02 9.99740795e-01 -2.00641633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.13719347 meters Centerline goodness : 0.903924 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.14, Z:-2.01 [[ 9.99997710e-01 -2.12160371e-03 -2.80254897e-04 1.28376202e+01] [ 2.11448851e-03 9.99725618e-01 -2.33284751e-02 -1.43285793e-01] [ 3.29671780e-04 2.33278291e-02 9.99727815e-01 -2.00920455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.16719347 meters Centerline goodness : 0.903030 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.15, Z:-2.01 [[ 9.99985610e-01 -5.33676385e-03 -5.46552185e-04 1.28383783e+01] [ 5.32102636e-03 9.99658191e-01 -2.55966492e-02 -1.48424477e-01] [ 6.82968641e-04 2.55933727e-02 9.99672203e-01 -2.00940764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.19719347 meters Centerline goodness : 0.904223 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.15, Z:-2.01 [[ 9.99962082e-01 -8.68857408e-03 -5.85530192e-04 1.28383841e+01] [ 8.66895397e-03 9.99576372e-01 -2.77835346e-02 -1.54181117e-01] [ 8.26681444e-04 2.77774052e-02 9.99613792e-01 -2.00906951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.22719347 meters Centerline goodness : 0.908653 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.17, Z:-2.01 [[ 9.99903364e-01 -1.39006612e-02 -1.84364045e-04 1.28384272e+01] [ 1.38903553e-02 9.99526288e-01 -2.74637693e-02 -1.66025217e-01] [ 5.66041262e-04 2.74585544e-02 9.99622783e-01 -2.00641943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.25719347 meters Centerline goodness : 0.907625 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.17, Z:-2.01 [[ 9.99838787e-01 -1.79479528e-02 -5.21468641e-04 1.28396948e+01] [ 1.79235897e-02 9.99370813e-01 -3.06059414e-02 -1.68823939e-01] [ 1.07045453e-03 3.05916608e-02 9.99531392e-01 -2.00687639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.28719347 meters Centerline goodness : 0.906440 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.17, Z:-2.01 [[ 9.99758369e-01 -2.19668193e-02 -8.13517196e-04 1.28408233e+01] [ 2.19267381e-02 9.99187042e-01 -3.38300634e-02 -1.71323756e-01] [ 1.55599473e-03 3.38040513e-02 9.99427268e-01 -2.00723702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.31719347 meters Centerline goodness : 0.907760 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.18, Z:-2.00 [[ 9.99573765e-01 -2.91445679e-02 -1.69778921e-03 1.28367800e+01] [ 2.90990271e-02 9.99323073e-01 -2.25087352e-02 -1.82631983e-01] [ 2.35264729e-03 2.24497372e-02 9.99745205e-01 -2.00472819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.34719347 meters Centerline goodness : 0.906313 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.19, Z:-2.00 [[ 9.99584608e-01 -2.87437090e-02 -2.10022852e-03 1.28375498e+01] [ 2.86927551e-02 9.99363043e-01 -2.12187118e-02 -1.87096552e-01] [ 2.70879524e-03 2.11496363e-02 9.99772652e-01 -2.00450154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.37719347 meters Centerline goodness : 0.905313 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.19, Z:-2.00 [[ 9.99600624e-01 -2.81606073e-02 -2.36072562e-03 1.28380516e+01] [ 2.81070331e-02 9.99399147e-01 -2.02815220e-02 -1.89940258e-01] [ 2.93044714e-03 2.02070691e-02 9.99791522e-01 -2.00441434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.40719347 meters Centerline goodness : 0.904811 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.19, Z:-2.00 [[ 9.99712978e-01 -2.37880615e-02 -2.84407553e-03 1.28384394e+01] [ 2.37424814e-02 9.99603920e-01 -1.51095361e-02 -1.93896264e-01] [ 3.20237563e-03 1.50376740e-02 9.99881800e-01 -2.00356464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.43719347 meters Centerline goodness : 0.903040 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.20, Z:-2.00 [[ 9.99838510e-01 -1.77781028e-02 -2.62527825e-03 1.28362810e+01] [ 1.77540229e-02 9.99802531e-01 -8.92717507e-03 -1.96551518e-01] [ 2.78346808e-03 8.87912417e-03 9.99956706e-01 -2.00131767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.46719347 meters Centerline goodness : 0.904114 Centerline is valid? [False, False] Translation: X:12.86, Y:-0.20, Z:-2.00 [[ 9.99912420e-01 -1.32323853e-02 -2.39277764e-04 1.28554247e+01] [ 1.32296359e-02 9.99870450e-01 -9.16837054e-03 -1.96720298e-01] [ 3.60566177e-04 9.16440201e-03 9.99957941e-01 -2.00320413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.49719346999998 meters Centerline goodness : 0.900348 Centerline is valid? [False, False] Translation: X:12.87, Y:-0.20, Z:-2.01 [[ 9.99958996e-01 -8.17336326e-03 3.89902755e-03 1.28672452e+01] [ 8.22985834e-03 9.99858072e-01 -1.47004997e-02 -1.96817954e-01] [-3.77832165e-03 1.47319854e-02 9.99884340e-01 -2.00697496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52719347 meters Centerline goodness : 0.901266 Centerline is valid? [False, False] Translation: X:12.89, Y:-0.20, Z:-2.01 [[ 9.99970040e-01 -5.07053216e-03 5.84878353e-03 1.28860754e+01] [ 5.16474551e-03 9.99855316e-01 -1.62071719e-02 -1.98145053e-01] [-5.76575831e-03 1.62368938e-02 9.99851549e-01 -2.00799793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.55719347 meters Centerline goodness : 0.903252 Centerline is valid? [False, False] Translation: X:12.89, Y:-0.20, Z:-2.01 [[ 9.99976745e-01 -3.65459362e-03 5.75786331e-03 1.28855214e+01] [ 3.73333860e-03 9.99898835e-01 -1.37252094e-02 -2.04241044e-01] [-5.70712076e-03 1.37463863e-02 9.99889227e-01 -2.00672555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58719347 meters Centerline goodness : 0.904207 Centerline is valid? [False, False] Translation: X:12.91, Y:-0.21, Z:-2.01 [[ 9.99977748e-01 -1.81575439e-03 6.41924635e-03 1.29053802e+01] [ 1.90982981e-03 9.99890425e-01 -1.46795871e-02 -2.08076674e-01] [-6.39188844e-03 1.46915201e-02 9.99871643e-01 -2.00696118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.61719347 meters Centerline goodness : 0.902456 Centerline is valid? [False, False] Translation: X:12.91, Y:-0.21, Z:-2.01 [[ 9.99980547e-01 -2.20223786e-03 5.83570894e-03 1.29072437e+01] [ 2.28456343e-03 9.99897439e-01 -1.41382980e-02 -2.11792668e-01] [-5.80397454e-03 1.41513550e-02 9.99883020e-01 -2.00773867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64719347 meters Centerline goodness : 0.904002 Centerline is valid? [False, False] Translation: X:12.91, Y:-0.22, Z:-2.01 [[ 9.99977842e-01 -3.92727305e-03 5.37521758e-03 1.29095918e+01] [ 4.00578314e-03 9.99884308e-01 -1.46739518e-02 -2.18875655e-01] [-5.31696710e-03 1.46951586e-02 9.99877884e-01 -2.00960457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.67719347 meters Centerline goodness : 0.903891 Centerline is valid? [False, False] Translation: X:12.91, Y:-0.22, Z:-2.01 [[ 9.99979407e-01 -4.34851887e-03 4.71969909e-03 1.29118485e+01] [ 4.41550308e-03 9.99888342e-01 -1.42760852e-02 -2.21980909e-01] [-4.65709227e-03 1.42966311e-02 9.99886953e-01 -2.01075884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70719347 meters Centerline goodness : 0.906000 Centerline is valid? [False, False] Translation: X:12.91, Y:-0.23, Z:-2.01 [[ 9.99980470e-01 -4.73016378e-03 4.08477214e-03 1.29140188e+01] [ 4.78629468e-03 9.99892728e-01 -1.38428368e-02 -2.25408809e-01] [-4.01885508e-03 1.38621174e-02 9.99895840e-01 -2.01181722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.73719347 meters Centerline goodness : 0.905811 Centerline is valid? [False, False] Translation: X:12.91, Y:-0.23, Z:-2.01 [[ 9.99982242e-01 -4.67914023e-03 3.69069977e-03 1.29149584e+01] [ 4.72545138e-03 9.99908936e-01 -1.26407810e-02 -2.29714306e-01] [-3.63121570e-03 1.26579967e-02 9.99913291e-01 -2.01174212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.76719347 meters Centerline goodness : 0.905359 Centerline is valid? [False, False] Translation: X:12.92, Y:-0.23, Z:-2.01 [[ 9.99953440e-01 -9.07112187e-03 3.29120380e-03 1.29168678e+01] [ 9.12098410e-03 9.99838801e-01 -1.54654086e-02 -2.34871231e-01] [-3.15038465e-03 1.54947076e-02 9.99874987e-01 -2.01276605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.79719347 meters Centerline goodness : 0.905381 Centerline is valid? [False, False] Translation: X:12.92, Y:-0.24, Z:-2.01 [[ 9.99950148e-01 -9.58234613e-03 2.80707719e-03 1.29185010e+01] [ 9.62332605e-03 9.99841657e-01 -1.49684082e-02 -2.37606207e-01] [-2.66320024e-03 1.49946754e-02 9.99884027e-01 -2.01339422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82719347 meters Centerline goodness : 0.907438 Centerline is valid? [False, False] Translation: X:12.92, Y:-0.24, Z:-2.01 [[ 9.99947791e-01 -9.97680671e-03 2.20880312e-03 1.29200501e+01] [ 1.00078667e-02 9.99844374e-01 -1.45282764e-02 -2.40320854e-01] [-2.06351357e-03 1.45496233e-02 9.99892019e-01 -2.01365517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.85719347 meters Centerline goodness : 0.906799 Centerline is valid? [False, False] Translation: X:12.92, Y:-0.24, Z:-2.01 [[ 9.99950089e-01 -9.83130630e-03 1.77889763e-03 1.29206487e+01] [ 9.85472241e-03 9.99857974e-01 -1.36716996e-02 -2.43350557e-01] [-1.64423432e-03 1.36885477e-02 9.99904956e-01 -2.01304748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.88719347 meters Centerline goodness : 0.907352 Centerline is valid? [False, False] Translation: X:12.92, Y:-0.25, Z:-2.01 [[ 9.99950475e-01 -9.86480263e-03 1.31634596e-03 1.29214865e+01] [ 9.88152587e-03 9.99861815e-01 -1.33680879e-02 -2.45004471e-01] [-1.18429052e-03 1.33804333e-02 9.99909777e-01 -2.01277642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.91719347 meters Centerline goodness : 0.909047 Centerline is valid? [False, False] Translation: X:12.92, Y:-0.24, Z:-2.01 [[ 9.99963859e-01 -8.48642940e-03 5.10755538e-04 1.29243393e+01] [ 8.49194737e-03 9.99891965e-01 -1.19977065e-02 -2.44727886e-01] [-4.08882669e-04 1.20016102e-02 9.99927894e-01 -2.01450093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.94719347 meters Centerline goodness : 0.908665 Centerline is valid? [False, False] Translation: X:12.93, Y:-0.24, Z:-2.02 [[ 9.99980655e-01 -6.20846643e-03 -3.81522726e-04 1.29276441e+01] [ 6.20460373e-03 9.99936514e-01 -9.40594720e-03 -2.43918704e-01] [ 4.39895012e-04 9.40339804e-03 9.99955690e-01 -2.01638271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.97719347 meters Centerline goodness : 0.907290 Centerline is valid? [False, False] Translation: X:12.93, Y:-0.24, Z:-2.02 [[ 9.99991949e-01 -3.85334123e-03 -1.11999527e-03 1.29306744e+01] [ 3.84570606e-03 9.99969883e-01 -6.74117404e-03 -2.43609510e-01] [ 1.14593759e-03 6.73681259e-03 9.99976651e-01 -2.01827105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.00719347 meters Centerline goodness : 0.908966 Centerline is valid? [False, False] Translation: X:12.94, Y:-0.24, Z:-2.02 [[ 9.99992013e-01 2.43872512e-04 3.98937623e-03 1.29433794e+01] [-1.92355089e-04 9.99916658e-01 -1.29089442e-02 -2.41370005e-01] [-3.99219188e-03 1.29080737e-02 9.99908718e-01 -2.02257873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.03719347 meters Centerline goodness : 0.907957 Centerline is valid? [False, False] Translation: X:12.94, Y:-0.24, Z:-2.02 [[ 9.99993002e-01 2.65947052e-04 3.73157963e-03 1.29434640e+01] [-2.18051320e-04 9.99917671e-01 -1.28297845e-02 -2.41778088e-01] [-3.73468446e-03 1.28288810e-02 9.99910732e-01 -2.02178409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.06719347 meters Centerline goodness : 0.911655 Centerline is valid? [False, False] Translation: X:12.94, Y:-0.24, Z:-2.02 [[ 9.99994084e-01 1.64837775e-04 3.43581707e-03 1.29436308e+01] [-1.20894193e-04 9.99918247e-01 -1.27861353e-02 -2.42294795e-01] [-3.43764382e-03 1.27856442e-02 9.99912351e-01 -2.02093933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.09719347 meters Centerline goodness : 0.912262 Centerline is valid? [False, False] Translation: X:12.96, Y:-0.24, Z:-2.02 [[ 9.99980878e-01 1.64329060e-03 5.96175004e-03 1.29622443e+01] [-1.54142074e-03 9.99853420e-01 -1.70517827e-02 -2.41608745e-01] [-5.98889720e-03 1.70422671e-02 9.99836834e-01 -2.02269757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.12719347 meters Centerline goodness : 0.912363 Centerline is valid? [False, False] Translation: X:12.97, Y:-0.24, Z:-2.02 [[ 9.99977541e-01 4.20030393e-03 5.22261127e-03 1.29650883e+01] [-4.12686520e-03 9.99893565e-01 -1.39938354e-02 -2.40980417e-01] [-5.28083377e-03 1.39719681e-02 9.99888442e-01 -2.02437286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.15719347 meters Centerline goodness : 0.910963 Centerline is valid? [False, False] Translation: X:12.97, Y:-0.24, Z:-2.03 [[ 9.99974224e-01 5.74220494e-03 4.31026276e-03 1.29687246e+01] [-5.69015268e-03 9.99911891e-01 -1.19930016e-02 -2.41431458e-01] [-4.37874926e-03 1.19681664e-02 9.99918791e-01 -2.02658076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.18719347 meters Centerline goodness : 0.911031 Centerline is valid? [False, False] Translation: X:12.97, Y:-0.24, Z:-2.03 [[ 9.99979709e-01 5.15836037e-03 3.73797932e-03 1.29706321e+01] [-5.11144415e-03 9.99909382e-01 -1.24539196e-02 -2.41308145e-01] [-3.80188239e-03 1.24345604e-02 9.99915460e-01 -2.02756132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.21719347 meters Centerline goodness : 0.914724 Centerline is valid? [False, False] Translation: X:12.97, Y:-0.24, Z:-2.03 [[ 9.99983199e-01 4.87865648e-03 3.13061782e-03 1.29721848e+01] [-4.83929699e-03 9.99910671e-01 -1.24591992e-02 -2.42523014e-01] [-3.19112232e-03 1.24438399e-02 9.99917480e-01 -2.02798337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24719346999998 meters Centerline goodness : 0.914026 Centerline is valid? [False, False] Translation: X:12.97, Y:-0.24, Z:-2.03 [[ 9.99987724e-01 4.36302663e-03 2.34875150e-03 1.29745161e+01] [-4.33332255e-03 9.99912399e-01 -1.25066744e-02 -2.44538206e-01] [-2.40311270e-03 1.24963429e-02 9.99919030e-01 -2.02896047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.27719347 meters Centerline goodness : 0.916411 Centerline is valid? [False, False] Translation: X:12.98, Y:-0.25, Z:-2.03 [[ 9.99992751e-01 3.48204268e-03 1.54074906e-03 1.29769678e+01] [-3.46204294e-03 9.99912107e-01 -1.27981779e-02 -2.45583279e-01] [-1.58517744e-03 1.27927510e-02 9.99916913e-01 -2.03004664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30719347 meters Centerline goodness : 0.917152 Centerline is valid? [False, False] Translation: X:12.98, Y:-0.25, Z:-2.03 [[ 9.99997611e-01 2.08067708e-03 6.70123698e-04 1.29802970e+01] [-2.07131779e-03 9.99904322e-01 -1.36768284e-02 -2.46233007e-01] [-6.98516645e-04 1.36754077e-02 9.99906243e-01 -2.03206797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.33719347 meters Centerline goodness : 0.916113 Centerline is valid? [False, False] Translation: X:12.98, Y:-0.25, Z:-2.03 [[ 9.99999428e-01 1.06198709e-03 -1.28786052e-04 1.29833005e+01] [-1.06371186e-03 9.99898225e-01 -1.42270336e-02 -2.46851614e-01] [ 1.13664019e-04 1.42271624e-02 9.99898782e-01 -2.03386650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36719347 meters Centerline goodness : 0.915227 Centerline is valid? [False, False] Translation: X:12.99, Y:-0.25, Z:-2.03 [[ 9.99999698e-01 -7.27490589e-05 -7.74222412e-04 1.29853623e+01] [ 6.15745082e-05 9.99895974e-01 -1.44235059e-02 -2.48142640e-01] [ 7.75191169e-04 1.44234539e-02 9.99895676e-01 -2.03453874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.39719347 meters Centerline goodness : 0.917268 Centerline is valid? [False, False] Translation: X:12.99, Y:-0.25, Z:-2.03 [[ 9.99999059e-01 -6.14229066e-04 -1.22659506e-03 1.29862915e+01] [ 5.96564910e-04 9.99896859e-01 -1.43497768e-02 -2.49342030e-01] [ 1.23528260e-03 1.43490316e-02 9.99896284e-01 -2.03426752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42719347 meters Centerline goodness : 0.919347 Centerline is valid? [False, False] Translation: X:12.99, Y:-0.25, Z:-2.03 [[ 9.99988140e-01 -4.67533337e-03 -1.36433103e-03 1.29858696e+01] [ 4.65051485e-03 9.99833236e-01 -1.76599353e-02 -2.51985941e-01] [ 1.44666959e-03 1.76533810e-02 9.99843120e-01 -2.03293571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.45719347 meters Centerline goodness : 0.919938 Centerline is valid? [False, False] Translation: X:12.99, Y:-0.25, Z:-2.03 [[ 9.99986049e-01 -4.99187335e-03 -1.72694631e-03 1.29867266e+01] [ 4.96133276e-03 9.99838748e-01 -1.72587067e-02 -2.53989226e-01] [ 1.81282112e-03 1.72498980e-02 9.99849566e-01 -2.03287258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48719347 meters Centerline goodness : 0.920225 Centerline is valid? [False, False] Translation: X:12.99, Y:-0.25, Z:-2.03 [[ 9.99982313e-01 -5.56613053e-03 -2.09558841e-03 1.29879027e+01] [ 5.52908986e-03 9.99835319e-01 -1.72848008e-02 -2.54659612e-01] [ 2.19145277e-03 1.72729084e-02 9.99848411e-01 -2.03327355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.51719347 meters Centerline goodness : 0.920063 Centerline is valid? [False, False] Translation: X:12.99, Y:-0.25, Z:-2.03 [[ 9.99977277e-01 -6.32299795e-03 -2.33765109e-03 1.29889332e+01] [ 6.28023641e-03 9.99820624e-01 -1.78683836e-02 -2.52881818e-01] [ 2.45021352e-03 1.78532966e-02 9.99837615e-01 -2.03376213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54719347 meters Centerline goodness : 0.917860 Centerline is valid? [False, False] Translation: X:12.99, Y:-0.25, Z:-2.04 [[ 9.99986189e-01 -4.16567139e-03 -3.20465928e-03 1.29920811e+01] [ 4.11655975e-03 9.99876273e-01 -1.51819854e-02 -2.52687492e-01] [ 3.26750594e-03 1.51685835e-02 9.99879611e-01 -2.03529305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.57719347 meters Centerline goodness : 0.918447 Centerline is valid? [False, False] Translation: X:13.00, Y:-0.25, Z:-2.04 [[ 9.99989019e-01 -2.00231954e-03 -4.23716112e-03 1.29955615e+01] [ 1.94821680e-03 9.99917016e-01 -1.27344627e-02 -2.52138460e-01] [ 4.26230797e-03 1.27260680e-02 9.99909936e-01 -2.03695857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.60719347 meters Centerline goodness : 0.918447 Centerline is valid? [False, False] Translation: X:13.00, Y:-0.25, Z:-2.04 [[ 9.99989019e-01 -2.00231954e-03 -4.23716112e-03 1.29955615e+01] [ 1.94821680e-03 9.99917016e-01 -1.27344627e-02 -2.52138460e-01] [ 4.26230797e-03 1.27260680e-02 9.99909936e-01 -2.03695857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.63719347 meters Centerline goodness : 0.918542 Centerline is valid? [False, False] Translation: X:13.00, Y:-0.25, Z:-2.04 [[ 9.99986994e-01 -5.36176351e-04 -5.07183185e-03 1.29986798e+01] [ 4.79053259e-04 9.99936519e-01 -1.12573301e-02 -2.50962877e-01] [ 5.07754580e-03 1.12547540e-02 9.99923772e-01 -2.03853695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.66719347 meters Centerline goodness : 0.920603 Centerline is valid? [False, False] Translation: X:13.02, Y:-0.25, Z:-2.04 [[ 9.99997094e-01 1.96904520e-03 -1.39128418e-03 1.30155507e+01] [-1.99088792e-03 9.99871975e-01 -1.58767150e-02 -2.45471945e-01] [ 1.35984409e-03 1.58794388e-02 9.99872989e-01 -2.03990878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.69719347 meters Centerline goodness : 0.923134 Centerline is valid? [False, False] Translation: X:13.02, Y:-0.24, Z:-2.04 [[ 9.99988198e-01 4.27053839e-03 -2.31674383e-03 1.30182601e+01] [-4.30123216e-03 9.99900837e-01 -1.34095496e-02 -2.44073974e-01] [ 2.25924810e-03 1.34193561e-02 9.99907404e-01 -2.04073283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.72719347 meters Centerline goodness : 0.921125 Centerline is valid? [False, False] Translation: X:13.02, Y:-0.24, Z:-2.04 [[ 9.99974887e-01 6.28743204e-03 -3.27003841e-03 1.30215086e+01] [-6.32317698e-03 9.99919086e-01 -1.10380610e-02 -2.43361252e-01] [ 3.20037276e-03 1.10584609e-02 9.99933732e-01 -2.04207772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.75719347 meters Centerline goodness : 0.923500 Centerline is valid? [False, False] Translation: X:13.02, Y:-0.24, Z:-2.04 [[ 9.99977750e-01 5.35532213e-03 -3.97754937e-03 1.30236713e+01] [-5.40406794e-03 9.99909166e-01 -1.23473053e-02 -2.40747253e-01] [ 3.91106428e-03 1.23685255e-02 9.99915858e-01 -2.04308344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.78719347 meters Centerline goodness : 0.918741 Centerline is valid? [False, False] Translation: X:13.03, Y:-0.24, Z:-2.04 [[ 9.99962921e-01 7.24213654e-03 -4.65925311e-03 1.30264299e+01] [-7.28913254e-03 9.99921920e-01 -1.01499502e-02 -2.39816211e-01] [ 4.58538199e-03 1.01835358e-02 9.99937633e-01 -2.04448080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.81719347 meters Centerline goodness : 0.921452 Centerline is valid? [False, False] Translation: X:13.03, Y:-0.24, Z:-2.04 [[ 9.99937227e-01 9.82075444e-03 -5.39396094e-03 1.30279494e+01] [-9.86233364e-03 9.99921436e-01 -7.73674083e-03 -2.36335114e-01] [ 5.31755653e-03 7.78945221e-03 9.99955523e-01 -2.04415732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.84719347 meters Centerline goodness : 0.924668 Centerline is valid? [False, False] Translation: X:13.03, Y:-0.23, Z:-2.04 [[ 9.99935457e-01 9.72975163e-03 -5.86637675e-03 1.30287563e+01] [-9.77846527e-03 9.99917467e-01 -8.33317287e-03 -2.33931691e-01] [ 5.78481287e-03 8.38999918e-03 9.99948071e-01 -2.04399881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.87719347 meters Centerline goodness : 0.923946 Centerline is valid? [False, False] Translation: X:13.03, Y:-0.23, Z:-2.04 [[ 9.99904175e-01 1.21551757e-02 -6.62508660e-03 1.30312114e+01] [-1.21931292e-02 9.99909307e-01 -5.71879442e-03 -2.33375824e-01] [ 6.55497280e-03 5.79902696e-03 9.99961701e-01 -2.04480190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.90719347 meters Centerline goodness : 0.925204 Centerline is valid? [False, False] Translation: X:13.05, Y:-0.23, Z:-2.05 [[ 9.99895196e-01 1.42434122e-02 -2.59282820e-03 1.30459597e+01] [-1.42787429e-02 9.99797785e-01 -1.41600038e-02 -2.27454965e-01] [ 2.39061712e-03 1.41955421e-02 9.99896380e-01 -2.04905203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.93719347 meters Centerline goodness : 0.927692 Centerline is valid? [False, False] Translation: X:13.05, Y:-0.23, Z:-2.05 [[ 9.99847765e-01 1.71091406e-02 -3.42400902e-03 1.30486299e+01] [-1.71467382e-02 9.99789464e-01 -1.12702079e-02 -2.26434413e-01] [ 3.23046457e-03 1.13272028e-02 9.99930627e-01 -2.05013601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.96719347 meters Centerline goodness : 0.929252 Centerline is valid? [False, False] Translation: X:13.05, Y:-0.23, Z:-2.05 [[ 9.99785648e-01 2.03161534e-02 -3.98898778e-03 1.30504887e+01] [-2.03481141e-02 9.99759801e-01 -8.14214487e-03 -2.25206727e-01] [ 3.82261256e-03 8.22156796e-03 9.99958896e-01 -2.05083073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.99719346999998 meters Centerline goodness : 0.927849 Centerline is valid? [False, False] Translation: X:13.05, Y:-0.22, Z:-2.05 [[ 9.99709524e-01 2.37064118e-02 -4.34446583e-03 1.30517691e+01] [-2.37275439e-02 9.99706557e-01 -4.87890409e-03 -2.23440200e-01] [ 4.22752966e-03 4.98057039e-03 9.99978661e-01 -2.05118192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02719347 meters Centerline goodness : 0.926755 Centerline is valid? [False, False] Translation: X:13.07, Y:-0.22, Z:-2.06 [[ 9.99596251e-01 2.83964586e-02 -9.88084086e-04 1.30686768e+01] [-2.84043626e-02 9.99554111e-01 -9.20714533e-03 -2.16873193e-01] [ 7.26193189e-04 9.23149385e-03 9.99957125e-01 -2.05508099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.05719347 meters Centerline goodness : 0.925473 Centerline is valid? [False, False] Translation: X:13.09, Y:-0.21, Z:-2.06 [[ 9.99570234e-01 2.92249895e-02 2.29082299e-03 1.30854656e+01] [-2.91824590e-02 9.99432832e-01 -1.68047068e-02 -2.13228529e-01] [-2.78064109e-03 1.67306328e-02 9.99856167e-01 -2.05862995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08719347 meters Centerline goodness : 0.927459 Centerline is valid? [False, False] Translation: X:13.09, Y:-0.21, Z:-2.06 [[ 9.99462297e-01 3.27363614e-02 1.85693249e-03 1.30862877e+01] [-3.27098532e-02 9.99382208e-01 -1.28556837e-02 -2.14283634e-01] [-2.27663360e-03 1.27880312e-02 9.99915638e-01 -2.05795995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.11719347 meters Centerline goodness : 0.925291 Centerline is valid? [False, False] Translation: X:13.10, Y:-0.21, Z:-2.06 [[ 9.99349621e-01 3.56566511e-02 5.37940065e-03 1.31025914e+01] [-3.55701513e-02 9.99248531e-01 -1.53992846e-02 -2.14361971e-01] [-5.92444512e-03 1.51979232e-02 9.99866953e-01 -2.05812986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14719347 meters Centerline goodness : 0.930666 Centerline is valid? [False, False] Translation: X:13.12, Y:-0.21, Z:-2.06 [[ 9.99185735e-01 3.93017523e-02 9.12357317e-03 1.31183149e+01] [-3.91182497e-02 9.99044527e-01 -1.94883586e-02 -2.12135944e-01] [-9.88078248e-03 1.91155917e-02 9.99768455e-01 -2.05944903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.17719347 meters Centerline goodness : 0.930197 Centerline is valid? [False, False] Translation: X:13.12, Y:-0.21, Z:-2.06 [[ 9.99074508e-01 4.21797600e-02 8.42582899e-03 1.31207760e+01] [-4.20405852e-02 9.98986769e-01 -1.60631340e-02 -2.13328334e-01] [-9.09483082e-03 1.56940409e-02 9.99835477e-01 -2.06030785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.20719347 meters Centerline goodness : 0.931681 Centerline is valid? [False, False] Translation: X:13.12, Y:-0.21, Z:-2.06 [[ 9.98998084e-01 4.40962203e-02 7.63882661e-03 1.31243555e+01] [-4.39876103e-02 9.98936120e-01 -1.38462111e-02 -2.14376438e-01] [-8.24126539e-03 1.34963246e-02 9.99874958e-01 -2.06270419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.23719347 meters Centerline goodness : 0.926191 Centerline is valid? [False, False] Translation: X:13.13, Y:-0.21, Z:-2.07 [[ 9.98949428e-01 4.54116892e-02 6.14969952e-03 1.31312066e+01] [-4.53332744e-02 9.98895690e-01 -1.23407822e-02 -2.14999517e-01] [-6.70332411e-03 1.20490313e-02 9.99904939e-01 -2.06854304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.26719347 meters Centerline goodness : 0.925644 Centerline is valid? [False, False] Translation: X:13.13, Y:-0.22, Z:-2.07 [[ 9.98989188e-01 4.46313574e-02 5.35195063e-03 1.31344828e+01] [-4.45586593e-02 9.98922053e-01 -1.30098894e-02 -2.15214205e-01] [-5.92683054e-03 1.27582631e-02 9.99901045e-01 -2.07109363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.29719347 meters Centerline goodness : 0.922776 Centerline is valid? [False, False] Translation: X:13.14, Y:-0.22, Z:-2.07 [[ 9.99012918e-01 4.41721178e-02 4.69185257e-03 1.31369268e+01] [-4.41075715e-02 9.98941298e-01 -1.30692520e-02 -2.16845998e-01] [-5.26418184e-03 1.28494053e-02 9.99903586e-01 -2.07266545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.32719347 meters Centerline goodness : 0.924091 Centerline is valid? [False, False] Translation: X:13.14, Y:-0.22, Z:-2.07 [[ 9.99036615e-01 4.37022239e-02 3.99460522e-03 1.31387906e+01] [-4.36482243e-02 9.98965844e-01 -1.27308434e-02 -2.20691178e-01] [-4.54684034e-03 1.25442213e-02 9.99910980e-01 -2.07328776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.35719347 meters Centerline goodness : 0.926622 Centerline is valid? [False, False] Translation: X:13.14, Y:-0.23, Z:-2.07 [[ 9.99127997e-01 4.15732750e-02 3.86126517e-03 1.31371835e+01] [-4.15179952e-02 9.99047407e-01 -1.34363332e-02 -2.30559729e-01] [-4.41617933e-03 1.32643047e-02 9.99902273e-01 -2.07113076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38719347 meters Centerline goodness : 0.927976 Centerline is valid? [False, False] Translation: X:13.14, Y:-0.23, Z:-2.07 [[ 9.99147423e-01 4.11551250e-02 3.26839549e-03 1.31392220e+01] [-4.11086642e-02 9.99067524e-01 -1.31969837e-02 -2.33998405e-01] [-3.80847130e-03 1.30513729e-02 9.99907574e-01 -2.07229372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.41719347 meters Centerline goodness : 0.927369 Centerline is valid? [False, False] Translation: X:13.14, Y:-0.24, Z:-2.07 [[ 9.99140610e-01 4.13393743e-02 3.01631790e-03 1.31403060e+01] [-4.12984508e-02 9.99067915e-01 -1.25594298e-02 -2.36163698e-01] [-3.53270541e-03 1.24240671e-02 9.99916578e-01 -2.07316504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.44719347 meters Centerline goodness : 0.926581 Centerline is valid? [False, False] Translation: X:13.14, Y:-0.24, Z:-2.08 [[ 9.99051824e-01 4.34766080e-02 2.28847181e-03 1.31433633e+01] [-4.34538499e-02 9.99013082e-01 -9.19919989e-03 -2.42905037e-01] [-2.68616328e-03 9.09103452e-03 9.99955068e-01 -2.07549152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.47719347 meters Centerline goodness : 0.927917 Centerline is valid? [False, False] Translation: X:13.14, Y:-0.25, Z:-2.08 [[ 9.99045129e-01 4.36545426e-02 1.76391252e-03 1.31449795e+01] [-4.36385974e-02 9.99013361e-01 -8.24480755e-03 -2.47044814e-01] [-2.12209547e-03 8.15996016e-03 9.99964455e-01 -2.07626036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.50719347 meters Centerline goodness : 0.924312 Centerline is valid? [False, False] Translation: X:13.15, Y:-0.25, Z:-2.08 [[ 9.99058190e-01 4.33749783e-02 1.15942860e-03 1.31467277e+01] [-4.33646787e-02 9.99028995e-01 -7.78278569e-03 -2.52214172e-01] [-1.49588094e-03 7.72517754e-03 9.99969042e-01 -2.07709475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.53719347 meters Centerline goodness : 0.925514 Centerline is valid? [False, False] Translation: X:13.14, Y:-0.26, Z:-2.07 [[ 9.99131111e-01 4.16576502e-02 1.28934287e-03 1.31438918e+01] [-4.16469368e-02 9.99104639e-01 -7.44664916e-03 -2.64359744e-01] [-1.59839835e-03 7.38648167e-03 9.99971442e-01 -2.07338370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.56719347 meters Centerline goodness : 0.924911 Centerline is valid? [False, False] Translation: X:13.14, Y:-0.27, Z:-2.07 [[ 9.99248627e-01 3.87373083e-02 1.26570799e-03 1.31427673e+01] [-3.87233326e-02 9.99203385e-01 -9.64881569e-03 -2.69020793e-01] [-1.63846885e-03 9.59255340e-03 9.99952648e-01 -2.07199681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.59719347 meters Centerline goodness : 0.925834 Centerline is valid? [False, False] Translation: X:13.15, Y:-0.27, Z:-2.08 [[ 9.99345189e-01 3.45618375e-02 1.07085056e-02 1.31504870e+01] [-3.44726835e-02 9.99370329e-01 -8.40121349e-03 -2.74160943e-01] [-1.09921241e-02 8.02656136e-03 9.99907369e-01 -2.07584911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.62719347 meters Centerline goodness : 0.924091 Centerline is valid? [False, False] Translation: X:13.15, Y:-0.28, Z:-2.08 [[ 9.99435895e-01 3.16777541e-02 1.11540124e-02 1.31499799e+01] [-3.15796801e-02 9.99461952e-01 -8.86175677e-03 -2.83823506e-01] [-1.14287316e-02 8.50451766e-03 9.99898523e-01 -2.07574076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.65719347 meters Centerline goodness : 0.925165 Centerline is valid? [False, False] Translation: X:13.15, Y:-0.29, Z:-2.08 [[ 9.99501429e-01 2.98077725e-02 1.04110317e-02 1.31530522e+01] [-2.97074555e-02 9.99511947e-01 -9.66095380e-03 -2.88201690e-01] [-1.06939221e-02 9.34685187e-03 9.99899133e-01 -2.07777305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.68719347 meters Centerline goodness : 0.924765 Centerline is valid? [False, False] Translation: X:13.15, Y:-0.29, Z:-2.08 [[ 9.99603068e-01 2.62373902e-02 1.02618374e-02 1.31536127e+01] [-2.61086967e-02 9.99581204e-01 -1.24801005e-02 -2.91980864e-01] [-1.05849850e-02 1.22072236e-02 9.99869462e-01 -2.07841347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.71719347 meters Centerline goodness : 0.926458 Centerline is valid? [False, False] Translation: X:13.15, Y:-0.30, Z:-2.08 [[ 9.99752212e-01 1.98187600e-02 1.01356735e-02 1.31525286e+01] [-1.96562649e-02 9.99680552e-01 -1.58879053e-02 -3.03854985e-01] [-1.04473143e-02 1.56847390e-02 9.99822406e-01 -2.07552622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74719346999998 meters Centerline goodness : 0.927857 Centerline is valid? [False, False] Translation: X:13.15, Y:-0.31, Z:-2.07 [[ 9.99813414e-01 1.64554485e-02 1.01171162e-02 1.31519849e+01] [-1.62691898e-02 9.99701539e-01 -1.82248625e-02 -3.09085907e-01] [-1.04139949e-02 1.80568647e-02 9.99782726e-01 -2.07471149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.77719347 meters Centerline goodness : 0.926256 Centerline is valid? [False, False] Translation: X:13.15, Y:-0.31, Z:-2.08 [[ 9.99874781e-01 1.24322219e-02 9.79096485e-03 1.31531274e+01] [-1.22180945e-02 9.99691293e-01 -2.16341655e-02 -3.11939333e-01] [-1.00569031e-02 2.15118296e-02 9.99718010e-01 -2.07552521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80719347 meters Centerline goodness : 0.927249 Centerline is valid? [False, False] Translation: X:13.16, Y:-0.32, Z:-2.07 [[ 9.99976041e-01 5.29160029e-03 4.46270723e-03 1.31552179e+01] [-5.24942883e-03 9.99941954e-01 -9.40910524e-03 -3.18782885e-01] [-4.51223742e-03 9.38545314e-03 9.99945775e-01 -2.07419321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.83719347 meters Centerline goodness : 0.925857 Centerline is valid? [False, False] Translation: X:13.16, Y:-0.32, Z:-2.08 [[ 9.99983883e-01 4.34849147e-03 3.65015773e-03 1.31584957e+01] [-4.31303361e-03 9.99943978e-01 -9.66636670e-03 -3.21102630e-01] [-3.69198735e-03 9.65046766e-03 9.99946617e-01 -2.07642990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86719347 meters Centerline goodness : 0.924677 Centerline is valid? [False, False] Translation: X:13.16, Y:-0.32, Z:-2.08 [[ 9.99989203e-01 3.65356127e-03 2.87150239e-03 1.31613830e+01] [-3.62573921e-03 9.99947007e-01 -9.63523017e-03 -3.23861753e-01] [-2.90655313e-03 9.62471482e-03 9.99949457e-01 -2.07827336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.89719347 meters Centerline goodness : 0.923101 Centerline is valid? [False, False] Translation: X:13.16, Y:-0.33, Z:-2.08 [[ 9.99994225e-01 2.67938771e-03 2.09069170e-03 1.31644574e+01] [-2.65810846e-03 9.99945306e-01 -1.01153404e-02 -3.25751194e-01] [-2.11768027e-03 1.01097247e-02 9.99946653e-01 -2.08027546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92719347 meters Centerline goodness : 0.924547 Centerline is valid? [False, False] Translation: X:13.17, Y:-0.33, Z:-2.08 [[ 9.99995161e-01 2.58525444e-03 1.73022090e-03 1.31654613e+01] [-2.56829336e-03 9.99949322e-01 -9.73430573e-03 -3.27860189e-01] [-1.75529888e-03 9.72981492e-03 9.99951124e-01 -2.08051886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.95719347 meters Centerline goodness : 0.923845 Centerline is valid? [False, False] Translation: X:13.17, Y:-0.33, Z:-2.08 [[ 9.99995394e-01 2.68158060e-03 1.42154825e-03 1.31661442e+01] [-2.66798967e-03 9.99951525e-01 -9.47785376e-03 -3.29193629e-01] [-1.44689497e-03 9.47401743e-03 9.99954074e-01 -2.08052622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98719347 meters Centerline goodness : 0.922889 Centerline is valid? [False, False] Translation: X:13.17, Y:-0.33, Z:-2.08 [[ 9.99994368e-01 3.15569930e-03 1.14262929e-03 1.31664719e+01] [-3.14514107e-03 9.99953401e-01 -9.12709672e-03 -3.30180414e-01] [-1.17137842e-03 9.12345159e-03 9.99957694e-01 -2.08033218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.01719347 meters Centerline goodness : 0.921341 Centerline is valid? [False, False] Translation: X:13.17, Y:-0.33, Z:-2.08 [[ 9.99993847e-01 3.37755712e-03 9.48093294e-04 1.31668762e+01] [-3.36895530e-03 9.99954431e-01 -8.93228567e-03 -3.30388854e-01] [-9.78219395e-04 8.92903663e-03 9.99959657e-01 -2.08033594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04719347 meters Centerline goodness : 0.924030 Centerline is valid? [False, False] Translation: X:13.17, Y:-0.33, Z:-2.08 [[ 9.99985631e-01 5.35262509e-03 2.96815054e-04 1.31692249e+01] [-5.35055118e-03 9.99963933e-01 -6.59580999e-03 -3.32434347e-01] [-3.32109247e-04 6.59412709e-03 9.99978203e-01 -2.08141043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.07719347 meters Centerline goodness : 0.924716 Centerline is valid? [False, False] Translation: X:13.17, Y:-0.33, Z:-2.08 [[ 9.99986794e-01 5.13879188e-03 -6.50914693e-05 1.31701063e+01] [-5.13910733e-03 9.99965481e-01 -6.52886913e-03 -3.33638684e-01] [ 3.15387227e-05 6.52911742e-03 9.99978685e-01 -2.08149910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.10719347 meters Centerline goodness : 0.924081 Centerline is valid? [False, False] Translation: X:13.17, Y:-0.34, Z:-2.08 [[ 9.99986161e-01 5.26084479e-03 -4.60307116e-05 1.31692813e+01] [-5.26100739e-03 9.99974105e-01 -4.91032600e-03 -3.38521240e-01] [ 2.01970567e-05 4.91050021e-03 9.99987943e-01 -2.07914869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.13719347 meters Centerline goodness : 0.923748 Centerline is valid? [False, False] Translation: X:13.17, Y:-0.34, Z:-2.08 [[ 9.99988843e-01 4.71204139e-03 -3.32158973e-04 1.31701231e+01] [-4.71362413e-03 9.99976703e-01 -4.93717692e-03 -3.39876614e-01] [ 3.08887053e-04 4.93868751e-03 9.99987757e-01 -2.07907071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.16719347 meters Centerline goodness : 0.924500 Centerline is valid? [False, False] Translation: X:13.17, Y:-0.34, Z:-2.08 [[ 9.99992677e-01 3.71751739e-03 -9.08475142e-04 1.31718751e+01] [-3.72232596e-03 9.99978761e-01 -5.34991623e-03 -3.41058279e-01] [ 8.88567440e-04 5.35325869e-03 9.99985276e-01 -2.07942193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.19719347 meters Centerline goodness : 0.926608 Centerline is valid? [False, False] Translation: X:13.17, Y:-0.34, Z:-2.08 [[ 9.99999617e-01 -1.33270025e-04 -8.65537916e-04 1.31712778e+01] [ 1.25758926e-04 9.99962388e-01 -8.67221958e-03 -3.42086714e-01] [ 8.66661108e-04 8.67210741e-03 9.99962021e-01 -2.07830595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.22719347 meters Centerline goodness : 0.926857 Centerline is valid? [False, False] Translation: X:13.17, Y:-0.34, Z:-2.08 [[ 9.99997552e-01 -1.53639506e-03 -1.59262113e-03 1.31740238e+01] [ 1.52078180e-03 9.99951225e-01 -9.75878537e-03 -3.41766819e-01] [ 1.60753680e-03 9.75633944e-03 9.99951114e-01 -2.07981721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.25719347 meters Centerline goodness : 0.925543 Centerline is valid? [False, False] Translation: X:13.18, Y:-0.34, Z:-2.08 [[ 9.99993024e-01 -2.92444157e-03 -2.32362627e-03 1.31767039e+01] [ 2.89889581e-03 9.99936148e-01 -1.09222607e-02 -3.40968583e-01] [ 2.35541941e-03 1.09154485e-02 9.99937651e-01 -2.08126564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.28719347 meters Centerline goodness : 0.923844 Centerline is valid? [False, False] Translation: X:13.18, Y:-0.34, Z:-2.08 [[ 9.99978906e-01 -5.62621350e-03 -3.24535986e-03 1.31803668e+01] [ 5.58341879e-03 9.99899281e-01 -1.30481127e-02 -3.39706662e-01] [ 3.31844446e-03 1.30297173e-02 9.99909603e-01 -2.08302339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.31719347 meters Centerline goodness : 0.924462 Centerline is valid? [False, False] Translation: X:13.18, Y:-0.34, Z:-2.08 [[ 9.99965839e-01 -7.20061827e-03 -4.05864489e-03 1.31830666e+01] [ 7.14151070e-03 9.99870891e-01 -1.43944267e-02 -3.38988434e-01] [ 4.16176965e-03 1.43649501e-02 9.99888158e-01 -2.08418966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.34719347 meters Centerline goodness : 0.925105 Centerline is valid? [False, False] Translation: X:13.18, Y:-0.34, Z:-2.08 [[ 9.99957140e-01 -8.07641916e-03 -4.52647928e-03 1.31845286e+01] [ 8.00730787e-03 9.99854170e-01 -1.50838411e-02 -3.38188267e-01] [ 4.64764261e-03 1.50469497e-02 9.99875987e-01 -2.08462103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.37719347 meters Centerline goodness : 0.925232 Centerline is valid? [False, False] Translation: X:13.19, Y:-0.34, Z:-2.09 [[ 9.99965989e-01 -6.34689819e-03 -5.26666374e-03 1.31877955e+01] [ 6.28003893e-03 9.99900698e-01 -1.26156885e-02 -3.38458129e-01] [ 5.34621124e-03 1.25821846e-02 9.99906549e-01 -2.08637638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.40719347 meters Centerline goodness : 0.923153 Centerline is valid? [False, False] Translation: X:13.20, Y:-0.33, Z:-2.09 [[ 9.99919534e-01 -9.63649065e-03 -8.25006899e-03 1.31994372e+01] [ 9.52916865e-03 9.99870731e-01 -1.29505660e-02 -3.31991614e-01] [ 8.37380052e-03 1.28709076e-02 9.99882103e-01 -2.08971490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.43719347 meters Centerline goodness : 0.923287 Centerline is valid? [False, False] Translation: X:13.20, Y:-0.33, Z:-2.09 [[ 9.99930608e-01 -7.52817454e-03 -9.06124081e-03 1.32023247e+01] [ 7.43287481e-03 9.99917191e-01 -1.05054167e-02 -3.30189391e-01] [ 9.13957706e-03 1.04373366e-02 9.99903760e-01 -2.09103991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.46719347 meters Centerline goodness : 0.923051 Centerline is valid? [False, False] Translation: X:13.21, Y:-0.33, Z:-2.09 [[ 9.99934058e-01 -5.48275952e-03 -1.00905288e-02 1.32055508e+01] [ 5.40084932e-03 9.99952391e-01 -8.12695918e-03 -3.28387787e-01] [ 1.01346066e-02 8.07192585e-03 9.99916063e-01 -2.09214532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.49719346999998 meters Centerline goodness : 0.922642 Centerline is valid? [False, False] Translation: X:13.21, Y:-0.33, Z:-2.09 [[ 9.99933996e-01 -3.41373452e-03 -1.09704521e-02 1.32083830e+01] [ 3.34854373e-03 9.99976661e-01 -5.95528204e-03 -3.26546838e-01] [ 1.09905258e-02 5.91815392e-03 9.99922089e-01 -2.09314991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52719347 meters Centerline goodness : 0.922642 Centerline is valid? [False, False] Translation: X:13.21, Y:-0.33, Z:-2.09 [[ 9.99933996e-01 -3.41373452e-03 -1.09704521e-02 1.32083830e+01] [ 3.34854373e-03 9.99976661e-01 -5.95528204e-03 -3.26546838e-01] [ 1.09905258e-02 5.91815392e-03 9.99922089e-01 -2.09314991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.55719347 meters Centerline goodness : 0.923986 Centerline is valid? [False, False] Translation: X:13.21, Y:-0.32, Z:-2.09 [[ 9.99929114e-01 -1.23117920e-03 -1.18427335e-02 1.32111971e+01] [ 1.17892375e-03 9.99989544e-01 -4.41841790e-03 -3.22762173e-01] [ 1.18480495e-02 4.40414302e-03 9.99920110e-01 -2.09450031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58719347 meters Centerline goodness : 0.920959 Centerline is valid? [False, False] Translation: X:13.21, Y:-0.32, Z:-2.10 [[ 9.99918783e-01 1.15559075e-03 -1.26921765e-02 1.32142752e+01] [-1.18448859e-03 9.99996723e-01 -2.26954209e-03 -3.20331270e-01] [ 1.26895122e-02 2.28439150e-03 9.99916875e-01 -2.09611030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.61719347 meters Centerline goodness : 0.922363 Centerline is valid? [False, False] Translation: X:13.23, Y:-0.32, Z:-2.10 [[ 9.99954961e-01 5.09894904e-03 -8.00479830e-03 1.32278403e+01] [-5.17083146e-03 9.99946264e-01 -8.98505160e-03 -3.15497742e-01] [ 7.95855384e-03 9.02603839e-03 9.99927593e-01 -2.10112184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64719347 meters Centerline goodness : 0.920584 Centerline is valid? [False, False] Translation: X:13.24, Y:-0.31, Z:-2.10 [[ 9.99910760e-01 1.27944238e-02 -3.84390954e-03 1.32432233e+01] [-1.28382593e-02 9.99850249e-01 -1.16042839e-02 -3.05150243e-01] [ 3.69486379e-03 1.16525974e-02 9.99925280e-01 -2.10478062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.67719347 meters Centerline goodness : 0.921319 Centerline is valid? [False, False] Translation: X:13.24, Y:-0.30, Z:-2.10 [[ 9.99854795e-01 1.65812110e-02 -3.93083133e-03 1.32433146e+01] [-1.66140381e-02 9.99826092e-01 -8.47106857e-03 -3.01723587e-01] [ 3.78968715e-03 8.53514551e-03 9.99956394e-01 -2.10408184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.70719347 meters Centerline goodness : 0.922057 Centerline is valid? [False, False] Translation: X:13.24, Y:-0.30, Z:-2.10 [[ 9.99787278e-01 2.01825817e-02 -4.24990849e-03 1.32439632e+01] [-2.02051790e-02 9.99781577e-01 -5.34308024e-03 -2.98793724e-01] [ 4.14114306e-03 5.42781381e-03 9.99976695e-01 -2.10365334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.73719347 meters Centerline goodness : 0.920510 Centerline is valid? [False, False] Translation: X:13.24, Y:-0.29, Z:-2.10 [[ 9.99789382e-01 2.00230268e-02 -4.50228108e-03 1.32445879e+01] [-2.00520377e-02 9.99777850e-01 -6.49353747e-03 -2.94473313e-01] [ 4.37126062e-03 6.58244973e-03 9.99968781e-01 -2.10382967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.76719347 meters Centerline goodness : 0.911283 Centerline is valid? [False, False] Translation: X:13.26, Y:-0.29, Z:-2.11 [[ 9.99751770e-01 2.21994832e-02 -1.89259996e-03 1.32636789e+01] [-2.22218105e-02 9.99672019e-01 -1.27297060e-02 -2.87564787e-01] [ 1.60938633e-03 1.27686031e-02 9.99917183e-01 -2.10799318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.79719347 meters Centerline goodness : 0.948781 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.29, Z:-2.11 [[ 9.99703572e-01 2.41957324e-02 -2.70830880e-03 1.32670434e+01] [-2.42228017e-02 9.99651932e-01 -1.04532717e-02 -2.86471437e-01] [ 2.45444156e-03 1.05157759e-02 9.99941695e-01 -2.10976369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.82719347 meters Centerline goodness : 0.918572 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.28, Z:-2.11 [[ 9.99728329e-01 2.30665242e-02 -3.34719398e-03 1.32696231e+01] [-2.31057989e-02 9.99658435e-01 -1.22120929e-02 -2.82908493e-01] [ 3.06436016e-03 1.22861148e-02 9.99919827e-01 -2.11159529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.85719347 meters Centerline goodness : 0.949406 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.28, Z:-2.11 [[ 9.99746474e-01 2.21751085e-02 -3.90539595e-03 1.32716731e+01] [-2.22273215e-02 9.99656640e-01 -1.38761432e-02 -2.78876174e-01] [ 3.59635001e-03 1.39594317e-02 9.99896095e-01 -2.11290229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.88719347 meters Centerline goodness : 0.917448 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.27, Z:-2.11 [[ 9.99680023e-01 2.48866987e-02 -4.52803112e-03 1.32739550e+01] [-2.49409081e-02 9.99612792e-01 -1.23376317e-02 -2.72368882e-01] [ 4.21923490e-03 1.24466171e-02 9.99913636e-01 -2.11398271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.91719347 meters Centerline goodness : 0.921043 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.27, Z:-2.11 [[ 9.99608481e-01 2.74822166e-02 -5.25483035e-03 1.32761454e+01] [-2.75323746e-02 9.99573618e-01 -9.72370293e-03 -2.70330442e-01] [ 4.98536087e-03 9.86457387e-03 9.99938916e-01 -2.11439162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.94719347 meters Centerline goodness : 0.919440 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.27, Z:-2.11 [[ 9.99629160e-01 2.66243231e-02 -5.71732333e-03 1.32773308e+01] [-2.66872434e-02 9.99580792e-01 -1.12263598e-02 -2.66612606e-01] [ 5.41603235e-03 1.13747762e-02 9.99920637e-01 -2.11465514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.97719347 meters Centerline goodness : 0.918729 Centerline is valid? [False, False] Translation: X:13.29, Y:-0.26, Z:-2.12 [[ 9.99670230e-01 2.55610544e-02 -2.46251806e-03 1.32947810e+01] [-2.56054592e-02 9.99469924e-01 -2.01055169e-02 -2.58876899e-01] [ 1.94729453e-03 2.01619406e-02 9.99794831e-01 -2.11689188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.00719347 meters Centerline goodness : 0.920895 Centerline is valid? [False, False] Translation: X:13.30, Y:-0.26, Z:-2.12 [[ 9.99618934e-01 2.74094797e-02 -3.27213298e-03 1.32973068e+01] [-2.74637033e-02 9.99463045e-01 -1.78708438e-02 -2.57635218e-01] [ 2.78054546e-03 1.79538988e-02 9.99834949e-01 -2.11734046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.03719347 meters Centerline goodness : 0.911767 Centerline is valid? [False, False] Translation: X:13.30, Y:-0.26, Z:-2.12 [[ 9.99629430e-01 2.69677748e-02 -3.70692698e-03 1.32982132e+01] [-2.70322635e-02 9.99461244e-01 -1.86139178e-02 -2.55331211e-01] [ 3.20295391e-03 1.87072266e-02 9.99819874e-01 -2.11723104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.06719347 meters Centerline goodness : 0.918945 Centerline is valid? [False, False] Translation: X:13.30, Y:-0.25, Z:-2.12 [[ 9.99653133e-01 2.59902491e-02 -4.25676939e-03 1.32994624e+01] [-2.60709973e-02 9.99456755e-01 -2.01618046e-02 -2.51383232e-01] [ 3.73044660e-03 2.02657893e-02 9.99787668e-01 -2.11719235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.09719347 meters Centerline goodness : 0.919771 Centerline is valid? [False, False] Translation: X:13.30, Y:-0.25, Z:-2.12 [[ 9.99599714e-01 2.78555287e-02 -4.94776523e-03 1.33021498e+01] [-2.79398202e-02 9.99449801e-01 -1.78734680e-02 -2.50691013e-01] [ 4.44716807e-03 1.80045532e-02 9.99828015e-01 -2.11820024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.12719347 meters Centerline goodness : 0.920498 Centerline is valid? [False, False] Translation: X:13.30, Y:-0.25, Z:-2.12 [[ 9.99515243e-01 3.06732679e-02 -5.33187248e-03 1.33036533e+01] [-3.07489278e-02 9.99418448e-01 -1.47400698e-02 -2.49870259e-01] [ 4.87664561e-03 1.48968738e-02 9.99877143e-01 -2.11848999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.15719347 meters Centerline goodness : 0.918453 Centerline is valid? [False, False] Translation: X:13.32, Y:-0.24, Z:-2.12 [[ 9.99444432e-01 3.32985783e-02 -1.42543795e-03 1.33200677e+01] [-3.33204045e-02 9.99245649e-01 -1.99470067e-02 -2.43310389e-01] [ 7.60155708e-04 1.99834209e-02 9.99800023e-01 -2.12077622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.18719347 meters Centerline goodness : 0.918193 Centerline is valid? [False, False] Translation: X:13.32, Y:-0.24, Z:-2.12 [[ 9.99321942e-01 3.67793900e-02 -1.71240256e-03 1.33207711e+01] [-3.68023251e-02 9.99191458e-01 -1.61870247e-02 -2.43329128e-01] [ 1.11566911e-03 1.62390694e-02 9.99867515e-01 -2.12009828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.21719347 meters Centerline goodness : 0.918713 Centerline is valid? [False, False] Translation: X:13.32, Y:-0.24, Z:-2.12 [[ 9.99319838e-01 3.68250505e-02 -1.94338761e-03 1.33211280e+01] [-3.68523931e-02 9.99181473e-01 -1.66818622e-02 -2.41579028e-01] [ 1.32748647e-03 1.67421344e-02 9.99858959e-01 -2.11980119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24719346999998 meters Centerline goodness : 0.917296 Centerline is valid? [False, False] Translation: X:13.32, Y:-0.24, Z:-2.12 [[ 9.99210573e-01 3.96399251e-02 -2.62800513e-03 1.33235899e+01] [-3.96720764e-02 9.99120407e-01 -1.35845158e-02 -2.41758678e-01] [ 2.08720436e-03 1.36780503e-02 9.99904273e-01 -2.12063013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.27719347 meters Centerline goodness : 0.918796 Centerline is valid? [False, False] Translation: X:13.33, Y:-0.24, Z:-2.12 [[ 9.99066285e-01 4.30848367e-02 -3.20233188e-03 1.33263305e+01] [-4.31156974e-02 9.99017096e-01 -1.02897438e-02 -2.40213616e-01] [ 2.75585236e-03 1.04182069e-02 9.99941931e-01 -2.12236792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30719347 meters Centerline goodness : 0.917884 Centerline is valid? [False, False] Translation: X:13.33, Y:-0.24, Z:-2.12 [[ 9.99099517e-01 4.22478932e-02 -3.90778715e-03 1.33290923e+01] [-4.22900723e-02 9.99040025e-01 -1.14270610e-02 -2.38181520e-01] [ 3.42126653e-03 1.15820317e-02 9.99927073e-01 -2.12429759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.33719347 meters Centerline goodness : 0.917067 Centerline is valid? [False, False] Translation: X:13.33, Y:-0.24, Z:-2.13 [[ 9.99043320e-01 4.34499366e-02 -4.95449630e-03 1.33337099e+01] [-4.34979836e-02 9.99003050e-01 -1.00415328e-02 -2.38443965e-01] [ 4.51325295e-03 1.02474368e-02 9.99937308e-01 -2.12730894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36719347 meters Centerline goodness : 0.915821 Centerline is valid? [False, False] Translation: X:13.34, Y:-0.24, Z:-2.13 [[ 9.99073097e-01 4.26488578e-02 -5.83287653e-03 1.33366219e+01] [-4.27109596e-02 9.99027216e-01 -1.09724602e-02 -2.37629620e-01] [ 5.35923950e-03 1.12114176e-02 9.99922788e-01 -2.12894396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.39719347 meters Centerline goodness : 0.917734 Centerline is valid? [False, False] Translation: X:13.34, Y:-0.24, Z:-2.13 [[ 9.99111304e-01 4.16392236e-02 -6.54047989e-03 1.33389057e+01] [-4.17141552e-02 9.99060239e-01 -1.17715141e-02 -2.38004067e-01] [ 6.04417669e-03 1.20338834e-02 9.99909323e-01 -2.13006375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42719347 meters Centerline goodness : 0.914798 Centerline is valid? [False, False] Translation: X:13.34, Y:-0.24, Z:-2.13 [[ 9.99160140e-01 4.03001615e-02 -7.41024095e-03 1.33415747e+01] [-4.03918556e-02 9.99103567e-01 -1.26712383e-02 -2.38582471e-01] [ 6.89294521e-03 1.29599096e-02 9.99892258e-01 -2.13126437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.45719347 meters Centerline goodness : 0.917019 Centerline is valid? [False, False] Translation: X:13.34, Y:-0.24, Z:-2.13 [[ 9.99216304e-01 3.86908220e-02 -8.35456027e-03 1.33445703e+01] [-3.88032753e-02 9.99152319e-01 -1.37458882e-02 -2.39097051e-01] [ 7.81563856e-03 1.40592999e-02 9.99870618e-01 -2.13266364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48719347 meters Centerline goodness : 0.917890 Centerline is valid? [False, False] Translation: X:13.35, Y:-0.24, Z:-2.13 [[ 9.99293292e-01 3.64462776e-02 -9.19706097e-03 1.33481317e+01] [-3.65845981e-02 9.99212687e-01 -1.53484299e-02 -2.39252436e-01] [ 8.63042687e-03 1.56740538e-02 9.99839907e-01 -2.13493919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.51719347 meters Centerline goodness : 0.935407 Centerline is valid? [False, False] Translation: X:13.35, Y:-0.24, Z:-2.14 [[ 9.99320414e-01 3.55365335e-02 -9.79105689e-03 1.33505791e+01] [-3.56918882e-02 9.99231894e-01 -1.61774999e-02 -2.37923466e-01] [ 9.20864406e-03 1.65159672e-02 9.99821196e-01 -2.13648505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54719347 meters Centerline goodness : 0.907174 Centerline is valid? [False, False] Translation: X:13.35, Y:-0.24, Z:-2.14 [[ 9.99353483e-01 3.43775290e-02 -1.05262750e-02 1.33532470e+01] [-3.45576288e-02 9.99250625e-01 -1.74344100e-02 -2.36117086e-01] [ 9.91903489e-03 1.77869014e-02 9.99792598e-01 -2.13806447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.57719347 meters Centerline goodness : 0.909707 Centerline is valid? [False, False] Translation: X:13.35, Y:-0.24, Z:-2.14 [[ 9.99366717e-01 3.38580935e-02 -1.09450741e-02 1.33546120e+01] [-3.40510645e-02 9.99258825e-01 -1.79534528e-02 -2.35358140e-01] [ 1.03290922e-02 1.83147746e-02 9.99778915e-01 -2.13859979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.60719347 meters Centerline goodness : 0.915883 Centerline is valid? [False, False] Translation: X:13.35, Y:-0.24, Z:-2.14 [[ 9.99381029e-01 3.34447162e-02 -1.09091578e-02 1.33542767e+01] [-3.36374584e-02 9.99272162e-01 -1.79907492e-02 -2.36310415e-01] [ 1.02995222e-02 1.83465698e-02 9.99778637e-01 -2.13766920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.63719347 meters Centerline goodness : 0.907183 Centerline is valid? [False, False] Translation: X:13.36, Y:-0.24, Z:-2.13 [[ 9.99455633e-01 3.13034856e-02 -1.04177693e-02 1.33615929e+01] [-3.14240071e-02 9.99438672e-01 -1.16135078e-02 -2.38082836e-01] [ 1.00483782e-02 1.19345538e-02 9.99878291e-01 -2.13405572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.66719347 meters Centerline goodness : 0.914123 Centerline is valid? [False, False] Translation: X:13.36, Y:-0.24, Z:-2.13 [[ 9.99488081e-01 3.02582606e-02 -1.03929665e-02 1.33619900e+01] [-3.03900371e-02 9.99456609e-01 -1.27645312e-02 -2.35802616e-01] [ 1.00010866e-02 1.30738395e-02 9.99864517e-01 -2.13408785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.69719347 meters Centerline goodness : 0.909784 Centerline is valid? [False, False] Translation: X:13.36, Y:-0.24, Z:-2.14 [[ 9.99417765e-01 3.22637681e-02 -1.10986806e-02 1.33649831e+01] [-3.23786113e-02 9.99422310e-01 -1.03282276e-02 -2.35095376e-01] [ 1.07590415e-02 1.06815740e-02 9.99885067e-01 -2.13551179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.72719347 meters Centerline goodness : 0.907652 Centerline is valid? [False, False] Translation: X:13.37, Y:-0.23, Z:-2.14 [[ 9.99430313e-01 3.17386553e-02 -1.14763863e-02 1.33662159e+01] [-3.18685227e-02 9.99428009e-01 -1.13159755e-02 -2.32346297e-01] [ 1.11106681e-02 1.16752645e-02 9.99870112e-01 -2.13607054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.75719347 meters Centerline goodness : 0.906037 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.23, Z:-2.14 [[ 9.99405399e-01 3.36028304e-02 -7.72647623e-03 1.33826522e+01] [-3.37211967e-02 9.99307378e-01 -1.57367695e-02 -2.28839328e-01] [ 7.19232471e-03 1.59879584e-02 9.99846316e-01 -2.13616351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.78719347 meters Centerline goodness : 0.939735 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.23, Z:-2.14 [[ 9.99409498e-01 3.34082056e-02 -8.03414385e-03 1.33831023e+01] [-3.35348069e-02 9.99306631e-01 -1.61763466e-02 -2.27798049e-01] [ 7.48815051e-03 1.64362179e-02 9.99836876e-01 -2.13572913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.81719347 meters Centerline goodness : 0.910037 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.23, Z:-2.14 [[ 9.99424259e-01 3.28306147e-02 -8.56161567e-03 1.33844499e+01] [-3.29719570e-02 9.99312941e-01 -1.69261920e-02 -2.26487154e-01] [ 8.00003605e-03 1.71987401e-02 9.99820085e-01 -2.13604597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.84719347 meters Centerline goodness : 0.909672 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.23, Z:-2.14 [[ 9.99390135e-01 3.30872420e-02 -1.11621384e-02 1.33909510e+01] [-3.32452195e-02 9.99345241e-01 -1.42774260e-02 -2.26315790e-01] [ 1.06824293e-02 1.46398065e-02 9.99835767e-01 -2.13605640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.87719347 meters Centerline goodness : 0.909768 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.22, Z:-2.14 [[ 9.99443377e-01 3.11141490e-02 -1.20351659e-02 1.33942507e+01] [-3.13118765e-02 9.99371718e-01 -1.66052616e-02 -2.21812696e-01] [ 1.15109458e-02 1.69728623e-02 9.99789688e-01 -2.13801216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.90719347 meters Centerline goodness : 0.907074 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.22, Z:-2.14 [[ 9.99472698e-01 2.98131260e-02 -1.28648180e-02 1.33967897e+01] [-3.00406162e-02 9.99388964e-01 -1.78678493e-02 -2.19637387e-01] [ 1.23242607e-02 1.82448947e-02 9.99757589e-01 -2.13909842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.93719347 meters Centerline goodness : 0.908290 Centerline is valid? [False, False] Translation: X:13.41, Y:-0.22, Z:-2.14 [[ 0.99953626 0.02574487 -0.01626257 13.40501842] [-0.02604927 0.99948403 -0.01879141 -0.21706823] [ 0.01577039 0.01920633 0.99969116 -2.13868008] [ 0. 0. 0. 1. ]] SLAMing on 150.96719347 meters Centerline goodness : 0.904152 Centerline is valid? [False, False] Translation: X:13.41, Y:-0.22, Z:-2.14 [[ 0.99954991 0.02489284 -0.01674266 13.40659084] [-0.02522036 0.99948889 -0.0196439 -0.21541718] [ 0.01624511 0.02005731 0.99966684 -2.13931268] [ 0. 0. 0. 1. ]] SLAMing on 150.99719346999998 meters Centerline goodness : 0.904365 Centerline is valid? [False, False] Translation: X:13.41, Y:-0.21, Z:-2.14 [[ 0.99958824 0.02277385 -0.01745589 13.40909765] [-0.02315945 0.99948491 -0.02221599 -0.20991684] [ 0.01694095 0.02261112 0.99960079 -2.14036086] [ 0. 0. 0. 1. ]] SLAMing on 151.02719347 meters Centerline goodness : 0.902165 Centerline is valid? [False, False] Translation: X:13.41, Y:-0.21, Z:-2.14 [[ 0.99954047 0.02424702 -0.01819123 13.41221212] [-0.02461773 0.99948797 -0.02043915 -0.20781925] [ 0.01768633 0.02087759 0.99962559 -2.14182089] [ 0. 0. 0. 1. ]] SLAMing on 151.05719347 meters Centerline goodness : 0.901733 Centerline is valid? [False, False] Translation: X:13.42, Y:-0.20, Z:-2.14 [[ 0.9994755 0.02627471 -0.01893047 13.41518919] [-0.02662356 0.99947585 -0.0184179 -0.20481888] [ 0.01843662 0.01891224 0.99965115 -2.14323543] [ 0. 0. 0. 1. ]] SLAMing on 151.08719347 meters Centerline goodness : 0.902871 Centerline is valid? [False, False] Translation: X:13.42, Y:-0.20, Z:-2.14 [[ 0.99940135 0.02847125 -0.01965508 13.41814313] [-0.02879627 0.99944983 -0.01645633 -0.20127281] [ 0.01917573 0.01701247 0.99967138 -2.14464741] [ 0. 0. 0. 1. ]] SLAMing on 151.11719347 meters Centerline goodness : 0.899981 Centerline is valid? [False, False] Translation: X:13.42, Y:-0.20, Z:-2.15 [[ 0.9993183 0.03074735 -0.02043368 13.42146095] [-0.03105025 0.99941008 -0.01467539 -0.19730507] [ 0.01997039 0.01529985 0.9996835 -2.14640818] [ 0. 0. 0. 1. ]] SLAMing on 151.14719347 meters Centerline goodness : 0.899033 Centerline is valid? [False, False] Translation: X:13.44, Y:-0.18, Z:-2.15 [[ 0.99916975 0.03592057 -0.01922282 13.4422172 ] [-0.03630714 0.99913743 -0.02015405 -0.18452714] [ 0.01848229 0.02083524 0.99961207 -2.15225555] [ 0. 0. 0. 1. ]] SLAMing on 151.17719347 meters Centerline goodness : 0.897524 Centerline is valid? [False, False] Translation: X:13.45, Y:-0.18, Z:-2.15 [[ 0.99896738 0.04079061 -0.02000757 13.44611159] [-0.04111261 0.99902712 -0.0159553 -0.18027283] [ 0.01933728 0.01676139 0.99967251 -2.15422126] [ 0. 0. 0. 1. ]] SLAMing on 151.20719347 meters Centerline goodness : 0.895742 Centerline is valid? [False, False] Translation: X:13.45, Y:-0.17, Z:-2.15 [[ 0.99882773 0.04384822 -0.020506 13.4481823 ] [-0.04414392 0.9989243 -0.01419696 -0.17484049] [ 0.01986143 0.01508553 0.99968893 -2.15497087] [ 0. 0. 0. 1. ]] SLAMing on 151.23719347 meters Centerline goodness : 0.896211 Centerline is valid? [False, False] Translation: X:13.45, Y:-0.17, Z:-2.15 [[ 9.98647337e-01 4.74113973e-02 -2.13461146e-02 1.34506922e+01] [-4.76978198e-02 9.98775711e-01 -1.31147378e-02 -1.70150666e-01] [ 2.06981927e-02 1.41151611e-02 9.99686124e-01 -2.15463054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.26719347 meters Centerline goodness : 0.894696 Centerline is valid? [False, False] Translation: X:13.45, Y:-0.16, Z:-2.15 [[ 0.99837222 0.05213801 -0.02312007 13.4544734 ] [-0.05247934 0.99851803 -0.01441029 -0.16007864] [ 0.02233449 0.01560016 0.99962883 -2.15312702] [ 0. 0. 0. 1. ]] SLAMing on 151.29719347 meters Centerline goodness : 0.893414 Centerline is valid? [False, False] Translation: X:13.46, Y:-0.15, Z:-2.15 [[ 0.99831677 0.0526648 -0.02429074 13.45757198] [-0.05307255 0.99845502 -0.01645822 -0.15493495] [ 0.02338644 0.01771969 0.99956945 -2.15319283] [ 0. 0. 0. 1. ]] SLAMing on 151.32719347 meters Centerline goodness : 0.892966 Centerline is valid? [False, False] Translation: X:13.46, Y:-0.15, Z:-2.15 [[ 0.99828567 0.05286001 -0.02513043 13.46039702] [-0.05331652 0.99841801 -0.01785588 -0.15075853] [ 0.02414681 0.01916514 0.9995247 -2.15407407] [ 0. 0. 0. 1. ]] SLAMing on 151.35719347 meters Centerline goodness : 0.890726 Centerline is valid? [False, False] Translation: X:13.46, Y:-0.15, Z:-2.16 [[ 0.99821024 0.05440705 -0.02482314 13.46204697] [-0.05479574 0.99838103 -0.01525621 -0.14810909] [ 0.02395291 0.01658911 0.99957544 -2.15663358] [ 0. 0. 0. 1. ]] SLAMing on 151.38719347 meters Centerline goodness : 0.890640 Centerline is valid? [False, False] Translation: X:13.46, Y:-0.15, Z:-2.16 [[ 0.99824738 0.0534806 -0.02533776 13.46380025] [-0.0538892 0.99842307 -0.01572694 -0.14772003] [ 0.02445671 0.01706481 0.99955523 -2.15772561] [ 0. 0. 0. 1. ]] SLAMing on 151.41719347 meters Centerline goodness : 0.890640 Centerline is valid? [False, False] Translation: X:13.46, Y:-0.15, Z:-2.16 [[ 0.99824738 0.0534806 -0.02533776 13.46380025] [-0.0538892 0.99842307 -0.01572694 -0.14772003] [ 0.02445671 0.01706481 0.99955523 -2.15772561] [ 0. 0. 0. 1. ]] SLAMing on 151.44719347 meters Centerline goodness : 0.889800 Centerline is valid? [False, False] Translation: X:13.46, Y:-0.15, Z:-2.16 [[ 0.99824458 0.05343961 -0.02553375 13.46472781] [-0.05383683 0.9984351 -0.01513068 -0.14902202] [ 0.02468522 0.01647878 0.99955945 -2.15871041] [ 0. 0. 0. 1. ]] SLAMing on 151.47719347 meters Centerline goodness : 0.888541 Centerline is valid? [False, False] Translation: X:13.47, Y:-0.15, Z:-2.16 [[ 0.99825383 0.05286089 -0.02636303 13.46784435] [-0.05325615 0.99847528 -0.01452259 -0.15217701] [ 0.02555516 0.01590122 0.99954694 -2.16139204] [ 0. 0. 0. 1. ]] SLAMing on 151.50719347 meters Centerline goodness : 0.888006 Centerline is valid? [False, False] Translation: X:13.47, Y:-0.15, Z:-2.16 [[ 0.99827529 0.05205612 -0.02714062 13.46987529] [-0.05247294 0.99851151 -0.01487794 -0.15313522] [ 0.02632573 0.01627643 0.9995209 -2.16227379] [ 0. 0. 0. 1. ]] SLAMing on 151.53719347 meters Centerline goodness : 0.886651 Centerline is valid? [False, False] Translation: X:13.47, Y:-0.15, Z:-2.16 [[ 0.99831356 0.05126055 -0.02724704 13.47052242] [-0.05168351 0.99855008 -0.01505196 -0.15345061] [ 0.02643597 0.0164348 0.9995154 -2.16296463] [ 0. 0. 0. 1. ]] SLAMing on 151.56719347 meters Centerline goodness : 0.886565 Centerline is valid? [False, False] Translation: X:13.47, Y:-0.15, Z:-2.16 [[ 0.99836608 0.05045829 -0.02681673 13.47013348] [-0.05087741 0.99858949 -0.01518309 -0.15272518] [ 0.02601279 0.01652265 0.99952506 -2.16355113] [ 0. 0. 0. 1. ]] SLAMing on 151.59719347 meters Centerline goodness : 0.888039 Centerline is valid? [False, False] Translation: X:13.47, Y:-0.15, Z:-2.16 [[ 0.99854727 0.04761739 -0.02521778 13.46734055] [-0.04804372 0.99870764 -0.01657844 -0.14995156] [ 0.02439576 0.01776591 0.99954451 -2.16343325] [ 0. 0. 0. 1. ]] SLAMing on 151.62719347 meters Centerline goodness : 0.888422 Centerline is valid? [False, False] Translation: X:13.47, Y:-0.15, Z:-2.16 [[ 0.99862634 0.04625332 -0.0246184 13.46581696] [-0.04667524 0.99876802 -0.01684853 -0.15020901] [ 0.02380877 0.01797445 0.99955493 -2.16292499] [ 0. 0. 0. 1. ]] SLAMing on 151.65719347 meters Centerline goodness : 0.891577 Centerline is valid? [False, False] Translation: X:13.47, Y:-0.15, Z:-2.16 [[ 0.9988921 0.04007607 -0.02466752 13.46616062] [-0.04063629 0.99891736 -0.02264488 -0.14782327] [ 0.0237333 0.02362219 0.9994392 -2.16343645] [ 0. 0. 0. 1. ]] SLAMing on 151.68719347 meters Centerline goodness : 0.889130 Centerline is valid? [False, False] Translation: X:13.47, Y:-0.15, Z:-2.16 [[ 0.9989449 0.03902557 -0.02420948 13.46558258] [-0.03958316 0.99895162 -0.02299655 -0.14732675] [ 0.02328664 0.02393057 0.99944237 -2.16383445] [ 0. 0. 0. 1. ]] SLAMing on 151.71719347 meters Centerline goodness : 0.888497 Centerline is valid? [False, False] Translation: X:13.47, Y:-0.15, Z:-2.16 [[ 0.99901115 0.03738737 -0.02406063 13.46569453] [-0.03797236 0.99898246 -0.02433382 -0.14506047] [ 0.02312637 0.02522339 0.9994143 -2.16413361] [ 0. 0. 0. 1. ]] SLAMing on 151.74719346999998 meters Centerline goodness : 0.888830 Centerline is valid? [False, False] Translation: X:13.47, Y:-0.14, Z:-2.17 [[ 0.99895631 0.03857026 -0.02446697 13.46825842] [-0.03912916 0.99897421 -0.02279119 -0.14376517] [ 0.02356281 0.02372478 0.99944081 -2.16560385] [ 0. 0. 0. 1. ]] SLAMing on 151.77719347 meters Centerline goodness : 0.887967 Centerline is valid? [False, False] Translation: X:13.47, Y:-0.14, Z:-2.17 [[ 0.99891051 0.04033729 -0.02346678 13.46764912] [-0.04084923 0.99892832 -0.02176106 -0.13731329] [ 0.02256385 0.02269595 0.99948775 -2.16604462] [ 0. 0. 0. 1. ]] SLAMing on 151.80719347 meters Centerline goodness : 0.888701 Centerline is valid? [False, False] Translation: X:13.47, Y:-0.13, Z:-2.17 [[ 0.99880919 0.04231903 -0.02427573 13.47089668] [-0.04281534 0.99887669 -0.02030276 -0.13481286] [ 0.02338927 0.02131795 0.99949912 -2.16768286] [ 0. 0. 0. 1. ]] SLAMing on 151.83719347 meters Centerline goodness : 0.886161 Centerline is valid? [False, False] Translation: X:13.47, Y:-0.13, Z:-2.17 [[ 0.99865316 0.04541145 -0.02509317 13.47438935] [-0.04586583 0.99878832 -0.01783841 -0.13275471] [ 0.0242527 0.0189653 0.99952595 -2.16961529] [ 0. 0. 0. 1. ]] SLAMing on 151.86719347 meters Centerline goodness : 0.885264 Centerline is valid? [False, False] Translation: X:13.48, Y:-0.13, Z:-2.17 [[ 0.99847472 0.04866391 -0.02607807 13.4779706 ] [-0.04908016 0.99867353 -0.01556644 -0.13033751] [ 0.02528596 0.01682261 0.9995387 -2.17097754] [ 0. 0. 0. 1. ]] SLAMing on 151.89719347 meters Centerline goodness : 0.886567 Centerline is valid? [False, False] Translation: X:13.48, Y:-0.12, Z:-2.17 [[ 0.99826607 0.05246451 -0.02668961 13.4798485 ] [-0.05287748 0.9984882 -0.01500955 -0.12321248] [ 0.0258618 0.0163948 0.99953108 -2.16991235] [ 0. 0. 0. 1. ]] SLAMing on 151.92719347 meters Centerline goodness : 0.885804 Centerline is valid? [False, False] Translation: X:13.48, Y:-0.12, Z:-2.17 [[ 0.99822381 0.05279013 -0.02761198 13.48185236] [-0.05326919 0.99843698 -0.01691144 -0.11853971] [ 0.02667606 0.01835227 0.99947565 -2.16926316] [ 0. 0. 0. 1. ]] SLAMing on 151.95719347 meters Centerline goodness : 0.886256 Centerline is valid? [False, False] Translation: X:13.48, Y:-0.12, Z:-2.17 [[ 0.99803977 0.05589686 -0.02814537 13.48421614] [-0.05632234 0.9983065 -0.01455792 -0.11574153] [ 0.02728397 0.0161146 0.99949783 -2.17014007] [ 0. 0. 0. 1. ]] SLAMing on 151.98719347 meters Centerline goodness : 0.885111 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.11, Z:-2.17 [[ 0.99801406 0.05586575 -0.02910263 13.48707612] [-0.05634376 0.99828526 -0.01587182 -0.11243675] [ 0.02816604 0.01748005 0.99945041 -2.17101102] [ 0. 0. 0. 1. ]] SLAMing on 152.01719347 meters Centerline goodness : 0.885329 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.11, Z:-2.17 [[ 0.99806256 0.05467761 -0.02968991 13.48957401] [-0.05520954 0.99832314 -0.01740173 -0.1095098 ] [ 0.02868864 0.01900718 0.99940767 -2.17260639] [ 0. 0. 0. 1. ]] SLAMing on 152.04719347 meters Centerline goodness : 0.885069 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.11, Z:-2.17 [[ 0.99813952 0.05329831 -0.02961067 13.48984274] [-0.05385265 0.99838212 -0.01824948 -0.10869769] [ 0.0285901 0.01981015 0.9993949 -2.1731564 ] [ 0. 0. 0. 1. ]] SLAMing on 152.07719347 meters Centerline goodness : 0.886712 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.11, Z:-2.17 [[ 0.9982511 0.05149505 -0.02903437 13.48908928] [-0.0520569 0.99846452 -0.01893869 -0.10794084] [ 0.02801453 0.02041701 0.99939899 -2.17367 ] [ 0. 0. 0. 1. ]] SLAMing on 152.10719347 meters Centerline goodness : 0.883907 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.11, Z:-2.17 [[ 0.9989546 0.03974147 -0.02259015 13.48842726] [-0.0400568 0.99910373 -0.01368189 -0.10507313] [ 0.02202617 0.01457247 0.99965118 -2.1749765 ] [ 0. 0. 0. 1. ]] SLAMing on 152.13719347 meters Centerline goodness : 0.885177 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.10, Z:-2.18 [[ 0.99915516 0.03451502 -0.02230872 13.48838329] [-0.03494464 0.9992055 -0.01916362 -0.10107382] [ 0.02162956 0.019927 0.99956744 -2.17557101] [ 0. 0. 0. 1. ]] SLAMing on 152.16719347 meters Centerline goodness : 0.885612 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.10, Z:-2.18 [[ 0.99922938 0.03277325 -0.0215999 13.48729871] [-0.03321847 0.99923609 -0.02058571 -0.09801514] [ 0.02090874 0.02128736 0.99955474 -2.17574118] [ 0. 0. 0. 1. ]] SLAMing on 152.19719347 meters Centerline goodness : 0.883300 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.09, Z:-2.18 [[ 0.99930113 0.03065395 -0.02139106 13.48735193] [-0.0311434 0.99925174 -0.02293593 -0.09399541] [ 0.02067198 0.0235861 0.99950806 -2.17585164] [ 0. 0. 0. 1. ]] SLAMing on 152.22719347 meters Centerline goodness : 0.881867 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.09, Z:-2.18 [[ 0.99942648 0.02635081 -0.02126829 13.48900332] [-0.02694689 0.99923778 -0.02824402 -0.08552171] [ 0.02050783 0.02880093 0.99937477 -2.17739065] [ 0. 0. 0. 1. ]] SLAMing on 152.25719347 meters Centerline goodness : 0.880369 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.08, Z:-2.18 [[ 0.9994514 0.02514573 -0.02155423 13.49119469] [-0.02580476 0.99919046 -0.03086337 -0.07951668] [ 0.0207607 0.03140264 0.99929118 -2.17885922] [ 0. 0. 0. 1. ]] SLAMing on 152.28719347 meters Centerline goodness : 0.879169 Centerline is valid? [False, False] Translation: X:13.50, Y:-0.07, Z:-2.18 [[ 0.99940099 0.02632498 -0.02246472 13.49526453] [-0.02699979 0.99917661 -0.03028398 -0.07298705] [ 0.02164899 0.03087239 0.99928886 -2.18118759] [ 0. 0. 0. 1. ]] SLAMing on 152.31719347 meters Centerline goodness : 0.875783 Centerline is valid? [False, False] Translation: X:13.51, Y:-0.06, Z:-2.18 [[ 0.99923329 0.02849735 -0.02684637 13.50941016] [-0.02919094 0.99924064 -0.02580776 -0.05732409] [ 0.02609053 0.02657165 0.99930638 -2.18242682] [ 0. 0. 0. 1. ]] SLAMing on 152.34719347 meters Centerline goodness : 0.875303 Centerline is valid? [False, False] Translation: X:13.51, Y:-0.05, Z:-2.18 [[ 0.99914051 0.03095426 -0.02756938 13.51232564] [-0.03165058 0.99918154 -0.02518896 -0.04990392] [ 0.02676711 0.02603989 0.99930248 -2.18319012] [ 0. 0. 0. 1. ]] SLAMing on 152.37719347 meters Centerline goodness : 0.871011 Centerline is valid? [False, False] Translation: X:13.51, Y:-0.04, Z:-2.18 [[ 0.9990544 0.0331691 -0.02810903 13.5149368 ] [-0.03386155 0.99912553 -0.0245271 -0.04338375] [ 0.02727091 0.02545572 0.99930391 -2.18410327] [ 0. 0. 0. 1. ]] SLAMing on 152.40719347 meters Centerline goodness : 0.872788 Centerline is valid? [False, False] Translation: X:13.52, Y:-0.04, Z:-2.19 [[ 0.99896845 0.03511883 -0.02878721 13.51792093] [-0.0358043 0.99907889 -0.02365207 -0.03801231] [ 0.02793006 0.02465838 0.9993057 -2.18535399] [ 0. 0. 0. 1. ]] SLAMing on 152.43719347 meters Centerline goodness : 0.872061 Centerline is valid? [False, False] Translation: X:13.52, Y:-0.03, Z:-2.19 [[ 0.99888246 0.036587 -0.02992028 13.52189322] [-0.03734684 0.99898347 -0.02524365 -0.02600379] [ 0.02896628 0.02633286 0.99923347 -2.1859226 ] [ 0. 0. 0. 1. ]] SLAMing on 152.46719347 meters Centerline goodness : 0.871150 Centerline is valid? [False, False] Translation: X:13.52, Y:-0.02, Z:-2.19 [[ 0.99876899 0.03945182 -0.03006746 13.52295619] [-0.04017167 0.99891108 -0.02372525 -0.02002022] [ 0.02909872 0.0249039 0.99926626 -2.18581539] [ 0. 0. 0. 1. ]] SLAMing on 152.49719346999998 meters Centerline goodness : 0.871095 Centerline is valid? [False, False] Translation: X:13.52, Y:-0.01, Z:-2.18 [[ 9.98537164e-01 4.48351005e-02 -3.02215988e-02 1.35244081e+01] [-4.54650654e-02 9.98755769e-01 -2.04900563e-02 -5.71381623e-03] [ 2.92653224e-02 2.18341097e-02 9.99333184e-01 -2.18475236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52719347 meters Centerline goodness : 0.870586 Centerline is valid? [False, False] Translation: X:13.53, Y:0.00, Z:-2.18 [[ 9.98394815e-01 4.77805000e-02 -3.04108172e-02 1.35256513e+01] [-4.83697208e-02 9.98649844e-01 -1.89435738e-02 7.30248725e-04] [ 2.94646244e-02 2.03841286e-02 9.99357955e-01 -2.18465533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.55719347 meters Centerline goodness : 0.871577 Centerline is valid? [False, False] Translation: X:13.53, Y:0.01, Z:-2.18 [[ 9.98101512e-01 5.35735871e-02 -3.03849063e-02 1.35261086e+01] [-5.40615413e-02 9.98417747e-01 -1.54710357e-02 1.17182534e-02] [ 2.95079908e-02 1.70843190e-02 9.99418533e-01 -2.18367915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58719347 meters Centerline goodness : 0.871477 Centerline is valid? [False, False] Translation: X:13.53, Y:0.02, Z:-2.18 [[ 9.97927283e-01 5.67463559e-02 -3.03478148e-02 1.35266850e+01] [-5.71689839e-02 9.98276667e-01 -1.32439746e-02 1.64061931e-02] [ 2.95439681e-02 1.49514773e-02 9.99451653e-01 -2.18363511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.61719347 meters Centerline goodness : 0.872850 Centerline is valid? [False, False] Translation: X:13.53, Y:0.02, Z:-2.18 [[ 9.97767203e-01 5.92775195e-02 -3.07698468e-02 1.35288305e+01] [-5.96592537e-02 9.98150942e-01 -1.16391482e-02 2.17923989e-02] [ 3.00230117e-02 1.34488664e-02 9.99458727e-01 -2.18443303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64719347 meters Centerline goodness : 0.872990 Centerline is valid? [False, False] Translation: X:13.53, Y:0.03, Z:-2.19 [[ 9.97589835e-01 6.21680862e-02 -3.08163909e-02 1.35302888e+01] [-6.24941011e-02 9.97997898e-01 -9.73055752e-03 2.77157144e-02] [ 3.01497632e-02 1.16329479e-02 9.99477697e-01 -2.18518975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.67719347 meters Centerline goodness : 0.870705 Centerline is valid? [False, False] Translation: X:13.53, Y:0.03, Z:-2.19 [[ 9.97420580e-01 6.46459099e-02 -3.11944497e-02 1.35326381e+01] [-6.49301307e-02 9.97856245e-01 -8.18491025e-03 3.40048418e-02] [ 3.05984555e-02 1.01892576e-02 9.99479821e-01 -2.18627652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.70719347 meters Centerline goodness : 0.871918 Centerline is valid? [False, False] Translation: X:13.54, Y:0.04, Z:-2.19 [[ 9.97270750e-01 6.67423396e-02 -3.15675577e-02 1.35355299e+01] [-6.69892939e-02 9.97730317e-01 -6.83004398e-03 4.00129525e-02] [ 3.10400563e-02 8.92609148e-03 9.99478284e-01 -2.18804961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.73719347 meters Centerline goodness : 0.870448 Centerline is valid? [False, False] Translation: X:13.54, Y:0.05, Z:-2.19 [[ 9.97190993e-01 6.75958920e-02 -3.22632861e-02 1.35388583e+01] [-6.78707012e-02 9.97665945e-01 -7.49868962e-03 4.91993260e-02] [ 3.16811012e-02 9.66735759e-03 9.99451274e-01 -2.18969306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76719347 meters Centerline goodness : 0.871341 Centerline is valid? [False, False] Translation: X:13.54, Y:0.05, Z:-2.19 [[ 9.97255096e-01 6.65102322e-02 -3.25371032e-02 1.35396276e+01] [-6.68444678e-02 9.97720124e-01 -9.29366835e-03 5.33615301e-02] [ 3.18447986e-02 1.14430835e-02 9.99427318e-01 -2.18976311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.79719347 meters Centerline goodness : 0.872334 Centerline is valid? [False, False] Translation: X:13.54, Y:0.06, Z:-2.19 [[ 9.97320097e-01 6.52764108e-02 -3.30395803e-02 1.35409194e+01] [-6.56734635e-02 9.97779680e-01 -1.10772791e-02 5.75996322e-02] [ 3.22431368e-02 1.32174167e-02 9.99392656e-01 -2.18991223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.82719347 meters Centerline goodness : 0.874063 Centerline is valid? [False, False] Translation: X:13.54, Y:0.07, Z:-2.19 [[ 0.99747616 0.06240284 -0.03387019 13.54270303] [-0.06292001 0.99791435 -0.01442318 0.06841634] [ 0.03289951 0.0165179 0.99932216 -2.18932371] [ 0. 0. 0. 1. ]] SLAMing on 152.85719347 meters Centerline goodness : 0.873955 Centerline is valid? [False, False] Translation: X:13.55, Y:0.07, Z:-2.19 [[ 0.99746332 0.06226409 -0.03449799 13.54524586] [-0.06279895 0.99791877 -0.01464275 0.07308375] [ 0.03351447 0.01677205 0.99929749 -2.19029006] [ 0. 0. 0. 1. ]] SLAMing on 152.88719347 meters Centerline goodness : 0.875234 Centerline is valid? [False, False] Translation: X:13.55, Y:0.08, Z:-2.19 [[ 0.99751942 0.0610982 -0.03495737 13.54660751] [-0.06170016 0.99795986 -0.01640751 0.0782615 ] [ 0.03388358 0.01852369 0.99925411 -2.19045526] [ 0. 0. 0. 1. ]] SLAMing on 152.91719347 meters Centerline goodness : 0.874185 Centerline is valid? [False, False] Translation: X:13.55, Y:0.08, Z:-2.19 [[ 0.9974516 0.06236762 -0.03464939 13.54586272] [-0.06292719 0.99790084 -0.01529953 0.08214058] [ 0.03362246 0.01744093 0.99928241 -2.1896915 ] [ 0. 0. 0. 1. ]] SLAMing on 152.94719347 meters Centerline goodness : 0.876412 Centerline is valid? [False, False] Translation: X:13.55, Y:0.09, Z:-2.19 [[ 0.99748093 0.06163629 -0.03511063 13.54701945] [-0.0622569 0.99791766 -0.01686463 0.08666921] [ 0.03399805 0.01900803 0.99924113 -2.1896184 ] [ 0. 0. 0. 1. ]] SLAMing on 152.97719347 meters Centerline goodness : 0.876426 Centerline is valid? [False, False] Translation: X:13.55, Y:0.10, Z:-2.19 [[ 0.99731289 0.06447417 -0.03478615 13.54716772] [-0.06506194 0.99775236 -0.01603674 0.09573682] [ 0.03367401 0.0182569 0.9992661 -2.18897784] [ 0. 0. 0. 1. ]] SLAMing on 153.00719347 meters Centerline goodness : 0.877775 Centerline is valid? [False, False] Translation: X:13.55, Y:0.10, Z:-2.19 [[ 0.99711352 0.06759153 -0.03458333 13.54715112] [-0.06811269 0.99757773 -0.01411873 0.10141128] [ 0.03354526 0.01643355 0.99930208 -2.18829979] [ 0. 0. 0. 1. ]] SLAMing on 153.03719347 meters Centerline goodness : 0.878389 Centerline is valid? [False, False] Translation: X:13.55, Y:0.11, Z:-2.19 [[ 9.96867635e-01 7.11857677e-02 -3.44602041e-02 1.35477604e+01] [-7.16282990e-02 9.97361821e-01 -1.17807233e-02 1.07544651e-01] [ 3.35306721e-02 1.42121476e-02 9.99336634e-01 -2.18805203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.06719347 meters Centerline goodness : 0.880090 Centerline is valid? [False, False] Translation: X:13.55, Y:0.12, Z:-2.19 [[ 9.96433438e-01 7.72304221e-02 -3.39980222e-02 1.35483065e+01] [-7.75436858e-02 9.96956921e-01 -7.99215857e-03 1.18985331e-01] [ 3.32773258e-02 1.05999860e-02 9.99389944e-01 -2.18745517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.09719347 meters Centerline goodness : 0.879628 Centerline is valid? [False, False] Translation: X:13.55, Y:0.12, Z:-2.19 [[ 9.96207607e-01 8.01148473e-02 -3.39413495e-02 1.35493037e+01] [-8.03485783e-02 9.96751224e-01 -5.57705665e-03 1.22597745e-01] [ 3.33842767e-02 8.28304544e-03 9.99408266e-01 -2.18792422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.12719347 meters Centerline goodness : 0.879458 Centerline is valid? [False, False] Translation: X:13.55, Y:0.13, Z:-2.19 [[ 9.96129223e-01 8.08346180e-02 -3.45302250e-02 1.35529142e+01] [-8.10606289e-02 9.96695639e-01 -5.19400111e-03 1.25769280e-01] [ 3.39962696e-02 7.97293804e-03 9.99390157e-01 -2.19041533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.15719347 meters Centerline goodness : 0.879414 Centerline is valid? [False, False] Translation: X:13.56, Y:0.13, Z:-2.19 [[ 9.96234235e-01 7.91637427e-02 -3.53617183e-02 1.35572175e+01] [-7.94766512e-02 9.96808284e-01 -7.53035442e-03 1.32012460e-01] [ 3.46527228e-02 1.03124278e-02 9.99346208e-01 -2.19348467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.18719347 meters Centerline goodness : 0.879570 Centerline is valid? [False, False] Translation: X:13.56, Y:0.14, Z:-2.19 [[ 9.96295433e-01 7.82947592e-02 -3.55716218e-02 1.35582092e+01] [-7.86536599e-02 9.96863138e-01 -8.80260158e-03 1.35420800e-01] [ 3.47708409e-02 1.15678300e-02 9.99328361e-01 -2.19396093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.21719347 meters Centerline goodness : 0.880288 Centerline is valid? [False, False] Translation: X:13.56, Y:0.14, Z:-2.19 [[ 9.96334763e-01 7.76009720e-02 -3.59879147e-02 1.35595898e+01] [-7.80044657e-02 9.96903409e-01 -9.94465193e-03 1.39078614e-01] [ 3.51047602e-02 1.27154205e-02 9.99302744e-01 -2.19441427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24719346999998 meters Centerline goodness : 0.878738 Centerline is valid? [False, False] Translation: X:13.56, Y:0.14, Z:-2.19 [[ 9.96368307e-01 7.69504814e-02 -3.64529938e-02 1.35610528e+01] [-7.74011983e-02 9.96938049e-01 -1.11167281e-02 1.42823856e-01] [ 3.54859390e-02 1.38978610e-02 9.99273535e-01 -2.19473903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.27719347 meters Centerline goodness : 0.879217 Centerline is valid? [False, False] Translation: X:13.56, Y:0.15, Z:-2.20 [[ 9.96379953e-01 7.65911068e-02 -3.68889156e-02 1.35625464e+01] [-7.70788108e-02 9.96952987e-01 -1.19832526e-02 1.46141413e-01] [ 3.58587040e-02 1.47832264e-02 9.99247522e-01 -2.19522136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30719347 meters Centerline goodness : 0.877557 Centerline is valid? [False, False] Translation: X:13.56, Y:0.15, Z:-2.19 [[ 9.96238818e-01 7.84874936e-02 -3.67141818e-02 1.35626580e+01] [-7.89367615e-02 9.96819490e-01 -1.09495186e-02 1.52350494e-01] [ 3.57380117e-02 1.38064341e-02 9.99265819e-01 -2.19476101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.33719347 meters Centerline goodness : 0.877557 Centerline is valid? [False, False] Translation: X:13.56, Y:0.15, Z:-2.19 [[ 9.96243914e-01 7.84238762e-02 -3.67118552e-02 1.35626559e+01] [-7.88758698e-02 9.96823449e-01 -1.10276778e-02 1.52579312e-01] [ 3.57304048e-02 1.38819364e-02 9.99265045e-01 -2.19475520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36719347 meters Centerline goodness : 0.878195 Centerline is valid? [False, False] Translation: X:13.56, Y:0.16, Z:-2.19 [[ 9.96266340e-01 7.80043530e-02 -3.69959431e-02 1.35635979e+01] [-7.84988521e-02 9.96840704e-01 -1.21053786e-02 1.56595386e-01] [ 3.59347898e-02 1.49643203e-02 9.99242093e-01 -2.19477021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.39719347 meters Centerline goodness : 0.880012 Centerline is valid? [False, False] Translation: X:13.56, Y:0.17, Z:-2.19 [[ 9.96125498e-01 7.98309870e-02 -3.68918025e-02 1.35631020e+01] [-8.02997707e-02 9.96705537e-01 -1.14025945e-02 1.65232949e-01] [ 3.58599835e-02 1.43208184e-02 9.99254210e-01 -2.19314290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42719347 meters Centerline goodness : 0.881136 Centerline is valid? [False, False] Translation: X:13.56, Y:0.17, Z:-2.19 [[ 9.95961047e-01 8.21002606e-02 -3.63475027e-02 1.35618263e+01] [-8.24971300e-02 9.96545501e-01 -9.55451086e-03 1.68506789e-01] [ 3.54375124e-02 1.25144853e-02 9.99293536e-01 -2.19210766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.45719347 meters Centerline goodness : 0.883704 Centerline is valid? [False, False] Translation: X:13.56, Y:0.17, Z:-2.19 [[ 9.95748735e-01 8.47714926e-02 -3.60312527e-02 1.35616036e+01] [-8.50829268e-02 9.96347880e-01 -7.19707998e-03 1.71117610e-01] [ 3.52895551e-02 1.02321277e-02 9.99324747e-01 -2.19182824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48719347 meters Centerline goodness : 0.882389 Centerline is valid? [False, False] Translation: X:13.56, Y:0.18, Z:-2.19 [[ 9.95768449e-01 8.44320322e-02 -3.62826120e-02 1.35624867e+01] [-8.47882829e-02 9.96363648e-01 -8.39215464e-03 1.75341119e-01] [ 3.54421090e-02 1.14329832e-02 9.99306331e-01 -2.19182400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.51719347 meters Centerline goodness : 0.884006 Centerline is valid? [False, False] Translation: X:13.56, Y:0.18, Z:-2.19 [[ 9.95583721e-01 8.66339201e-02 -3.61610164e-02 1.35633747e+01] [-8.69522223e-02 9.96185578e-01 -7.32156567e-03 1.81401782e-01] [ 3.53887871e-02 1.04335123e-02 9.99319156e-01 -2.19215053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54719347 meters Centerline goodness : 0.885384 Centerline is valid? [False, False] Translation: X:13.56, Y:0.18, Z:-2.19 [[ 9.95310064e-01 8.98431997e-02 -3.58619056e-02 1.35637213e+01] [-9.00613491e-02 9.95926001e-01 -4.51143147e-03 1.83824486e-01] [ 3.53104828e-02 7.72004475e-03 9.99346572e-01 -2.19240483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.57719347 meters Centerline goodness : 0.886355 Centerline is valid? [False, False] Translation: X:13.56, Y:0.19, Z:-2.19 [[ 9.95012377e-01 9.31673680e-02 -3.56400285e-02 1.35639709e+01] [-9.32875021e-02 9.95637728e-01 -1.71920578e-03 1.86899099e-01] [ 3.53243831e-02 5.03540026e-03 9.99363214e-01 -2.19217129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.60719347 meters Centerline goodness : 0.887082 Centerline is valid? [False, False] Translation: X:13.56, Y:0.19, Z:-2.19 [[ 9.94718427e-01 9.63048177e-02 -3.55053999e-02 1.35641348e+01] [-9.63349992e-02 9.95348593e-01 8.63698497e-04 1.90366343e-01] [ 3.54234282e-02 2.56127586e-03 9.99369111e-01 -2.19159127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.63719347 meters Centerline goodness : 0.886432 Centerline is valid? [False, False] Translation: X:13.56, Y:0.19, Z:-2.19 [[ 9.94044913e-01 1.03361361e-01 -3.45128852e-02 1.35643186e+01] [-1.03170814e-01 9.94637144e-01 7.26182383e-03 1.93816848e-01] [ 3.50783896e-02 -3.65785658e-03 9.99377870e-01 -2.19226804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.66719347 meters Centerline goodness : 0.886869 Centerline is valid? [False, False] Translation: X:13.57, Y:0.20, Z:-2.19 [[ 9.94026320e-01 1.03366907e-01 -3.50279528e-02 1.35659622e+01] [-1.03196858e-01 9.94638834e-01 6.63316562e-03 1.96201882e-01] [ 3.55258120e-02 -2.97876652e-03 9.99364320e-01 -2.19277501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.69719347 meters Centerline goodness : 0.892463 Centerline is valid? [False, False] Translation: X:13.57, Y:0.20, Z:-2.19 [[ 9.94011399e-01 1.03338017e-01 -3.55329745e-02 1.35678997e+01] [-1.03189681e-01 9.94643669e-01 5.98838134e-03 1.98876505e-01] [ 3.59614756e-02 -2.28588300e-03 9.99350563e-01 -2.19366616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.72719347 meters Centerline goodness : 0.891878 Centerline is valid? [False, False] Translation: X:13.57, Y:0.20, Z:-2.20 [[ 9.93687930e-01 1.06377717e-01 -3.56100914e-02 1.35699797e+01] [-1.06134450e-01 9.94314087e-01 8.65879433e-03 2.00792139e-01] [ 3.63287183e-02 -4.82468195e-03 9.99328248e-01 -2.19506803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.75719347 meters Centerline goodness : 0.895478 Centerline is valid? [False, False] Translation: X:13.57, Y:0.20, Z:-2.20 [[ 9.93217741e-01 1.10712431e-01 -3.55144662e-02 1.35712984e+01] [-1.10336665e-01 9.93817194e-01 1.23776199e-02 2.02532915e-01] [ 3.66652436e-02 -8.37512388e-03 9.99292508e-01 -2.19568390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.78719347 meters Centerline goodness : 0.897426 Centerline is valid? [False, False] Translation: X:13.57, Y:0.21, Z:-2.20 [[ 0.9922298 0.11939209 -0.03500798 13.57296913] [-0.11876642 0.99273179 0.01944541 0.20711041] [ 0.03707516 -0.01513654 0.99919784 -2.19610621] [ 0. 0. 0. 1. ]] SLAMing on 153.81719347 meters Centerline goodness : 0.900364 Centerline is valid? [False, False] Translation: X:13.57, Y:0.21, Z:-2.20 [[ 0.99173521 0.12345676 -0.03492429 13.57385226] [-0.12270944 0.99218078 0.0227966 0.20948079] [ 0.03746561 -0.01832265 0.99912993 -2.19588363] [ 0. 0. 0. 1. ]] SLAMing on 153.84719347 meters Centerline goodness : 0.899426 Centerline is valid? [False, False] Translation: X:13.57, Y:0.21, Z:-2.20 [[ 0.99165066 0.1240352 -0.03527362 13.57495573] [-0.12330206 0.99211951 0.02225951 0.21293714] [ 0.0377566 -0.01772435 0.99912976 -2.19565285] [ 0. 0. 0. 1. ]] SLAMing on 153.87719347 meters Centerline goodness : 0.899298 Centerline is valid? [False, False] Translation: X:13.58, Y:0.21, Z:-2.20 [[ 0.99159427 0.12432843 -0.03582246 13.57656298] [-0.12359981 0.99209064 0.02189169 0.21472176] [ 0.03826089 -0.01728003 0.99911836 -2.19604279] [ 0. 0. 0. 1. ]] SLAMing on 153.90719347 meters Centerline goodness : 0.899834 Centerline is valid? [False, False] Translation: X:13.58, Y:0.22, Z:-2.20 [[ 0.99158648 0.12429917 -0.03613825 13.57839736] [-0.12357453 0.99209917 0.02164646 0.2154823 ] [ 0.03854336 -0.01699857 0.99911233 -2.19752794] [ 0. 0. 0. 1. ]] SLAMing on 153.93719347 meters Centerline goodness : 0.900732 Centerline is valid? [False, False] Translation: X:13.59, Y:0.21, Z:-2.20 [[ 0.9923543 0.11963793 -0.03032674 13.59134642] [-0.11889007 0.99258315 0.02537419 0.21269217] [ 0.03313753 -0.02157463 0.99921791 -2.20162865] [ 0. 0. 0. 1. ]] SLAMing on 153.96719347 meters Centerline goodness : 0.899363 Centerline is valid? [False, False] Translation: X:13.60, Y:0.21, Z:-2.21 [[ 0.99310464 0.11464334 -0.02449648 13.60453716] [-0.1139517 0.99309217 0.02798139 0.2095395 ] [ 0.02753514 -0.02499703 0.99930824 -2.20504143] [ 0. 0. 0. 1. ]] SLAMing on 153.99719346999998 meters Centerline goodness : 0.904326 Centerline is valid? [False, False] Translation: X:13.62, Y:0.21, Z:-2.21 [[ 0.99363785 0.11069512 -0.02074644 13.6212942 ] [-0.11007857 0.99350496 0.02882023 0.20621389] [ 0.02380195 -0.02635313 0.99936929 -2.20600262] [ 0. 0. 0. 1. ]] SLAMing on 154.02719347 meters Centerline goodness : 0.906149 Centerline is valid? [False, False] Translation: X:13.65, Y:0.20, Z:-2.20 [[ 0.99445949 0.10277542 -0.02208007 13.64733722] [-0.10198103 0.9941875 0.03451215 0.20305204] [ 0.02549873 -0.03206919 0.99916034 -2.20419792] [ 0. 0. 0. 1. ]] SLAMing on 154.05719347 meters Centerline goodness : 0.907938 Centerline is valid? [False, False] Translation: X:13.65, Y:0.20, Z:-2.21 [[ 0.99468538 0.10033026 -0.02312637 13.65004724] [-0.09957176 0.99451886 0.03190131 0.20407811] [ 0.02620028 -0.02942903 0.99922344 -2.20541464] [ 0. 0. 0. 1. ]] SLAMing on 154.08719347 meters Centerline goodness : 0.908359 Centerline is valid? [False, False] Translation: X:13.67, Y:0.20, Z:-2.21 [[ 0.99533587 0.09363768 -0.02320527 13.67319835] [-0.09254657 0.99472144 0.04432138 0.19885644] [ 0.02723293 -0.04196709 0.99874778 -2.20794653] [ 0. 0. 0. 1. ]] SLAMing on 154.11719347 meters Centerline goodness : 0.907721 Centerline is valid? [False, False] Translation: X:13.69, Y:0.20, Z:-2.21 [[ 0.99579579 0.08914591 -0.02106539 13.69158499] [-0.08818244 0.99517866 0.04293354 0.19718346] [ 0.02479118 -0.04089544 0.99885583 -2.20779611] [ 0. 0. 0. 1. ]] SLAMing on 154.14719347 meters Centerline goodness : 0.906998 Centerline is valid? [False, False] Translation: X:13.70, Y:0.19, Z:-2.21 [[ 0.99619867 0.08552646 -0.01653595 13.70263645] [-0.08460986 0.99516516 0.04987459 0.19404283] [ 0.02072159 -0.0482859 0.99861859 -2.21121222] [ 0. 0. 0. 1. ]] SLAMing on 154.17719347 meters Centerline goodness : 0.909041 Centerline is valid? [False, False] Translation: X:13.71, Y:0.19, Z:-2.21 [[ 0.99641779 0.082735 -0.01750747 13.7053543 ] [-0.08184072 0.99554688 0.04678138 0.19434371] [ 0.02129996 -0.04518098 0.99875172 -2.21260381] [ 0. 0. 0. 1. ]] SLAMing on 154.20719347 meters Centerline goodness : 0.908222 Centerline is valid? [False, False] Translation: X:13.71, Y:0.19, Z:-2.21 [[ 0.99635463 0.08333438 -0.01824347 13.70794228] [-0.08239675 0.99548053 0.04721529 0.1947285 ] [ 0.02209567 -0.04553997 0.99871812 -2.21386604] [ 0. 0. 0. 1. ]] SLAMing on 154.23719347 meters Centerline goodness : 0.907262 Centerline is valid? [False, False] Translation: X:13.71, Y:0.20, Z:-2.21 [[ 0.99631908 0.08362179 -0.01885978 13.70991457] [-0.08265929 0.99546592 0.0470642 0.19596521] [ 0.02270986 -0.04533202 0.99871381 -2.21470482] [ 0. 0. 0. 1. ]] SLAMing on 154.26719347 meters Centerline goodness : 0.907012 Centerline is valid? [False, False] Translation: X:13.71, Y:0.20, Z:-2.22 [[ 0.99628786 0.08385491 -0.01946417 13.71153497] [-0.08286595 0.99545104 0.04701554 0.19602141] [ 0.02331811 -0.0452281 0.9987045 -2.21531407] [ 0. 0. 0. 1. ]] SLAMing on 154.29719347 meters Centerline goodness : 0.908647 Centerline is valid? [False, False] Translation: X:13.71, Y:0.20, Z:-2.22 [[ 0.99620423 0.08472037 -0.01998962 13.71381508] [-0.08369572 0.99535938 0.047484 0.19531694] [ 0.02391972 -0.04563072 0.99867196 -2.21693379] [ 0. 0. 0. 1. ]] SLAMing on 154.32719347 meters Centerline goodness : 0.908432 Centerline is valid? [False, False] Translation: X:13.72, Y:0.20, Z:-2.22 [[ 0.99616993 0.08506757 -0.02022329 13.71516409] [-0.08403133 0.99532987 0.04750982 0.19538987] [ 0.02417039 -0.04562847 0.99866603 -2.21808789] [ 0. 0. 0. 1. ]] SLAMing on 154.35719347 meters Centerline goodness : 0.907280 Centerline is valid? [False, False] Translation: X:13.72, Y:0.20, Z:-2.22 [[ 0.99608531 0.08587137 -0.02097992 13.71793978] [-0.08478228 0.99523223 0.04821587 0.1956584 ] [ 0.02502026 -0.04624839 0.99861658 -2.21951056] [ 0. 0. 0. 1. ]] SLAMing on 154.38719347 meters Centerline goodness : 0.906338 Centerline is valid? [False, False] Translation: X:13.72, Y:0.20, Z:-2.22 [[ 0.99605674 0.08601431 -0.0217373 13.72017903] [-0.08488908 0.99522123 0.04825501 0.19589741] [ 0.02578404 -0.04621947 0.99859849 -2.22053444] [ 0. 0. 0. 1. ]] SLAMing on 154.41719347 meters Centerline goodness : 0.903192 Centerline is valid? [False, False] Translation: X:13.74, Y:0.19, Z:-2.22 [[ 0.9963181 0.08310328 -0.02107333 13.74092095] [-0.08201911 0.99547702 0.04794135 0.19417321] [ 0.0249621 -0.04603642 0.99862783 -2.22116005] [ 0. 0. 0. 1. ]] SLAMing on 154.44719347 meters Centerline goodness : 0.902580 Centerline is valid? [False, False] Translation: X:13.74, Y:0.20, Z:-2.22 [[ 0.99659335 0.07956638 -0.02170005 13.74167812] [-0.07857529 0.99597033 0.04323223 0.19680584] [ 0.02505244 -0.04137987 0.99882936 -2.22093217] [ 0. 0. 0. 1. ]] SLAMing on 154.47719347 meters Centerline goodness : 0.903912 Centerline is valid? [False, False] Translation: X:13.74, Y:0.20, Z:-2.22 [[ 0.99658301 0.07961049 -0.02201095 13.74222275] [-0.07860464 0.99596482 0.04330569 0.19705071] [ 0.02536972 -0.04142756 0.99881937 -2.22069241] [ 0. 0. 0. 1. ]] SLAMing on 154.50719347 meters Centerline goodness : 0.902998 Centerline is valid? [False, False] Translation: X:13.74, Y:0.20, Z:-2.22 [[ 0.9966037 0.07932629 -0.02209995 13.74203672] [-0.07833075 0.99600986 0.04276269 0.19833136] [ 0.02540398 -0.04088635 0.9988408 -2.21992971] [ 0. 0. 0. 1. ]] SLAMing on 154.53719347 meters Centerline goodness : 0.905401 Centerline is valid? [False, False] Translation: X:13.74, Y:0.20, Z:-2.22 [[ 0.99661111 0.07926065 -0.02200085 13.74149949] [-0.07828138 0.99603429 0.04228149 0.19928315] [ 0.02526486 -0.04041594 0.99886347 -2.21913894] [ 0. 0. 0. 1. ]] SLAMing on 154.56719347 meters Centerline goodness : 0.906390 Centerline is valid? [False, False] Translation: X:13.74, Y:0.20, Z:-2.22 [[ 0.9967628 0.0775025 -0.02138405 13.73743967] [-0.07660804 0.99626331 0.03988268 0.20162979] [ 0.02439515 -0.03811538 0.99897552 -2.21523059] [ 0. 0. 0. 1. ]] SLAMing on 154.59719347 meters Centerline goodness : 0.906358 Centerline is valid? [False, False] Translation: X:13.74, Y:0.20, Z:-2.21 [[ 0.99684574 0.07652136 -0.02104874 13.73585497] [-0.07566961 0.99638333 0.03865697 0.20348343] [ 0.0239307 -0.03694228 0.99903083 -2.21375795] [ 0. 0. 0. 1. ]] SLAMing on 154.62719347 meters Centerline goodness : 0.907977 Centerline is valid? [False, False] Translation: X:13.73, Y:0.21, Z:-2.21 [[ 0.99692906 0.07562231 -0.02034005 13.73385492] [-0.07481939 0.99648423 0.03769943 0.20512247] [ 0.02311946 -0.03606183 0.9990821 -2.2127315 ] [ 0. 0. 0. 1. ]] SLAMing on 154.65719347 meters Centerline goodness : 0.908098 Centerline is valid? [False, False] Translation: X:13.73, Y:0.21, Z:-2.21 [[ 0.99705413 0.07396138 -0.02031697 13.73261562] [-0.07319445 0.99666037 0.03620332 0.20577823] [ 0.02292677 -0.03460958 0.9991379 -2.21154789] [ 0. 0. 0. 1. ]] SLAMing on 154.68719347 meters Centerline goodness : 0.908304 Centerline is valid? [False, False] Translation: X:13.73, Y:0.21, Z:-2.21 [[ 0.99722825 0.07160539 -0.02021108 13.73118898] [-0.07089226 0.99690317 0.03403451 0.20665579] [ 0.02258555 -0.03250737 0.99921627 -2.21040569] [ 0. 0. 0. 1. ]] SLAMing on 154.71719347 meters Centerline goodness : 0.908162 Centerline is valid? [False, False] Translation: X:13.73, Y:0.21, Z:-2.21 [[ 0.99764513 0.06556178 -0.02014559 13.72963745] [-0.06498435 0.99749076 0.02809306 0.20903116] [ 0.02193687 -0.02671776 0.99940229 -2.2093342 ] [ 0. 0. 0. 1. ]] SLAMing on 154.74719346999998 meters Centerline goodness : 0.910063 Centerline is valid? [False, False] Translation: X:13.73, Y:0.21, Z:-2.21 [[ 0.9979326 0.0608566 -0.02066388 13.72985249] [-0.06037802 0.99790954 0.0230442 0.21149898] [ 0.02202308 -0.02174892 0.99952087 -2.20870793] [ 0. 0. 0. 1. ]] SLAMing on 154.77719347 meters Centerline goodness : 0.908590 Centerline is valid? [False, False] Translation: X:13.73, Y:0.21, Z:-2.21 [[ 0.99818778 0.05630024 -0.02124697 13.73042718] [-0.05592071 0.99827198 0.01805366 0.21405217] [ 0.02222668 -0.0168328 0.99961124 -2.20834658] [ 0. 0. 0. 1. ]] SLAMing on 154.80719347 meters Centerline goodness : 0.910644 Centerline is valid? [False, False] Translation: X:13.73, Y:0.22, Z:-2.21 [[ 9.98423479e-01 5.17448743e-02 -2.17491414e-02 1.37316977e+01] [-5.14813634e-02 9.98595643e-01 1.25064306e-02 2.19063606e-01] [ 2.23657416e-02 -1.13670385e-02 9.99685232e-01 -2.20879790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.83719347 meters Centerline goodness : 0.912071 Centerline is valid? [False, False] Translation: X:13.73, Y:0.22, Z:-2.21 [[ 9.98450430e-01 5.10891656e-02 -2.20598370e-02 1.37327303e+01] [-5.08474561e-02 9.98641563e-01 1.13826668e-02 2.22288033e-01] [ 2.26114011e-02 -1.02433419e-02 9.99691852e-01 -2.20919085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86719347 meters Centerline goodness : 0.911929 Centerline is valid? [False, False] Translation: X:13.73, Y:0.23, Z:-2.21 [[ 9.98475214e-01 5.04442460e-02 -2.24193171e-02 1.37340142e+01] [-5.02274448e-02 9.98686423e-01 1.01307672e-02 2.26073720e-01] [ 2.29009065e-02 -8.98925494e-03 9.99697325e-01 -2.20975924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.89719347 meters Centerline goodness : 0.913181 Centerline is valid? [False, False] Translation: X:13.74, Y:0.23, Z:-2.21 [[ 9.98486877e-01 5.00213906e-02 -2.28433163e-02 1.37355573e+01] [-4.98253354e-02 9.98716735e-01 9.07295481e-03 2.29566822e-01] [ 2.32678441e-02 -7.92105042e-03 9.99697887e-01 -2.21051982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92719347 meters Centerline goodness : 0.913023 Centerline is valid? [False, False] Translation: X:13.74, Y:0.24, Z:-2.21 [[ 9.98470686e-01 5.00819073e-02 -2.34113735e-02 1.37390532e+01] [-4.99131878e-02 9.98723594e-01 7.73673561e-03 2.37593652e-01] [ 2.37689616e-02 -6.55636743e-03 9.99695979e-01 -2.21295283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.95719347 meters Centerline goodness : 0.911774 Centerline is valid? [False, False] Translation: X:13.74, Y:0.24, Z:-2.21 [[ 9.98501094e-01 4.93792333e-02 -2.36063001e-02 1.37396090e+01] [-4.92504199e-02 9.98768393e-01 6.00769372e-03 2.42546979e-01] [ 2.38738817e-02 -4.83606856e-03 9.99703281e-01 -2.21284127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98719347 meters Centerline goodness : 0.911768 Centerline is valid? [False, False] Translation: X:13.74, Y:0.25, Z:-2.21 [[ 9.98511539e-01 4.89772466e-02 -2.39986541e-02 1.37411349e+01] [-4.88748976e-02 9.98793214e-01 4.83328511e-03 2.46748469e-01] [ 2.42064139e-02 -3.65315920e-03 9.99700307e-01 -2.21347172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.01719347 meters Centerline goodness : 0.913842 Centerline is valid? [False, False] Translation: X:13.74, Y:0.25, Z:-2.21 [[ 9.98380756e-01 5.16756172e-02 -2.37801807e-02 1.37409172e+01] [-5.15195643e-02 9.98646538e-01 7.12924345e-03 2.49813423e-01] [ 2.41164032e-02 -5.89255491e-03 9.99691791e-01 -2.21328211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04719347 meters Centerline goodness : 0.914335 Centerline is valid? [False, False] Translation: X:13.74, Y:0.26, Z:-2.21 [[ 9.98299548e-01 5.32524874e-02 -2.37104419e-02 1.37417336e+01] [-5.30991726e-02 9.98564358e-01 7.04988510e-03 2.60086926e-01] [ 2.40518261e-02 -5.77889227e-03 9.99694010e-01 -2.21343637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.07719347 meters Centerline goodness : 0.912127 Centerline is valid? [False, False] Translation: X:13.74, Y:0.27, Z:-2.21 [[ 9.98334761e-01 5.24318734e-02 -2.40541655e-02 1.37424975e+01] [-5.23203290e-02 9.98616586e-01 5.24379917e-03 2.65264607e-01] [ 2.42958308e-02 -3.97654514e-03 9.99696904e-01 -2.21322098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.10719347 meters Centerline goodness : 0.911960 Centerline is valid? [False, False] Translation: X:13.74, Y:0.27, Z:-2.21 [[ 9.98208142e-01 5.48645631e-02 -2.38827267e-02 1.37425085e+01] [-5.47012636e-02 9.98475058e-01 7.43847821e-03 2.67915951e-01] [ 2.42544158e-02 -6.11873419e-03 9.99687093e-01 -2.21334358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.13719347 meters Centerline goodness : 0.915914 Centerline is valid? [False, False] Translation: X:13.74, Y:0.28, Z:-2.21 [[ 9.98131290e-01 5.64321957e-02 -2.34378915e-02 1.37411491e+01] [-5.62674731e-02 9.98386579e-01 7.62958022e-03 2.76388411e-01] [ 2.38306303e-02 -6.29653182e-03 9.99696181e-01 -2.21174947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.16719347 meters Centerline goodness : 0.915184 Centerline is valid? [False, False] Translation: X:13.74, Y:0.28, Z:-2.21 [[ 9.97995190e-01 5.89123127e-02 -2.31287574e-02 1.37402894e+01] [-5.87068490e-02 9.98230396e-01 9.46476577e-03 2.81053292e-01] [ 2.36454199e-02 -8.08797425e-03 9.99687691e-01 -2.21074613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.19719347 meters Centerline goodness : 0.914974 Centerline is valid? [False, False] Translation: X:13.74, Y:0.29, Z:-2.21 [[ 9.97823855e-01 6.18157787e-02 -2.29426220e-02 1.37403414e+01] [-6.15585357e-02 9.98034252e-01 1.17549371e-02 2.85171631e-01] [ 2.36241631e-02 -1.03170425e-02 9.99667674e-01 -2.21057914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.22719347 meters Centerline goodness : 0.914974 Centerline is valid? [False, False] Translation: X:13.74, Y:0.29, Z:-2.21 [[ 9.97824108e-01 6.18399528e-02 -2.28663468e-02 1.37402723e+01] [-6.15944328e-02 9.98037398e-01 1.12906356e-02 2.86132209e-01] [ 2.35196816e-02 -9.85762871e-03 9.99674773e-01 -2.21064292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.25719347 meters Centerline goodness : 0.915630 Centerline is valid? [False, False] Translation: X:13.74, Y:0.29, Z:-2.21 [[ 9.97631899e-01 6.49168018e-02 -2.27245123e-02 1.37406594e+01] [-6.46155891e-02 9.97815521e-01 1.37481289e-02 2.89447281e-01] [ 2.35673557e-02 -1.22472142e-02 9.99647231e-01 -2.21093011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.28719347 meters Centerline goodness : 0.916937 Centerline is valid? [False, False] Translation: X:13.74, Y:0.29, Z:-2.21 [[ 0.99740798 0.06830667 -0.0226166 13.74125311] [-0.06795657 0.99756152 0.0159034 0.29456916] [ 0.02364776 -0.01432523 0.99961771 -2.2109858 ] [ 0. 0. 0. 1. ]] SLAMing on 155.31719347 meters Centerline goodness : 0.916918 Centerline is valid? [False, False] Translation: X:13.74, Y:0.30, Z:-2.21 [[ 0.99716636 0.0718198 -0.02238695 13.74133938] [-0.07140154 0.99726753 0.01895499 0.29697538] [ 0.02368713 -0.01730282 0.99956967 -2.21082116] [ 0. 0. 0. 1. ]] SLAMing on 155.34719347 meters Centerline goodness : 0.918645 Centerline is valid? [False, False] Translation: X:13.74, Y:0.30, Z:-2.21 [[ 0.99689533 0.0755213 -0.0222762 13.74173467] [-0.07503293 0.99693831 0.02200144 0.29985105] [ 0.02386957 -0.02026169 0.99950973 -2.2107273 ] [ 0. 0. 0. 1. ]] SLAMing on 155.37719347 meters Centerline goodness : 0.918541 Centerline is valid? [False, False] Translation: X:13.74, Y:0.30, Z:-2.21 [[ 0.99682947 0.07619371 -0.02292428 13.74389662] [-0.07570887 0.99690194 0.02132336 0.30453512] [ 0.02447797 -0.01952018 0.99950978 -2.21101202] [ 0. 0. 0. 1. ]] SLAMing on 155.40719347 meters Centerline goodness : 0.914864 Centerline is valid? [False, False] Translation: X:13.75, Y:0.31, Z:-2.21 [[ 0.99650551 0.08027014 -0.02309703 13.74537811] [-0.0796984 0.99651311 0.02469393 0.30706173] [ 0.02499868 -0.02276684 0.99942821 -2.21148013] [ 0. 0. 0. 1. ]] SLAMing on 155.43719347 meters Centerline goodness : 0.914844 Centerline is valid? [False, False] Translation: X:13.75, Y:0.31, Z:-2.21 [[ 0.99569716 0.08952733 -0.02391687 13.74963533] [-0.08875934 0.99555658 0.03144634 0.31345044] [ 0.02662591 -0.02918818 0.99921925 -2.21216838] [ 0. 0. 0. 1. ]] SLAMing on 155.46719347 meters Centerline goodness : 0.915135 Centerline is valid? [False, False] Translation: X:13.75, Y:0.32, Z:-2.21 [[ 0.9953071 0.09375922 -0.02393716 13.75075483] [-0.09289874 0.99506602 0.03483443 0.31588604] [ 0.0270851 -0.03244722 0.99910639 -2.21239661] [ 0. 0. 0. 1. ]] SLAMing on 155.49719346999998 meters Centerline goodness : 0.911898 Centerline is valid? [False, False] Translation: X:13.75, Y:0.32, Z:-2.21 [[ 0.99517514 0.09503145 -0.0244021 13.75280962] [-0.09415472 0.99494686 0.03486592 0.3185158 ] [ 0.02759215 -0.03240013 0.99909404 -2.21298119] [ 0. 0. 0. 1. ]] SLAMing on 155.52719347 meters Centerline goodness : 0.912231 Centerline is valid? [False, False] Translation: X:13.75, Y:0.32, Z:-2.21 [[ 0.99507258 0.09597302 -0.02489454 13.75449169] [-0.09508417 0.99486348 0.0347226 0.32065167] [ 0.0280991 -0.03218443 0.99908688 -2.2132705 ] [ 0. 0. 0. 1. ]] SLAMing on 155.55719347 meters Centerline goodness : 0.912939 Centerline is valid? [False, False] Translation: X:13.76, Y:0.33, Z:-2.21 [[ 0.9947655 0.09899343 -0.02533559 13.756724 ] [-0.09820094 0.9946893 0.03081825 0.32725388] [ 0.02825184 -0.02816896 0.99920385 -2.20732318] [ 0. 0. 0. 1. ]] SLAMing on 155.58719347 meters Centerline goodness : 0.911954 Centerline is valid? [False, False] Translation: X:13.76, Y:0.33, Z:-2.21 [[ 0.9946795 0.09976927 -0.02566694 13.75755758] [-0.0989717 0.99461756 0.03066777 0.329942 ] [ 0.02858849 -0.0279643 0.99920003 -2.20672413] [ 0. 0. 0. 1. ]] SLAMing on 155.61719347 meters Centerline goodness : 0.909060 Centerline is valid? [False, False] Translation: X:13.76, Y:0.33, Z:-2.21 [[ 0.99462288 0.10025373 -0.02597134 13.75800781] [-0.09945165 0.99457398 0.03052817 0.33130165] [ 0.02889099 -0.02778112 0.99919644 -2.20604434] [ 0. 0. 0. 1. ]] SLAMing on 155.64719347 meters Centerline goodness : 0.906751 Centerline is valid? [False, False] Translation: X:13.76, Y:0.33, Z:-2.21 [[ 0.99486562 0.09768691 -0.02645133 13.75830699] [-0.09695144 0.99490099 0.02779266 0.328423 ] [ 0.02903143 -0.02508546 0.99926368 -2.20569721] [ 0. 0. 0. 1. ]] SLAMing on 155.67719347 meters Centerline goodness : 0.906442 Centerline is valid? [False, False] Translation: X:13.76, Y:0.33, Z:-2.21 [[ 0.99515807 0.09448039 -0.02709001 13.75915767] [-0.09381752 0.99528099 0.02477942 0.32580788] [ 0.02930334 -0.02211793 0.99932583 -2.20592269] [ 0. 0. 0. 1. ]] SLAMing on 155.70719347 meters Centerline goodness : 0.908953 Centerline is valid? [False, False] Translation: X:13.77, Y:0.32, Z:-2.21 [[ 0.99566149 0.09018762 -0.0228996 13.77448469] [-0.0895299 0.9955824 0.02828557 0.31991049] [ 0.02534945 -0.02611265 0.99933755 -2.20851281] [ 0. 0. 0. 1. ]] SLAMing on 155.73719347 meters Centerline goodness : 0.906781 Centerline is valid? [False, False] Translation: X:13.79, Y:0.31, Z:-2.21 [[ 0.99620541 0.08506181 -0.01841931 13.78867896] [-0.0844517 0.99592336 0.03169502 0.31187951] [ 0.02104025 -0.0300192 0.99932785 -2.21042131] [ 0. 0. 0. 1. ]] SLAMing on 155.76719347 meters Centerline goodness : 0.906244 Centerline is valid? [False, False] Translation: X:13.80, Y:0.31, Z:-2.21 [[ 0.99659848 0.08119633 -0.01409341 13.80410872] [-0.08067551 0.99615163 0.03425481 0.3071322 ] [ 0.01682054 -0.03300129 0.99931376 -2.2112018 ] [ 0. 0. 0. 1. ]] SLAMing on 155.79719347 meters Centerline goodness : 0.904598 Centerline is valid? [False, False] Translation: X:13.82, Y:0.30, Z:-2.21 [[ 9.96971410e-01 7.70818160e-02 -1.03150588e-02 1.38201777e+01] [-7.66621462e-02 9.96397180e-01 3.62708618e-02 3.01813793e-01] [ 1.30737194e-02 -3.53702377e-02 9.99288759e-01 -2.21210681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.82719347 meters Centerline goodness : 0.904039 Centerline is valid? [False, False] Translation: X:13.82, Y:0.29, Z:-2.21 [[ 9.97271247e-01 7.27533816e-02 -1.25302023e-02 1.38243815e+01] [-7.23206948e-02 9.96865363e-01 3.20806180e-02 2.93468949e-01] [ 1.48248981e-02 -3.10868850e-02 9.99406738e-01 -2.21252431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.85719347 meters Centerline goodness : 0.903558 Centerline is valid? [False, False] Translation: X:13.83, Y:0.29, Z:-2.21 [[ 9.97474878e-01 6.97733070e-02 -1.32496394e-02 1.38258833e+01] [-6.93597935e-02 9.97156758e-01 2.94553704e-02 2.90300057e-01] [ 1.52671661e-02 -2.84619997e-02 9.99478278e-01 -2.21319901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.88719347 meters Centerline goodness : 0.900280 Centerline is valid? [False, False] Translation: X:13.84, Y:0.28, Z:-2.22 [[ 9.97712257e-01 6.67698515e-02 -1.05848866e-02 1.38439710e+01] [-6.63825243e-02 9.97232346e-01 3.34814620e-02 2.83951395e-01] [ 1.27911436e-02 -3.27022135e-02 9.99383286e-01 -2.21624763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.91719347 meters Centerline goodness : 0.901336 Centerline is valid? [False, False] Translation: X:13.84, Y:0.28, Z:-2.22 [[ 9.97892218e-01 6.39399273e-02 -1.10818354e-02 1.38448460e+01] [-6.35755243e-02 9.97507907e-01 3.05962001e-02 2.81945031e-01] [ 1.30105372e-02 -2.98271765e-02 9.99470392e-01 -2.21650162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.94719347 meters Centerline goodness : 0.898768 Centerline is valid? [False, False] Translation: X:13.85, Y:0.28, Z:-2.22 [[ 9.97982255e-01 6.23191639e-02 -1.21548385e-02 1.38477893e+01] [-6.19483836e-02 9.97663494e-01 2.88088720e-02 2.79448514e-01] [ 1.39217834e-02 -2.79977705e-02 9.99511035e-01 -2.21771919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.97719347 meters Centerline goodness : 0.894755 Centerline is valid? [False, False] Translation: X:13.85, Y:0.27, Z:-2.22 [[ 9.98027208e-01 6.14625052e-02 -1.28082759e-02 1.38496648e+01] [-6.10843628e-02 9.97737670e-01 2.80756526e-02 2.74224255e-01] [ 1.45048993e-02 -2.72378798e-02 9.99523739e-01 -2.21848777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.00719347 meters Centerline goodness : 0.896238 Centerline is valid? [False, False] Translation: X:13.85, Y:0.27, Z:-2.22 [[ 0.99811888 0.05971083 -0.01390384 13.85257127] [-0.05933233 0.99789423 0.02620661 0.27229291] [ 0.01543938 -0.02533237 0.99955985 -2.21959285] [ 0. 0. 0. 1. ]] SLAMing on 156.03719347 meters Centerline goodness : 0.893351 Centerline is valid? [False, False] Translation: X:13.85, Y:0.27, Z:-2.22 [[ 0.99821928 0.05778695 -0.01479679 13.85499299] [-0.05741664 0.99805367 0.02433526 0.26957611] [ 0.01617425 -0.02344235 0.99959434 -2.22065938] [ 0. 0. 0. 1. ]] SLAMing on 156.06719347 meters Centerline goodness : 0.893859 Centerline is valid? [False, False] Translation: X:13.86, Y:0.27, Z:-2.22 [[ 0.99832948 0.05561064 -0.01567498 13.85721276] [-0.05525391 0.99822239 0.0223399 0.26600208] [ 0.01688945 -0.02143647 0.99962754 -2.22158298] [ 0. 0. 0. 1. ]] SLAMing on 156.09719347 meters Centerline goodness : 0.894755 Centerline is valid? [False, False] Translation: X:13.86, Y:0.26, Z:-2.22 [[ 0.99834606 0.05523168 -0.01595613 13.85667245] [-0.05486803 0.99824245 0.02239433 0.25606581] [ 0.01716496 -0.02148181 0.99962188 -2.22002781] [ 0. 0. 0. 1. ]] SLAMing on 156.12719347 meters Centerline goodness : 0.897177 Centerline is valid? [False, False] Translation: X:13.86, Y:0.25, Z:-2.22 [[ 0.9984075 0.05391394 -0.0166057 13.85828577] [-0.05356455 0.99834748 0.02081207 0.25293339] [ 0.01770032 -0.01988945 0.99964549 -2.22044809] [ 0. 0. 0. 1. ]] SLAMing on 156.15719347 meters Centerline goodness : 0.895833 Centerline is valid? [False, False] Translation: X:13.86, Y:0.25, Z:-2.22 [[ 0.99834757 0.05494582 -0.0168252 13.85865101] [-0.05456501 0.99826089 0.02231279 0.24903253] [ 0.01802193 -0.02135785 0.99960945 -2.22031466] [ 0. 0. 0. 1. ]] SLAMing on 156.18719347 meters Centerline goodness : 0.893995 Centerline is valid? [False, False] Translation: X:13.87, Y:0.24, Z:-2.22 [[ 9.98334867e-01 5.63338243e-02 -1.24094029e-02 1.38743803e+01] [-5.59305834e-02 9.97961198e-01 3.07443721e-02 2.35589023e-01] [ 1.41160507e-02 -2.99991135e-02 9.99450244e-01 -2.22179135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.21719347 meters Centerline goodness : 0.893386 Centerline is valid? [False, False] Translation: X:13.89, Y:0.23, Z:-2.22 [[ 9.98526066e-01 5.35796843e-02 -8.65525851e-03 1.38906288e+01] [-5.32543063e-02 9.97993713e-01 3.42421970e-02 2.28245480e-01] [ 1.04725797e-02 -3.37307965e-02 9.99376085e-01 -2.22284074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24719346999998 meters Centerline goodness : 0.893272 Centerline is valid? [False, False] Translation: X:13.91, Y:0.22, Z:-2.22 [[ 9.98749780e-01 4.97578186e-02 -4.79954634e-03 1.39066063e+01] [-4.95480534e-02 9.98092293e-01 3.68342798e-02 2.20163074e-01] [ 6.62318363e-03 -3.65504207e-02 9.99309862e-01 -2.22367785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.27719347 meters Centerline goodness : 0.894319 Centerline is valid? [False, False] Translation: X:13.92, Y:0.21, Z:-2.22 [[ 9.98976229e-01 4.52295015e-02 -8.86697271e-04 1.39223247e+01] [-4.51604747e-02 9.98216873e-01 3.90333871e-02 2.11142393e-01] [ 2.65057682e-03 -3.89533822e-02 9.99237514e-01 -2.22466165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30719347 meters Centerline goodness : 0.894917 Centerline is valid? [False, False] Translation: X:13.95, Y:0.19, Z:-2.23 [[ 9.99377710e-01 3.51868084e-02 2.46609942e-03 1.39542292e+01] [-3.52571658e-02 9.98583942e-01 3.98377145e-02 1.91429184e-01] [-1.06084525e-03 -3.98998715e-02 9.99203120e-01 -2.22537114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.33719347 meters Centerline goodness : 0.895321 Centerline is valid? [False, False] Translation: X:13.97, Y:0.18, Z:-2.23 [[ 9.99566757e-01 2.88117238e-02 6.01526092e-03 1.39706188e+01] [-2.90291573e-02 9.98782374e-01 3.98883216e-02 1.82358474e-01] [-4.85868528e-03 -4.00456582e-02 9.99186038e-01 -2.22674011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36719347 meters Centerline goodness : 0.894090 Centerline is valid? [False, False] Translation: X:13.99, Y:0.17, Z:-2.23 [[ 9.99692964e-01 2.29673352e-02 9.29941947e-03 1.39876525e+01] [-2.33224760e-02 9.98924410e-01 4.00759817e-02 1.74133609e-01] [-8.36897860e-03 -4.02805625e-02 9.99153360e-01 -2.22793031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.39719347 meters Centerline goodness : 0.894757 Centerline is valid? [False, False] Translation: X:14.01, Y:0.17, Z:-2.23 [[ 9.99784260e-01 1.70758673e-02 1.18257444e-02 1.40053717e+01] [-1.75450507e-02 9.99014170e-01 4.07781668e-02 1.66085637e-01] [-1.11177637e-02 -4.09768526e-02 9.99098240e-01 -2.22961273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42719347 meters Centerline goodness : 0.892936 Centerline is valid? [False, False] Translation: X:14.02, Y:0.16, Z:-2.23 [[ 9.99835671e-01 1.25350649e-02 1.30959043e-02 1.40248462e+01] [-1.31006290e-02 9.98944198e-01 4.40325294e-02 1.57286831e-01] [-1.25301270e-02 -4.41968582e-02 9.98944260e-01 -2.23279426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.45719347 meters Centerline goodness : 0.892610 Centerline is valid? [False, False] Translation: X:14.06, Y:0.13, Z:-2.23 [[ 9.99927835e-01 5.59565801e-04 1.20005013e-02 1.40593489e+01] [-1.60252983e-03 9.96200245e-01 8.70775780e-02 1.31763306e-01] [-1.19061767e-02 -8.70905252e-02 9.96129250e-01 -2.23269182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48719347 meters Centerline goodness : 0.891708 Centerline is valid? [False, False] Translation: X:14.07, Y:0.13, Z:-2.23 [[ 9.99919582e-01 -5.44877566e-03 1.14516277e-02 1.40671629e+01] [ 4.34416255e-03 9.95528476e-01 9.43619683e-02 1.27614551e-01] [-1.19145786e-02 -9.43046322e-02 9.95472089e-01 -2.22907162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.51719347 meters Centerline goodness : 0.894743 Centerline is valid? [False, False] Translation: X:14.07, Y:0.13, Z:-2.23 [[ 9.99890353e-01 -9.43268156e-03 1.14152017e-02 1.40669528e+01] [ 8.35795107e-03 9.95835183e-01 9.07878413e-02 1.25433166e-01] [-1.22240323e-02 -9.06824789e-02 9.95804831e-01 -2.22804929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54719347 meters Centerline goodness : 0.894099 Centerline is valid? [False, False] Translation: X:14.07, Y:0.12, Z:-2.23 [[ 9.99811775e-01 -1.56362092e-02 1.14858140e-02 1.40665021e+01] [ 1.45975167e-02 9.96228059e-01 8.55369313e-02 1.18388955e-01] [-1.27799635e-02 -8.53531668e-02 9.96268794e-01 -2.22655040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.57719347 meters Centerline goodness : 0.896062 Centerline is valid? [False, False] Translation: X:14.05, Y:0.12, Z:-2.23 [[ 9.99854309e-01 -1.21567150e-02 1.19822508e-02 1.40482085e+01] [ 1.12814151e-02 9.97441536e-01 7.05911571e-02 1.18923825e-01] [-1.28097512e-02 -7.04456959e-02 9.97433363e-01 -2.22581703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.60719347 meters Centerline goodness : 0.894780 Centerline is valid? [False, False] Translation: X:14.03, Y:0.12, Z:-2.22 [[ 9.99921940e-01 -6.73503044e-03 1.05239569e-02 1.40264514e+01] [ 6.12175618e-03 9.98340669e-01 5.72575973e-02 1.22022889e-01] [-1.08921258e-02 -5.71887027e-02 9.98303969e-01 -2.22318502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.63719347 meters Centerline goodness : 0.892250 Centerline is valid? [False, False] Translation: X:14.02, Y:0.13, Z:-2.22 [[ 9.99973852e-01 -3.61529002e-03 6.26306025e-03 1.40173319e+01] [ 3.31187780e-03 9.98851643e-01 4.77956726e-02 1.25486324e-01] [-6.42866324e-03 -4.77736803e-02 9.98837498e-01 -2.22042634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.66719347 meters Centerline goodness : 0.892018 Centerline is valid? [False, False] Translation: X:14.01, Y:0.13, Z:-2.22 [[ 9.99996451e-01 -6.47580083e-04 2.58438181e-03 1.40092133e+01] [ 5.48628425e-04 9.99273512e-01 3.81070419e-02 1.27803238e-01] [-2.60718165e-03 -3.81054888e-02 9.99270321e-01 -2.21901735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.69719347 meters Centerline goodness : 0.891029 Centerline is valid? [False, False] Translation: X:14.01, Y:0.13, Z:-2.22 [[ 9.99996030e-01 1.52163711e-03 2.37183512e-03 1.40100114e+01] [-1.61403065e-03 9.99220161e-01 3.94520533e-02 1.25654288e-01] [-2.30995376e-03 -3.94557249e-02 9.99218650e-01 -2.21936654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.72719347 meters Centerline goodness : 0.890735 Centerline is valid? [False, False] Translation: X:14.01, Y:0.12, Z:-2.22 [[ 9.99995481e-01 2.25177352e-03 1.99179748e-03 1.40111682e+01] [-2.32960878e-03 9.99197783e-01 3.99795401e-02 1.24759635e-01] [-1.90017475e-03 -3.99839995e-02 9.99198513e-01 -2.21988894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.75719347 meters Centerline goodness : 0.889402 Centerline is valid? [False, False] Translation: X:14.01, Y:0.12, Z:-2.22 [[ 9.99994321e-01 2.87976172e-03 1.75051423e-03 1.40121483e+01] [-2.94827321e-03 9.99175829e-01 4.04841940e-02 1.23751341e-01] [-1.63248668e-03 -4.04891250e-02 9.99178646e-01 -2.22057547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.78719347 meters Centerline goodness : 0.888565 Centerline is valid? [False, False] Translation: X:14.01, Y:0.12, Z:-2.22 [[ 9.99993517e-01 3.32735501e-03 1.37629874e-03 1.40131812e+01] [-3.38100164e-03 9.99152985e-01 4.10107376e-02 1.22317283e-01] [-1.23867572e-03 -4.10151250e-02 9.99157758e-01 -2.22095825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.81719347 meters Centerline goodness : 0.889027 Centerline is valid? [False, False] Translation: X:14.03, Y:0.12, Z:-2.22 [[ 9.99972558e-01 7.25920016e-03 1.47918544e-03 1.40332558e+01] [-7.30039847e-03 9.99521253e-01 3.00660621e-02 1.19260690e-01] [-1.26022173e-03 -3.00760356e-02 9.99546819e-01 -2.22164238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.84719347 meters Centerline goodness : 0.888027 Centerline is valid? [False, False] Translation: X:14.03, Y:0.12, Z:-2.22 [[ 9.99990415e-01 4.24205330e-03 1.08373875e-03 1.40341157e+01] [-4.26952227e-03 9.99633183e-01 2.67445563e-02 1.18597432e-01] [-9.69889380e-04 -2.67489270e-02 9.99641713e-01 -2.22166094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.87719347 meters Centerline goodness : 0.884047 Centerline is valid? [False, False] Translation: X:14.05, Y:0.12, Z:-2.22 [[ 9.99989324e-01 1.50530109e-03 4.36874994e-03 1.40513902e+01] [-1.62047264e-03 9.99648033e-01 2.64799011e-02 1.15989792e-01] [-4.32735205e-03 -2.64866979e-02 9.99639800e-01 -2.22139251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.90719347 meters Centerline goodness : 0.885094 Centerline is valid? [False, False] Translation: X:14.07, Y:0.11, Z:-2.22 [[ 9.99976247e-01 -4.04152689e-04 6.88054428e-03 1.40703368e+01] [ 2.04654709e-04 9.99580244e-01 2.89705563e-02 1.11127581e-01] [-6.88936466e-03 -2.89684600e-02 9.99556584e-01 -2.22290826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.93719347 meters Centerline goodness : 0.882511 Centerline is valid? [False, False] Translation: X:14.09, Y:0.10, Z:-2.22 [[ 9.99937612e-01 -3.76673953e-03 1.05159241e-02 1.40865511e+01] [ 3.41218756e-03 9.99431805e-01 3.35324413e-02 1.00748926e-01] [-1.06362570e-02 -3.34944670e-02 9.99382305e-01 -2.22487581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.96719347 meters Centerline goodness : 0.882879 Centerline is valid? [False, False] Translation: X:14.10, Y:0.10, Z:-2.23 [[ 9.99903966e-01 -4.79563253e-03 1.30023032e-02 1.41049442e+01] [ 4.28893810e-03 9.99240846e-01 3.87212697e-02 9.51520452e-02] [-1.31781254e-02 -3.86617850e-02 9.99165453e-01 -2.22745587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.99719346999998 meters Centerline goodness : 0.883176 Centerline is valid? [False, False] Translation: X:14.12, Y:0.09, Z:-2.23 [[ 9.99827318e-01 -8.22108525e-03 1.66657726e-02 1.41169372e+01] [ 7.42725055e-03 9.98860330e-01 4.71474051e-02 9.05429246e-02] [-1.70343819e-02 -4.70154827e-02 9.98748904e-01 -2.23104730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02719347 meters Centerline goodness : 0.880893 Centerline is valid? [False, False] Translation: X:14.12, Y:0.09, Z:-2.23 [[ 9.99827138e-01 -9.86840752e-03 1.57578204e-02 1.41194109e+01] [ 9.12056446e-03 9.98860532e-01 4.68449894e-02 8.79154567e-02] [-1.62021503e-02 -4.66931714e-02 9.98777872e-01 -2.23151594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.05719347 meters Centerline goodness : 0.877464 Centerline is valid? [False, False] Translation: X:14.13, Y:0.08, Z:-2.23 [[ 0.99968271 -0.01693239 0.01864878 14.12696718] [ 0.01591715 0.99845145 0.05330433 0.08171512] [-0.01952248 -0.05299059 0.99840416 -2.23055345] [ 0. 0. 0. 1. ]] SLAMing on 157.08719347 meters Centerline goodness : 0.877386 Centerline is valid? [False, False] Translation: X:14.13, Y:0.08, Z:-2.23 [[ 0.99960972 -0.02059571 0.01887386 14.12635755] [ 0.01963631 0.99857214 0.04967987 0.08087122] [-0.01987011 -0.04928987 0.99858685 -2.22981479] [ 0. 0. 0. 1. ]] SLAMing on 157.11719347 meters Centerline goodness : 0.876733 Centerline is valid? [False, False] Translation: X:14.12, Y:0.08, Z:-2.23 [[ 0.99968971 -0.0199367 0.01493356 14.1154217 ] [ 0.01933131 0.99902695 0.03964168 0.08204064] [-0.01570936 -0.03934069 0.99910236 -2.2260904 ] [ 0. 0. 0. 1. ]] SLAMing on 157.14719347 meters Centerline goodness : 0.876733 Centerline is valid? [False, False] Translation: X:14.12, Y:0.08, Z:-2.23 [[ 0.99968971 -0.0199367 0.01493356 14.1154217 ] [ 0.01933131 0.99902695 0.03964168 0.08204064] [-0.01570936 -0.03934069 0.99910236 -2.2260904 ] [ 0. 0. 0. 1. ]] SLAMing on 157.17719347 meters Centerline goodness : 0.877454 Centerline is valid? [False, False] Translation: X:14.12, Y:0.08, Z:-2.23 [[ 0.99961202 -0.0233238 0.01522546 14.11507592] [ 0.02277489 0.9991179 0.03528059 0.08376895] [-0.01603491 -0.03492014 0.99926146 -2.22636189] [ 0. 0. 0. 1. ]] SLAMing on 157.20719347 meters Centerline goodness : 0.876418 Centerline is valid? [False, False] Translation: X:14.12, Y:0.08, Z:-2.23 [[ 0.99960731 -0.02375543 0.0148627 14.11623573] [ 0.0232243 0.99911945 0.0349421 0.08393712] [-0.01567968 -0.0345832 0.99927881 -2.22704574] [ 0. 0. 0. 1. ]] SLAMing on 157.23719347 meters Centerline goodness : 0.875142 Centerline is valid? [False, False] Translation: X:14.12, Y:0.09, Z:-2.23 [[ 9.99680421e-01 -2.33960867e-02 9.57494975e-03 1.41190795e+01] [ 2.32177666e-02 9.99562391e-01 1.83292562e-02 8.65733903e-02] [-9.99959253e-03 -1.81010896e-02 9.99786156e-01 -2.22829726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26719347 meters Centerline goodness : 0.872008 Centerline is valid? [False, False] Translation: X:14.12, Y:0.09, Z:-2.23 [[ 9.99605856e-01 -2.64822843e-02 9.31779266e-03 1.41204188e+01] [ 2.63438033e-02 9.99545097e-01 1.46834503e-02 8.68068035e-02] [-9.70240528e-03 -1.44321968e-02 9.99848776e-01 -2.22940998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.29719347 meters Centerline goodness : 0.869974 Centerline is valid? [False, False] Translation: X:14.12, Y:0.09, Z:-2.23 [[ 9.99485902e-01 -3.06441016e-02 9.42710068e-03 1.41206897e+01] [ 3.05514977e-02 9.99485002e-01 9.81517834e-03 8.90744100e-02] [-9.72302306e-03 -9.52212034e-03 9.99907392e-01 -2.22986087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32719347 meters Centerline goodness : 0.869998 Centerline is valid? [False, False] Translation: X:14.12, Y:0.09, Z:-2.23 [[ 9.99475709e-01 -3.10859040e-02 9.05395896e-03 1.41216334e+01] [ 3.10016527e-02 9.99476050e-01 9.30175323e-03 9.03949037e-02] [-9.33836854e-03 -9.01618871e-03 9.99915748e-01 -2.23022183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.35719347 meters Centerline goodness : 0.868219 Centerline is valid? [False, False] Translation: X:14.12, Y:0.09, Z:-2.23 [[ 9.99464507e-01 -3.15084122e-02 8.82714684e-03 1.41222556e+01] [ 3.14346044e-02 9.99470689e-01 8.37904419e-03 9.27599427e-02] [-9.08648491e-03 -8.09707941e-03 9.99925934e-01 -2.23058355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.38719347 meters Centerline goodness : 0.868849 Centerline is valid? [False, False] Translation: X:14.13, Y:0.09, Z:-2.23 [[ 9.99518160e-01 -3.00655712e-02 7.71418777e-03 1.41254450e+01] [ 2.99889467e-02 9.99501563e-01 9.86345205e-03 9.41011854e-02] [-8.00689305e-03 -9.62735908e-03 9.99921599e-01 -2.23216876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.41719347 meters Centerline goodness : 0.867369 Centerline is valid? [False, False] Translation: X:14.12, Y:0.10, Z:-2.23 [[ 9.99657525e-01 -2.61070525e-02 1.80378555e-03 1.41162037e+01] [ 2.61000737e-02 9.99652151e-01 3.78985915e-03 9.65312636e-02] [-1.90210016e-03 -3.74148228e-03 9.99991192e-01 -2.22854408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.44719347 meters Centerline goodness : 0.867837 Centerline is valid? [False, False] Translation: X:14.12, Y:0.10, Z:-2.23 [[ 9.99755945e-01 -2.20049999e-02 1.95692848e-03 1.41151491e+01] [ 2.19889227e-02 9.99727088e-01 7.88903220e-03 9.62919533e-02] [-2.12999256e-03 -7.84407610e-03 9.99966966e-01 -2.22765812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.47719347 meters Centerline goodness : 0.866624 Centerline is valid? [False, False] Translation: X:14.11, Y:0.10, Z:-2.23 [[ 9.99832482e-01 -1.81941750e-02 1.99495079e-03 1.41149938e+01] [ 1.81697298e-02 9.99766993e-01 1.16542255e-02 9.63891200e-02] [-2.20652497e-03 -1.16160255e-02 9.99930097e-01 -2.22770205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.50719347 meters Centerline goodness : 0.867797 Centerline is valid? [False, False] Translation: X:14.12, Y:0.10, Z:-2.23 [[ 9.99894454e-01 -1.43989959e-02 1.93631722e-03 1.41150693e+01] [ 1.43685724e-02 9.99785718e-01 1.49017591e-02 9.87721459e-02] [-2.15047267e-03 -1.48723641e-02 9.99887088e-01 -2.22772569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.53719347 meters Centerline goodness : 0.866552 Centerline is valid? [False, False] Translation: X:14.12, Y:0.10, Z:-2.23 [[ 9.99944626e-01 -1.03626075e-02 1.83349158e-03 1.41154222e+01] [ 1.03278337e-02 9.99783652e-01 1.80550625e-02 1.02117708e-01] [-2.02019243e-03 -1.80351267e-02 9.99835313e-01 -2.22797743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.56719347 meters Centerline goodness : 0.863463 Centerline is valid? [False, False] Translation: X:14.11, Y:0.11, Z:-2.23 [[ 9.99988576e-01 -5.58008396e-04 -4.74720946e-03 1.41078526e+01] [ 6.32584633e-04 9.99876193e-01 1.57225201e-02 1.08589665e-01] [ 4.73784843e-03 -1.57253435e-02 9.99865124e-01 -2.22579617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.59719347 meters Centerline goodness : 0.862084 Centerline is valid? [False, False] Translation: X:14.11, Y:0.11, Z:-2.23 [[ 9.99985124e-01 1.24018244e-03 -5.31170474e-03 1.41103279e+01] [-1.15080961e-03 9.99858279e-01 1.67957732e-02 1.09999399e-01] [ 5.33178178e-03 -1.67894106e-02 9.99844832e-01 -2.22746428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.62719347 meters Centerline goodness : 0.863763 Centerline is valid? [False, False] Translation: X:14.12, Y:0.11, Z:-2.23 [[ 9.99994063e-01 3.35621309e-03 -7.81534757e-04 1.41186887e+01] [-3.34969434e-03 9.99960785e-01 8.19799471e-03 1.13222849e-01] [ 8.09018327e-04 -8.19532814e-03 9.99966090e-01 -2.22833156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.65719347 meters Centerline goodness : 0.863060 Centerline is valid? [False, False] Translation: X:14.12, Y:0.11, Z:-2.23 [[ 9.99993839e-01 3.40327836e-03 -8.59589796e-04 1.41185074e+01] [-3.39643709e-03 9.99963509e-01 7.83862407e-03 1.14680768e-01] [ 8.86235448e-04 -7.83565623e-03 9.99968908e-01 -2.22771875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.68719347 meters Centerline goodness : 0.863439 Centerline is valid? [False, False] Translation: X:14.13, Y:0.12, Z:-2.22 [[ 9.99982293e-01 3.30486969e-03 4.94884907e-03 1.41313182e+01] [-3.35053553e-03 9.99951624e-01 9.24788523e-03 1.15288374e-01] [-4.91804660e-03 -9.26430277e-03 9.99944991e-01 -2.22484959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.71719347 meters Centerline goodness : 0.866113 Centerline is valid? [False, False] Translation: X:14.15, Y:0.11, Z:-2.22 [[ 9.99965365e-01 3.43669742e-03 7.58012246e-03 1.41495321e+01] [-3.52099557e-03 9.99931796e-01 1.11357825e-02 1.14845047e-01] [-7.54133515e-03 -1.11620864e-02 9.99909264e-01 -2.22487509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74719346999998 meters Centerline goodness : 0.863867 Centerline is valid? [False, False] Translation: X:14.17, Y:0.11, Z:-2.23 [[ 9.99950299e-01 4.36717976e-03 8.96254269e-03 1.41690915e+01] [-4.49662351e-03 9.99885138e-01 1.44737812e-02 1.13759746e-01] [-8.89830364e-03 -1.45133631e-02 9.99855081e-01 -2.22576916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.77719347 meters Centerline goodness : 0.862843 Centerline is valid? [False, False] Translation: X:14.17, Y:0.11, Z:-2.23 [[ 9.99951831e-01 4.83884194e-03 8.53941522e-03 1.41702655e+01] [-4.96567311e-03 9.99876744e-01 1.48942741e-02 1.13079094e-01] [-8.46629164e-03 -1.49359606e-02 9.99852609e-01 -2.22632125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80719347 meters Centerline goodness : 0.863941 Centerline is valid? [False, False] Translation: X:14.17, Y:0.11, Z:-2.23 [[ 9.99949413e-01 5.92552615e-03 8.12768597e-03 1.41718989e+01] [-6.05668667e-03 9.99850282e-01 1.62089545e-02 1.10268661e-01] [-8.03042252e-03 -1.62573614e-02 9.99835592e-01 -2.22742345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.83719347 meters Centerline goodness : 0.863919 Centerline is valid? [False, False] Translation: X:14.19, Y:0.11, Z:-2.23 [[ 9.99933529e-01 4.24595690e-03 1.07196282e-02 1.41909177e+01] [-4.41232146e-03 9.99869450e-01 1.55439700e-02 1.09456576e-01] [-1.06522297e-02 -1.55902352e-02 9.99821721e-01 -2.22820053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86719347 meters Centerline goodness : 0.864210 Centerline is valid? [False, False] Translation: X:14.19, Y:0.11, Z:-2.23 [[ 9.99945229e-01 2.43081816e-03 1.01798489e-02 1.41929266e+01] [-2.56663908e-03 9.99907585e-01 1.33503928e-02 1.07987596e-01] [-1.01464557e-02 -1.33757896e-02 9.99859059e-01 -2.22932687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.89719347 meters Centerline goodness : 0.864651 Centerline is valid? [False, False] Translation: X:14.21, Y:0.11, Z:-2.23 [[ 9.99933555e-01 2.20381008e-03 1.13150004e-02 1.42128802e+01] [-2.38188008e-03 9.99873152e-01 1.57482354e-02 1.05532030e-01] [-1.12788590e-02 -1.57741399e-02 9.99811964e-01 -2.23041582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92719347 meters Centerline goodness : 0.861998 Centerline is valid? [False, False] Translation: X:14.22, Y:0.10, Z:-2.23 [[ 9.99938034e-01 3.35632036e-03 1.06142533e-02 1.42156963e+01] [-3.53783968e-03 9.99847026e-01 1.71291865e-02 1.03547694e-01] [-1.05551386e-02 -1.71656766e-02 9.99796944e-01 -2.23242950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.95719347 meters Centerline goodness : 0.859222 Centerline is valid? [False, False] Translation: X:14.24, Y:0.10, Z:-2.24 [[ 9.99971855e-01 3.69881563e-03 6.52745397e-03 1.42416695e+01] [-3.82001490e-03 9.99818704e-01 1.86538789e-02 1.00439799e-01] [-6.45727331e-03 -1.86782889e-02 9.99804694e-01 -2.23582857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98719347 meters Centerline goodness : 0.858441 Centerline is valid? [False, False] Translation: X:14.26, Y:0.10, Z:-2.24 [[ 9.99983970e-01 3.33340471e-03 4.57696159e-03 1.42644602e+01] [-3.42855053e-03 9.99774856e-01 2.09399530e-02 9.64845036e-02] [-4.50612978e-03 -2.09553097e-02 9.99770259e-01 -2.23821992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.01719347 meters Centerline goodness : 0.858788 Centerline is valid? [False, False] Translation: X:14.28, Y:0.09, Z:-2.24 [[ 9.99983000e-01 3.39734543e-03 4.73890227e-03 1.42849462e+01] [-3.51471589e-03 9.99681697e-01 2.49830206e-02 9.11989903e-02] [-4.65251791e-03 -2.49992518e-02 9.99676643e-01 -2.23997884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04719347 meters Centerline goodness : 0.856300 Centerline is valid? [False, False] Translation: X:14.30, Y:0.09, Z:-2.24 [[ 9.99978193e-01 1.27812763e-03 6.47916403e-03 1.43043793e+01] [-1.43995535e-03 9.99685568e-01 2.50338159e-02 8.85109147e-02] [-6.44513036e-03 -2.50425997e-02 9.99665608e-01 -2.24097309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.07719347 meters Centerline goodness : 0.856098 Centerline is valid? [False, False] Translation: X:14.32, Y:0.09, Z:-2.24 [[ 9.99968884e-01 -1.03249512e-03 7.82078459e-03 1.43241739e+01] [ 8.37767174e-04 9.99690560e-01 2.48612554e-02 8.59878923e-02] [-7.84403365e-03 -2.48539299e-02 9.99660319e-01 -2.24191738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.10719347 meters Centerline goodness : 0.853635 Centerline is valid? [False, False] Translation: X:14.36, Y:0.07, Z:-2.24 [[ 9.99990566e-01 -2.04124332e-03 3.83420595e-03 1.43622095e+01] [ 1.91166194e-03 9.99436854e-01 3.35010424e-02 7.48354233e-02] [-3.90043051e-03 -3.34933966e-02 9.99431328e-01 -2.24102940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.13719347 meters Centerline goodness : 0.852838 Centerline is valid? [False, False] Translation: X:14.38, Y:0.07, Z:-2.24 [[ 9.99987583e-01 -4.11699531e-03 2.80773597e-03 1.43847272e+01] [ 4.02163685e-03 9.99441892e-01 3.31621880e-02 7.07184433e-02] [-2.94269752e-03 -3.31504846e-02 9.99446040e-01 -2.24324060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.16719347 meters Centerline goodness : 0.852344 Centerline is valid? [False, False] Translation: X:14.41, Y:0.07, Z:-2.24 [[ 9.99974996e-01 -6.32279971e-03 3.16709465e-03 1.44057843e+01] [ 6.21618188e-03 9.99448732e-01 3.26127600e-02 6.73777923e-02] [-3.37155268e-03 -3.25922573e-02 9.99463045e-01 -2.24484274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.19719347 meters Centerline goodness : 0.852786 Centerline is valid? [False, False] Translation: X:14.43, Y:0.06, Z:-2.25 [[ 9.99952195e-01 -8.34958444e-03 5.08834281e-03 1.44251911e+01] [ 8.18255395e-03 9.99454141e-01 3.20072683e-02 6.44888184e-02] [-5.35281268e-03 -3.19641025e-02 9.99474684e-01 -2.24546482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.22719347 meters Centerline goodness : 0.853573 Centerline is valid? [False, False] Translation: X:14.44, Y:0.05, Z:-2.25 [[ 9.99933048e-01 -8.38533119e-03 7.97412831e-03 1.44432357e+01] [ 8.08207124e-03 9.99270273e-01 3.73309846e-02 5.36568350e-02] [-8.28134204e-03 -3.72640377e-02 9.99271140e-01 -2.24572692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.25719347 meters Centerline goodness : 0.853602 Centerline is valid? [False, False] Translation: X:14.44, Y:0.05, Z:-2.25 [[ 9.99907291e-01 -1.12185980e-02 7.71704517e-03 1.44436204e+01] [ 1.09464619e-02 9.99346613e-01 3.44459415e-02 5.14221384e-02] [-8.09843812e-03 -3.43582738e-02 9.99376768e-01 -2.24517390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.28719347 meters Centerline goodness : 0.854346 Centerline is valid? [False, False] Translation: X:14.44, Y:0.05, Z:-2.24 [[ 9.99938097e-01 -1.06605167e-02 3.18686040e-03 1.44402868e+01] [ 1.05974070e-02 9.99759418e-01 1.92041736e-02 5.20279277e-02] [-3.39082012e-03 -1.91692124e-02 9.99810504e-01 -2.24144351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.31719347 meters Centerline goodness : 0.857001 Centerline is valid? [False, False] Translation: X:14.46, Y:0.05, Z:-2.24 [[ 9.99936513e-01 -9.78559385e-03 5.58673953e-03 1.44588738e+01] [ 9.65812841e-03 9.99702344e-01 2.24040995e-02 4.83241954e-02] [-5.80431402e-03 -2.23487197e-02 9.99733387e-01 -2.24155499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.34719347 meters Centerline goodness : 0.856397 Centerline is valid? [False, False] Translation: X:14.48, Y:0.04, Z:-2.24 [[ 9.99937657e-01 -7.56792116e-03 8.21033435e-03 1.44765368e+01] [ 7.33102509e-03 9.99566635e-01 2.85096117e-02 4.30997892e-02] [-8.42253477e-03 -2.84476442e-02 9.99559799e-01 -2.24146801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.37719347 meters Centerline goodness : 0.859939 Centerline is valid? [False, False] Translation: X:14.47, Y:0.04, Z:-2.24 [[ 9.99893792e-01 -1.16646212e-02 8.73734106e-03 1.44731581e+01] [ 1.14411462e-02 9.99616842e-01 2.52045489e-02 3.87133479e-02] [-9.02799479e-03 -2.51019067e-02 9.99644131e-01 -2.23783769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.40719347 meters Centerline goodness : 0.860137 Centerline is valid? [False, False] Translation: X:14.47, Y:0.04, Z:-2.24 [[ 9.99934699e-01 -9.43630402e-03 6.44625875e-03 1.44733894e+01] [ 9.36024993e-03 9.99887411e-01 1.17281836e-02 3.79467758e-02] [-6.55620368e-03 -1.16670792e-02 9.99910444e-01 -2.23715682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.43719347 meters Centerline goodness : 0.860848 Centerline is valid? [False, False] Translation: X:14.47, Y:0.04, Z:-2.24 [[ 9.99900113e-01 -1.25791777e-02 6.44428819e-03 1.44735855e+01] [ 1.25246718e-02 9.99886030e-01 8.42968495e-03 3.71117226e-02] [-6.54959224e-03 -8.34813034e-03 9.99943704e-01 -2.23725631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.46719347 meters Centerline goodness : 0.860908 Centerline is valid? [False, False] Translation: X:14.47, Y:0.03, Z:-2.24 [[ 9.99861092e-01 -1.54586061e-02 6.23115199e-03 1.44744297e+01] [ 1.54215211e-02 9.99863340e-01 5.95630468e-03 3.35784680e-02] [-6.32237661e-03 -5.85938346e-03 9.99962847e-01 -2.23761997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.49719346999998 meters Centerline goodness : 0.861406 Centerline is valid? [False, False] Translation: X:14.48, Y:0.03, Z:-2.24 [[ 9.99864684e-01 -1.53375494e-02 5.94751898e-03 1.44751983e+01] [ 1.52977561e-02 9.99860672e-01 6.67948867e-03 3.14383403e-02] [-6.04913731e-03 -6.58760113e-03 9.99960005e-01 -2.23794567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52719347 meters Centerline goodness : 0.862913 Centerline is valid? [False, False] Translation: X:14.48, Y:0.03, Z:-2.24 [[ 9.99861238e-01 -1.56203828e-02 5.78860718e-03 1.44753991e+01] [ 1.55805098e-02 9.99855012e-01 6.87043784e-03 3.03246420e-02] [-5.89508677e-03 -6.77929504e-03 9.99959644e-01 -2.23776037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.55719347 meters Centerline goodness : 0.863343 Centerline is valid? [False, False] Translation: X:14.48, Y:0.03, Z:-2.24 [[ 9.99801358e-01 -1.91248832e-02 5.61096166e-03 1.44757835e+01] [ 1.91083822e-02 9.99812978e-01 2.97988540e-03 3.15167760e-02] [-5.66690224e-03 -2.87207707e-03 9.99979818e-01 -2.23748596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58719347 meters Centerline goodness : 0.864000 Centerline is valid? [False, False] Translation: X:14.48, Y:0.03, Z:-2.24 [[ 9.99801194e-01 -1.91778973e-02 5.45723912e-03 1.44758106e+01] [ 1.91581594e-02 9.99809816e-01 3.64642202e-03 2.95669329e-02] [-5.52613195e-03 -3.54114643e-03 9.99978461e-01 -2.23711404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.61719347 meters Centerline goodness : 0.862935 Centerline is valid? [False, False] Translation: X:14.48, Y:0.03, Z:-2.24 [[ 9.99735924e-01 -2.23968788e-02 5.14411440e-03 1.44774839e+01] [ 2.23899817e-02 9.99748340e-01 1.39447969e-03 2.56499874e-02] [-5.17405183e-03 -1.27893482e-03 9.99985797e-01 -2.23851683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64719347 meters Centerline goodness : 0.864956 Centerline is valid? [False, False] Translation: X:14.48, Y:0.02, Z:-2.24 [[ 9.99712163e-01 -2.35835921e-02 4.40505828e-03 1.44806912e+01] [ 2.35813695e-02 9.99721766e-01 5.55809035e-04 2.43871307e-02] [-4.41694062e-03 -4.51771746e-04 9.99990143e-01 -2.24088982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.67719347 meters Centerline goodness : 0.863761 Centerline is valid? [False, False] Translation: X:14.48, Y:0.02, Z:-2.24 [[ 9.99795287e-01 -1.97979482e-02 4.17440956e-03 1.44814670e+01] [ 1.97748816e-02 9.99789349e-01 5.49643008e-03 2.09473595e-02] [-4.28234825e-03 -5.41275644e-03 9.99976181e-01 -2.24179352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.70719347 meters Centerline goodness : 0.864144 Centerline is valid? [False, False] Translation: X:14.50, Y:0.02, Z:-2.24 [[ 9.99891387e-01 -1.43805999e-02 3.22693972e-03 1.44990211e+01] [ 1.43974090e-02 9.99882581e-01 -5.24766722e-03 2.13159698e-02] [-3.15109621e-03 5.29355682e-03 9.99981024e-01 -2.24067648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.73719347 meters Centerline goodness : 0.864469 Centerline is valid? [False, False] Translation: X:14.50, Y:0.02, Z:-2.24 [[ 9.99908734e-01 -1.32027610e-02 2.86544679e-03 1.44995818e+01] [ 1.32164166e-02 9.99901137e-01 -4.80018542e-03 2.18628596e-02] [-2.80178781e-03 4.83761826e-03 9.99984374e-01 -2.24020642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76719347 meters Centerline goodness : 0.866851 Centerline is valid? [False, False] Translation: X:14.50, Y:0.02, Z:-2.24 [[ 9.99962232e-01 -4.32710618e-03 7.53735035e-03 1.45010892e+01] [ 4.41148907e-03 9.99927380e-01 -1.12148833e-02 2.20523032e-02] [-7.48827499e-03 1.12477106e-02 9.99908703e-01 -2.23990227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.79719347 meters Centerline goodness : 0.866716 Centerline is valid? [False, False] Translation: X:14.50, Y:0.02, Z:-2.24 [[ 9.99973208e-01 2.90660708e-04 7.31433390e-03 1.45017090e+01] [-2.47641078e-04 9.99982672e-01 -5.88176983e-03 1.92104817e-02] [-7.31591675e-03 5.87980092e-03 9.99955952e-01 -2.24031972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.82719347 meters Centerline goodness : 0.868773 Centerline is valid? [False, False] Translation: X:14.50, Y:0.02, Z:-2.24 [[ 9.99965846e-01 4.37227818e-03 7.01360286e-03 1.45027893e+01] [-4.36503591e-03 9.99989924e-01 -1.04757827e-03 1.61318439e-02] [-7.01811250e-03 1.01692787e-03 9.99974856e-01 -2.24095598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.85719347 meters Centerline goodness : 0.869713 Centerline is valid? [False, False] Translation: X:14.50, Y:0.01, Z:-2.24 [[ 9.99959780e-01 6.00145888e-03 6.66483073e-03 1.45047358e+01] [-6.01147811e-03 9.99980829e-01 1.48428380e-03 1.01735572e-02] [-6.65579510e-03 -1.52428959e-03 9.99976688e-01 -2.24254346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.88719347 meters Centerline goodness : 0.874331 Centerline is valid? [False, False] Translation: X:14.50, Y:0.01, Z:-2.24 [[ 9.99972859e-01 3.23710503e-03 6.61832051e-03 1.45046343e+01] [-3.23039256e-03 9.99994257e-01 -1.02466287e-03 7.03421250e-03] [-6.62159944e-03 1.00325529e-03 9.99977574e-01 -2.24231434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.91719347 meters Centerline goodness : 0.873080 Centerline is valid? [False, False] Translation: X:14.51, Y:0.00, Z:-2.24 [[ 9.99978803e-01 1.48880073e-03 6.33850188e-03 1.45054556e+01] [-1.47304794e-03 9.99995817e-01 -2.48919763e-03 2.92960894e-03] [-6.34218129e-03 2.47980795e-03 9.99976813e-01 -2.24270978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.94719347 meters Centerline goodness : 0.874788 Centerline is valid? [False, False] Translation: X:14.51, Y:-0.00, Z:-2.24 [[ 9.99983265e-01 4.53652964e-05 5.78519365e-03 1.45076625e+01] [-2.35972790e-05 9.99992921e-01 -3.76272472e-03 -5.03463608e-04] [-5.78532339e-03 3.76252523e-03 9.99976186e-01 -2.24417622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.97719347 meters Centerline goodness : 0.877999 Centerline is valid? [False, False] Translation: X:14.48, Y:-0.01, Z:-2.24 [[ 9.99967833e-01 1.63704506e-03 7.85189387e-03 1.44845063e+01] [-1.62992291e-03 9.99998255e-01 -9.13375189e-04 -8.25013637e-03] [-7.85337540e-03 9.00547827e-04 9.99968756e-01 -2.24208409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.00719347 meters Centerline goodness : 0.879438 Centerline is valid? [False, False] Translation: X:14.48, Y:-0.01, Z:-2.24 [[ 9.99966007e-01 2.45946346e-03 7.86996743e-03 1.44843709e+01] [-2.46285944e-03 9.99996878e-01 4.21849398e-04 -1.15980629e-02] [-7.86890534e-03 -4.41217682e-04 9.99968942e-01 -2.24178606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.03719347 meters Centerline goodness : 0.881637 Centerline is valid? [False, False] Translation: X:14.48, Y:-0.02, Z:-2.24 [[ 9.99962453e-01 3.46494110e-03 7.94268800e-03 1.44839055e+01] [-3.48214819e-03 9.99991618e-01 2.15360132e-03 -1.57194582e-02] [-7.93515932e-03 -2.18117807e-03 9.99966137e-01 -2.24122045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.06719347 meters Centerline goodness : 0.881637 Centerline is valid? [False, False] Translation: X:14.48, Y:-0.02, Z:-2.24 [[ 9.99962453e-01 3.46494110e-03 7.94268800e-03 1.44839055e+01] [-3.48214819e-03 9.99991618e-01 2.15360132e-03 -1.57194582e-02] [-7.93515932e-03 -2.18117807e-03 9.99966137e-01 -2.24122045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.09719347 meters Centerline goodness : 0.884142 Centerline is valid? [False, False] Translation: X:14.49, Y:-0.03, Z:-2.24 [[ 9.99970152e-01 1.95718237e-03 7.47421061e-03 1.44856029e+01] [-1.97229589e-03 9.99996024e-01 2.01525375e-03 -2.52884149e-02] [-7.47023668e-03 -2.02993495e-03 9.99970037e-01 -2.24211444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.12719347 meters Centerline goodness : 0.882832 Centerline is valid? [False, False] Translation: X:14.49, Y:-0.03, Z:-2.24 [[ 9.99972159e-01 -8.72268963e-04 7.41087031e-03 1.44862655e+01] [ 8.72821674e-04 9.99999617e-01 -7.13473011e-05 -3.03729563e-02] [-7.41080524e-03 7.78136830e-05 9.99972537e-01 -2.24282174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.15719347 meters Centerline goodness : 0.882525 Centerline is valid? [False, False] Translation: X:14.49, Y:-0.04, Z:-2.24 [[ 9.99966192e-01 -4.08207549e-03 7.13800803e-03 1.44872517e+01] [ 4.09995518e-03 9.99988490e-01 -2.49202026e-03 -3.51462994e-02] [-7.12775326e-03 2.52120153e-03 9.99971419e-01 -2.24343241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.18719347 meters Centerline goodness : 0.885649 Centerline is valid? [False, False] Translation: X:14.49, Y:-0.04, Z:-2.24 [[ 9.99947129e-01 -7.46134724e-03 7.07583382e-03 1.44875200e+01] [ 7.49760083e-03 9.99958831e-01 -5.11096682e-03 -3.91624523e-02] [-7.03740782e-03 5.16374837e-03 9.99961905e-01 -2.24345929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.21719347 meters Centerline goodness : 0.889498 Centerline is valid? [False, False] Translation: X:14.49, Y:-0.05, Z:-2.24 [[ 9.99930363e-01 -9.25975525e-03 7.31620579e-03 1.44866370e+01] [ 9.29883901e-03 9.99942580e-01 -5.32624565e-03 -4.82922944e-02] [-7.26646596e-03 5.39390697e-03 9.99959051e-01 -2.24248221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24719346999998 meters Centerline goodness : 0.891789 Centerline is valid? [False, False] Translation: X:14.49, Y:-0.05, Z:-2.24 [[ 9.99916707e-01 -1.09416225e-02 6.84549161e-03 1.44882648e+01] [ 1.09862384e-02 9.99918430e-01 -6.51425565e-03 -5.25301581e-02] [-6.77365670e-03 6.58891926e-03 9.99955351e-01 -2.24328425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.27719347 meters Centerline goodness : 0.889739 Centerline is valid? [False, False] Translation: X:14.49, Y:-0.06, Z:-2.24 [[ 9.99926787e-01 -1.01694360e-02 6.55767900e-03 1.44892393e+01] [ 1.01991815e-02 9.99937778e-01 -4.51860756e-03 -5.83435483e-02] [-6.51131928e-03 4.58515970e-03 9.99968289e-01 -2.24366166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30719347 meters Centerline goodness : 0.893651 Centerline is valid? [False, False] Translation: X:14.49, Y:-0.06, Z:-2.24 [[ 9.99933039e-01 -9.52363464e-03 6.57399533e-03 1.44894503e+01] [ 9.54087810e-03 9.99951113e-01 -2.59662127e-03 -6.43128879e-02] [-6.54894468e-03 2.65916909e-03 9.99975020e-01 -2.24375641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.33719347 meters Centerline goodness : 0.894368 Centerline is valid? [False, False] Translation: X:14.49, Y:-0.08, Z:-2.25 [[ 9.99912257e-01 -1.16891058e-02 6.23244970e-03 1.44918414e+01] [ 1.17029491e-02 9.99929121e-01 -2.18933819e-03 -7.57068558e-02] [-6.20641654e-03 2.26208414e-03 9.99978181e-01 -2.24577454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36719347 meters Centerline goodness : 0.897293 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.08, Z:-2.25 [[ 9.99871013e-01 -1.50471918e-02 5.61596229e-03 1.44953825e+01] [ 1.50721316e-02 9.99876616e-01 -4.42530541e-03 -8.08455860e-02] [-5.54868095e-03 4.50937912e-03 9.99974438e-01 -2.24849830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.39719347 meters Centerline goodness : 0.897102 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.09, Z:-2.25 [[ 9.99816738e-01 -1.84003378e-02 5.28374468e-03 1.44972761e+01] [ 1.84337862e-02 9.99809899e-01 -6.35309697e-03 -8.66803177e-02] [-5.16584110e-03 6.44933211e-03 9.99965860e-01 -2.24981017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42719347 meters Centerline goodness : 0.897707 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.09, Z:-2.25 [[ 9.99737710e-01 -2.23549693e-02 4.97665294e-03 1.44991975e+01] [ 2.23972809e-02 9.99712029e-01 -8.61513822e-03 -9.33126906e-02] [-4.78262866e-03 8.72434205e-03 9.99950505e-01 -2.25109562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.45719347 meters Centerline goodness : 0.899062 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.10, Z:-2.25 [[ 9.99642058e-01 -2.63245127e-02 4.77236509e-03 1.45001976e+01] [ 2.63747242e-02 9.99593970e-01 -1.07827876e-02 -9.99534902e-02] [-4.48657574e-03 1.09047978e-02 9.99930476e-01 -2.25141030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48719347 meters Centerline goodness : 0.898403 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.11, Z:-2.25 [[ 9.99528876e-01 -3.03544947e-02 4.54208635e-03 1.45011216e+01] [ 3.04116461e-02 9.99451710e-01 -1.30924141e-02 -1.06771436e-01] [-4.14218235e-03 1.32243783e-02 9.99903974e-01 -2.25144188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.51719347 meters Centerline goodness : 0.899363 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.12, Z:-2.25 [[ 9.99165106e-01 -4.05606911e-02 4.89085635e-03 1.45014489e+01] [ 4.06565853e-02 9.98943351e-01 -2.14295118e-02 -1.17152136e-01] [-4.01649262e-03 2.16104660e-02 9.99758399e-01 -2.25135768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54719347 meters Centerline goodness : 0.897736 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.12, Z:-2.25 [[ 9.99001968e-01 -4.44053142e-02 4.82028033e-03 1.45024960e+01] [ 4.45105093e-02 9.98708270e-01 -2.45072719e-02 -1.20199693e-01] [-3.72580072e-03 2.46973660e-02 9.99688031e-01 -2.25208888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.57719347 meters Centerline goodness : 0.901032 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.12, Z:-2.25 [[ 9.98979185e-01 -4.49491947e-02 4.48983836e-03 1.45039430e+01] [ 4.50434388e-02 9.98703065e-01 -2.37334294e-02 -1.23648910e-01] [-3.41721679e-03 2.39114397e-02 9.99708240e-01 -2.25296492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.60719347 meters Centerline goodness : 0.902166 Centerline is valid? [False, False] Translation: X:14.51, Y:-0.12, Z:-2.25 [[ 9.98932066e-01 -4.60071966e-02 4.25037085e-03 1.45052732e+01] [ 4.60954944e-02 9.98654520e-01 -2.37561747e-02 -1.24164647e-01] [-3.15169706e-03 2.39267277e-02 9.99708747e-01 -2.25388318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.63719347 meters Centerline goodness : 0.901243 Centerline is valid? [False, False] Translation: X:14.52, Y:-0.12, Z:-2.25 [[ 9.99031127e-01 -4.35906623e-02 6.05482371e-03 1.45246045e+01] [ 4.37138618e-02 9.98802397e-01 -2.19743161e-02 -1.24579782e-01] [-5.08969744e-03 2.22177055e-02 9.99740201e-01 -2.25413703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.66719347 meters Centerline goodness : 0.901407 Centerline is valid? [False, False] Translation: X:14.52, Y:-0.13, Z:-2.25 [[ 9.99176938e-01 -4.01397019e-02 5.85245763e-03 1.45244512e+01] [ 4.02386462e-02 9.99029708e-01 -1.79023182e-02 -1.25182789e-01] [-5.12818533e-03 1.81230784e-02 9.99822612e-01 -2.25346299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.69719347 meters Centerline goodness : 0.901030 Centerline is valid? [False, False] Translation: X:14.52, Y:-0.13, Z:-2.25 [[ 9.99308163e-01 -3.67923496e-02 5.43299538e-03 1.45248310e+01] [ 3.68663010e-02 9.99219253e-01 -1.42042096e-02 -1.25315083e-01] [-4.90614734e-03 1.43946770e-02 9.99884355e-01 -2.25290511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.72719347 meters Centerline goodness : 0.902356 Centerline is valid? [False, False] Translation: X:14.53, Y:-0.12, Z:-2.26 [[ 9.99448490e-01 -3.09738448e-02 1.19723718e-02 1.45339966e+01] [ 3.11975892e-02 9.99333076e-01 -1.89766741e-02 -1.20823801e-01] [-1.13766066e-02 1.93397174e-02 9.99748242e-01 -2.25519424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.75719347 meters Centerline goodness : 0.902180 Centerline is valid? [False, False] Translation: X:14.53, Y:-0.12, Z:-2.26 [[ 9.99559864e-01 -2.73342586e-02 1.15289348e-02 1.45348488e+01] [ 2.75167136e-02 9.99493674e-01 -1.59757952e-02 -1.17902135e-01] [-1.10864109e-02 1.62860021e-02 9.99805910e-01 -2.25530736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.78719347 meters Centerline goodness : 0.900628 Centerline is valid? [False, False] Translation: X:14.55, Y:-0.11, Z:-2.26 [[ 0.99969082 -0.0195077 0.01541782 14.5467842 ] [ 0.01979874 0.99962429 -0.01895513 -0.11369763] [-0.01504226 0.01925452 0.99970145 -2.25918728] [ 0. 0. 0. 1. ]] SLAMing on 159.81719347 meters Centerline goodness : 0.897722 Centerline is valid? [False, False] Translation: X:14.57, Y:-0.11, Z:-2.26 [[ 9.99766389e-01 -1.38885107e-02 1.65613287e-02 1.45668631e+01] [ 1.41953557e-02 9.99727037e-01 -1.85564706e-02 -1.08346605e-01] [-1.62990863e-02 1.87872295e-02 9.99690642e-01 -2.26150180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.84719347 meters Centerline goodness : 0.896051 Centerline is valid? [False, False] Translation: X:14.61, Y:-0.09, Z:-2.26 [[ 9.99900066e-01 1.50645140e-04 1.41363441e-02 1.46110422e+01] [ 4.15426910e-04 9.99198302e-01 -4.00322572e-02 -9.40206116e-02] [-1.41310417e-02 4.00341293e-02 9.99098385e-01 -2.26235368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.87719347 meters Centerline goodness : 0.894852 Centerline is valid? [False, False] Translation: X:14.61, Y:-0.09, Z:-2.26 [[ 9.99892304e-01 5.93583498e-03 1.34218673e-02 1.46139572e+01] [-5.47127783e-03 9.99393592e-01 -3.43876779e-02 -9.27442960e-02] [-1.36178478e-02 3.43105397e-02 9.99318438e-01 -2.26423961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.90719347 meters Centerline goodness : 0.894734 Centerline is valid? [False, False] Translation: X:14.64, Y:-0.09, Z:-2.26 [[ 9.99852363e-01 1.15385938e-02 1.27323803e-02 1.46418308e+01] [-1.09729245e-02 9.98987190e-01 -4.36370050e-02 -8.99542233e-02] [-1.32229945e-02 4.34908511e-02 9.98966315e-01 -2.26446863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.93719347 meters Centerline goodness : 0.888490 Centerline is valid? [False, False] Translation: X:14.64, Y:-0.09, Z:-2.27 [[ 9.99828769e-01 1.40332868e-02 1.20623596e-02 1.46445281e+01] [-1.35299131e-02 9.99073863e-01 -4.08455446e-02 -9.05022253e-02] [-1.26243854e-02 4.06753478e-02 9.99092659e-01 -2.26619457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.96719347 meters Centerline goodness : 0.889030 Centerline is valid? [False, False] Translation: X:14.67, Y:-0.09, Z:-2.27 [[ 9.99814007e-01 1.57447161e-02 1.11380041e-02 1.46671844e+01] [-1.52763894e-02 9.99044334e-01 -4.09518000e-02 -9.10480719e-02] [-1.17721344e-02 4.07740348e-02 9.99099042e-01 -2.26824423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.99719346999998 meters Centerline goodness : 0.890781 Centerline is valid? [False, False] Translation: X:14.69, Y:-0.09, Z:-2.27 [[ 9.99864790e-01 9.29258514e-03 1.35664676e-02 1.46888674e+01] [-8.85046188e-03 9.99439242e-01 -3.22935229e-02 -9.19834265e-02] [-1.38589504e-02 3.21690870e-02 9.99386351e-01 -2.27120439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02719347 meters Centerline goodness : 0.891909 Centerline is valid? [False, False] Translation: X:14.69, Y:-0.09, Z:-2.27 [[ 9.99879569e-01 8.55330762e-03 1.29494831e-02 1.46904843e+01] [-8.13408575e-03 9.99451971e-01 -3.20873047e-02 -9.40593325e-02] [-1.32168390e-02 3.19781082e-02 9.99401179e-01 -2.27189692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.05719347 meters Centerline goodness : 0.892675 Centerline is valid? [False, False] Translation: X:14.69, Y:-0.10, Z:-2.27 [[ 9.99902029e-01 6.91438494e-03 1.21705885e-02 1.46934664e+01] [-6.51292697e-03 9.99443270e-01 -3.27220494e-02 -9.61638213e-02] [-1.23900656e-02 3.26395775e-02 9.99390386e-01 -2.27390739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08719347 meters Centerline goodness : 0.892595 Centerline is valid? [False, False] Translation: X:14.70, Y:-0.10, Z:-2.28 [[ 9.99946440e-01 -1.10091071e-03 1.02910582e-02 1.46973357e+01] [ 1.31622158e-03 9.99779892e-01 -2.09388268e-02 -1.03758576e-01] [-1.02657413e-02 2.09512506e-02 9.99727793e-01 -2.27582492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.11719347 meters Centerline goodness : 0.891358 Centerline is valid? [False, False] Translation: X:14.70, Y:-0.11, Z:-2.28 [[ 9.99945553e-01 -3.85113721e-03 9.69844925e-03 1.46997097e+01] [ 4.07466432e-03 9.99724060e-01 -2.31344137e-02 -1.06537770e-01] [-9.60667926e-03 2.31726721e-02 9.99685320e-01 -2.27742661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14719347 meters Centerline goodness : 0.892002 Centerline is valid? [False, False] Translation: X:14.70, Y:-0.11, Z:-2.28 [[ 9.99926663e-01 -7.63420627e-03 9.40148750e-03 1.47003644e+01] [ 7.88191112e-03 9.99615125e-01 -2.65984537e-02 -1.08367308e-01] [-9.19481102e-03 2.66706047e-02 9.99601988e-01 -2.27745142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.17719347 meters Centerline goodness : 0.891141 Centerline is valid? [False, False] Translation: X:14.70, Y:-0.11, Z:-2.28 [[ 9.99926511e-01 -8.06854525e-03 9.04823485e-03 1.47008664e+01] [ 8.30181787e-03 9.99626251e-01 -2.60468636e-02 -1.11335189e-01] [-8.83469278e-03 2.61200662e-02 9.99619773e-01 -2.27702331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.20719347 meters Centerline goodness : 0.895209 Centerline is valid? [False, False] Translation: X:14.70, Y:-0.11, Z:-2.28 [[ 9.99930004e-01 -7.94589863e-03 8.76638924e-03 1.47009767e+01] [ 8.16559700e-03 9.99646124e-01 -2.53170007e-02 -1.13350084e-01] [-8.56212071e-03 2.53868114e-02 9.99641036e-01 -2.27624102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.23719347 meters Centerline goodness : 0.894090 Centerline is valid? [False, False] Translation: X:14.70, Y:-0.12, Z:-2.28 [[ 9.99952712e-01 -4.73057800e-03 8.49677002e-03 1.47012204e+01] [ 4.90786323e-03 9.99768126e-01 -2.09667962e-02 -1.16112426e-01] [-8.39561478e-03 2.10075057e-02 9.99744066e-01 -2.27562817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26719347 meters Centerline goodness : 0.892853 Centerline is valid? [False, False] Translation: X:14.72, Y:-0.12, Z:-2.28 [[ 9.99929841e-01 -2.82057062e-03 1.15047082e-02 1.47197696e+01] [ 3.07228676e-03 9.99754991e-01 -2.19207344e-02 -1.15752800e-01] [-1.14400604e-02 2.19545423e-02 9.99693515e-01 -2.27629958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.29719347 meters Centerline goodness : 0.893973 Centerline is valid? [False, False] Translation: X:14.74, Y:-0.12, Z:-2.28 [[ 9.99925313e-01 -4.51999867e-04 1.22132833e-02 1.47401964e+01] [ 7.19454252e-04 9.99759839e-01 -2.19031359e-02 -1.16210599e-01] [-1.22004499e-02 2.19102869e-02 9.99685495e-01 -2.27732760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32719347 meters Centerline goodness : 0.894764 Centerline is valid? [False, False] Translation: X:14.74, Y:-0.12, Z:-2.28 [[ 9.99930058e-01 -5.13942774e-04 1.18159102e-02 1.47411846e+01] [ 7.73565293e-04 9.99758150e-01 -2.19782231e-02 -1.16013466e-01] [-1.18017570e-02 2.19858263e-02 9.99688623e-01 -2.27759871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.35719347 meters Centerline goodness : 0.896215 Centerline is valid? [False, False] Translation: X:14.74, Y:-0.12, Z:-2.28 [[ 9.99932969e-01 -9.95711942e-04 1.15354471e-02 1.47422749e+01] [ 1.25251513e-03 9.99751068e-01 -2.22763011e-02 -1.16219135e-01] [-1.15103948e-02 2.22892562e-02 9.99685300e-01 -2.27830911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38719347 meters Centerline goodness : 0.896910 Centerline is valid? [False, False] Translation: X:14.75, Y:-0.12, Z:-2.28 [[ 9.99937238e-01 -2.67300428e-03 1.08800648e-02 1.47450681e+01] [ 2.92878925e-03 9.99718090e-01 -2.35618726e-02 -1.15614586e-01] [-1.08140166e-02 2.35922592e-02 9.99663174e-01 -2.28038296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.41719347 meters Centerline goodness : 0.894444 Centerline is valid? [False, False] Translation: X:14.75, Y:-0.11, Z:-2.28 [[ 9.99940706e-01 -3.67316141e-03 1.02514213e-02 1.47474322e+01] [ 3.92277310e-03 9.99693699e-01 -2.44360455e-02 -1.14602723e-01] [-1.01585237e-02 2.44748106e-02 9.99648832e-01 -2.28192002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.44719347 meters Centerline goodness : 0.893168 Centerline is valid? [False, False] Translation: X:14.75, Y:-0.11, Z:-2.28 [[ 9.99944400e-01 -4.29047614e-03 9.63266256e-03 1.47492118e+01] [ 4.52872586e-03 9.99680946e-01 -2.48494966e-02 -1.14331516e-01] [-9.52297305e-03 2.48917387e-02 9.99644794e-01 -2.28267884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.47719347 meters Centerline goodness : 0.896165 Centerline is valid? [False, False] Translation: X:14.78, Y:-0.12, Z:-2.28 [[ 9.99959861e-01 -6.05266284e-03 6.60611987e-03 1.47774621e+01] [ 6.19232522e-03 9.99753318e-01 -2.13297542e-02 -1.15587628e-01] [-6.47538844e-03 2.13698053e-02 9.99750669e-01 -2.28042196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.50719347 meters Centerline goodness : 0.893832 Centerline is valid? [False, False] Translation: X:14.78, Y:-0.12, Z:-2.28 [[ 9.99975616e-01 -2.73128490e-03 6.42703771e-03 1.47771155e+01] [ 2.84142225e-03 9.99848199e-01 -1.71902957e-02 -1.17673815e-01] [-6.37911048e-03 1.72081384e-02 9.99831579e-01 -2.27920858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.53719347 meters Centerline goodness : 0.896768 Centerline is valid? [False, False] Translation: X:14.78, Y:-0.12, Z:-2.28 [[ 9.99984033e-01 -5.46845711e-04 5.62448932e-03 1.47791730e+01] [ 6.28902304e-04 9.99893249e-01 -1.45977568e-02 -1.18003314e-01] [-5.61590618e-03 1.46010610e-02 9.99877628e-01 -2.27962541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.56719347 meters Centerline goodness : 0.896242 Centerline is valid? [False, False] Translation: X:14.80, Y:-0.12, Z:-2.28 [[ 9.99967023e-01 1.31676270e-03 8.01365023e-03 1.47982413e+01] [-1.18958318e-03 9.99873602e-01 -1.58544860e-02 -1.16769348e-01] [-8.03351391e-03 1.58444303e-02 9.99842196e-01 -2.28041162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.59719347 meters Centerline goodness : 0.895418 Centerline is valid? [False, False] Translation: X:14.80, Y:-0.12, Z:-2.28 [[ 9.99966071e-01 3.83585933e-03 7.28997811e-03 1.48003549e+01] [-3.73976885e-03 9.99906549e-01 -1.31494096e-02 -1.15469013e-01] [-7.33973614e-03 1.31217006e-02 9.99886968e-01 -2.28120759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.62719347 meters Centerline goodness : 0.896524 Centerline is valid? [False, False] Translation: X:14.82, Y:-0.11, Z:-2.28 [[ 9.99933548e-01 4.81890090e-03 1.04726977e-02 1.48187673e+01] [-4.62751838e-03 9.99823248e-01 -1.82224568e-02 -1.07157134e-01] [-1.05586588e-02 1.81727833e-02 9.99779108e-01 -2.28442355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.65719347 meters Centerline goodness : 0.896185 Centerline is valid? [False, False] Translation: X:14.82, Y:-0.11, Z:-2.29 [[ 9.99935237e-01 5.85452162e-03 9.75946747e-03 1.48217348e+01] [-5.68668415e-03 9.99836973e-01 -1.71373407e-02 -1.06009612e-01] [-9.85820735e-03 1.70807318e-02 9.99805513e-01 -2.28638202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.68719347 meters Centerline goodness : 0.893603 Centerline is valid? [False, False] Translation: X:14.82, Y:-0.10, Z:-2.29 [[ 9.99941401e-01 5.26418792e-03 9.45958460e-03 1.48227941e+01] [-5.09461917e-03 9.99827497e-01 -1.78611655e-02 -1.04447273e-01] [-9.55197733e-03 1.78119258e-02 9.99795727e-01 -2.28697480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.71719347 meters Centerline goodness : 0.893473 Centerline is valid? [False, False] Translation: X:14.84, Y:-0.10, Z:-2.29 [[ 9.99942555e-01 4.72609698e-03 9.62036861e-03 1.48440751e+01] [-4.53265529e-03 9.99789085e-01 -2.00309651e-02 -1.03681754e-01] [-9.71300782e-03 1.99862086e-02 9.99753074e-01 -2.28842695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74719346999998 meters Centerline goodness : 0.893511 Centerline is valid? [False, False] Translation: X:14.84, Y:-0.10, Z:-2.29 [[ 9.99949973e-01 3.79004061e-03 9.25676597e-03 1.48449036e+01] [-3.59802284e-03 9.99779821e-01 -2.06728007e-02 -1.03349871e-01] [-9.33307858e-03 2.06384605e-02 9.99743441e-01 -2.28849625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.77719347 meters Centerline goodness : 0.890547 Centerline is valid? [False, False] Translation: X:14.87, Y:-0.10, Z:-2.29 [[ 9.99958948e-01 -2.47726475e-03 8.71582692e-03 1.48726245e+01] [ 2.65110452e-03 9.99796653e-01 -1.99906083e-02 -1.01470719e-01] [-8.66453256e-03 2.00128942e-02 9.99762177e-01 -2.28567692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80719347 meters Centerline goodness : 0.893773 Centerline is valid? [False, False] Translation: X:14.87, Y:-0.10, Z:-2.29 [[ 9.99960275e-01 -3.09882427e-03 8.35737016e-03 1.48734704e+01] [ 3.27089587e-03 9.99781318e-01 -2.06547412e-02 -9.99291299e-02] [-8.29153713e-03 2.06812568e-02 9.99751737e-01 -2.28576266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.83719347 meters Centerline goodness : 0.891647 Centerline is valid? [False, False] Translation: X:14.90, Y:-0.10, Z:-2.29 [[ 9.99968339e-01 -2.12503257e-03 7.66848937e-03 1.48956933e+01] [ 2.28673393e-03 9.99773917e-01 -2.11396777e-02 -9.87244804e-02] [-7.62183315e-03 2.11565442e-02 9.99747122e-01 -2.28719893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86719347 meters Centerline goodness : 0.891900 Centerline is valid? [False, False] Translation: X:14.92, Y:-0.09, Z:-2.29 [[ 9.99952080e-01 -4.14532222e-04 9.78084889e-03 1.49162133e+01] [ 6.60854859e-04 9.99682352e-01 -2.51944026e-02 -9.00831579e-02] [-9.76729813e-03 2.51996590e-02 9.99634722e-01 -2.29123328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.89719347 meters Centerline goodness : 0.891987 Centerline is valid? [False, False] Translation: X:14.94, Y:-0.09, Z:-2.29 [[ 9.99928210e-01 2.49384443e-03 1.17199034e-02 1.49362665e+01] [-2.19820806e-03 9.99680751e-01 -2.51706873e-02 -8.62900856e-02] [-1.17789337e-02 2.51431175e-02 9.99614466e-01 -2.29273147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92719347 meters Centerline goodness : 0.888634 Centerline is valid? [False, False] Translation: X:14.94, Y:-0.08, Z:-2.29 [[ 9.99921763e-01 5.30840035e-03 1.13264884e-02 1.49378145e+01] [-5.05078354e-03 9.99730623e-01 -2.26532703e-02 -8.33142035e-02] [-1.14436900e-02 2.25942903e-02 9.99679219e-01 -2.29355394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.95719347 meters Centerline goodness : 0.888634 Centerline is valid? [False, False] Translation: X:14.94, Y:-0.08, Z:-2.29 [[ 9.99921763e-01 5.30840035e-03 1.13264884e-02 1.49378145e+01] [-5.05078354e-03 9.99730623e-01 -2.26532703e-02 -8.33142035e-02] [-1.14436900e-02 2.25942903e-02 9.99679219e-01 -2.29355394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98719347 meters Centerline goodness : 0.887640 Centerline is valid? [False, False] Translation: X:14.96, Y:-0.08, Z:-2.30 [[ 9.99918581e-01 7.51350054e-03 1.03140242e-02 1.49607573e+01] [-7.27179418e-03 9.99702642e-01 -2.32755144e-02 -8.13398207e-02] [-1.04858378e-02 2.31986179e-02 9.99675883e-01 -2.29611266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.01719347 meters Centerline goodness : 0.886555 Centerline is valid? [False, False] Translation: X:14.97, Y:-0.08, Z:-2.30 [[ 9.99887336e-01 1.17453915e-02 9.34666276e-03 1.49654571e+01] [-1.15576967e-02 9.99735403e-01 -1.98882812e-02 -7.76792479e-02] [-9.57778531e-03 1.97780147e-02 9.99758519e-01 -2.29979178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04719347 meters Centerline goodness : 0.887852 Centerline is valid? [False, False] Translation: X:14.97, Y:-0.07, Z:-2.30 [[ 9.99860170e-01 1.43067642e-02 8.65781452e-03 1.49683830e+01] [-1.41531559e-02 9.99745799e-01 -1.75506802e-02 -7.49358541e-02] [-8.90670713e-03 1.74256907e-02 9.99808490e-01 -2.30172818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.07719347 meters Centerline goodness : 0.887829 Centerline is valid? [False, False] Translation: X:14.99, Y:-0.07, Z:-2.30 [[ 9.99847291e-01 1.48974567e-02 9.13569050e-03 1.49895797e+01] [-1.46969976e-02 9.99658004e-01 -2.16303973e-02 -6.96339416e-02] [-9.45480403e-03 2.14928270e-02 9.99724295e-01 -2.30448466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.10719347 meters Centerline goodness : 0.885510 Centerline is valid? [False, False] Translation: X:14.99, Y:-0.07, Z:-2.31 [[ 9.99801699e-01 1.79749164e-02 8.57120853e-03 1.49916094e+01] [-1.78088551e-02 9.99659489e-01 -1.90722376e-02 -6.69461902e-02] [-8.91111182e-03 1.89158121e-02 9.99781368e-01 -2.30541568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.13719347 meters Centerline goodness : 0.884346 Centerline is valid? [False, False] Translation: X:14.99, Y:-0.06, Z:-2.31 [[ 9.99748057e-01 2.09593634e-02 8.03294582e-03 1.49939652e+01] [-2.08219682e-02 9.99641668e-01 -1.68220603e-02 -6.35452359e-02] [-8.38264703e-03 1.66505604e-02 9.99826230e-01 -2.30683623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.16719347 meters Centerline goodness : 0.884382 Centerline is valid? [False, False] Translation: X:14.99, Y:-0.06, Z:-2.31 [[ 9.99748463e-01 2.10851579e-02 7.64373016e-03 1.49946875e+01] [-2.09511537e-02 9.99632421e-01 -1.72067418e-02 -6.24636782e-02] [-8.00372735e-03 1.70422687e-02 9.99822735e-01 -2.30658424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.19719347 meters Centerline goodness : 0.884458 Centerline is valid? [False, False] Translation: X:15.00, Y:-0.06, Z:-2.31 [[ 9.99756126e-01 2.09026161e-02 7.12520995e-03 1.49958528e+01] [-2.07728028e-02 9.99625214e-01 -1.78303722e-02 -6.12432138e-02] [-7.49524094e-03 1.76780132e-02 9.99815638e-01 -2.30662110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.22719347 meters Centerline goodness : 0.884985 Centerline is valid? [False, False] Translation: X:15.00, Y:-0.06, Z:-2.31 [[ 9.99754777e-01 2.10264898e-02 6.94781793e-03 1.49958828e+01] [-2.08965584e-02 9.99614653e-01 -1.82723793e-02 -5.99386854e-02] [-7.32934461e-03 1.81227130e-02 9.99808906e-01 -2.30585052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.25719347 meters Centerline goodness : 0.886668 Centerline is valid? [False, False] Translation: X:15.00, Y:-0.06, Z:-2.30 [[ 9.99750638e-01 2.13463793e-02 6.55701537e-03 1.49961828e+01] [-2.12218463e-02 9.99603457e-01 -1.85084399e-02 -5.90817380e-02] [-6.94950341e-03 1.83646726e-02 9.99807203e-01 -2.30490789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.28719347 meters Centerline goodness : 0.887594 Centerline is valid? [False, False] Translation: X:15.00, Y:-0.06, Z:-2.30 [[ 9.99667835e-01 2.50183461e-02 6.18888028e-03 1.49967643e+01] [-2.49200566e-02 9.99569599e-01 -1.54792322e-02 -5.72872383e-02] [-6.57348137e-03 1.53198633e-02 9.99861036e-01 -2.30413779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.31719347 meters Centerline goodness : 0.890219 Centerline is valid? [False, False] Translation: X:15.00, Y:-0.06, Z:-2.30 [[ 9.99578156e-01 2.84167494e-02 5.99982378e-03 1.49976227e+01] [-2.83431767e-02 9.99526091e-01 -1.20107033e-02 -5.62392284e-02] [-6.33828556e-03 1.18355826e-02 9.99909868e-01 -2.30449828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.34719347 meters Centerline goodness : 0.887011 Centerline is valid? [False, False] Translation: X:15.00, Y:-0.05, Z:-2.31 [[ 9.99515731e-01 3.06623017e-02 5.30355377e-03 1.49999985e+01] [-3.06099516e-02 9.99484480e-01 -9.68529423e-03 -5.45647495e-02] [-5.59779310e-03 9.51826241e-03 9.99939032e-01 -2.30563292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.37719347 meters Centerline goodness : 0.886988 Centerline is valid? [False, False] Translation: X:15.00, Y:-0.05, Z:-2.30 [[ 9.99523466e-01 3.04334879e-02 5.16169552e-03 1.49994091e+01] [-3.03779250e-02 9.99483107e-01 -1.05213863e-02 -5.32047993e-02] [-5.47922996e-03 1.03595709e-02 9.99931326e-01 -2.30401225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.40719347 meters Centerline goodness : 0.886945 Centerline is valid? [False, False] Translation: X:15.00, Y:-0.05, Z:-2.30 [[ 9.99537421e-01 2.99941371e-02 5.02948871e-03 1.49994187e+01] [-2.99398600e-02 9.99496124e-01 -1.05404975e-02 -5.43883086e-02] [-5.34310760e-03 1.03850395e-02 9.99931799e-01 -2.30365329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.43719347 meters Centerline goodness : 0.889680 Centerline is valid? [False, False] Translation: X:15.00, Y:-0.06, Z:-2.30 [[ 9.99546506e-01 2.96691654e-02 5.15007437e-03 1.49988574e+01] [-2.96153532e-02 9.99509037e-01 -1.02282272e-02 -5.58559311e-02] [-5.45100884e-03 1.00710675e-02 9.99934428e-01 -2.30325142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.46719347 meters Centerline goodness : 0.890614 Centerline is valid? [False, False] Translation: X:15.00, Y:-0.06, Z:-2.30 [[ 9.99570025e-01 2.89034655e-02 4.93506447e-03 1.49992494e+01] [-2.88494664e-02 9.99526675e-01 -1.06833368e-02 -5.59307601e-02] [-5.24151404e-03 1.05363693e-02 9.99930753e-01 -2.30326146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.49719346999998 meters Centerline goodness : 0.889636 Centerline is valid? [False, False] Translation: X:15.00, Y:-0.06, Z:-2.30 [[ 9.99596025e-01 2.80492718e-02 4.58523879e-03 1.50001474e+01] [-2.79960477e-02 9.99544312e-01 -1.12866636e-02 -5.54011522e-02] [-4.89973205e-03 1.11537356e-02 9.99925791e-01 -2.30360697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52719347 meters Centerline goodness : 0.891238 Centerline is valid? [False, False] Translation: X:15.00, Y:-0.05, Z:-2.30 [[ 9.99642337e-01 2.64468115e-02 3.97038929e-03 1.50019697e+01] [-2.63939267e-02 9.99569302e-01 -1.28285656e-02 -5.31864154e-02] [-4.30795391e-03 1.27191831e-02 9.99909828e-01 -2.30455968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.55719347 meters Centerline goodness : 0.889539 Centerline is valid? [False, False] Translation: X:15.00, Y:-0.05, Z:-2.30 [[ 9.99653823e-01 2.60527636e-02 3.67268353e-03 1.50024884e+01] [-2.60035211e-02 9.99578973e-01 -1.28721798e-02 -5.37160613e-02] [-4.00649309e-03 1.27722210e-02 9.99910405e-01 -2.30456701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58719347 meters Centerline goodness : 0.887959 Centerline is valid? [False, False] Translation: X:15.00, Y:-0.06, Z:-2.30 [[ 9.99653865e-01 2.60606891e-02 3.60427815e-03 1.50022420e+01] [-2.60140979e-02 9.99584418e-01 -1.24200413e-02 -5.50701445e-02] [-3.92645512e-03 1.23219802e-02 9.99916372e-01 -2.30408102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.61719347 meters Centerline goodness : 0.888261 Centerline is valid? [False, False] Translation: X:15.00, Y:-0.05, Z:-2.30 [[ 9.99700943e-01 2.41356873e-02 3.93614262e-03 1.50002860e+01] [-2.40764095e-02 9.99605402e-01 -1.44695294e-02 -5.48885368e-02] [-4.28382146e-03 1.43704340e-02 9.99887563e-01 -2.30227279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64719347 meters Centerline goodness : 0.889526 Centerline is valid? [False, False] Translation: X:15.00, Y:-0.05, Z:-2.30 [[ 9.99716548e-01 2.35228550e-02 3.67421609e-03 1.50007530e+01] [-2.34651962e-02 9.99611846e-01 -1.50180456e-02 -5.43089395e-02] [-4.02605724e-03 1.49275725e-02 9.99880472e-01 -2.30212015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.67719347 meters Centerline goodness : 0.887761 Centerline is valid? [False, False] Translation: X:15.00, Y:-0.05, Z:-2.30 [[ 9.99725919e-01 2.31573323e-02 3.43883349e-03 1.50009229e+01] [-2.31021821e-02 9.99616123e-01 -1.52936852e-02 -5.40877463e-02] [-3.79167435e-03 1.52100489e-02 9.99877131e-01 -2.30167291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70719347 meters Centerline goodness : 0.889092 Centerline is valid? [False, False] Translation: X:15.00, Y:-0.05, Z:-2.30 [[ 9.99750289e-01 2.20662788e-02 3.52680233e-03 1.50006580e+01] [-2.20048332e-02 9.99619994e-01 -1.66028721e-02 -5.17661588e-02] [-3.89182573e-03 1.65211195e-02 9.99855943e-01 -2.30127298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.73719347 meters Centerline goodness : 0.887524 Centerline is valid? [False, False] Translation: X:15.00, Y:-0.05, Z:-2.30 [[ 9.99767306e-01 2.13274952e-02 3.23596548e-03 1.50014122e+01] [-2.12670768e-02 9.99617505e-01 -1.76792397e-02 -4.98075653e-02] [-3.61178163e-03 1.76063063e-02 9.99838473e-01 -2.30131480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76719347 meters Centerline goodness : 0.888100 Centerline is valid? [False, False] Translation: X:15.00, Y:-0.05, Z:-2.30 [[ 9.99774929e-01 2.09956839e-02 3.04507988e-03 1.50016172e+01] [-2.09367995e-02 9.99614623e-01 -1.82279082e-02 -4.84801682e-02] [-3.42661377e-03 1.81600514e-02 9.99829221e-01 -2.30096845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.79719347 meters Centerline goodness : 0.886973 Centerline is valid? [False, False] Translation: X:15.00, Y:-0.05, Z:-2.30 [[ 9.99784475e-01 2.05454962e-02 2.98087451e-03 1.50018349e+01] [-2.04858338e-02 9.99612847e-01 -1.88278143e-02 -4.71378160e-02] [-3.36654724e-03 1.87626907e-02 9.99818297e-01 -2.30094317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.82719347 meters Centerline goodness : 0.886633 Centerline is valid? [False, False] Translation: X:15.00, Y:-0.04, Z:-2.30 [[ 9.99805829e-01 1.95224290e-02 2.67948384e-03 1.50030493e+01] [-1.94623124e-02 9.99592584e-01 -2.08778612e-02 -4.23182038e-02] [-3.08597873e-03 2.08216583e-02 9.99778443e-01 -2.30144376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.85719347 meters Centerline goodness : 0.886703 Centerline is valid? [False, False] Translation: X:15.00, Y:-0.04, Z:-2.30 [[ 9.99759187e-01 2.18102699e-02 2.42479194e-03 1.50047483e+01] [-2.17619345e-02 9.99593185e-01 -1.84359163e-02 -4.03470734e-02] [-2.82589781e-03 1.83787086e-02 9.99827104e-01 -2.30283877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.88719347 meters Centerline goodness : 0.883872 Centerline is valid? [False, False] Translation: X:15.01, Y:-0.04, Z:-2.30 [[ 9.99694300e-01 2.46185463e-02 2.28763376e-03 1.50057597e+01] [-2.45798657e-02 9.99575720e-01 -1.56272540e-02 -3.82824135e-02] [-2.67138344e-03 1.55662470e-02 9.99875270e-01 -2.30360087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.91719347 meters Centerline goodness : 0.882437 Centerline is valid? [False, False] Translation: X:15.00, Y:-0.03, Z:-2.30 [[ 9.99726535e-01 2.33612208e-02 -1.05249873e-03 1.50007035e+01] [-2.33664018e-02 9.99713375e-01 -5.21332214e-03 -3.17851014e-02] [ 9.30407485e-04 5.23648959e-03 9.99985857e-01 -2.30444992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.94719347 meters Centerline goodness : 0.882437 Centerline is valid? [False, False] Translation: X:15.00, Y:-0.03, Z:-2.30 [[ 9.99728157e-01 2.32908025e-02 -1.07238372e-03 1.50007060e+01] [-2.32961460e-02 9.99714698e-01 -5.27379172e-03 -3.15262478e-02] [ 9.49246924e-04 5.29734049e-03 9.99985518e-01 -2.30439333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.97719347 meters Centerline goodness : 0.882756 Centerline is valid? [False, False] Translation: X:15.00, Y:-0.02, Z:-2.30 [[ 9.99714065e-01 2.39059407e-02 -5.41742106e-04 1.49991278e+01] [-2.39085194e-02 9.99699577e-01 -5.39800857e-03 -2.41743007e-02] [ 4.12534881e-04 5.40941734e-03 9.99985284e-01 -2.30310808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.00719347 meters Centerline goodness : 0.881617 Centerline is valid? [False, False] Translation: X:15.00, Y:-0.02, Z:-2.30 [[ 9.99728544e-01 2.32854581e-02 -7.90426185e-04 1.49992157e+01] [-2.32900887e-02 9.99707832e-01 -6.46697653e-03 -2.06090213e-02] [ 6.39608737e-04 6.48363013e-03 9.99978776e-01 -2.30241313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.03719347 meters Centerline goodness : 0.883752 Centerline is valid? [False, False] Translation: X:14.98, Y:-0.02, Z:-2.30 [[ 9.99824703e-01 1.86807481e-02 -1.26197235e-03 1.49772562e+01] [-1.86746351e-02 9.99814597e-01 4.69358181e-03 -1.53688319e-02] [ 1.34941800e-03 -4.66919217e-03 9.99988189e-01 -2.29876513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.06719347 meters Centerline goodness : 0.883912 Centerline is valid? [False, False] Translation: X:14.98, Y:-0.01, Z:-2.30 [[ 9.99839887e-01 1.78063818e-02 -1.76993012e-03 1.49782143e+01] [-1.78012742e-02 9.99837452e-01 2.86082361e-03 -1.02108667e-02] [ 1.82058333e-03 -2.82885854e-03 9.99994342e-01 -2.29855356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.09719347 meters Centerline goodness : 0.882904 Centerline is valid? [False, False] Translation: X:14.97, Y:0.00, Z:-2.29 [[ 9.99730661e-01 2.13749194e-02 -9.03982055e-03 1.49664869e+01] [-2.13915247e-02 9.99769654e-01 -1.74420762e-03 2.18539265e-03] [ 9.00045596e-03 1.93711338e-03 9.99957619e-01 -2.29428614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.12719347 meters Centerline goodness : 0.885913 Centerline is valid? [False, False] Translation: X:14.97, Y:0.01, Z:-2.29 [[ 9.99649452e-01 2.48436516e-02 -9.15240174e-03 1.49666899e+01] [-2.48383049e-02 9.99691238e-01 6.97399940e-04 6.55686725e-03] [ 9.16690179e-03 -4.69825323e-04 9.99957873e-01 -2.29386694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.15719347 meters Centerline goodness : 0.885008 Centerline is valid? [False, False] Translation: X:14.97, Y:0.01, Z:-2.29 [[ 9.99546198e-01 2.87600064e-02 -8.95875557e-03 1.49661879e+01] [-2.87330352e-02 9.99582237e-01 3.12492384e-03 1.20459063e-02] [ 9.04488576e-03 -2.86609351e-03 9.99954987e-01 -2.29312461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.18719347 meters Centerline goodness : 0.887905 Centerline is valid? [False, False] Translation: X:14.97, Y:0.02, Z:-2.29 [[ 9.99320399e-01 3.58464113e-02 -8.58917791e-03 1.49650613e+01] [-3.57683177e-02 9.99318863e-01 9.07950506e-03 1.71208323e-02] [ 8.90879518e-03 -8.76611418e-03 9.99921891e-01 -2.29177948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.21719347 meters Centerline goodness : 0.889080 Centerline is valid? [False, False] Translation: X:14.97, Y:0.03, Z:-2.29 [[ 9.98675886e-01 5.13772913e-02 -2.61712436e-03 1.49728716e+01] [-5.13417159e-02 9.98606469e-01 1.22125900e-02 2.87718089e-02] [ 3.24092711e-03 -1.20620514e-02 9.99921999e-01 -2.29288534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24719346999998 meters Centerline goodness : 0.889575 Centerline is valid? [False, False] Translation: X:14.97, Y:0.03, Z:-2.29 [[ 9.98445320e-01 5.56928870e-02 -2.29035587e-03 1.49722153e+01] [-5.56523730e-02 9.98337081e-01 1.50294920e-02 3.35344757e-02] [ 3.12358299e-03 -1.48786622e-02 9.99884428e-01 -2.29196530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.27719347 meters Centerline goodness : 0.890037 Centerline is valid? [False, False] Translation: X:14.97, Y:0.04, Z:-2.29 [[ 9.98212641e-01 5.97191382e-02 -2.26907054e-03 1.49723148e+01] [-5.96684464e-02 9.98053786e-01 1.81195225e-02 3.63045376e-02] [ 3.34673671e-03 -1.79517445e-02 9.99833253e-01 -2.29141679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30719347 meters Centerline goodness : 0.892800 Centerline is valid? [False, False] Translation: X:14.97, Y:0.04, Z:-2.29 [[ 9.97956595e-01 6.38677736e-02 -1.88206182e-03 1.49719184e+01] [-6.38139954e-02 9.97738451e-01 2.11129667e-02 3.92175980e-02] [ 3.22624362e-03 -2.09497224e-02 9.99775325e-01 -2.29110162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.33719347 meters Centerline goodness : 0.894518 Centerline is valid? [False, False] Translation: X:14.99, Y:0.04, Z:-2.30 [[ 9.97940166e-01 6.40659297e-02 3.31381320e-03 1.49850608e+01] [-6.41367040e-02 9.97489036e-01 3.00350822e-02 3.76972131e-02] [-1.38126687e-03 -3.01857520e-02 9.99543352e-01 -2.29626902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36719347 meters Centerline goodness : 0.892462 Centerline is valid? [False, False] Translation: X:14.99, Y:0.04, Z:-2.30 [[ 9.97850882e-01 6.54717104e-02 2.65948624e-03 1.49880465e+01] [-6.55228956e-02 9.97361638e-01 3.12492086e-02 3.84495105e-02] [-6.06530416e-04 -3.13563075e-02 9.99508086e-01 -2.29813947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.39719347 meters Centerline goodness : 0.893140 Centerline is valid? [False, False] Translation: X:14.99, Y:0.04, Z:-2.30 [[ 9.97760226e-01 6.68809761e-02 1.21079890e-03 1.49927298e+01] [-6.68848871e-02 9.97228893e-01 3.25721784e-02 3.76722580e-02] [ 9.71015436e-04 -3.25802083e-02 9.99468652e-01 -2.30060776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42719347 meters Centerline goodness : 0.895259 Centerline is valid? [False, False] Translation: X:14.99, Y:0.04, Z:-2.30 [[ 9.97737421e-01 6.72299319e-02 4.18114558e-04 1.49946638e+01] [-6.72071119e-02 9.97193609e-01 3.29865301e-02 3.60082666e-02] [ 1.80074101e-03 -3.29399957e-02 9.99455709e-01 -2.30137893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.45719347 meters Centerline goodness : 0.893782 Centerline is valid? [False, False] Translation: X:15.02, Y:0.03, Z:-2.30 [[ 9.97593045e-01 6.93405746e-02 1.89672856e-05 1.50163074e+01] [-6.92909922e-02 9.96869294e-01 3.80837193e-02 3.01984326e-02] [ 2.62183907e-03 -3.79933677e-02 9.99274552e-01 -2.30340370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48719347 meters Centerline goodness : 0.894963 Centerline is valid? [False, False] Translation: X:15.02, Y:0.03, Z:-2.30 [[ 9.97502638e-01 7.05601453e-02 -3.12290570e-03 1.50229048e+01] [-7.03933809e-02 9.96809874e-01 3.76144560e-02 2.71589118e-02] [ 5.76702471e-03 -3.73006872e-02 9.99287446e-01 -2.30398423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.51719347 meters Centerline goodness : 0.891861 Centerline is valid? [False, False] Translation: X:15.02, Y:0.02, Z:-2.30 [[ 9.97452504e-01 7.12493522e-02 -3.46867452e-03 1.50239519e+01] [-7.10633188e-02 9.96725839e-01 3.85695056e-02 2.46421310e-02] [ 6.20536981e-03 -3.82247544e-02 9.99249899e-01 -2.30440207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54719347 meters Centerline goodness : 0.894405 Centerline is valid? [False, False] Translation: X:15.04, Y:0.02, Z:-2.30 [[ 9.97399870e-01 7.20397719e-02 -1.94157330e-03 1.50436975e+01] [-7.19011068e-02 9.96578574e-01 4.07599859e-02 2.05127922e-02] [ 4.87127044e-03 -4.05144034e-02 9.99167080e-01 -2.30493556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.57719347 meters Centerline goodness : 0.892554 Centerline is valid? [False, False] Translation: X:15.07, Y:0.01, Z:-2.30 [[ 9.97528148e-01 7.02496033e-02 -1.60863916e-03 1.50709254e+01] [-7.00697198e-02 9.96171056e-01 5.22825157e-02 1.04748788e-02] [ 5.27530576e-03 -5.20405641e-02 9.98631038e-01 -2.30407909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.60719347 meters Centerline goodness : 0.892848 Centerline is valid? [False, False] Translation: X:15.09, Y:0.01, Z:-2.30 [[ 9.97717235e-01 6.75273549e-02 6.13436593e-04 1.50894757e+01] [-6.74715233e-02 9.96431654e-01 5.07104820e-02 5.73139491e-03] [ 2.81309708e-03 -5.06361114e-02 9.98713207e-01 -2.30432401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.63719347 meters Centerline goodness : 0.891507 Centerline is valid? [False, False] Translation: X:15.11, Y:-0.00, Z:-2.30 [[ 9.98092666e-01 6.16735066e-02 2.72176024e-03 1.51052486e+01] [-6.17216969e-02 9.96067524e-01 6.35603595e-02 -1.29182405e-03] [ 1.20893326e-03 -6.36071204e-02 9.97974285e-01 -2.30164645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.66719347 meters Centerline goodness : 0.891780 Centerline is valid? [False, False] Translation: X:15.11, Y:-0.01, Z:-2.30 [[ 9.98339076e-01 5.76073862e-02 6.90975474e-04 1.51089759e+01] [-5.75463323e-02 9.96567115e-01 5.95181025e-02 -6.43023953e-03] [ 2.74007888e-03 -5.94590106e-02 9.98226987e-01 -2.30202028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.69719347 meters Centerline goodness : 0.890240 Centerline is valid? [False, False] Translation: X:15.12, Y:-0.02, Z:-2.30 [[ 9.98657517e-01 5.16816053e-02 -3.48930159e-03 1.51160723e+01] [-5.14281157e-02 9.97299311e-01 5.24331330e-02 -1.71239239e-02] [ 6.18970655e-03 -5.21832942e-02 9.98618341e-01 -2.30064020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.72719347 meters Centerline goodness : 0.890901 Centerline is valid? [False, False] Translation: X:15.12, Y:-0.02, Z:-2.30 [[ 9.99002575e-01 4.44806315e-02 -3.91505229e-03 1.51162529e+01] [-4.42583090e-02 9.97993903e-01 4.52699903e-02 -1.86357296e-02] [ 5.92083608e-03 -4.50515633e-02 9.98967117e-01 -2.30055866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.75719347 meters Centerline goodness : 0.891881 Centerline is valid? [False, False] Translation: X:15.12, Y:-0.02, Z:-2.30 [[ 9.99301429e-01 3.71090255e-02 -4.42420769e-03 1.51167123e+01] [-3.69149878e-02 9.98598316e-01 3.79300222e-02 -1.94217161e-02] [ 5.82555251e-03 -3.77402058e-02 9.99270604e-01 -2.30056629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.78719347 meters Centerline goodness : 0.891687 Centerline is valid? [False, False] Translation: X:15.12, Y:-0.02, Z:-2.30 [[ 9.99548371e-01 2.96427292e-02 -4.93584539e-03 1.51175555e+01] [-2.94790455e-02 9.99101141e-01 3.04613839e-02 -1.99094070e-02] [ 5.83436732e-03 -3.03021227e-02 9.99523757e-01 -2.30094809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.81719347 meters Centerline goodness : 0.924894 Centerline is valid? [False, False] Translation: X:15.12, Y:-0.03, Z:-2.30 [[ 9.99806491e-01 1.88682530e-02 -5.56509445e-03 1.51179168e+01] [-1.87492642e-02 9.99609706e-01 2.07099361e-02 -2.53873797e-02] [ 5.95368274e-03 -2.06015871e-02 9.99770038e-01 -2.30056981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.84719347 meters Centerline goodness : 0.888994 Centerline is valid? [False, False] Translation: X:15.12, Y:-0.03, Z:-2.30 [[ 9.99916460e-01 1.15346247e-02 -5.83313775e-03 1.51178801e+01] [-1.14551640e-02 9.99843563e-01 1.34770035e-02 -2.75268673e-02] [ 5.98767741e-03 -1.34090580e-02 9.99892167e-01 -2.29998647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.87719347 meters Centerline goodness : 0.888994 Centerline is valid? [False, False] Translation: X:15.12, Y:-0.03, Z:-2.30 [[ 9.99916460e-01 1.15346247e-02 -5.83313775e-03 1.51178801e+01] [-1.14551640e-02 9.99843563e-01 1.34770035e-02 -2.75268673e-02] [ 5.98767741e-03 -1.34090580e-02 9.99892167e-01 -2.29998647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.90719347 meters Centerline goodness : 0.890424 Centerline is valid? [False, False] Translation: X:15.12, Y:-0.03, Z:-2.30 [[ 9.99952093e-01 7.82545012e-03 -5.88004775e-03 1.51174440e+01] [-7.76210450e-03 9.99912416e-01 1.07196565e-02 -3.18253975e-02] [ 5.96341888e-03 -1.06735014e-02 9.99925254e-01 -2.29932517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.93719347 meters Centerline goodness : 0.889321 Centerline is valid? [False, False] Translation: X:15.12, Y:-0.04, Z:-2.30 [[ 9.99982368e-01 1.19143119e-03 -5.81749285e-03 1.51160496e+01] [-1.16542169e-03 9.99989320e-01 4.47225796e-03 -3.54152948e-02] [ 5.82275911e-03 -4.46539927e-03 9.99973077e-01 -2.29745504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.96719347 meters Centerline goodness : 0.892560 Centerline is valid? [False, False] Translation: X:15.13, Y:-0.03, Z:-2.30 [[ 9.99998859e-01 1.51031368e-03 2.48630403e-05 1.51270353e+01] [-1.51018390e-03 9.99988360e-01 -4.58238756e-03 -3.38287210e-02] [-3.17835935e-05 4.58234478e-03 9.99989500e-01 -2.30101433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.99719346999998 meters Centerline goodness : 0.891879 Centerline is valid? [False, False] Translation: X:15.15, Y:-0.03, Z:-2.30 [[ 9.99995985e-01 8.36618484e-04 2.70723368e-03 1.51456757e+01] [-8.19987151e-04 9.99980823e-01 -6.13858352e-03 -3.38599749e-02] [-2.71231742e-03 6.13633898e-03 9.99977494e-01 -2.30080581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02719347 meters Centerline goodness : 0.890825 Centerline is valid? [False, False] Translation: X:15.15, Y:-0.03, Z:-2.30 [[ 9.99996845e-01 5.56520063e-04 2.44949853e-03 1.51459414e+01] [-5.41772267e-04 9.99981749e-01 -6.01729223e-03 -3.49152072e-02] [-2.45280257e-03 6.01594618e-03 9.99978896e-01 -2.30035107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.05719347 meters Centerline goodness : 0.889905 Centerline is valid? [False, False] Translation: X:15.15, Y:-0.04, Z:-2.30 [[ 9.99992214e-01 -3.24974557e-03 2.23869098e-03 1.51459256e+01] [ 3.27020170e-03 9.99952375e-01 -9.19530317e-03 -3.78005459e-02] [-2.20870197e-03 9.20255254e-03 9.99955216e-01 -2.29953027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08719347 meters Centerline goodness : 0.890359 Centerline is valid? [False, False] Translation: X:15.15, Y:-0.04, Z:-2.30 [[ 9.99972772e-01 -7.09936670e-03 2.01337542e-03 1.51467950e+01] [ 7.12438790e-03 9.99893904e-01 -1.27052451e-02 -3.93144668e-02] [-1.92296262e-03 1.27192432e-02 9.99917258e-01 -2.29996914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.11719347 meters Centerline goodness : 0.888265 Centerline is valid? [False, False] Translation: X:15.15, Y:-0.04, Z:-2.30 [[ 9.99935431e-01 -1.12361980e-02 1.69746974e-03 1.51479480e+01] [ 1.12626903e-02 9.99800439e-01 -1.64995065e-02 -4.03135046e-02] [-1.51173927e-03 1.65175592e-02 9.99862433e-01 -2.30051635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14719347 meters Centerline goodness : 0.889116 Centerline is valid? [False, False] Translation: X:15.15, Y:-0.04, Z:-2.30 [[ 9.99887495e-01 -1.49679452e-02 9.79059421e-04 1.51521691e+01] [ 1.49841822e-02 9.99697953e-01 -1.94801881e-02 -4.02271791e-02] [-6.87185311e-04 1.94926669e-02 9.99809764e-01 -2.30400620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.17719347 meters Centerline goodness : 0.886893 Centerline is valid? [False, False] Translation: X:15.16, Y:-0.04, Z:-2.31 [[ 9.99911452e-01 -1.33050997e-02 2.51296842e-04 1.51553796e+01] [ 1.33074546e-02 9.99762887e-01 -1.72360258e-02 -3.94008091e-02] [-2.19102142e-05 1.72378437e-02 9.99851417e-01 -2.30621184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.20719347 meters Centerline goodness : 0.909398 Centerline is valid? [False, False] Translation: X:15.16, Y:-0.04, Z:-2.31 [[ 9.99925072e-01 -1.22303679e-02 -5.18551634e-04 1.51587072e+01] [ 1.22204636e-02 9.99796318e-01 -1.60618593e-02 -3.74682819e-02] [ 7.14888464e-04 1.60543189e-02 9.99870866e-01 -2.30836207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.23719347 meters Centerline goodness : 0.904948 Centerline is valid? [False, False] Translation: X:15.16, Y:-0.04, Z:-2.31 [[ 9.99937498e-01 -1.10962260e-02 -1.36853291e-03 1.51617226e+01] [ 1.10743451e-02 9.99825027e-01 -1.50756421e-02 -3.60868383e-02] [ 1.53557618e-03 1.50595443e-02 9.99885420e-01 -2.30992631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26719347 meters Centerline goodness : 0.883923 Centerline is valid? [False, False] Translation: X:15.17, Y:-0.03, Z:-2.31 [[ 9.99961659e-01 -8.04453709e-03 3.45932311e-03 1.51741446e+01] [ 8.11767923e-03 9.99732079e-01 -2.16765500e-02 -3.37977128e-02] [-3.28401847e-03 2.17038005e-02 9.99759051e-01 -2.31432009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.29719347 meters Centerline goodness : 0.870195 Centerline is valid? [False, False] Translation: X:15.17, Y:-0.03, Z:-2.31 [[ 9.99982843e-01 -4.87124005e-03 3.25339944e-03 1.51746466e+01] [ 4.93232472e-03 9.99806571e-01 -1.90392499e-02 -3.01769282e-02] [-3.16002538e-03 1.90549701e-02 9.99813444e-01 -2.31413703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.32719347 meters Centerline goodness : 0.881360 Centerline is valid? [False, False] Translation: X:15.19, Y:-0.03, Z:-2.31 [[ 9.99968914e-01 -3.98194401e-03 6.80547216e-03 1.51923798e+01] [ 4.11694406e-03 9.99792713e-01 -1.99394656e-02 -2.60375445e-02] [-6.72466364e-03 1.99668635e-02 9.99778027e-01 -2.31418175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.35719347 meters Centerline goodness : 0.878217 Centerline is valid? [False, False] Translation: X:15.21, Y:-0.02, Z:-2.31 [[ 9.99946939e-01 -1.82936546e-03 1.01377116e-02 1.52106524e+01] [ 2.03010085e-03 9.99801383e-01 -1.98260740e-02 -2.18877468e-02] [-1.00994290e-02 1.98456026e-02 9.99752046e-01 -2.31452709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.38719347 meters Centerline goodness : 0.880266 Centerline is valid? [False, False] Translation: X:15.23, Y:-0.02, Z:-2.32 [[ 9.99924349e-01 -1.62364759e-04 1.22991957e-02 1.52304830e+01] [ 4.25622416e-04 9.99770799e-01 -2.14048690e-02 -1.66304561e-02] [-1.22929013e-02 2.14084845e-02 9.99695234e-01 -2.31600155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.41719347 meters Centerline goodness : 0.878750 Centerline is valid? [False, False] Translation: X:15.26, Y:-0.01, Z:-2.32 [[ 9.99939262e-01 5.12392609e-03 9.75800402e-03 1.52591056e+01] [-4.87162650e-03 9.99657670e-01 -2.57062213e-02 -1.21410765e-02] [-9.88638034e-03 2.56571226e-02 9.99621914e-01 -2.31537868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.44719347 meters Centerline goodness : 0.876673 Centerline is valid? [False, False] Translation: X:15.26, Y:-0.00, Z:-2.31 [[ 9.99830483e-01 1.54799211e-02 9.96883580e-03 1.52587381e+01] [-1.53085639e-02 9.99737573e-01 -1.70421021e-02 -2.90893400e-03] [-1.02300301e-02 1.68866046e-02 9.99805076e-01 -2.31465002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.47719347 meters Centerline goodness : 0.876121 Centerline is valid? [False, False] Translation: X:15.24, Y:0.00, Z:-2.31 [[ 9.99812935e-01 1.65722773e-02 9.97266288e-03 1.52398508e+01] [-1.65609434e-02 9.99862116e-01 -1.21801500e-03 2.10448385e-03] [-9.99147309e-03 1.05263044e-03 9.99949530e-01 -2.31359811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.50719347 meters Centerline goodness : 0.873945 Centerline is valid? [False, False] Translation: X:15.24, Y:0.01, Z:-2.31 [[ 9.99741849e-01 2.04532989e-02 9.89433977e-03 1.52404966e+01] [-2.04702814e-02 9.99789152e-01 1.61815350e-03 6.75913633e-03] [-9.85915699e-03 -1.82027569e-03 9.99949741e-01 -2.31386017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.53719347 meters Centerline goodness : 0.872732 Centerline is valid? [False, False] Translation: X:15.24, Y:0.01, Z:-2.31 [[ 9.99651420e-01 2.44187922e-02 1.00379510e-02 1.52407030e+01] [-2.44563875e-02 9.99694272e-01 3.63976503e-03 1.40214921e-02] [-9.94600345e-03 -3.88398830e-03 9.99942994e-01 -2.31397568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.56719347 meters Centerline goodness : 0.873688 Centerline is valid? [False, False] Translation: X:15.23, Y:0.02, Z:-2.32 [[ 9.99601036e-01 2.52624089e-02 1.26324795e-02 1.52317803e+01] [-2.54176336e-02 9.99601469e-01 1.22819790e-02 1.63033369e-02] [-1.23171727e-02 -1.25981667e-02 9.99844775e-01 -2.31555475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.59719347 meters Centerline goodness : 0.872254 Centerline is valid? [False, False] Translation: X:15.23, Y:0.02, Z:-2.32 [[ 9.99514840e-01 2.84799846e-02 1.26085709e-02 1.52323195e+01] [-2.86744226e-02 9.99468333e-01 1.55186642e-02 1.74789560e-02] [-1.21598960e-02 -1.58726787e-02 9.99800078e-01 -2.31586617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.62719347 meters Centerline goodness : 0.873059 Centerline is valid? [False, False] Translation: X:15.23, Y:0.02, Z:-2.32 [[ 9.99442568e-01 3.09564764e-02 1.25000292e-02 1.52330954e+01] [-3.11818422e-02 9.99346995e-01 1.82558520e-02 1.90212197e-02] [-1.19267298e-02 -1.86354495e-02 9.99755207e-01 -2.31631954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.65719347 meters Centerline goodness : 0.870901 Centerline is valid? [False, False] Translation: X:15.21, Y:0.02, Z:-2.32 [[ 9.99554487e-01 2.62137910e-02 1.42711312e-02 1.52122100e+01] [-2.66411012e-02 9.99175859e-01 3.06244177e-02 2.13984377e-02] [-1.34565876e-02 -3.09909727e-02 9.99429077e-01 -2.31598995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.68719347 meters Centerline goodness : 0.871451 Centerline is valid? [False, False] Translation: X:15.21, Y:0.02, Z:-2.32 [[ 0.99952777 0.02526289 0.01749338 15.2069052 ] [-0.02581413 0.99915326 0.03203751 0.02120757] [-0.0166692 -0.03247396 0.99933357 -2.31708463] [ 0. 0. 0. 1. ]] SLAMing on 163.71719347 meters Centerline goodness : 0.870545 Centerline is valid? [False, False] Translation: X:15.21, Y:0.02, Z:-2.32 [[ 0.99953532 0.02495389 0.01750546 15.20705328] [-0.02550591 0.99916066 0.03205353 0.0204085 ] [-0.01669091 -0.03248513 0.99933284 -2.3171384 ] [ 0. 0. 0. 1. ]] SLAMing on 163.74719346999998 meters Centerline goodness : 0.870668 Centerline is valid? [False, False] Translation: X:15.20, Y:0.02, Z:-2.32 [[ 0.99954273 0.02286975 0.01978155 15.19905928] [-0.02362692 0.99896259 0.03892946 0.01867697] [-0.01887072 -0.03937903 0.99904614 -2.31988788] [ 0. 0. 0. 1. ]] SLAMing on 163.77719347 meters Centerline goodness : 0.870146 Centerline is valid? [False, False] Translation: X:15.18, Y:0.02, Z:-2.32 [[ 9.99602340e-01 2.35977005e-02 1.54373017e-02 1.51845442e+01] [-2.41549019e-02 9.99024656e-01 3.69631790e-02 1.94431139e-02] [-1.45499990e-02 -3.73213667e-02 9.99197384e-01 -2.32192264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80719347 meters Centerline goodness : 0.870028 Centerline is valid? [False, False] Translation: X:15.19, Y:0.02, Z:-2.32 [[ 9.99593913e-01 2.40985341e-02 1.52075717e-02 1.51855548e+01] [-2.46495939e-02 9.99005510e-01 3.71535767e-02 1.99248701e-02] [-1.42971012e-02 -3.75133495e-02 9.99193846e-01 -2.32257470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.83719347 meters Centerline goodness : 0.868221 Centerline is valid? [False, False] Translation: X:15.16, Y:0.02, Z:-2.32 [[ 0.99950777 0.02678463 0.01633419 15.16389497] [-0.02742455 0.99881121 0.04029971 0.01933011] [-0.01523536 -0.04072784 0.99905412 -2.32129099] [ 0. 0. 0. 1. ]] SLAMing on 163.86719347 meters Centerline goodness : 0.867000 Centerline is valid? [False, False] Translation: X:15.14, Y:0.02, Z:-2.32 [[ 0.99950433 0.02642645 0.01710976 15.13901655] [-0.02736382 0.99799388 0.05709141 0.01668398] [-0.01556671 -0.0575313 0.99822233 -2.31746701] [ 0. 0. 0. 1. ]] SLAMing on 163.89719347 meters Centerline goodness : 0.868568 Centerline is valid? [False, False] Translation: X:15.14, Y:0.02, Z:-2.32 [[ 0.99951149 0.02625414 0.01695585 15.13959836] [-0.0271752 0.99802747 0.05659215 0.01737051] [-0.01543663 -0.05702529 0.99825339 -2.31764216] [ 0. 0. 0. 1. ]] SLAMing on 163.92719347 meters Centerline goodness : 0.867227 Centerline is valid? [False, False] Translation: X:15.14, Y:0.02, Z:-2.32 [[ 9.99484709e-01 2.75546154e-02 1.64638740e-02 1.51416593e+01] [-2.84666661e-02 9.97910451e-01 5.80032863e-02 1.60370913e-02] [-1.48312136e-02 -5.84420694e-02 9.98180625e-01 -2.31890950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.95719347 meters Centerline goodness : 0.869266 Centerline is valid? [False, False] Translation: X:15.14, Y:0.01, Z:-2.32 [[ 9.99471261e-01 2.82265544e-02 1.61387906e-02 1.51426789e+01] [-2.91268224e-02 9.97858009e-01 5.85749312e-02 1.49549087e-02] [-1.44508529e-02 -5.90140320e-02 9.98152552e-01 -2.31943231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98719347 meters Centerline goodness : 0.867687 Centerline is valid? [False, False] Translation: X:15.14, Y:0.01, Z:-2.32 [[ 9.99461775e-01 2.85401514e-02 1.61746709e-02 1.51430034e+01] [-2.94429877e-02 9.97844854e-01 5.86409181e-02 1.38840571e-02] [-1.44661914e-02 -5.90855867e-02 9.98148097e-01 -2.31966537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.01719347 meters Centerline goodness : 0.869858 Centerline is valid? [False, False] Translation: X:15.14, Y:0.01, Z:-2.32 [[ 9.99431143e-01 2.94167816e-02 1.64937471e-02 1.51431183e+01] [-3.03632756e-02 9.97711125e-01 6.04200512e-02 9.87452736e-03] [-1.46786315e-02 -6.08864850e-02 9.98036760e-01 -2.31960752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04719347 meters Centerline goodness : 0.868983 Centerline is valid? [False, False] Translation: X:15.14, Y:0.01, Z:-2.32 [[ 9.99514514e-01 2.67094864e-02 1.60418329e-02 1.51442564e+01] [-2.75832899e-02 9.97994515e-01 5.69746464e-02 1.03983436e-02] [-1.44878977e-02 -5.73894725e-02 9.98246738e-01 -2.32002663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.07719347 meters Centerline goodness : 0.869697 Centerline is valid? [False, False] Translation: X:15.15, Y:0.01, Z:-2.32 [[ 9.99495931e-01 2.61315283e-02 1.80284955e-02 1.51524862e+01] [-2.73053014e-02 9.97293412e-01 6.82661826e-02 6.08490502e-03] [-1.61958001e-02 -6.87240453e-02 9.97504236e-01 -2.31923806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.10719347 meters Centerline goodness : 0.867240 Centerline is valid? [False, False] Translation: X:15.15, Y:0.00, Z:-2.32 [[ 9.99479793e-01 2.68730885e-02 1.78320011e-02 1.51533651e+01] [-2.80552308e-02 9.97170710e-01 6.97386444e-02 2.58876934e-03] [-1.59074564e-02 -7.02026468e-02 9.97405906e-01 -2.31930899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.13719347 meters Centerline goodness : 0.868250 Centerline is valid? [False, False] Translation: X:15.17, Y:-0.02, Z:-2.30 [[ 9.99610068e-01 2.46249200e-02 1.31652891e-02 1.51679223e+01] [-2.60819133e-02 9.91779427e-01 1.25272909e-01 -2.27377304e-02] [-9.97222749e-03 -1.25567437e-01 9.92034966e-01 -2.30409457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.16719347 meters Centerline goodness : 0.867050 Centerline is valid? [False, False] Translation: X:15.17, Y:-0.03, Z:-2.30 [[ 9.99673461e-01 2.19857127e-02 1.30230701e-02 1.51689541e+01] [-2.34298149e-02 9.92037712e-01 1.23742559e-01 -2.50104743e-02] [-1.01988083e-02 -1.24007281e-01 9.92228894e-01 -2.30343060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.19719347 meters Centerline goodness : 0.867636 Centerline is valid? [False, False] Translation: X:15.17, Y:-0.03, Z:-2.30 [[ 9.99752226e-01 1.84686338e-02 1.24256087e-02 1.51707914e+01] [-1.98323058e-02 9.92518706e-01 1.20471152e-01 -2.65601474e-02] [-1.01077115e-02 -1.20687731e-01 9.92639061e-01 -2.30411281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.22719347 meters Centerline goodness : 0.864296 Centerline is valid? [False, False] Translation: X:15.17, Y:-0.03, Z:-2.30 [[ 9.99829698e-01 1.47166618e-02 1.11352977e-02 1.51725522e+01] [-1.59314950e-02 9.92849617e-01 1.18303953e-01 -2.86051764e-02] [-9.31463676e-03 -1.18461207e-01 9.92914991e-01 -2.30236325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.25719347 meters Centerline goodness : 0.867354 Centerline is valid? [False, False] Translation: X:15.18, Y:-0.04, Z:-2.30 [[ 9.99937938e-01 7.29656081e-03 8.41908140e-03 1.51823275e+01] [-8.12955736e-03 9.94588809e-01 1.03571288e-01 -3.59214811e-02] [-7.61780994e-03 -1.03633303e-01 9.94586400e-01 -2.29983641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.28719347 meters Centerline goodness : 0.867112 Centerline is valid? [False, False] Translation: X:15.18, Y:-0.04, Z:-2.30 [[ 9.99938541e-01 4.85493465e-03 9.96712043e-03 1.51827970e+01] [-5.69713678e-03 9.96253982e-01 8.62875757e-02 -3.75606254e-02] [-9.51086288e-03 -8.63390566e-02 9.96220413e-01 -2.29975017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.31719347 meters Centerline goodness : 0.867905 Centerline is valid? [False, False] Translation: X:15.18, Y:-0.04, Z:-2.30 [[ 9.99914463e-01 -1.03943966e-03 1.30378666e-02 1.51772169e+01] [ 7.22723417e-05 9.97260946e-01 7.39635133e-02 -3.96354831e-02] [-1.30790358e-02 -7.39562444e-02 9.97175718e-01 -2.30331607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.34719347 meters Centerline goodness : 0.868148 Centerline is valid? [False, False] Translation: X:15.19, Y:-0.05, Z:-2.30 [[ 9.99889589e-01 -1.11765649e-02 9.79257670e-03 1.51851573e+01] [ 1.05406259e-02 9.97973790e-01 6.27471960e-02 -4.55330837e-02] [-1.04740330e-02 -6.26370481e-02 9.97981410e-01 -2.30473530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.37719347 meters Centerline goodness : 0.866598 Centerline is valid? [False, False] Translation: X:15.19, Y:-0.05, Z:-2.31 [[ 9.99831552e-01 -1.61661410e-02 8.69043718e-03 1.51894886e+01] [ 1.56337555e-02 9.98183405e-01 5.81848388e-02 -4.69552980e-02] [-9.61527448e-03 -5.80391735e-02 9.98268001e-01 -2.30755332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.40719347 meters Centerline goodness : 0.868112 Centerline is valid? [False, False] Translation: X:15.20, Y:-0.05, Z:-2.31 [[ 9.99812254e-01 -1.89943281e-02 3.83054837e-03 1.52004197e+01] [ 1.87781880e-02 9.98561898e-01 5.02147012e-02 -4.73711925e-02] [-4.77883416e-03 -5.01333428e-02 9.98731100e-01 -2.30736480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.43719347 meters Centerline goodness : 0.869608 Centerline is valid? [False, False] Translation: X:15.21, Y:-0.05, Z:-2.31 [[ 9.99742487e-01 -2.17277444e-02 6.54715274e-03 1.52117780e+01] [ 2.14712924e-02 9.99085346e-01 3.69791069e-02 -4.59337180e-02] [-7.34463694e-03 -3.68290085e-02 9.99294591e-01 -2.30998440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.46719347 meters Centerline goodness : 0.867748 Centerline is valid? [False, False] Translation: X:15.22, Y:-0.04, Z:-2.31 [[ 9.99575981e-01 -2.71746987e-02 1.04591218e-02 1.52226692e+01] [ 2.69526133e-02 9.99419893e-01 2.08191011e-02 -4.32716161e-02] [-1.10188072e-02 -2.05283728e-02 9.99728549e-01 -2.31265063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.49719346999998 meters Centerline goodness : 0.867584 Centerline is valid? [False, False] Translation: X:15.22, Y:-0.04, Z:-2.31 [[ 9.99460611e-01 -3.12094089e-02 1.02206020e-02 1.52237272e+01] [ 3.10406647e-02 9.99385654e-01 1.62724187e-02 -4.10146719e-02] [-1.07221756e-02 -1.59463873e-02 9.99815357e-01 -2.31318405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52719347 meters Centerline goodness : 0.867200 Centerline is valid? [False, False] Translation: X:15.22, Y:-0.04, Z:-2.31 [[ 9.99332139e-01 -3.51441705e-02 1.00081150e-02 1.52246608e+01] [ 3.50262407e-02 9.99317616e-01 1.17245442e-02 -3.86736552e-02] [-1.04133350e-02 -1.13661672e-02 9.99881179e-01 -2.31361869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.55719347 meters Centerline goodness : 0.868308 Centerline is valid? [False, False] Translation: X:15.24, Y:-0.04, Z:-2.32 [[ 9.99251784e-01 -3.58844280e-02 1.44284329e-02 1.52370839e+01] [ 3.58771698e-02 9.99355917e-01 7.61654325e-04 -3.55743882e-02] [-1.44464713e-02 -2.43433105e-04 9.99895615e-01 -2.31775896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58719347 meters Centerline goodness : 0.867432 Centerline is valid? [False, False] Translation: X:15.25, Y:-0.03, Z:-2.32 [[ 9.99181125e-01 -3.49621112e-02 2.03649088e-02 1.52474509e+01] [ 3.51384529e-02 9.99347433e-01 -8.36649458e-03 -3.06710427e-02] [-2.00591091e-02 9.07523486e-03 9.99757607e-01 -2.32148393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.61719347 meters Centerline goodness : 0.868207 Centerline is valid? [False, False] Translation: X:15.26, Y:-0.03, Z:-2.33 [[ 9.99127410e-01 -3.27450778e-02 2.59263898e-02 1.52615139e+01] [ 3.31047312e-02 9.99359809e-01 -1.35664747e-02 -2.60110652e-02] [-2.54655567e-02 1.44129229e-02 9.99571795e-01 -2.32587559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64719347 meters Centerline goodness : 0.869369 Centerline is valid? [False, False] Translation: X:15.26, Y:-0.02, Z:-2.33 [[ 9.99231765e-01 -2.96748342e-02 2.55985196e-02 1.52620972e+01] [ 2.99588949e-02 9.99492941e-01 -1.07854741e-02 -2.30568390e-02] [-2.52654825e-02 1.15440917e-02 9.99614120e-01 -2.32591574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.67719347 meters Centerline goodness : 0.867873 Centerline is valid? [False, False] Translation: X:15.29, Y:-0.02, Z:-2.32 [[ 0.9993902 -0.02527414 0.0240924 15.28846857] [ 0.02567288 0.99953607 -0.01638736 -0.01770827] [-0.02366705 0.01699588 0.99957542 -2.32432986] [ 0. 0. 0. 1. ]] SLAMing on 164.70719347 meters Centerline goodness : 0.871209 Centerline is valid? [False, False] Translation: X:15.29, Y:-0.02, Z:-2.32 [[ 9.99521986e-01 -1.92828720e-02 2.41654973e-02 1.52874213e+01] [ 1.95426771e-02 9.99753240e-01 -1.05614064e-02 -1.51078520e-02] [-2.39558800e-02 1.10286164e-02 9.99652182e-01 -2.32298108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.73719347 meters Centerline goodness : 0.867265 Centerline is valid? [False, False] Translation: X:15.29, Y:-0.01, Z:-2.32 [[ 9.99643913e-01 -1.24293616e-02 2.36126770e-02 1.52881620e+01] [ 1.25710852e-02 9.99903791e-01 -5.86307953e-03 -8.61594181e-03] [-2.35375309e-02 6.15782874e-03 9.99703989e-01 -2.32180377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76719347 meters Centerline goodness : 0.867265 Centerline is valid? [False, False] Translation: X:15.29, Y:-0.01, Z:-2.32 [[ 9.99643913e-01 -1.24293616e-02 2.36126770e-02 1.52881620e+01] [ 1.25710852e-02 9.99903791e-01 -5.86307953e-03 -8.61594181e-03] [-2.35375309e-02 6.15782874e-03 9.99703989e-01 -2.32180377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.79719347 meters Centerline goodness : 0.868986 Centerline is valid? [False, False] Translation: X:15.29, Y:-0.01, Z:-2.32 [[ 9.99691723e-01 -9.99085893e-03 2.27297491e-02 1.52912057e+01] [ 1.00870588e-02 9.99940630e-01 -4.12162021e-03 -6.06102378e-03] [-2.26872211e-02 4.34962592e-03 9.99733150e-01 -2.32360381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.82719347 meters Centerline goodness : 0.866557 Centerline is valid? [False, False] Translation: X:15.29, Y:-0.00, Z:-2.33 [[ 9.99737403e-01 -7.27590876e-03 2.17298353e-02 1.52945670e+01] [ 7.31994277e-03 9.99971312e-01 -1.94757811e-03 -3.44994434e-03] [-2.17150415e-02 2.10612783e-03 9.99761982e-01 -2.32568759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.85719347 meters Centerline goodness : 0.868706 Centerline is valid? [False, False] Translation: X:15.30, Y:0.00, Z:-2.33 [[ 9.99747543e-01 -6.85854468e-03 2.13964925e-02 1.52958299e+01] [ 6.92985354e-03 9.99970673e-01 -3.26037145e-03 1.09637182e-03] [-2.13735036e-02 3.40782291e-03 9.99765753e-01 -2.32609347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.88719347 meters Centerline goodness : 0.868027 Centerline is valid? [False, False] Translation: X:15.30, Y:0.01, Z:-2.33 [[ 9.99791093e-01 -9.44965853e-04 2.04175889e-02 1.52991876e+01] [ 9.11815500e-04 9.99998251e-01 1.63286590e-03 6.46185505e-03] [-2.04190962e-02 -1.61390771e-03 9.99790206e-01 -2.32804845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.91719347 meters Centerline goodness : 0.866504 Centerline is valid? [False, False] Translation: X:15.30, Y:0.01, Z:-2.32 [[ 9.99971745e-01 1.54553385e-03 7.35670977e-03 1.52986722e+01] [-1.54540902e-03 9.99998806e-01 -2.26531597e-05 9.93499603e-03] [-7.35673599e-03 1.12833940e-05 9.99972939e-01 -2.32360934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.94719347 meters Centerline goodness : 0.868437 Centerline is valid? [False, False] Translation: X:15.30, Y:0.01, Z:-2.33 [[ 9.99971119e-01 3.67354742e-03 6.65332679e-03 1.53015934e+01] [-3.68648100e-03 9.99991337e-01 1.93270805e-03 1.23833571e-02] [-6.64616926e-03 -1.95717959e-03 9.99975999e-01 -2.32564381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.97719347 meters Centerline goodness : 0.867380 Centerline is valid? [False, False] Translation: X:15.30, Y:0.02, Z:-2.33 [[ 9.99928102e-01 1.02338439e-02 6.24978985e-03 1.53032741e+01] [-1.02855403e-02 9.99912685e-01 8.29634545e-03 1.57656354e-02] [-6.16434065e-03 -8.36003143e-03 9.99946054e-01 -2.32668747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.00719347 meters Centerline goodness : 0.866797 Centerline is valid? [False, False] Translation: X:15.30, Y:0.02, Z:-2.33 [[ 9.99931280e-01 1.01541858e-02 5.85906969e-03 1.53044445e+01] [-1.01983518e-02 9.99919431e-01 7.55808174e-03 1.79419658e-02] [-5.78185146e-03 -7.61731520e-03 9.99954272e-01 -2.32729922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.03719347 meters Centerline goodness : 0.867542 Centerline is valid? [False, False] Translation: X:15.31, Y:0.02, Z:-2.33 [[ 9.99931055e-01 1.03239736e-02 5.59467839e-03 1.53050808e+01] [-1.03645002e-02 9.99919903e-01 7.26386833e-03 1.91440216e-02] [-5.51923829e-03 -7.32135357e-03 9.99957967e-01 -2.32749683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.06719347 meters Centerline goodness : 0.871203 Centerline is valid? [False, False] Translation: X:15.31, Y:0.02, Z:-2.33 [[ 9.99930454e-01 1.04823376e-02 5.40442943e-03 1.53056195e+01] [-1.05200071e-02 9.99920235e-01 6.98944845e-03 1.98078420e-02] [-5.33073259e-03 -7.04581700e-03 9.99960969e-01 -2.32777562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.09719347 meters Centerline goodness : 0.867091 Centerline is valid? [False, False] Translation: X:15.31, Y:0.02, Z:-2.33 [[ 9.99874267e-01 1.48295365e-02 5.61567271e-03 1.53051874e+01] [-1.48891403e-02 9.99831629e-01 1.07250880e-02 2.12018773e-02] [-5.45567911e-03 -1.08073520e-02 9.99926716e-01 -2.32725589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.12719347 meters Centerline goodness : 0.871666 Centerline is valid? [False, False] Translation: X:15.31, Y:0.02, Z:-2.33 [[ 9.99875264e-01 1.47939611e-02 5.53137859e-03 1.53054543e+01] [-1.48484692e-02 9.99840281e-01 9.94667777e-03 2.35487661e-02] [-5.38334435e-03 -1.00275696e-02 9.99935232e-01 -2.32749408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.15719347 meters Centerline goodness : 0.870324 Centerline is valid? [False, False] Translation: X:15.31, Y:0.02, Z:-2.33 [[ 9.99878532e-01 1.46483515e-02 5.32415954e-03 1.53059805e+01] [-1.46982915e-02 9.99847175e-01 9.46500140e-03 2.47203787e-02] [-5.18469921e-03 -9.54210776e-03 9.99941032e-01 -2.32773222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.18719347 meters Centerline goodness : 0.867555 Centerline is valid? [False, False] Translation: X:15.31, Y:0.02, Z:-2.33 [[ 9.99873830e-01 1.50987522e-02 4.93467530e-03 1.53075682e+01] [-1.51472410e-02 9.99835854e-01 9.94111123e-03 2.42676140e-02] [-4.78376692e-03 -1.00146037e-02 9.99938410e-01 -2.32877319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.21719347 meters Centerline goodness : 0.872717 Centerline is valid? [False, False] Translation: X:15.31, Y:0.02, Z:-2.33 [[ 9.99929054e-01 1.16395967e-02 2.53105823e-03 1.53092049e+01] [-1.16989560e-02 9.99622472e-01 2.48605878e-02 1.84387565e-02] [-2.24073547e-03 -2.48884347e-02 9.99687724e-01 -2.32892104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24719346999998 meters Centerline goodness : 0.870663 Centerline is valid? [False, False] Translation: X:15.30, Y:0.02, Z:-2.33 [[ 9.99936395e-01 1.03895595e-02 4.38894872e-03 1.53040614e+01] [-1.05282706e-02 9.99404450e-01 3.28618552e-02 1.54028012e-02] [-4.04491468e-03 -3.29059731e-02 9.99450267e-01 -2.33332090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.27719347 meters Centerline goodness : 0.870798 Centerline is valid? [False, False] Translation: X:15.31, Y:0.01, Z:-2.33 [[ 9.99936831e-01 1.05186392e-02 3.96123178e-03 1.53054685e+01] [-1.06446312e-02 9.99390185e-01 3.32558270e-02 1.44816982e-02] [-3.60901012e-03 -3.32958921e-02 9.99439022e-01 -2.33404736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30719347 meters Centerline goodness : 0.870294 Centerline is valid? [False, False] Translation: X:15.31, Y:0.01, Z:-2.33 [[ 9.99920360e-01 1.22301848e-02 3.11381616e-03 1.53080272e+01] [-1.23331864e-02 9.99291997e-01 3.55443022e-02 1.09713769e-02] [-2.67689819e-03 -3.55798748e-02 9.99363251e-01 -2.33479474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.33719347 meters Centerline goodness : 0.871394 Centerline is valid? [False, False] Translation: X:15.32, Y:0.01, Z:-2.34 [[ 9.99908287e-01 1.24542336e-02 5.32070210e-03 1.53176824e+01] [-1.26927562e-02 9.98793733e-01 4.74338866e-02 5.46728690e-03] [-4.72353120e-03 -4.74970707e-02 9.98860209e-01 -2.33513234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36719347 meters Centerline goodness : 0.872271 Centerline is valid? [False, False] Translation: X:15.32, Y:0.00, Z:-2.33 [[ 9.99938582e-01 9.92373469e-03 4.93478569e-03 1.53182251e+01] [-1.01336084e-02 9.98958047e-01 4.44986594e-02 3.41852467e-03] [-4.48805099e-03 -4.45459335e-02 9.98997256e-01 -2.33487228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.39719347 meters Centerline goodness : 0.873579 Centerline is valid? [False, False] Translation: X:15.33, Y:-0.00, Z:-2.33 [[ 9.99929340e-01 9.57180445e-03 7.04945698e-03 1.53343884e+01] [-9.99704656e-03 9.97964305e-01 6.29865540e-02 -4.36461908e-03] [-6.43221146e-03 -6.30525772e-02 9.97989478e-01 -2.33279866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42719347 meters Centerline goodness : 0.877069 Centerline is valid? [False, False] Translation: X:15.35, Y:-0.01, Z:-2.33 [[ 9.99885039e-01 1.07667028e-02 1.06764790e-02 1.53503048e+01] [-1.14658283e-02 9.97636965e-01 6.77423185e-02 -1.00842370e-02] [-9.92188872e-03 -6.78569454e-02 9.97645724e-01 -2.32876035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.45719347 meters Centerline goodness : 0.877569 Centerline is valid? [False, False] Translation: X:15.35, Y:-0.01, Z:-2.33 [[ 9.99889950e-01 1.06362758e-02 1.03420382e-02 1.53507766e+01] [-1.13217424e-02 9.97576446e-01 6.86516740e-02 -1.28165631e-02] [-9.58677559e-03 -6.87612088e-02 9.97587084e-01 -2.32791342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48719347 meters Centerline goodness : 0.877320 Centerline is valid? [False, False] Translation: X:15.36, Y:-0.01, Z:-2.33 [[ 9.99897337e-01 9.21195887e-03 1.09752077e-02 1.53590077e+01] [-9.81858736e-03 9.98350629e-01 5.65651644e-02 -1.47248476e-02] [-1.04360295e-02 -5.66671183e-02 9.98338583e-01 -2.32620615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.51719347 meters Centerline goodness : 0.878121 Centerline is valid? [False, False] Translation: X:15.35, Y:-0.02, Z:-2.33 [[ 9.99941387e-01 7.24622261e-03 8.04457902e-03 1.53525471e+01] [-7.58629827e-03 9.99042787e-01 4.30808352e-02 -1.65038438e-02] [-7.72470532e-03 -4.31393387e-02 9.99039202e-01 -2.32682993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54719347 meters Centerline goodness : 0.880781 Centerline is valid? [False, False] Translation: X:15.35, Y:-0.02, Z:-2.33 [[ 9.99991569e-01 3.38301165e-03 2.32731472e-03 1.53505304e+01] [-3.44263742e-03 9.99653102e-01 2.61117704e-02 -2.17895629e-02] [-2.23817095e-03 -2.61195624e-02 9.99656320e-01 -2.32705719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.57719347 meters Centerline goodness : 0.879655 Centerline is valid? [False, False] Translation: X:15.36, Y:-0.03, Z:-2.33 [[ 9.99993949e-01 2.49135015e-03 -2.42789357e-03 1.53598028e+01] [-2.43794062e-03 9.99760286e-01 2.17583974e-02 -2.51285967e-02] [ 2.48151936e-03 -2.17523467e-02 9.99760310e-01 -2.32608368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.60719347 meters Centerline goodness : 0.882553 Centerline is valid? [False, False] Translation: X:15.36, Y:-0.03, Z:-2.33 [[ 9.99989873e-01 9.42736705e-04 -4.40057674e-03 1.53638526e+01] [-8.52919921e-04 9.99792194e-01 2.03676746e-02 -3.19519238e-02] [ 4.41886362e-03 -2.03637150e-02 9.99782873e-01 -2.32644392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.63719347 meters Centerline goodness : 0.881897 Centerline is valid? [False, False] Translation: X:15.38, Y:-0.03, Z:-2.33 [[ 9.99977406e-01 4.01499551e-03 -5.39150146e-03 1.53808416e+01] [-3.97411029e-03 9.99963430e-01 7.57269346e-03 -3.33331201e-02] [ 5.42170862e-03 -7.55109594e-03 9.99956792e-01 -2.32524356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.66719347 meters Centerline goodness : 0.879358 Centerline is valid? [False, False] Translation: X:15.39, Y:-0.03, Z:-2.33 [[ 9.99987326e-01 4.88053053e-03 -1.23603071e-03 1.53913336e+01] [-4.88379401e-03 9.99984560e-01 -2.65118421e-03 -3.33973362e-02] [ 1.22307244e-03 2.65718713e-03 9.99995722e-01 -2.32842766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.69719347 meters Centerline goodness : 0.882417 Centerline is valid? [False, False] Translation: X:15.40, Y:-0.03, Z:-2.33 [[ 9.99980497e-01 5.86701285e-03 2.14096405e-03 1.54034527e+01] [-5.84082581e-03 9.99910466e-01 -1.20392751e-02 -3.39567030e-02] [-2.21140695e-03 1.20265353e-02 9.99925233e-01 -2.33212599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.72719347 meters Centerline goodness : 0.883139 Centerline is valid? [False, False] Translation: X:15.41, Y:-0.04, Z:-2.33 [[ 9.99988308e-01 4.63459603e-03 1.37986489e-03 1.54060978e+01] [-4.61684959e-03 9.99909986e-01 -1.25977864e-02 -4.02239797e-02] [-1.43812633e-03 1.25912685e-02 9.99919693e-01 -2.33377130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.75719347 meters Centerline goodness : 0.883010 Centerline is valid? [False, False] Translation: X:15.42, Y:-0.04, Z:-2.33 [[ 9.99987019e-01 2.17819549e-03 4.60623825e-03 1.54241465e+01] [-2.10010409e-03 9.99855134e-01 -1.68908143e-02 -4.20367037e-02] [-4.64236246e-03 1.68809214e-02 9.99846730e-01 -2.33411844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.78719347 meters Centerline goodness : 0.884274 Centerline is valid? [False, False] Translation: X:15.45, Y:-0.05, Z:-2.33 [[ 9.99982289e-01 4.11876844e-03 4.29610663e-03 1.54509191e+01] [-4.01442352e-03 9.99703407e-01 -2.40204503e-02 -4.63008280e-02] [-4.39376711e-03 2.40027785e-02 9.99702236e-01 -2.33190882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.81719347 meters Centerline goodness : 0.885025 Centerline is valid? [False, False] Translation: X:15.45, Y:-0.05, Z:-2.33 [[ 9.99983608e-01 4.15804873e-03 3.93620430e-03 1.54513177e+01] [-4.06769239e-03 9.99734242e-01 -2.26913979e-02 -5.17230392e-02] [-4.02951016e-03 2.26750147e-02 9.99734768e-01 -2.33146780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.84719347 meters Centerline goodness : 0.886884 Centerline is valid? [False, False] Translation: X:15.45, Y:-0.06, Z:-2.33 [[ 9.99992160e-01 1.23848183e-03 3.76105917e-03 1.54521631e+01] [-1.14962280e-03 9.99722305e-01 -2.35370184e-02 -6.17626482e-02] [-3.78916492e-03 2.35325101e-02 9.99715891e-01 -2.33212145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.87719347 meters Centerline goodness : 0.888193 Centerline is valid? [False, False] Translation: X:15.45, Y:-0.07, Z:-2.33 [[ 9.99992493e-01 -1.80651765e-03 3.42794574e-03 1.54536468e+01] [ 1.89391865e-03 9.99668753e-01 -2.56670292e-02 -6.62522095e-02] [-3.38044230e-03 2.56733287e-02 9.99664670e-01 -2.33321341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.90719347 meters Centerline goodness : 0.891747 Centerline is valid? [False, False] Translation: X:15.45, Y:-0.07, Z:-2.33 [[ 9.99980964e-01 -5.28502233e-03 3.18445894e-03 1.54546208e+01] [ 5.37323383e-03 9.99583332e-01 -2.83600203e-02 -6.98902755e-02] [-3.03324873e-03 2.83765913e-02 9.99592701e-01 -2.33389487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.93719347 meters Centerline goodness : 0.888110 Centerline is valid? [False, False] Translation: X:15.46, Y:-0.08, Z:-2.33 [[ 9.99931721e-01 -1.16795354e-02 3.76865981e-04 1.54600872e+01] [ 1.16855227e-02 9.99531227e-01 -2.82979692e-02 -7.88057196e-02] [-4.61821841e-05 2.83004409e-02 9.99599461e-01 -2.33169611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.96719347 meters Centerline goodness : 0.890305 Centerline is valid? [False, False] Translation: X:15.47, Y:-0.08, Z:-2.33 [[ 9.99864435e-01 -1.60115811e-02 3.83936516e-03 1.54707422e+01] [ 1.60899683e-02 9.99642835e-01 -2.13380977e-02 -8.44583852e-02] [-3.49633720e-03 2.13969802e-02 9.99764945e-01 -2.33366204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.99719346999998 meters Centerline goodness : 0.889482 Centerline is valid? [False, False] Translation: X:15.47, Y:-0.09, Z:-2.33 [[ 9.99793066e-01 -2.00424138e-02 3.48241694e-03 1.54721785e+01] [ 2.01224399e-02 9.99492200e-01 -2.47068845e-02 -8.69218137e-02] [-2.98546297e-03 2.47718465e-02 9.99688673e-01 -2.33442203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02719347 meters Centerline goodness : 0.891179 Centerline is valid? [False, False] Translation: X:15.47, Y:-0.09, Z:-2.34 [[ 9.99702590e-01 -2.41834517e-02 3.14503121e-03 1.54738063e+01] [ 2.42633438e-02 9.99299408e-01 -2.84953291e-02 -8.83546694e-02] [-2.45371241e-03 2.85631633e-02 9.99588978e-01 -2.33546804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.05719347 meters Centerline goodness : 0.890155 Centerline is valid? [False, False] Translation: X:15.48, Y:-0.09, Z:-2.34 [[ 9.99590589e-01 -2.85353173e-02 2.09530966e-03 1.54793392e+01] [ 2.85879025e-02 9.99075849e-01 -3.20964277e-02 -8.97943944e-02] [-1.17749153e-03 3.21431875e-02 9.99482581e-01 -2.33967138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08719347 meters Centerline goodness : 0.889858 Centerline is valid? [False, False] Translation: X:15.48, Y:-0.09, Z:-2.34 [[ 9.99572508e-01 -2.91969988e-02 1.52829777e-03 1.54813403e+01] [ 2.92312394e-02 9.99045209e-01 -3.24685247e-02 -8.96007449e-02] [-5.78855084e-04 3.24993188e-02 9.99471590e-01 -2.34086459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.11719347 meters Centerline goodness : 0.889082 Centerline is valid? [False, False] Translation: X:15.49, Y:-0.09, Z:-2.34 [[ 9.99507481e-01 -3.10020872e-02 4.86473350e-03 1.54914762e+01] [ 3.11088520e-02 9.99235751e-01 -2.36675663e-02 -9.08189000e-02] [-4.12727167e-03 2.38072458e-02 9.99708048e-01 -2.34258976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14719347 meters Centerline goodness : 0.889746 Centerline is valid? [False, False] Translation: X:15.49, Y:-0.09, Z:-2.34 [[ 9.99594472e-01 -2.81401686e-02 4.36154308e-03 1.54923307e+01] [ 2.82214856e-02 9.99404320e-01 -1.98633708e-02 -9.23374608e-02] [-3.79998639e-03 1.99784049e-02 9.99793190e-01 -2.34237275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.17719347 meters Centerline goodness : 0.886489 Centerline is valid? [False, False] Translation: X:15.51, Y:-0.09, Z:-2.34 [[ 9.99621232e-01 -2.62349125e-02 8.31394709e-03 1.55091075e+01] [ 2.64067829e-02 9.99424649e-01 -2.12850373e-02 -8.83669510e-02] [-7.75075256e-03 2.14965198e-02 9.99738879e-01 -2.34219338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.20719347 meters Centerline goodness : 0.886529 Centerline is valid? [False, False] Translation: X:15.51, Y:-0.09, Z:-2.34 [[ 9.99709565e-01 -2.27662064e-02 7.90473412e-03 1.55095083e+01] [ 2.29044160e-02 9.99578154e-01 -1.78578109e-02 -8.66072285e-02] [-7.49484494e-03 1.80336777e-02 9.99809289e-01 -2.34164475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.23719347 meters Centerline goodness : 0.885619 Centerline is valid? [False, False] Translation: X:15.51, Y:-0.08, Z:-2.34 [[ 9.99790588e-01 -1.90913957e-02 7.36871569e-03 1.55099503e+01] [ 1.91967563e-02 9.99710535e-01 -1.45027821e-02 -8.44201439e-02] [-7.08970436e-03 1.46412005e-02 9.99867677e-01 -2.34092441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26719347 meters Centerline goodness : 0.883729 Centerline is valid? [False, False] Translation: X:15.54, Y:-0.08, Z:-2.34 [[ 9.99939292e-01 -9.42119561e-03 5.71423834e-03 1.55386692e+01] [ 9.52713688e-03 9.99777777e-01 -1.88050458e-02 -7.77416949e-02] [-5.53580249e-03 1.88583445e-02 9.99806840e-01 -2.34023123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.29719347 meters Centerline goodness : 0.881368 Centerline is valid? [False, False] Translation: X:15.54, Y:-0.08, Z:-2.34 [[ 9.99968306e-01 -5.95686740e-03 5.28230175e-03 1.55399331e+01] [ 6.03944688e-03 9.99857602e-01 -1.57575828e-02 -7.54471691e-02] [-5.18768373e-03 1.57889856e-02 9.99861888e-01 -2.34079691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32719347 meters Centerline goodness : 0.878983 Centerline is valid? [False, False] Translation: X:15.56, Y:-0.07, Z:-2.34 [[ 9.99979742e-01 -2.26410445e-03 5.94887238e-03 1.55608541e+01] [ 2.35299245e-03 9.99885059e-01 -1.49777256e-02 -7.35556727e-02] [-5.91427747e-03 1.49914199e-02 9.99870131e-01 -2.34223723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.35719347 meters Centerline goodness : 0.878218 Centerline is valid? [False, False] Translation: X:15.58, Y:-0.07, Z:-2.34 [[ 9.99965397e-01 -6.36504018e-04 8.29455654e-03 1.55791834e+01] [ 7.79217153e-04 9.99851528e-01 -1.72137804e-02 -7.08518684e-02] [-8.28236839e-03 1.72196480e-02 9.99817426e-01 -2.34295263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38719347 meters Centerline goodness : 0.876822 Centerline is valid? [False, False] Translation: X:15.60, Y:-0.07, Z:-2.35 [[ 9.99956242e-01 1.26017303e-03 9.26965977e-03 1.56007990e+01] [-1.07327576e-03 9.99796600e-01 -2.01396726e-02 -6.60724768e-02] [-9.29315379e-03 2.01288425e-02 9.99754203e-01 -2.34627251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.41719347 meters Centerline goodness : 0.880156 Centerline is valid? [False, False] Translation: X:15.62, Y:-0.07, Z:-2.35 [[ 9.99957795e-01 3.01230985e-03 8.67956951e-03 1.56231810e+01] [-2.83902188e-03 9.99797772e-01 -1.99086620e-02 -6.52562667e-02] [-8.73778532e-03 1.98831802e-02 9.99764127e-01 -2.34812215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.44719347 meters Centerline goodness : 0.876877 Centerline is valid? [False, False] Translation: X:15.62, Y:-0.06, Z:-2.35 [[ 9.99961241e-01 2.87568030e-03 8.32150775e-03 1.56242248e+01] [-2.70789279e-03 9.99794215e-01 -2.01046125e-02 -6.43375035e-02] [-8.37760974e-03 2.00812996e-02 9.99763251e-01 -2.34855872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.47719347 meters Centerline goodness : 0.877349 Centerline is valid? [False, False] Translation: X:15.62, Y:-0.06, Z:-2.35 [[ 9.99963351e-01 2.81432133e-03 8.08560492e-03 1.56249770e+01] [-2.65055926e-03 9.99792580e-01 -2.01933508e-02 -6.38848782e-02] [-8.14075839e-03 2.01711794e-02 9.99763398e-01 -2.34883870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.50719347 meters Centerline goodness : 0.878422 Centerline is valid? [False, False] Translation: X:15.65, Y:-0.06, Z:-2.35 [[ 9.99955707e-01 3.56738205e-03 8.70962571e-03 1.56468899e+01] [-3.38243234e-03 9.99770417e-01 -2.11582590e-02 -6.42408610e-02] [-8.78310573e-03 2.11278621e-02 9.99738201e-01 -2.35064242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.53719347 meters Centerline goodness : 0.877421 Centerline is valid? [False, False] Translation: X:15.65, Y:-0.06, Z:-2.35 [[ 9.99960195e-01 3.12599526e-03 8.35686897e-03 1.56477296e+01] [-2.94708475e-03 9.99768017e-01 -2.13360574e-02 -6.44164038e-02] [-8.42162673e-03 2.13105798e-02 9.99737433e-01 -2.35073050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.56719347 meters Centerline goodness : 0.875922 Centerline is valid? [False, False] Translation: X:15.67, Y:-0.07, Z:-2.35 [[ 9.99967558e-01 2.71026940e-03 7.58528770e-03 1.56702236e+01] [-2.54142875e-03 9.99750746e-01 -2.21807738e-02 -6.53445497e-02] [-7.64351291e-03 2.21607768e-02 9.99725201e-01 -2.35224324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.59719347 meters Centerline goodness : 0.879166 Centerline is valid? [False, False] Translation: X:15.67, Y:-0.07, Z:-2.35 [[ 9.99976707e-01 8.49249222e-04 6.77229988e-03 1.56731839e+01] [-6.90172712e-04 9.99724605e-01 -2.34571283e-02 -6.57315429e-02] [-6.79035577e-03 2.34519079e-02 9.99701905e-01 -2.35404072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.62719347 meters Centerline goodness : 0.877200 Centerline is valid? [False, False] Translation: X:15.68, Y:-0.07, Z:-2.36 [[ 9.99981573e-01 -1.07169442e-03 5.97538908e-03 1.56760806e+01] [ 1.21898227e-03 9.99694161e-01 -2.47001754e-02 -6.63146187e-02] [-5.94709053e-03 2.47070041e-02 9.99677046e-01 -2.35574193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.65719347 meters Centerline goodness : 0.878022 Centerline is valid? [False, False] Translation: X:15.69, Y:-0.07, Z:-2.35 [[ 9.99953222e-01 -9.07098230e-03 3.35719725e-03 1.56904625e+01] [ 9.13183917e-03 9.99785690e-01 -1.85791002e-02 -6.88044207e-02] [-3.18794708e-03 1.86088885e-02 9.99821757e-01 -2.35253911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.68719347 meters Centerline goodness : 0.878022 Centerline is valid? [False, False] Translation: X:15.69, Y:-0.07, Z:-2.35 [[ 9.99953222e-01 -9.07098230e-03 3.35719725e-03 1.56904625e+01] [ 9.13183917e-03 9.99785690e-01 -1.85791002e-02 -6.88044207e-02] [-3.18794708e-03 1.86088885e-02 9.99821757e-01 -2.35253911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.71719347 meters Centerline goodness : 0.880560 Centerline is valid? [False, False] Translation: X:15.71, Y:-0.07, Z:-2.35 [[ 9.99927727e-01 -1.09942442e-02 4.86483903e-03 1.57105373e+01] [ 1.10886656e-02 9.99741923e-01 -1.98274592e-02 -7.01525785e-02] [-4.64559560e-03 1.98799708e-02 9.99791581e-01 -2.35324201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74719346999998 meters Centerline goodness : 0.878938 Centerline is valid? [False, False] Translation: X:15.71, Y:-0.07, Z:-2.35 [[ 9.99915466e-01 -1.22131869e-02 4.46084614e-03 1.57115528e+01] [ 1.23012227e-02 9.99718825e-01 -2.02719239e-02 -7.07830380e-02] [-4.21200706e-03 2.03250841e-02 9.99784552e-01 -2.35336865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.77719347 meters Centerline goodness : 0.880370 Centerline is valid? [False, False] Translation: X:15.71, Y:-0.07, Z:-2.35 [[ 9.99904054e-01 -1.32572079e-02 4.01613925e-03 1.57128385e+01] [ 1.33379072e-02 9.99695064e-01 -2.07816909e-02 -7.05938996e-02] [-3.73940739e-03 2.08332639e-02 9.99775971e-01 -2.35376492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80719347 meters Centerline goodness : 0.883161 Centerline is valid? [False, False] Translation: X:15.74, Y:-0.07, Z:-2.36 [[ 9.99856105e-01 -1.67045830e-02 2.95400702e-03 1.57361823e+01] [ 1.67725845e-02 9.99553504e-01 -2.47279769e-02 -6.72240416e-02] [-2.53961753e-03 2.47739650e-02 9.99689852e-01 -2.35589098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.83719347 meters Centerline goodness : 0.881004 Centerline is valid? [False, False] Translation: X:15.74, Y:-0.06, Z:-2.36 [[ 9.99845163e-01 -1.73930865e-02 2.67021626e-03 1.57372911e+01] [ 1.74560420e-02 9.99517003e-01 -2.57108226e-02 -6.45177096e-02] [-2.22173599e-03 2.57534530e-02 9.99665856e-01 -2.35654516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86719347 meters Centerline goodness : 0.881029 Centerline is valid? [False, False] Translation: X:15.76, Y:-0.06, Z:-2.36 [[ 9.99866044e-01 -1.62585632e-02 1.88484445e-03 1.57594500e+01] [ 1.63016383e-02 9.99537087e-01 -2.56878903e-02 -6.24485630e-02] [-1.46632374e-03 2.57151753e-02 9.99668235e-01 -2.35813979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.89719347 meters Centerline goodness : 0.879738 Centerline is valid? [False, False] Translation: X:15.76, Y:-0.06, Z:-2.36 [[ 9.99892892e-01 -1.45865418e-02 1.19849451e-03 1.57617020e+01] [ 1.46116892e-02 9.99588489e-01 -2.46850207e-02 -5.59422820e-02] [-8.37932228e-04 2.46998887e-02 9.99694560e-01 -2.35927082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92719347 meters Centerline goodness : 0.878227 Centerline is valid? [False, False] Translation: X:15.76, Y:-0.05, Z:-2.36 [[ 9.99931811e-01 -1.16395594e-02 9.45512617e-04 1.57623620e+01] [ 1.16573281e-02 9.99696934e-01 -2.16828481e-02 -5.38799104e-02] [-6.92847267e-04 2.16923917e-02 9.99764452e-01 -2.35946695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.95719347 meters Centerline goodness : 0.880248 Centerline is valid? [False, False] Translation: X:15.78, Y:-0.05, Z:-2.36 [[ 9.99948998e-01 -9.82089314e-03 2.35598664e-03 1.57825024e+01] [ 9.86868862e-03 9.99726243e-01 -2.12143391e-02 -5.10032024e-02] [-2.14699791e-03 2.12365077e-02 9.99772175e-01 -2.36043423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98719347 meters Centerline goodness : 0.877311 Centerline is valid? [False, False] Translation: X:15.80, Y:-0.04, Z:-2.36 [[ 9.99953669e-01 -8.25233280e-03 4.95559211e-03 1.58019896e+01] [ 8.37060680e-03 9.99668688e-01 -2.43402376e-02 -4.06600912e-02] [-4.75308653e-03 2.43805912e-02 9.99691450e-01 -2.36307031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.01719347 meters Centerline goodness : 0.880077 Centerline is valid? [False, False] Translation: X:15.82, Y:-0.04, Z:-2.36 [[ 9.99956327e-01 -6.73754160e-03 6.47684435e-03 1.58219452e+01] [ 6.89501061e-03 9.99673453e-01 -2.46058109e-02 -3.69611736e-02] [-6.30894668e-03 2.46493942e-02 9.99676250e-01 -2.36408035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04719347 meters Centerline goodness : 0.877614 Centerline is valid? [False, False] Translation: X:15.82, Y:-0.03, Z:-2.36 [[ 9.99971575e-01 -4.93066832e-03 5.70418932e-03 1.58241482e+01] [ 5.05937495e-03 9.99727847e-01 -2.27735623e-02 -3.39164589e-02] [-5.59034802e-03 2.28017746e-02 9.99724376e-01 -2.36487462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.07719347 meters Centerline goodness : 0.877985 Centerline is valid? [False, False] Translation: X:15.84, Y:-0.03, Z:-2.37 [[ 9.99965073e-01 -4.48244363e-03 7.05409634e-03 1.58449546e+01] [ 4.65038479e-03 9.99701764e-01 -2.39740936e-02 -3.05980031e-02] [-6.94453003e-03 2.40060605e-02 9.99687693e-01 -2.36627395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.10719347 meters Centerline goodness : 0.877218 Centerline is valid? [False, False] Translation: X:15.85, Y:-0.03, Z:-2.37 [[ 9.99971334e-01 -4.08356903e-03 6.37620591e-03 1.58477540e+01] [ 4.23358115e-03 9.99710309e-01 -2.36933592e-02 -2.68822296e-02] [-6.27760531e-03 2.37196741e-02 9.99698939e-01 -2.36804293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.13719347 meters Centerline goodness : 0.879215 Centerline is valid? [False, False] Translation: X:15.87, Y:-0.02, Z:-2.37 [[ 9.99972818e-01 -4.80368365e-03 5.59353052e-03 1.58710191e+01] [ 4.94409738e-03 9.99666013e-01 -2.53656805e-02 -1.78499420e-02] [-5.46981365e-03 2.53926460e-02 9.99662590e-01 -2.37059084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.16719347 meters Centerline goodness : 0.878840 Centerline is valid? [False, False] Translation: X:15.87, Y:-0.01, Z:-2.37 [[ 9.99980110e-01 -4.15566877e-03 4.74441369e-03 1.58737088e+01] [ 4.27103329e-03 9.99688979e-01 -2.45703850e-02 -1.39150060e-02] [-4.64083169e-03 2.45901598e-02 9.99686844e-01 -2.37171588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.19719347 meters Centerline goodness : 0.880232 Centerline is valid? [False, False] Translation: X:15.87, Y:-0.00, Z:-2.37 [[ 9.99984800e-01 -3.19867286e-03 4.49081064e-03 1.58733315e+01] [ 3.30843335e-03 9.99690661e-01 -2.46502671e-02 -4.98518437e-03] [-4.41057332e-03 2.46647500e-02 9.99686049e-01 -2.37005550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.22719347 meters Centerline goodness : 0.879004 Centerline is valid? [False, False] Translation: X:15.87, Y:-0.00, Z:-2.37 [[ 9.99991146e-01 -7.02069912e-04 4.14910329e-03 1.58738515e+01] [ 7.95222956e-04 9.99746695e-01 -2.24925325e-02 -1.51015246e-03] [-4.13226097e-03 2.24956328e-02 9.99738401e-01 -2.36959585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.25719347 meters Centerline goodness : 0.883595 Centerline is valid? [False, False] Translation: X:15.87, Y:0.00, Z:-2.37 [[ 9.99988547e-01 2.64789601e-03 3.98680224e-03 1.58741868e+01] [-2.56740227e-03 9.99795450e-01 -2.00615721e-02 3.00802144e-03] [-4.03910769e-03 2.00511066e-02 9.99790797e-01 -2.36909445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.28719347 meters Centerline goodness : 0.885140 Centerline is valid? [False, False] Translation: X:15.87, Y:0.01, Z:-2.37 [[ 9.99956884e-01 8.18874614e-03 4.37880806e-03 1.58727655e+01] [-8.12169019e-03 9.99852727e-01 -1.51183001e-02 8.44040068e-03] [-4.50196310e-03 1.50820850e-02 9.99876124e-01 -2.36778486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.31719347 meters Centerline goodness : 0.885181 Centerline is valid? [False, False] Translation: X:15.87, Y:0.02, Z:-2.37 [[ 9.99835536e-01 1.75775627e-02 4.46423482e-03 1.58728503e+01] [-1.75380675e-02 9.99808020e-01 -8.73722001e-03 2.16530738e-02] [-4.61695681e-03 8.65748901e-03 9.99951865e-01 -2.36707999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.34719347 meters Centerline goodness : 0.887108 Centerline is valid? [False, False] Translation: X:15.87, Y:0.03, Z:-2.37 [[ 9.99770742e-01 2.09793027e-02 4.28163568e-03 1.58733436e+01] [-2.09495060e-02 9.99756799e-01 -6.88925906e-03 2.87477788e-02] [-4.42512623e-03 6.79798149e-03 9.99967102e-01 -2.36675745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.37719347 meters Centerline goodness : 0.886906 Centerline is valid? [False, False] Translation: X:15.87, Y:0.04, Z:-2.37 [[ 9.99688867e-01 2.45723321e-02 4.28601583e-03 1.58734019e+01] [-2.45511782e-02 9.99686466e-01 -4.92026719e-03 3.54128681e-02] [-4.40557445e-03 4.81350959e-03 9.99978710e-01 -2.36634968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.40719347 meters Centerline goodness : 0.889567 Centerline is valid? [False, False] Translation: X:15.87, Y:0.04, Z:-2.37 [[ 9.99601452e-01 2.79661532e-02 3.85127935e-03 1.58748571e+01] [-2.79543308e-02 9.99604425e-01 -3.09010748e-03 4.19033133e-02] [-3.93617430e-03 2.98121599e-03 9.99987809e-01 -2.36671606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.43719347 meters Centerline goodness : 0.889191 Centerline is valid? [False, False] Translation: X:15.88, Y:0.05, Z:-2.37 [[ 9.99274967e-01 3.79073558e-02 3.54588128e-03 1.58766417e+01] [-3.79229647e-02 9.99270786e-01 4.44347720e-03 5.27236149e-02] [-3.37485510e-03 -4.57472586e-03 9.99983841e-01 -2.36711399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.46719347 meters Centerline goodness : 0.888945 Centerline is valid? [False, False] Translation: X:15.88, Y:0.06, Z:-2.37 [[ 9.99120988e-01 4.17682262e-02 3.55914879e-03 1.58768438e+01] [-4.17922198e-02 9.99102101e-01 6.95710703e-03 5.85138616e-02] [-3.26536702e-03 -7.09973638e-03 9.99969465e-01 -2.36670470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.49719346999998 meters Centerline goodness : 0.890988 Centerline is valid? [False, False] Translation: X:15.88, Y:0.06, Z:-2.37 [[ 9.98980654e-01 4.50017265e-02 3.53518173e-03 1.58767425e+01] [-4.50314657e-02 9.98946465e-01 8.83898378e-03 6.44290531e-02] [-3.13368776e-03 -8.98916821e-03 9.99954686e-01 -2.36578508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52719347 meters Centerline goodness : 0.889778 Centerline is valid? [False, False] Translation: X:15.88, Y:0.07, Z:-2.37 [[ 9.98668585e-01 5.14632430e-02 3.54842284e-03 1.58772286e+01] [-5.15073629e-02 9.98578270e-01 1.37269682e-02 7.19825301e-02] [-2.83694364e-03 -1.38914619e-02 9.99899484e-01 -2.36527633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.55719347 meters Centerline goodness : 0.890832 Centerline is valid? [False, False] Translation: X:15.88, Y:0.07, Z:-2.37 [[ 9.98598509e-01 5.28567364e-02 2.68005859e-03 1.58804595e+01] [-5.28904369e-02 9.98493047e-01 1.46368547e-02 7.41628065e-02] [-1.90236350e-03 -1.47580908e-02 9.99889284e-01 -2.36714359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58719347 meters Centerline goodness : 0.892829 Centerline is valid? [False, False] Translation: X:15.88, Y:0.08, Z:-2.37 [[ 9.98601236e-01 5.28346761e-02 2.01694422e-03 1.58820354e+01] [-5.28577331e-02 9.98504681e-01 1.39449481e-02 7.61032122e-02] [-1.27715143e-03 -1.40320535e-02 9.99900730e-01 -2.36767323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.61719347 meters Centerline goodness : 0.892644 Centerline is valid? [False, False] Translation: X:15.89, Y:0.07, Z:-2.37 [[ 9.98611201e-01 5.24403894e-02 5.06698596e-03 1.58929159e+01] [-5.25496102e-02 9.98315661e-01 2.45841177e-02 7.38716213e-02] [-3.76925074e-03 -2.48162434e-02 9.99684924e-01 -2.37032541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64719347 meters Centerline goodness : 0.892185 Centerline is valid? [False, False] Translation: X:15.89, Y:0.07, Z:-2.37 [[ 9.98595991e-01 5.27588431e-02 4.74882791e-03 1.58943783e+01] [-5.28592165e-02 9.98305420e-01 2.43349843e-02 7.46129481e-02] [-3.45689502e-03 -2.45518371e-02 9.99692581e-01 -2.37160520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.67719347 meters Centerline goodness : 0.896314 Centerline is valid? [False, False] Translation: X:15.90, Y:0.08, Z:-2.37 [[ 9.98599905e-01 5.27260382e-02 4.26550562e-03 1.58960082e+01] [-5.28129459e-02 9.98320886e-01 2.37949717e-02 7.62494192e-02] [-3.00372876e-03 -2.39869304e-02 9.99707760e-01 -2.37263026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70719347 meters Centerline goodness : 0.893236 Centerline is valid? [False, False] Translation: X:15.90, Y:0.08, Z:-2.37 [[ 9.98593804e-01 5.28827079e-02 3.71932852e-03 1.58974674e+01] [-5.29554577e-02 9.98323113e-01 2.33812172e-02 7.80560080e-02] [-2.47662954e-03 -2.35452974e-02 9.99719703e-01 -2.37323234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.73719347 meters Centerline goodness : 0.891374 Centerline is valid? [False, False] Translation: X:15.90, Y:0.08, Z:-2.37 [[ 9.98590261e-01 5.29782270e-02 3.28597856e-03 1.58984572e+01] [-5.30403479e-02 9.98323214e-01 2.31836641e-02 7.89967435e-02] [-2.05223926e-03 -2.33252706e-02 9.99725822e-01 -2.37339828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76719347 meters Centerline goodness : 0.890570 Centerline is valid? [False, False] Translation: X:15.90, Y:0.08, Z:-2.38 [[ 9.98687469e-01 5.11797411e-02 1.99336257e-03 1.59019590e+01] [-5.12105466e-02 9.98462785e-01 2.12025138e-02 7.53825979e-02] [-9.05159176e-04 -2.12767661e-02 9.99773214e-01 -2.37530733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.79719347 meters Centerline goodness : 0.891210 Centerline is valid? [False, False] Translation: X:15.92, Y:0.07, Z:-2.38 [[ 9.98838166e-01 4.81900908e-02 1.84848640e-04 1.59243890e+01] [-4.81843028e-02 9.98642262e-01 1.97966147e-02 7.14470868e-02] [ 7.69402995e-04 -1.97825211e-02 9.99804011e-01 -2.37727519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.82719347 meters Centerline goodness : 0.890871 Centerline is valid? [False, False] Translation: X:15.93, Y:0.07, Z:-2.38 [[ 9.98926721e-01 4.63133438e-02 -6.93053936e-04 1.59275703e+01] [-4.62931208e-02 9.98762526e-01 1.81758892e-02 6.84113487e-02] [ 1.53398250e-03 -1.81242977e-02 9.99834565e-01 -2.37949588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.85719347 meters Centerline goodness : 0.886864 Centerline is valid? [False, False] Translation: X:15.95, Y:0.06, Z:-2.38 [[ 9.99172774e-01 4.06662731e-02 -1.50001069e-04 1.59511642e+01] [-4.06404898e-02 9.98657719e-01 3.21109043e-02 6.02682719e-02] [ 1.45563053e-03 -3.20782452e-02 9.99484301e-01 -2.38258775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.88719347 meters Centerline goodness : 0.887899 Centerline is valid? [False, False] Translation: X:15.96, Y:0.06, Z:-2.39 [[ 9.99252543e-01 3.83480363e-02 4.87691600e-03 1.59623364e+01] [-3.85155464e-02 9.98422834e-01 4.08460208e-02 5.55071244e-02] [-3.30285960e-03 -4.10033272e-02 9.99153551e-01 -2.38593478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.91719347 meters Centerline goodness : 0.887528 Centerline is valid? [False, False] Translation: X:15.97, Y:0.05, Z:-2.39 [[ 9.99391987e-01 3.40109443e-02 7.67544972e-03 1.59721959e+01] [-3.43444903e-02 9.98228360e-01 4.85859830e-02 5.16343222e-02] [-6.00939643e-03 -4.88200515e-02 9.98789512e-01 -2.38682059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.94719347 meters Centerline goodness : 0.888256 Centerline is valid? [False, False] Translation: X:15.97, Y:0.05, Z:-2.39 [[ 9.99529544e-01 2.98533352e-02 7.03339289e-03 1.59727754e+01] [-3.01392658e-02 9.98539615e-01 4.48359340e-02 5.01378558e-02] [-5.68461926e-03 -4.50268220e-02 9.98969604e-01 -2.38608308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.97719347 meters Centerline goodness : 0.888530 Centerline is valid? [False, False] Translation: X:15.97, Y:0.05, Z:-2.38 [[ 9.99763310e-01 2.08807131e-02 6.10891544e-03 1.59732801e+01] [-2.10974698e-02 9.99059598e-01 3.78789808e-02 4.51740202e-02] [-5.31223047e-03 -3.79988979e-02 9.99263661e-01 -2.38426631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.00719347 meters Centerline goodness : 0.885560 Centerline is valid? [False, False] Translation: X:15.95, Y:0.04, Z:-2.38 [[ 9.99935470e-01 1.11127996e-02 2.35819673e-03 1.59494967e+01] [-1.12057468e-02 9.98970466e-01 4.39595134e-02 4.33366263e-02] [-1.86725563e-03 -4.39831020e-02 9.99030530e-01 -2.38063318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.03719347 meters Centerline goodness : 0.883545 Centerline is valid? [False, False] Translation: X:15.93, Y:0.05, Z:-2.38 [[ 9.99995173e-01 3.01800640e-03 -7.39326819e-04 1.59308096e+01] [-2.99163007e-03 9.99437591e-01 3.33998706e-02 4.56198155e-02] [ 8.39712039e-04 -3.33974976e-02 9.99441795e-01 -2.37923229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.06719347 meters Centerline goodness : 0.886014 Centerline is valid? [False, False] Translation: X:15.91, Y:0.05, Z:-2.38 [[ 9.99994322e-01 -3.27295839e-03 -8.02824506e-04 1.59082729e+01] [ 3.29153087e-03 9.99698305e-01 2.43405943e-02 4.87054793e-02] [ 7.22916546e-04 -2.43430986e-02 9.99703401e-01 -2.37646193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.09719347 meters Centerline goodness : 0.886168 Centerline is valid? [False, False] Translation: X:15.90, Y:0.05, Z:-2.37 [[ 9.99969093e-01 -7.86084405e-03 1.43171552e-04 1.59042048e+01] [ 7.85653430e-03 9.99777448e-01 1.95788146e-02 5.15380651e-02] [-2.97045698e-04 -1.95770847e-02 9.99808306e-01 -2.37314925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.12719347 meters Centerline goodness : 0.886547 Centerline is valid? [False, False] Translation: X:15.90, Y:0.05, Z:-2.37 [[ 9.99961984e-01 -8.71945848e-03 2.92154929e-05 1.59040518e+01] [ 8.71738401e-03 9.99786797e-01 1.87181016e-02 5.33037651e-02] [-1.92420974e-04 -1.87171353e-02 9.99824801e-01 -2.37258838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.15719347 meters Centerline goodness : 0.884452 Centerline is valid? [False, False] Translation: X:15.89, Y:0.06, Z:-2.37 [[ 9.99947215e-01 -8.25204388e-03 -6.12137068e-03 1.58928003e+01] [ 8.31504146e-03 9.99911985e-01 1.03383660e-02 5.71873681e-02] [ 6.03551926e-03 -1.03887197e-02 9.99927821e-01 -2.36866363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.18719347 meters Centerline goodness : 0.886448 Centerline is valid? [False, False] Translation: X:15.87, Y:0.06, Z:-2.37 [[ 9.99930671e-01 -8.82288900e-03 -7.79800406e-03 1.58730647e+01] [ 8.88310340e-03 9.99930735e-01 7.72116348e-03 6.17011065e-02] [ 7.72934096e-03 -7.78989866e-03 9.99939786e-01 -2.36845199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.21719347 meters Centerline goodness : 0.886924 Centerline is valid? [False, False] Translation: X:15.87, Y:0.06, Z:-2.37 [[ 9.99921810e-01 -9.47225198e-03 -8.16402512e-03 1.58742189e+01] [ 9.52636535e-03 9.99932742e-01 6.61506803e-03 6.45531181e-02] [ 8.10081644e-03 -6.69232428e-03 9.99944793e-01 -2.36897948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24719346999998 meters Centerline goodness : 0.887743 Centerline is valid? [False, False] Translation: X:15.87, Y:0.07, Z:-2.37 [[ 9.99940752e-01 -7.40784679e-03 -7.97598447e-03 1.58731823e+01] [ 7.47628443e-03 9.99935198e-01 8.58511216e-03 6.70732950e-02] [ 7.91187042e-03 -8.64423424e-03 9.99931337e-01 -2.36812451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.27719347 meters Centerline goodness : 0.885704 Centerline is valid? [False, False] Translation: X:15.87, Y:0.07, Z:-2.37 [[ 9.99936406e-01 -7.70723265e-03 -8.23300808e-03 1.58736955e+01] [ 7.76871722e-03 9.99941978e-01 7.46236598e-03 7.11541048e-02] [ 8.17501620e-03 -7.52585133e-03 9.99938263e-01 -2.36806196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30719347 meters Centerline goodness : 0.884439 Centerline is valid? [False, False] Translation: X:15.88, Y:0.08, Z:-2.37 [[ 9.99948194e-01 -5.54945864e-03 -8.53302017e-03 1.58753482e+01] [ 5.62476806e-03 9.99945220e-01 8.82712331e-03 7.67883905e-02] [ 8.48356698e-03 -8.87466228e-03 9.99924632e-01 -2.36951791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.33719347 meters Centerline goodness : 0.882381 Centerline is valid? [False, False] Translation: X:15.88, Y:0.08, Z:-2.37 [[ 9.99942273e-01 -6.09905154e-03 -8.84607448e-03 1.58765954e+01] [ 6.16703040e-03 9.99951508e-01 7.67782454e-03 8.04385922e-02] [ 8.79881807e-03 -7.73193533e-03 9.99931397e-01 -2.37035915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36719347 meters Centerline goodness : 0.883457 Centerline is valid? [False, False] Translation: X:15.88, Y:0.08, Z:-2.37 [[ 9.99932871e-01 -6.81342859e-03 -9.37178668e-03 1.58783662e+01] [ 6.87392576e-03 9.99955648e-01 6.43825185e-03 8.42630854e-02] [ 9.32750446e-03 -6.50224062e-03 9.99935357e-01 -2.37130119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.39719347 meters Centerline goodness : 0.883960 Centerline is valid? [False, False] Translation: X:15.88, Y:0.09, Z:-2.37 [[ 9.99942960e-01 -4.62402502e-03 -9.62778862e-03 1.58792607e+01] [ 4.70840156e-03 9.99950548e-01 8.75971022e-03 8.66926612e-02] [ 9.58680738e-03 -8.80454206e-03 9.99915283e-01 -2.37191662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42719347 meters Centerline goodness : 0.884543 Centerline is valid? [False, False] Translation: X:15.88, Y:0.09, Z:-2.37 [[ 9.99948867e-01 -2.56553930e-03 -9.78170935e-03 1.58799991e+01] [ 2.66050639e-03 9.99949337e-01 9.70802018e-03 9.44860184e-02] [ 9.75630747e-03 -9.73354808e-03 9.99905032e-01 -2.37250993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.45719347 meters Centerline goodness : 0.882358 Centerline is valid? [False, False] Translation: X:15.88, Y:0.10, Z:-2.37 [[ 9.99949847e-01 3.06678807e-04 -1.00105067e-02 1.58803545e+01] [-1.82762702e-04 9.99923383e-01 1.23771731e-02 9.69743834e-02] [ 1.00135356e-02 -1.23747228e-02 9.99873290e-01 -2.37241961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48719347 meters Centerline goodness : 0.882625 Centerline is valid? [False, False] Translation: X:15.88, Y:0.10, Z:-2.37 [[ 9.99944550e-01 2.91388681e-03 -1.01195971e-02 1.58801592e+01] [-2.76590402e-03 9.99889491e-01 1.46067234e-02 1.00200034e-01] [ 1.01610411e-02 -1.45779236e-02 9.99842106e-01 -2.37187191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.51719347 meters Centerline goodness : 0.884174 Centerline is valid? [False, False] Translation: X:15.88, Y:0.11, Z:-2.37 [[ 9.99943951e-01 2.59420211e-03 -1.02647759e-02 1.58799543e+01] [-2.46140842e-03 9.99913395e-01 1.29283857e-02 1.05741116e-01] [ 1.02974257e-02 -1.29023953e-02 9.99863736e-01 -2.37095027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54719347 meters Centerline goodness : 0.888691 Centerline is valid? [False, False] Translation: X:15.89, Y:0.12, Z:-2.37 [[ 9.99957709e-01 7.08258613e-03 -5.86669132e-03 1.58870080e+01] [-7.05134908e-03 9.99960944e-01 5.32815499e-03 1.17250109e-01] [ 5.90419931e-03 -5.28656157e-03 9.99968596e-01 -2.37065020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.57719347 meters Centerline goodness : 0.888691 Centerline is valid? [False, False] Translation: X:15.89, Y:0.12, Z:-2.37 [[ 9.99957707e-01 7.08361539e-03 -5.86572989e-03 1.58870057e+01] [-7.05237921e-03 9.99960933e-01 5.32887041e-03 1.17250337e-01] [ 5.90324840e-03 -5.28727769e-03 9.99968598e-01 -2.37064934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.60719347 meters Centerline goodness : 0.886715 Centerline is valid? [False, False] Translation: X:15.89, Y:0.12, Z:-2.37 [[ 9.99927770e-01 1.03515392e-02 -6.10733195e-03 1.58876194e+01] [-1.03038394e-02 9.99916565e-01 7.79069446e-03 1.21380443e-01] [ 6.18746806e-03 -7.72720277e-03 9.99951002e-01 -2.37070041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.63719347 meters Centerline goodness : 0.886877 Centerline is valid? [False, False] Translation: X:15.89, Y:0.13, Z:-2.37 [[ 9.99885719e-01 1.37443825e-02 -6.29610220e-03 1.58880210e+01] [-1.36786362e-02 9.99852678e-01 1.03690648e-02 1.25215662e-01] [ 6.43769104e-03 -1.02817577e-02 9.99926418e-01 -2.37054844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.66719347 meters Centerline goodness : 0.890252 Centerline is valid? [False, False] Translation: X:15.89, Y:0.13, Z:-2.37 [[ 9.99838527e-01 1.68440353e-02 -6.26084586e-03 1.58877365e+01] [-1.67640157e-02 9.99779815e-01 1.26209492e-02 1.28954635e-01] [ 6.47205503e-03 -1.25139543e-02 9.99900752e-01 -2.36989014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.69719347 meters Centerline goodness : 0.892798 Centerline is valid? [False, False] Translation: X:15.89, Y:0.14, Z:-2.37 [[ 9.99759553e-01 2.11893671e-02 -5.64322274e-03 1.58859856e+01] [-2.11082206e-02 9.99678181e-01 1.40704636e-02 1.35959317e-01] [ 5.93955086e-03 -1.39479620e-02 9.99885081e-01 -2.36791641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.72719347 meters Centerline goodness : 0.894803 Centerline is valid? [False, False] Translation: X:15.90, Y:0.14, Z:-2.37 [[ 9.99698956e-01 2.45315904e-02 -4.45808173e-04 1.58970746e+01] [-2.45275398e-02 9.99670777e-01 7.53248260e-03 1.40840131e-01] [ 6.30445180e-04 -7.51928042e-03 9.99971531e-01 -2.37074957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.75719347 meters Centerline goodness : 0.895039 Centerline is valid? [False, False] Translation: X:15.90, Y:0.14, Z:-2.37 [[ 9.99598022e-01 2.83432849e-02 -6.72690698e-04 1.58975318e+01] [-2.83345015e-02 9.99541530e-01 1.06717195e-02 1.43631476e-01] [ 9.74853875e-04 -1.06483693e-02 9.99942829e-01 -2.37033759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.78719347 meters Centerline goodness : 0.893010 Centerline is valid? [False, False] Translation: X:15.90, Y:0.15, Z:-2.37 [[ 9.99317791e-01 3.69237901e-02 -7.65966567e-04 1.58977372e+01] [-3.69035664e-02 9.99150702e-01 1.83303271e-02 1.46570800e-01] [ 1.44214119e-03 -1.82895551e-02 9.99831692e-01 -2.36942923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.81719347 meters Centerline goodness : 0.897215 Centerline is valid? [False, False] Translation: X:15.90, Y:0.15, Z:-2.37 [[ 9.99288942e-01 3.76861572e-02 -1.16810115e-03 1.58988939e+01] [-3.76586129e-02 9.99124089e-01 1.82450991e-02 1.48596783e-01] [ 1.85466567e-03 -1.81881367e-02 9.99832862e-01 -2.36964613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.84719347 meters Centerline goodness : 0.895257 Centerline is valid? [False, False] Translation: X:15.90, Y:0.15, Z:-2.37 [[ 9.99263303e-01 3.83428888e-02 -1.63557304e-03 1.59005041e+01] [-3.83064562e-02 9.99097248e-01 1.83658637e-02 1.49453945e-01] [ 2.33829679e-03 -1.82896806e-02 9.99829996e-01 -2.37044499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.87719347 meters Centerline goodness : 0.893467 Centerline is valid? [False, False] Translation: X:15.90, Y:0.15, Z:-2.37 [[ 9.99238441e-01 3.89611892e-02 -2.13645893e-03 1.59023630e+01] [-3.89140392e-02 9.99064260e-01 1.88759847e-02 1.48598617e-01] [ 2.86989057e-03 -1.87784712e-02 9.99819550e-01 -2.37156281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.90719347 meters Centerline goodness : 0.894384 Centerline is valid? [False, False] Translation: X:15.91, Y:0.14, Z:-2.37 [[ 9.99287437e-01 3.76152159e-02 -3.11653531e-03 1.59062436e+01] [-3.75553564e-02 9.99142320e-01 1.74418742e-02 1.43948811e-01] [ 3.76994218e-03 -1.73124032e-02 9.99843022e-01 -2.37437958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.93719347 meters Centerline goodness : 0.923387 Centerline is valid? [False, False] Translation: X:15.91, Y:0.14, Z:-2.37 [[ 9.99397412e-01 3.45324109e-02 -3.51086066e-03 1.59071873e+01] [-3.44797628e-02 9.99306089e-01 1.40885061e-02 1.43021203e-01] [ 3.99493452e-03 -1.39589629e-02 9.99894588e-01 -2.37478111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96719346999998 meters Centerline goodness : 0.923799 Centerline is valid? [False, False] Translation: X:15.91, Y:0.14, Z:-2.38 [[ 9.99490456e-01 3.16614034e-02 -4.04759700e-03 1.59083274e+01] [-3.16156124e-02 9.99440485e-01 1.09164686e-02 1.42506259e-01] [ 4.39096303e-03 -1.07829390e-02 9.99932222e-01 -2.37500760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.99719346999998 meters Centerline goodness : 0.927723 Centerline is valid? [False, False] Translation: X:15.91, Y:0.14, Z:-2.38 [[ 9.99552216e-01 2.95462731e-02 -4.73127561e-03 1.59103748e+01] [-2.95046229e-02 9.99527272e-01 8.64345604e-03 1.41453366e-01] [ 4.98442092e-03 -8.49999114e-03 9.99951452e-01 -2.37590023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02719347 meters Centerline goodness : 0.931852 Centerline is valid? [False, False] Translation: X:15.93, Y:0.13, Z:-2.38 [[ 9.99610078e-01 2.78536724e-02 -1.96595233e-03 1.59283932e+01] [-2.78263307e-02 9.99531043e-01 1.27824047e-02 1.31702274e-01] [ 2.32106729e-03 -1.27227153e-02 9.99916369e-01 -2.37774871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.05719347 meters Centerline goodness : 0.927865 Centerline is valid? [False, False] Translation: X:15.94, Y:0.13, Z:-2.38 [[ 9.99766786e-01 2.15358633e-02 -1.60605806e-03 1.59400264e+01] [-2.15047554e-02 9.99617878e-01 1.73678867e-02 1.28053855e-01] [ 1.97947678e-03 -1.73292984e-02 9.99847877e-01 -2.37908255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08719347 meters Centerline goodness : 0.932895 Centerline is valid? [False, False] Translation: X:15.95, Y:0.12, Z:-2.38 [[ 9.99848145e-01 1.70229725e-02 3.72911960e-03 1.59532294e+01] [-1.70985055e-02 9.99627807e-01 2.12576780e-02 1.22509596e-01] [-3.36586278e-03 -2.13182123e-02 9.99767075e-01 -2.38295739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.11719347 meters Centerline goodness : 0.933842 Centerline is valid? [False, False] Translation: X:15.97, Y:0.11, Z:-2.38 [[ 9.99910017e-01 1.17104653e-02 6.54395009e-03 1.59719492e+01] [-1.18495804e-02 9.99695595e-01 2.16403692e-02 1.10622371e-01] [-6.28853929e-03 -2.17159650e-02 9.99744403e-01 -2.38459313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14719347 meters Centerline goodness : 0.932064 Centerline is valid? [False, False] Translation: X:15.99, Y:0.10, Z:-2.39 [[ 9.99926837e-01 8.34516127e-03 8.75660645e-03 1.59916748e+01] [-8.53893264e-03 9.99714196e-01 2.23296232e-02 1.04151586e-01] [-8.56775947e-03 -2.24027615e-02 9.99712314e-01 -2.38632013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.17719347 meters Centerline goodness : 0.937850 Centerline is valid? [False, False] Translation: X:15.99, Y:0.10, Z:-2.39 [[ 9.99953486e-01 5.00920500e-03 8.24214558e-03 1.59930372e+01] [-5.17341076e-03 9.99786125e-01 2.00234831e-02 9.91486802e-02] [-8.14008106e-03 -2.00651917e-02 9.99765536e-01 -2.38647111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20719347 meters Centerline goodness : 0.935503 Centerline is valid? [False, False] Translation: X:16.02, Y:0.08, Z:-2.39 [[ 9.99974063e-01 -3.54552455e-03 6.26924914e-03 1.60236219e+01] [ 3.26281378e-03 9.99002096e-01 4.45439809e-02 8.42517763e-02] [-6.42092481e-03 -4.45223702e-02 9.98987753e-01 -2.38638878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.23719347 meters Centerline goodness : 0.934683 Centerline is valid? [False, False] Translation: X:16.03, Y:0.08, Z:-2.39 [[ 9.99960313e-01 -6.80125503e-03 5.75453347e-03 1.60253582e+01] [ 6.55313122e-03 9.99092316e-01 4.20903782e-02 8.14897243e-02] [-6.03557757e-03 -4.20509975e-02 9.99097235e-01 -2.38659278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26719347 meters Centerline goodness : 0.933047 Centerline is valid? [False, False] Translation: X:16.04, Y:0.08, Z:-2.39 [[ 9.99908839e-01 -1.19782785e-02 6.23176601e-03 1.60357151e+01] [ 1.16530038e-02 9.98688903e-01 4.98465935e-02 7.65563823e-02] [-6.82067193e-03 -4.97694306e-02 9.98737444e-01 -2.38627562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.29719347 meters Centerline goodness : 0.931546 Centerline is valid? [False, False] Translation: X:16.05, Y:0.07, Z:-2.39 [[ 9.99820134e-01 -1.81088256e-02 5.63653502e-03 1.60467753e+01] [ 1.77619926e-02 9.98246500e-01 5.64662462e-02 7.23562369e-02] [-6.64918876e-03 -5.63559738e-02 9.98388598e-01 -2.38559323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.32719347 meters Centerline goodness : 0.929894 Centerline is valid? [False, False] Translation: X:16.05, Y:0.07, Z:-2.39 [[ 9.99604806e-01 -2.76647810e-02 4.98906880e-03 1.60489984e+01] [ 2.73914593e-02 9.98453440e-01 4.83780449e-02 6.50810446e-02] [-6.31972092e-03 -4.82222683e-02 9.98816637e-01 -2.38524433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.35719347 meters Centerline goodness : 0.928918 Centerline is valid? [False, False] Translation: X:16.06, Y:0.07, Z:-2.38 [[ 9.99478695e-01 -3.16759690e-02 6.24261869e-03 1.60567437e+01] [ 3.14518204e-02 9.98953051e-01 3.32202578e-02 6.54787855e-02] [-7.28836684e-03 -3.30065982e-02 9.99428559e-01 -2.38315816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.38719347 meters Centerline goodness : 0.929506 Centerline is valid? [False, False] Translation: X:16.06, Y:0.06, Z:-2.38 [[ 9.99344791e-01 -3.57064947e-02 5.91897096e-03 1.60576256e+01] [ 3.55136883e-02 9.98919232e-01 2.99857642e-02 6.26003908e-02] [-6.98326045e-03 -2.97559128e-02 9.99532801e-01 -2.38278924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.41719347 meters Centerline goodness : 0.928890 Centerline is valid? [False, False] Translation: X:16.07, Y:0.06, Z:-2.38 [[ 9.99222113e-01 -3.87029341e-02 7.56652059e-03 1.60660231e+01] [ 3.85742340e-02 9.99119942e-01 1.64733142e-02 6.22684651e-02] [-8.19742720e-03 -1.61686271e-02 9.99835675e-01 -2.38135510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.44719347 meters Centerline goodness : 0.931692 Centerline is valid? [False, False] Translation: X:16.07, Y:0.06, Z:-2.38 [[ 9.99042557e-01 -4.31309330e-02 7.32743365e-03 1.60665215e+01] [ 4.30338585e-02 9.98989993e-01 1.29260071e-02 6.00720441e-02] [-7.87754363e-03 -1.25983034e-02 9.99889607e-01 -2.38072975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.47719347 meters Centerline goodness : 0.931182 Centerline is valid? [False, False] Translation: X:16.07, Y:0.06, Z:-2.38 [[ 9.99025221e-01 -4.36390996e-02 6.65110035e-03 1.60680205e+01] [ 4.35511511e-02 9.98968692e-01 1.28393721e-02 5.98789726e-02] [-7.20453966e-03 -1.25371935e-02 9.99895451e-01 -2.38086514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.50719347 meters Centerline goodness : 0.900402 Centerline is valid? [False, False] Translation: X:16.07, Y:0.06, Z:-2.38 [[ 9.99004299e-01 -4.41485643e-02 6.42760067e-03 1.60684815e+01] [ 4.40655120e-02 9.98949997e-01 1.25353401e-02 6.01571909e-02] [-6.97426893e-03 -1.22396231e-02 9.99900771e-01 -2.38074253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.53719347 meters Centerline goodness : 0.901964 Centerline is valid? [False, False] Translation: X:16.07, Y:0.06, Z:-2.38 [[ 9.98985423e-01 -4.46375340e-02 5.96790627e-03 1.60696551e+01] [ 4.45633633e-02 9.98934103e-01 1.20317969e-02 6.10427121e-02] [-6.49861484e-03 -1.17536397e-02 9.99909806e-01 -2.38099111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.56719347 meters Centerline goodness : 0.900357 Centerline is valid? [False, False] Translation: X:16.07, Y:0.07, Z:-2.38 [[ 9.98967194e-01 -4.50539614e-02 5.88955567e-03 1.60709553e+01] [ 4.49909168e-02 9.98932933e-01 1.04313399e-02 6.64740635e-02] [-6.35324431e-03 -1.01555898e-02 9.99928248e-01 -2.38263175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.59719347 meters Centerline goodness : 0.902136 Centerline is valid? [False, False] Translation: X:16.07, Y:0.07, Z:-2.38 [[ 9.99066109e-01 -4.28677033e-02 5.41014861e-03 1.60728608e+01] [ 4.27988419e-02 9.99008487e-01 1.22597336e-02 7.03131753e-02] [-5.93033100e-03 -1.20167363e-02 9.99910211e-01 -2.38417170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.62719347 meters Centerline goodness : 0.901263 Centerline is valid? [False, False] Translation: X:16.07, Y:0.08, Z:-2.38 [[ 9.99330001e-01 -3.63321661e-02 4.41856085e-03 1.60739570e+01] [ 3.62501226e-02 9.99191034e-01 1.74128087e-02 7.81041361e-02] [-5.04763144e-03 -1.72409688e-02 9.99838622e-01 -2.38398914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.65719347 meters Centerline goodness : 0.902675 Centerline is valid? [False, False] Translation: X:16.07, Y:0.08, Z:-2.38 [[ 9.99462981e-01 -3.25309537e-02 3.93523558e-03 1.60742606e+01] [ 3.24446895e-02 9.99267496e-01 2.02932083e-02 8.18870531e-02] [-4.59251042e-03 -2.01546330e-02 9.99786327e-01 -2.38344776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.68719347 meters Centerline goodness : 0.902485 Centerline is valid? [False, False] Translation: X:16.07, Y:0.09, Z:-2.38 [[ 9.99572299e-01 -2.90060443e-02 3.72394126e-03 1.60743850e+01] [ 2.89145709e-02 9.99325645e-01 2.26318945e-02 8.58242335e-02] [-4.37789174e-03 -2.25145386e-02 9.99736930e-01 -2.38359056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.71719346999998 meters Centerline goodness : 0.905294 Centerline is valid? [False, False] Translation: X:16.07, Y:0.09, Z:-2.38 [[ 9.99753324e-01 -2.20649484e-02 2.53571922e-03 1.60736941e+01] [ 2.20424648e-02 9.99720246e-01 8.57672527e-03 9.44550271e-02] [-2.72425484e-03 -8.51871609e-03 9.99960004e-01 -2.38327142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74719346999998 meters Centerline goodness : 0.905069 Centerline is valid? [False, False] Translation: X:16.06, Y:0.10, Z:-2.38 [[ 9.99886708e-01 -1.43570879e-02 -4.52171057e-03 1.60648302e+01] [ 1.43901416e-02 9.99869337e-01 7.36432766e-03 9.95054094e-02] [ 4.41538945e-03 -7.42856139e-03 9.99962660e-01 -2.37952710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.77719347 meters Centerline goodness : 0.905907 Centerline is valid? [False, False] Translation: X:16.08, Y:0.11, Z:-2.38 [[ 9.99991714e-01 -3.76341183e-03 -1.55187198e-03 1.60760211e+01] [ 3.77351180e-03 9.99971379e-01 6.55750714e-03 1.07723525e-01] [ 1.52714897e-03 -6.56330882e-03 9.99977295e-01 -2.38176963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80719347 meters Centerline goodness : 0.906753 Centerline is valid? [False, False] Translation: X:16.08, Y:0.11, Z:-2.38 [[ 9.99997584e-01 3.64711937e-04 -2.16780589e-03 1.60776284e+01] [-3.41930935e-04 9.99944816e-01 1.04998801e-02 1.07763388e-01] [ 2.17151569e-03 -1.04991135e-02 9.99942525e-01 -2.38232969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.83719347 meters Centerline goodness : 0.907895 Centerline is valid? [False, False] Translation: X:16.09, Y:0.11, Z:-2.39 [[ 9.99999008e-01 -9.63888241e-04 -1.02736430e-03 1.60910868e+01] [ 9.82453539e-04 9.99833407e-01 1.82261542e-02 1.06589534e-01] [ 1.00962518e-03 -1.82271455e-02 9.99833362e-01 -2.38571019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86719347 meters Centerline goodness : 0.905275 Centerline is valid? [False, False] Translation: X:16.09, Y:0.10, Z:-2.39 [[ 9.99998043e-01 7.68903994e-04 -1.82260531e-03 1.60939131e+01] [-7.32499821e-04 9.99801888e-01 1.98909090e-02 1.04062302e-01] [ 1.83753843e-03 -1.98895350e-02 9.99800495e-01 -2.38742035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.89719347 meters Centerline goodness : 0.906132 Centerline is valid? [False, False] Translation: X:16.11, Y:0.10, Z:-2.39 [[ 9.99999367e-01 9.84704301e-04 -5.44062600e-04 1.61142351e+01] [-9.72362539e-04 9.99752250e-01 2.22371796e-02 1.02301529e-01] [ 5.65824855e-04 -2.22366365e-02 9.99752575e-01 -2.38846499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92719347 meters Centerline goodness : 0.904399 Centerline is valid? [False, False] Translation: X:16.13, Y:0.10, Z:-2.39 [[ 9.99995701e-01 2.84002101e-03 7.29524540e-04 1.61344123e+01] [-2.85908809e-03 9.99614388e-01 2.76206481e-02 9.86321618e-02] [-6.50800006e-04 -2.76226151e-02 9.99618211e-01 -2.38959845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.95719347 meters Centerline goodness : 0.904844 Centerline is valid? [False, False] Translation: X:16.16, Y:0.09, Z:-2.39 [[ 9.99986902e-01 4.94339768e-03 1.32581878e-03 1.61561806e+01] [-4.98436007e-03 9.99445789e-01 3.29130910e-02 9.25101497e-02] [-1.16238150e-03 -3.29192683e-02 9.99457338e-01 -2.39096200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98719347 meters Centerline goodness : 0.905395 Centerline is valid? [False, False] Translation: X:16.16, Y:0.09, Z:-2.39 [[ 9.99984482e-01 5.49414615e-03 9.22543082e-04 1.61571653e+01] [-5.52221684e-03 9.99412161e-01 3.38354525e-02 8.96931770e-02] [-7.36103854e-04 -3.38400219e-02 9.99426991e-01 -2.39101277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.01719347 meters Centerline goodness : 0.905081 Centerline is valid? [False, False] Translation: X:16.19, Y:0.09, Z:-2.39 [[ 9.99974127e-01 6.97412280e-03 -1.76271314e-03 1.61851682e+01] [-6.92131578e-03 9.99573475e-01 2.83718613e-02 8.72861141e-02] [ 1.95983015e-03 -2.83589269e-02 9.99595884e-01 -2.38875111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04719347 meters Centerline goodness : 0.903437 Centerline is valid? [False, False] Translation: X:16.20, Y:0.08, Z:-2.39 [[ 9.99941563e-01 8.64702112e-03 -6.48835471e-03 1.61953445e+01] [-8.47798072e-03 9.99635211e-01 2.56430941e-02 8.31015903e-02] [ 6.70772421e-03 -2.55865875e-02 9.99650105e-01 -2.38777702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.07719347 meters Centerline goodness : 0.902951 Centerline is valid? [False, False] Translation: X:16.22, Y:0.08, Z:-2.39 [[ 9.99951229e-01 7.53006659e-03 -6.39040362e-03 1.62170705e+01] [-7.36322806e-03 9.99641516e-01 2.57414466e-02 7.87582665e-02] [ 6.58194757e-03 -2.56931372e-02 9.99648208e-01 -2.38904486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.10719347 meters Centerline goodness : 0.901501 Centerline is valid? [False, False] Translation: X:16.24, Y:0.07, Z:-2.39 [[ 9.99966909e-01 6.54696597e-03 -4.82886765e-03 1.62370940e+01] [-6.39602546e-03 9.99510095e-01 3.06375707e-02 6.61423329e-02] [ 5.02708510e-03 -3.06056713e-02 9.99518895e-01 -2.39008609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.13719347 meters Centerline goodness : 0.902993 Centerline is valid? [False, False] Translation: X:16.26, Y:0.06, Z:-2.39 [[ 9.99971893e-01 4.52079396e-03 -5.98127796e-03 1.62620996e+01] [-4.27878300e-03 9.99195574e-01 3.98735145e-02 6.01056836e-02] [ 6.15672640e-03 -3.98468012e-02 9.99186833e-01 -2.38640732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.16719347 meters Centerline goodness : 0.902526 Centerline is valid? [False, False] Translation: X:16.26, Y:0.06, Z:-2.39 [[ 9.99980369e-01 5.49443270e-04 -6.24183679e-03 1.62624081e+01] [-3.16179343e-04 9.99303662e-01 3.73107379e-02 5.67396965e-02] [ 6.25799050e-03 -3.73080319e-02 9.99284218e-01 -2.38525574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.19719347 meters Centerline goodness : 0.898495 Centerline is valid? [False, False] Translation: X:16.26, Y:0.05, Z:-2.38 [[ 9.99929694e-01 -9.88223498e-03 -6.55349130e-03 1.62624917e+01] [ 1.00638551e-02 9.99549230e-01 2.82852519e-02 5.00199115e-02] [ 6.27101568e-03 -2.83492166e-02 9.99578409e-01 -2.38391376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.22719347 meters Centerline goodness : 0.901152 Centerline is valid? [False, False] Translation: X:16.28, Y:0.05, Z:-2.38 [[ 9.99884887e-01 -1.29801763e-02 -7.85664309e-03 1.62778054e+01] [ 1.30574557e-02 9.99866072e-01 9.86613771e-03 4.73198649e-02] [ 7.72752666e-03 -9.96758976e-03 9.99920463e-01 -2.38001148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.25719347 meters Centerline goodness : 0.899282 Centerline is valid? [False, False] Translation: X:16.30, Y:0.04, Z:-2.38 [[ 9.99901730e-01 -1.23507907e-02 -6.63236849e-03 1.62954753e+01] [ 1.23300918e-02 9.99919011e-01 -3.15276859e-03 4.16017806e-02] [ 6.67077053e-03 3.07068106e-03 9.99973036e-01 -2.37967396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.28719347 meters Centerline goodness : 0.900598 Centerline is valid? [False, False] Translation: X:16.29, Y:0.03, Z:-2.38 [[ 9.99811158e-01 -1.84418258e-02 -6.12758058e-03 1.62935500e+01] [ 1.83960865e-02 9.99803104e-01 -7.43884309e-03 3.26209743e-02] [ 6.26355993e-03 7.32471482e-03 9.99953557e-01 -2.37770200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.31719347 meters Centerline goodness : 0.903254 Centerline is valid? [False, False] Translation: X:16.31, Y:0.03, Z:-2.38 [[ 9.99849677e-01 -1.73196620e-02 -8.07405397e-04 1.63062333e+01] [ 1.73069928e-02 9.99756496e-01 -1.36900547e-02 3.00836989e-02] [ 1.04431591e-03 1.36740230e-02 9.99905961e-01 -2.38205765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.34719347 meters Centerline goodness : 0.900279 Centerline is valid? [False, False] Translation: X:16.31, Y:0.03, Z:-2.38 [[ 9.99838649e-01 -1.78884862e-02 -1.63617266e-03 1.63089215e+01] [ 1.78650511e-02 9.99751096e-01 -1.33635774e-02 2.73663638e-02] [ 1.87481958e-03 1.33321908e-02 9.99909365e-01 -2.38334634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.37719347 meters Centerline goodness : 0.898567 Centerline is valid? [False, False] Translation: X:16.31, Y:0.02, Z:-2.39 [[ 9.99836282e-01 -1.79022062e-02 -2.63077858e-03 1.63131630e+01] [ 1.78678089e-02 9.99761423e-01 -1.25634140e-02 2.38282949e-02] [ 2.85506376e-03 1.25143509e-02 9.99917616e-01 -2.38624568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.40719347 meters Centerline goodness : 0.898792 Centerline is valid? [False, False] Translation: X:16.32, Y:0.02, Z:-2.39 [[ 9.99870361e-01 -1.57002580e-02 -3.57261767e-03 1.63171426e+01] [ 1.56676315e-02 9.99836892e-01 -8.98408859e-03 1.58526661e-02] [ 3.71308746e-03 8.92694945e-03 9.99953260e-01 -2.38935800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.43719347 meters Centerline goodness : 0.896930 Centerline is valid? [False, False] Translation: X:16.32, Y:0.01, Z:-2.39 [[ 9.99875731e-01 -1.52378948e-02 -4.04087787e-03 1.63187590e+01] [ 1.52051313e-02 9.99852243e-01 -8.01842741e-03 1.30799067e-02] [ 4.16246476e-03 7.95598889e-03 9.99959687e-01 -2.39025170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46719346999998 meters Centerline goodness : 0.896930 Centerline is valid? [False, False] Translation: X:16.32, Y:0.01, Z:-2.39 [[ 9.99875731e-01 -1.52378948e-02 -4.04087787e-03 1.63187590e+01] [ 1.52051313e-02 9.99852243e-01 -8.01842741e-03 1.30799067e-02] [ 4.16246476e-03 7.95598889e-03 9.99959687e-01 -2.39025170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.49719346999998 meters Centerline goodness : 0.897491 Centerline is valid? [False, False] Translation: X:16.34, Y:0.01, Z:-2.39 [[ 9.99936618e-01 -1.07104556e-02 -3.47084728e-03 1.63382319e+01] [ 1.06445756e-02 9.99772679e-01 -1.84738789e-02 1.10874695e-02] [ 3.66792195e-03 1.84357623e-02 9.99823319e-01 -2.39117633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52719347 meters Centerline goodness : 0.898703 Centerline is valid? [False, False] Translation: X:16.35, Y:0.01, Z:-2.40 [[ 9.99973556e-01 -7.27237438e-03 -2.19638788e-05 1.63511395e+01] [ 7.26981903e-03 9.99693643e-01 -2.36594449e-02 5.37729729e-03] [ 1.94017491e-04 2.36586595e-02 9.99720076e-01 -2.39503314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.55719347 meters Centerline goodness : 0.896711 Centerline is valid? [False, False] Translation: X:16.36, Y:0.00, Z:-2.40 [[ 9.99975134e-01 -4.92083464e-03 5.05144866e-03 1.63632155e+01] [ 5.06944535e-03 9.99541808e-01 -2.98408139e-02 4.24246160e-03] [-4.90229241e-03 2.98656799e-02 9.99541899e-01 -2.39909513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58719347 meters Centerline goodness : 0.900653 Centerline is valid? [False, False] Translation: X:16.38, Y:0.00, Z:-2.40 [[ 9.99977386e-01 -2.94129026e-03 6.04785526e-03 1.63837494e+01] [ 3.09535613e-03 9.99666836e-01 -2.56249185e-02 4.12631081e-04] [-5.97047000e-03 2.56430593e-02 9.99653333e-01 -2.40022873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.61719347 meters Centerline goodness : 0.902856 Centerline is valid? [False, False] Translation: X:16.39, Y:-0.00, Z:-2.40 [[ 9.99980849e-01 -2.91599122e-03 5.45890045e-03 1.63852867e+01] [ 3.05201912e-03 9.99680830e-01 -2.50783378e-02 -1.02603728e-03] [-5.38402992e-03 2.50945182e-02 9.99670584e-01 -2.40078252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64719347 meters Centerline goodness : 0.899418 Centerline is valid? [False, False] Translation: X:16.41, Y:-0.01, Z:-2.40 [[ 9.99989963e-01 -3.86869885e-03 2.25996485e-03 1.64104272e+01] [ 3.92035697e-03 9.99720384e-01 -2.33191801e-02 -7.43204662e-03] [-2.16911804e-03 2.33278059e-02 9.99725517e-01 -2.40348242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.67719347 meters Centerline goodness : 0.899479 Centerline is valid? [False, False] Translation: X:16.43, Y:-0.01, Z:-2.41 [[ 9.99991275e-01 -4.15258039e-03 4.53219237e-04 1.64336027e+01] [ 4.16161183e-03 9.99745316e-01 -2.21807271e-02 -1.04261537e-02] [-3.60996557e-04 2.21824197e-02 9.99753875e-01 -2.40525820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70719347 meters Centerline goodness : 0.899797 Centerline is valid? [False, False] Translation: X:16.43, Y:-0.01, Z:-2.41 [[ 9.99989999e-01 -4.47232270e-03 -2.15596386e-05 1.64349980e+01] [ 4.47076902e-03 9.99748536e-01 -2.19744662e-02 -1.14499260e-02] [ 1.19831121e-04 2.19741501e-02 9.99758532e-01 -2.40585199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.73719347 meters Centerline goodness : 0.898557 Centerline is valid? [False, False] Translation: X:16.46, Y:-0.02, Z:-2.41 [[ 9.99980558e-01 -6.04028308e-03 1.54906417e-03 1.64556892e+01] [ 6.07135152e-03 9.99763053e-01 -2.09039938e-02 -1.51550942e-02] [-1.42243108e-03 2.09129923e-02 9.99780288e-01 -2.40701613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76719347 meters Centerline goodness : 0.899945 Centerline is valid? [False, False] Translation: X:16.46, Y:-0.02, Z:-2.41 [[ 9.99968925e-01 -7.83426707e-03 8.79118925e-04 1.64581401e+01] [ 7.85174201e-03 9.99726265e-01 -2.20396362e-02 -1.71292140e-02] [-7.06213883e-04 2.20458539e-02 9.99756711e-01 -2.40830458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.79719347 meters Centerline goodness : 0.900594 Centerline is valid? [False, False] Translation: X:16.46, Y:-0.02, Z:-2.41 [[ 9.99956968e-01 -9.27187120e-03 3.06142727e-04 1.64602465e+01] [ 9.27642917e-03 9.99699864e-01 -2.26744213e-02 -1.91555175e-02] [-9.58165289e-05 2.26762855e-02 9.99742855e-01 -2.40929364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82719347 meters Centerline goodness : 0.901126 Centerline is valid? [False, False] Translation: X:16.47, Y:-0.02, Z:-2.41 [[ 9.99897383e-01 -1.24242616e-02 7.13175402e-03 1.64713257e+01] [ 1.25453013e-02 9.99773606e-01 -1.71858176e-02 -2.21445525e-02] [-6.91661834e-03 1.72735240e-02 9.99826878e-01 -2.41323138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.85719347 meters Centerline goodness : 0.901920 Centerline is valid? [False, False] Translation: X:16.49, Y:-0.03, Z:-2.41 [[ 9.99856043e-01 -1.41946237e-02 9.29550323e-03 1.64909924e+01] [ 1.43439843e-02 9.99765821e-01 -1.62035072e-02 -2.57526694e-02] [-9.06332373e-03 1.63345092e-02 9.99825505e-01 -2.41378713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.88719347 meters Centerline goodness : 0.899352 Centerline is valid? [False, False] Translation: X:16.49, Y:-0.03, Z:-2.41 [[ 9.99852996e-01 -1.45937607e-02 9.00052238e-03 1.64917209e+01] [ 1.47341189e-02 9.99767702e-01 -1.57304538e-02 -2.80065606e-02] [-8.76886511e-03 1.58607561e-02 9.99835758e-01 -2.41387824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.91719347 meters Centerline goodness : 0.902989 Centerline is valid? [False, False] Translation: X:16.49, Y:-0.03, Z:-2.42 [[ 9.99830405e-01 -1.63897398e-02 8.39865944e-03 1.64942515e+01] [ 1.65306842e-02 9.99718887e-01 -1.69965608e-02 -2.97992733e-02] [-8.11772926e-03 1.71325138e-02 9.99820274e-01 -2.41540792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.94719347 meters Centerline goodness : 0.903638 Centerline is valid? [False, False] Translation: X:16.50, Y:-0.03, Z:-2.42 [[ 9.99792654e-01 -1.88461023e-02 7.71187634e-03 1.64969457e+01] [ 1.89907540e-02 9.99636543e-01 -1.91346116e-02 -3.12045587e-02] [-7.34846056e-03 1.92770984e-02 9.99787174e-01 -2.41693941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.97719347 meters Centerline goodness : 0.902955 Centerline is valid? [False, False] Translation: X:16.50, Y:-0.03, Z:-2.42 [[ 9.99786895e-01 -1.93640035e-02 7.15543300e-03 1.64983418e+01] [ 1.94950587e-02 9.99634617e-01 -1.87236776e-02 -3.35386813e-02] [-6.79025317e-03 1.88591831e-02 9.99799092e-01 -2.41729054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.00719347 meters Centerline goodness : 0.902082 Centerline is valid? [False, False] Translation: X:16.50, Y:-0.04, Z:-2.42 [[ 9.99853186e-01 -1.58182875e-02 6.58690582e-03 1.64998700e+01] [ 1.59123710e-02 9.99768467e-01 -1.44847664e-02 -3.50352482e-02] [-6.35625653e-03 1.45874531e-02 9.99873394e-01 -2.41792476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.03719347 meters Centerline goodness : 0.900782 Centerline is valid? [False, False] Translation: X:16.50, Y:-0.03, Z:-2.42 [[ 9.99888711e-01 -1.38211244e-02 5.61631211e-03 1.65035320e+01] [ 1.38895929e-02 9.99827380e-01 -1.23405713e-02 -3.48042544e-02] [-5.44478205e-03 1.24172062e-02 9.99908079e-01 -2.42026875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.06719347 meters Centerline goodness : 0.902850 Centerline is valid? [False, False] Translation: X:16.51, Y:-0.03, Z:-2.42 [[ 9.99922032e-01 -1.15556799e-02 4.73238283e-03 1.65068664e+01] [ 1.16022776e-02 9.99883281e-01 -9.94042420e-03 -3.45546329e-02] [-4.61696211e-03 9.99455559e-03 9.99939394e-01 -2.42235218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.09719347 meters Centerline goodness : 0.900591 Centerline is valid? [False, False] Translation: X:16.52, Y:-0.03, Z:-2.43 [[ 9.99938469e-01 -7.23036583e-03 8.41304445e-03 1.65198314e+01] [ 7.35691086e-03 9.99858786e-01 -1.51090834e-02 -3.36223870e-02] [-8.30261220e-03 1.51700477e-02 9.99850457e-01 -2.42645434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.12719347 meters Centerline goodness : 0.901630 Centerline is valid? [False, False] Translation: X:16.53, Y:-0.03, Z:-2.43 [[ 9.99902400e-01 -2.11715210e-03 1.38096928e-02 1.65301565e+01] [ 2.39420760e-03 9.99795574e-01 -2.00768138e-02 -3.23111430e-02] [-1.37643640e-02 2.01079176e-02 9.99703063e-01 -2.42927881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.15719347 meters Centerline goodness : 0.901467 Centerline is valid? [False, False] Translation: X:16.53, Y:-0.03, Z:-2.43 [[ 9.99907889e-01 1.14229478e-03 1.35243370e-02 1.65307673e+01] [-9.19907521e-04 9.99864459e-01 -1.64383041e-02 -3.25190465e-02] [-1.35412813e-02 1.64243488e-02 9.99773412e-01 -2.42913808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.18719347 meters Centerline goodness : 0.898312 Centerline is valid? [False, False] Translation: X:16.55, Y:-0.03, Z:-2.43 [[ 9.99894964e-01 2.52659901e-03 1.42715659e-02 1.65517567e+01] [-2.27768410e-03 9.99845479e-01 -1.74307247e-02 -3.06099043e-02] [-1.43134011e-02 1.73963877e-02 9.99746214e-01 -2.43044902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.21719346999998 meters Centerline goodness : 0.898213 Centerline is valid? [False, False] Translation: X:16.58, Y:-0.03, Z:-2.43 [[ 9.99918161e-01 8.66587823e-03 9.41136736e-03 1.65811766e+01] [-8.49578545e-03 9.99802518e-01 -1.79651588e-02 -2.65294905e-02] [-9.56519266e-03 1.78837316e-02 9.99794318e-01 -2.43193019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24719346999998 meters Centerline goodness : 0.896267 Centerline is valid? [False, False] Translation: X:16.60, Y:-0.02, Z:-2.43 [[ 9.99891912e-01 1.10581911e-02 9.68925274e-03 1.66024400e+01] [-1.08761384e-02 9.99767018e-01 -1.86445679e-02 -2.48310804e-02] [-9.89317051e-03 1.85371710e-02 9.99779225e-01 -2.43348669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.27719347 meters Centerline goodness : 0.896296 Centerline is valid? [False, False] Translation: X:16.60, Y:-0.03, Z:-2.43 [[ 9.99846864e-01 1.48547324e-02 9.25128937e-03 1.66032999e+01] [-1.47161617e-02 9.99781125e-01 -1.48706823e-02 -2.57001440e-02] [-9.47016450e-03 1.47322616e-02 9.99846626e-01 -2.43326346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30719347 meters Centerline goodness : 0.896050 Centerline is valid? [False, False] Translation: X:16.61, Y:-0.03, Z:-2.43 [[ 9.99803799e-01 1.78876047e-02 8.50860119e-03 1.66053896e+01] [-1.77861941e-02 9.99771605e-01 -1.18485885e-02 -2.59047623e-02] [-8.71860074e-03 1.16949281e-02 9.99893602e-01 -2.43382650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.33719347 meters Centerline goodness : 0.898292 Centerline is valid? [False, False] Translation: X:16.61, Y:-0.02, Z:-2.43 [[ 9.99711081e-01 2.24976617e-02 8.46229351e-03 1.66050014e+01] [-2.24232627e-02 9.99709957e-01 -8.78630225e-03 -2.25684387e-02] [-8.65751034e-03 8.59401149e-03 9.99925592e-01 -2.43210254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36719347 meters Centerline goodness : 0.896478 Centerline is valid? [False, False] Translation: X:16.61, Y:-0.02, Z:-2.43 [[ 9.99708065e-01 2.27678362e-02 8.08769643e-03 1.66052943e+01] [-2.26897098e-02 9.99696234e-01 -9.62378531e-03 -1.96855693e-02] [-8.30435243e-03 9.43746831e-03 9.99920983e-01 -2.43097823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.39719347 meters Centerline goodness : 0.893831 Centerline is valid? [False, False] Translation: X:16.61, Y:-0.02, Z:-2.43 [[ 9.99701742e-01 2.32311334e-02 7.53271353e-03 1.66060015e+01] [-2.31548224e-02 9.99681231e-01 -1.00643344e-02 -1.76310144e-02] [-7.76411822e-03 9.88691394e-03 9.99920981e-01 -2.43000798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42719347 meters Centerline goodness : 0.893222 Centerline is valid? [False, False] Translation: X:16.61, Y:-0.02, Z:-2.43 [[ 9.99702192e-01 2.32600996e-02 7.38201610e-03 1.66054982e+01] [-2.31797553e-02 9.99673096e-01 -1.07888765e-02 -1.62142421e-02] [-7.63055323e-03 1.06145502e-02 9.99914549e-01 -2.42836464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.45719347 meters Centerline goodness : 0.897095 Centerline is valid? [False, False] Translation: X:16.60, Y:-0.02, Z:-2.42 [[ 9.99679519e-01 2.40173970e-02 8.00151550e-03 1.66018857e+01] [-2.39365652e-02 9.99662971e-01 -1.00491516e-02 -1.93004687e-02] [-8.24017321e-03 9.85440222e-03 9.99917492e-01 -2.42450871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48719347 meters Centerline goodness : 0.893262 Centerline is valid? [False, False] Translation: X:16.60, Y:-0.02, Z:-2.42 [[ 9.99673093e-01 2.43803150e-02 7.70109581e-03 1.66019502e+01] [-2.43096204e-02 9.99662660e-01 -9.14378409e-03 -2.27727141e-02] [-7.92142625e-03 8.95358421e-03 9.99928540e-01 -2.42374304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.51719347 meters Centerline goodness : 0.896019 Centerline is valid? [False, False] Translation: X:16.60, Y:-0.03, Z:-2.42 [[ 9.99660520e-01 2.50559693e-02 7.14439202e-03 1.66031762e+01] [-2.49995100e-02 9.99656364e-01 -7.88534757e-03 -2.62573378e-02] [-7.33951197e-03 7.70406436e-03 9.99943388e-01 -2.42406025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54719347 meters Centerline goodness : 0.898891 Centerline is valid? [False, False] Translation: X:16.61, Y:-0.03, Z:-2.43 [[ 9.99587610e-01 2.79723406e-02 6.49293843e-03 1.66059202e+01] [-2.79428841e-02 9.99599011e-01 -4.58395738e-03 -3.11408960e-02] [-6.61855885e-03 4.40063557e-03 9.99968414e-01 -2.42635239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.57719347 meters Centerline goodness : 0.898154 Centerline is valid? [False, False] Translation: X:16.61, Y:-0.03, Z:-2.43 [[ 9.99542265e-01 2.97209418e-02 5.65037120e-03 1.66095792e+01] [-2.97076477e-02 9.99555695e-01 -2.42235328e-03 -3.39012970e-02] [-5.71985533e-03 2.25338525e-03 9.99981103e-01 -2.42921345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.60719347 meters Centerline goodness : 0.895609 Centerline is valid? [False, False] Translation: X:16.62, Y:-0.04, Z:-2.43 [[ 9.99517923e-01 3.07639670e-02 4.18334769e-03 1.66152041e+01] [-3.07621241e-02 9.99526607e-01 -5.04176619e-04 -3.80309599e-02] [-4.19687779e-03 3.75244906e-04 9.99991123e-01 -2.43330003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.63719347 meters Centerline goodness : 0.896191 Centerline is valid? [False, False] Translation: X:16.62, Y:-0.04, Z:-2.44 [[ 9.99483638e-01 3.19762610e-02 3.15848904e-03 1.66194178e+01] [-3.19837564e-02 9.99485622e-01 2.35180868e-03 -4.49380339e-02] [-3.08166234e-03 -2.45161464e-03 9.99992246e-01 -2.43686017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.66719347 meters Centerline goodness : 0.896427 Centerline is valid? [False, False] Translation: X:16.62, Y:-0.06, Z:-2.44 [[ 9.99621807e-01 2.74591525e-02 1.49617281e-03 1.66236875e+01] [-2.74593642e-02 9.99622913e-01 1.21133616e-04 -5.74832062e-02] [-1.49228239e-03 -1.62171758e-04 9.99998873e-01 -2.43969929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.69719347 meters Centerline goodness : 0.899783 Centerline is valid? [False, False] Translation: X:16.62, Y:-0.06, Z:-2.44 [[ 9.99759603e-01 2.19144994e-02 7.00453627e-04 1.66246082e+01] [-2.19106859e-02 9.99747160e-01 -5.05358180e-03 -6.18855201e-02] [-8.11023239e-04 5.03701951e-03 9.99986985e-01 -2.43960255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.72719347 meters Centerline goodness : 0.901480 Centerline is valid? [False, False] Translation: X:16.63, Y:-0.07, Z:-2.44 [[ 9.99818511e-01 1.90505684e-02 1.41445475e-04 1.66255735e+01] [-1.90493256e-02 9.99799321e-01 -6.20002436e-03 -6.81464106e-02] [-2.59531078e-04 6.19620468e-03 9.99980770e-01 -2.44022640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.75719347 meters Centerline goodness : 0.898344 Centerline is valid? [False, False] Translation: X:16.63, Y:-0.07, Z:-2.44 [[ 9.99870249e-01 1.61021153e-02 -4.54573915e-04 1.66266561e+01] [-1.61050857e-02 9.99841889e-01 -7.53810043e-03 -7.40719779e-02] [ 3.33122679e-04 7.54444331e-03 9.99971485e-01 -2.44087945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.78719347 meters Centerline goodness : 0.900850 Centerline is valid? [False, False] Translation: X:16.63, Y:-0.09, Z:-2.44 [[ 9.99949185e-01 1.00267003e-02 -1.04536388e-03 1.66279238e+01] [-1.00375194e-02 9.99890034e-01 -1.09164003e-02 -8.65659750e-02] [ 9.35793453e-04 1.09263384e-02 9.99939868e-01 -2.44103439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.81719347 meters Centerline goodness : 0.902148 Centerline is valid? [False, False] Translation: X:16.64, Y:-0.09, Z:-2.44 [[ 9.99988312e-01 3.45138679e-03 3.38585732e-03 1.66404796e+01] [-3.42319718e-03 9.99959724e-01 -8.29645458e-03 -9.37771354e-02] [-3.41435523e-03 8.28476715e-03 9.99959852e-01 -2.44465356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.84719347 meters Centerline goodness : 0.904696 Centerline is valid? [False, False] Translation: X:16.64, Y:-0.10, Z:-2.45 [[ 9.99995480e-01 -1.39112193e-03 2.66546735e-03 1.66427888e+01] [ 1.42265187e-03 9.99928610e-01 -1.18638926e-02 -9.95939710e-02] [-2.64877294e-03 1.18676310e-02 9.99926069e-01 -2.44558544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.87719347 meters Centerline goodness : 0.905969 Centerline is valid? [False, False] Translation: X:16.64, Y:-0.11, Z:-2.44 [[ 9.99954837e-01 -8.97916582e-03 3.11437344e-03 1.66408410e+01] [ 9.02877204e-03 9.99826418e-01 -1.62976803e-02 -1.08834176e-01] [-2.96749327e-03 1.63250632e-02 9.99862334e-01 -2.44275942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.90719347 meters Centerline goodness : 0.905997 Centerline is valid? [False, False] Translation: X:16.64, Y:-0.11, Z:-2.44 [[ 9.99912119e-01 -1.29586149e-02 2.79808983e-03 1.66416069e+01] [ 1.30104345e-02 9.99727687e-01 -1.93721404e-02 -1.11586151e-01] [-2.54629177e-03 1.94068423e-02 9.99808427e-01 -2.44262002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.93719347 meters Centerline goodness : 0.907515 Centerline is valid? [False, False] Translation: X:16.64, Y:-0.11, Z:-2.44 [[ 9.99851878e-01 -1.70359581e-02 2.44911329e-03 1.66426852e+01] [ 1.70871895e-02 9.99596473e-01 -2.26918433e-02 -1.13813317e-01] [-2.06154772e-03 2.27303306e-02 9.99739507e-01 -2.44280752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96719346999998 meters Centerline goodness : 0.908092 Centerline is valid? [False, False] Translation: X:16.64, Y:-0.12, Z:-2.44 [[ 9.99837274e-01 -1.79333002e-02 1.95496673e-03 1.66440237e+01] [ 1.79722099e-02 9.99593396e-01 -2.21369006e-02 -1.17935468e-01] [-1.55718415e-03 2.21684334e-02 9.99753037e-01 -2.44294107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.99719346999998 meters Centerline goodness : 0.908577 Centerline is valid? [False, False] Translation: X:16.64, Y:-0.12, Z:-2.44 [[ 9.99828468e-01 -1.84512627e-02 1.60818034e-03 1.66447095e+01] [ 1.84813216e-02 9.99602775e-01 -2.12775314e-02 -1.22294359e-01] [-1.21494421e-03 2.13036029e-02 9.99772314e-01 -2.44262752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02719347 meters Centerline goodness : 0.909187 Centerline is valid? [False, False] Translation: X:16.64, Y:-0.13, Z:-2.44 [[ 9.99746999e-01 -2.24316953e-02 1.66056686e-03 1.66443427e+01] [ 2.24651198e-02 9.99459273e-01 -2.40099833e-02 -1.26914045e-01] [-1.12108432e-03 2.40412136e-02 9.99710340e-01 -2.44170057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.05719347 meters Centerline goodness : 0.910935 Centerline is valid? [False, False] Translation: X:16.65, Y:-0.13, Z:-2.44 [[ 9.99741583e-01 -2.27026527e-02 1.16457925e-03 1.66456177e+01] [ 2.27239876e-02 9.99456898e-01 -2.38648085e-02 -1.27437115e-01] [-6.22152305e-04 2.38851053e-02 9.99714517e-01 -2.44193726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08719347 meters Centerline goodness : 0.913317 Centerline is valid? [False, False] Translation: X:16.65, Y:-0.13, Z:-2.44 [[ 9.99811020e-01 -1.94342088e-02 4.85105618e-04 1.66471973e+01] [ 1.94399970e-02 9.99616410e-01 -1.97260951e-02 -1.28656396e-01] [-1.01558486e-04 1.97317977e-02 9.99805304e-01 -2.44215808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.11719347 meters Centerline goodness : 0.909919 Centerline is valid? [False, False] Translation: X:16.65, Y:-0.13, Z:-2.44 [[ 9.99880079e-01 -1.54862116e-02 7.04067196e-05 1.66477146e+01] [ 1.54853480e-02 9.99751381e-01 -1.60430654e-02 -1.26589448e-01] [ 1.78057091e-04 1.60422318e-02 9.99871299e-01 -2.44170075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14719347 meters Centerline goodness : 0.911247 Centerline is valid? [False, False] Translation: X:16.65, Y:-0.13, Z:-2.44 [[ 9.99928752e-01 -1.19148605e-02 -7.26635085e-04 1.66491019e+01] [ 1.19048917e-02 9.99851588e-01 -1.24529472e-02 -1.25285660e-01] [ 8.74902372e-04 1.24434094e-02 9.99922195e-01 -2.44136916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.17719347 meters Centerline goodness : 0.912370 Centerline is valid? [False, False] Translation: X:16.66, Y:-0.12, Z:-2.44 [[ 9.99969129e-01 -6.35074820e-03 4.62705638e-03 1.66628852e+01] [ 6.41641342e-03 9.99876909e-01 -1.43177114e-02 -1.22636860e-01] [-4.53555865e-03 1.43469585e-02 9.99886790e-01 -2.44417043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20719347 meters Centerline goodness : 0.910629 Centerline is valid? [False, False] Translation: X:16.66, Y:-0.12, Z:-2.44 [[ 9.99989327e-01 -2.38496299e-03 3.95705904e-03 1.66636145e+01] [ 2.42655438e-03 9.99941515e-01 -1.05393876e-02 -1.21844454e-01] [-3.93169156e-03 1.05488772e-02 9.99936629e-01 -2.44316475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.23719347 meters Centerline goodness : 0.911224 Centerline is valid? [False, False] Translation: X:16.69, Y:-0.12, Z:-2.45 [[ 9.99985091e-01 2.91677684e-03 4.61632460e-03 1.66850012e+01] [-2.86035750e-03 9.99921712e-01 -1.21814733e-02 -1.17815278e-01] [-4.65149384e-03 1.21680874e-02 9.99915147e-01 -2.44635119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26719347 meters Centerline goodness : 0.912027 Centerline is valid? [False, False] Translation: X:16.71, Y:-0.12, Z:-2.45 [[ 9.99979137e-01 5.98807967e-03 2.42261617e-03 1.67072057e+01] [-5.95452232e-03 9.99889383e-01 -1.36295632e-02 -1.16272320e-01] [-2.50396310e-03 1.36148534e-02 9.99904178e-01 -2.44814717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.29719347 meters Centerline goodness : 0.911456 Centerline is valid? [False, False] Translation: X:16.73, Y:-0.11, Z:-2.45 [[ 9.99967947e-01 7.10261188e-03 3.69561676e-03 1.67273984e+01] [-7.03451022e-03 9.99810975e-01 -1.81254066e-02 -1.12723673e-01] [-3.82365592e-03 1.80988288e-02 9.99828891e-01 -2.45113310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32719347 meters Centerline goodness : 0.911193 Centerline is valid? [False, False] Translation: X:16.76, Y:-0.11, Z:-2.45 [[ 9.99901223e-01 1.40504050e-02 3.60416668e-04 1.67582372e+01] [-1.40373869e-02 9.99602240e-01 -2.44604324e-02 -1.08902126e-01] [-7.03952290e-04 2.44529570e-02 9.99700734e-01 -2.45216954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.35719347 meters Centerline goodness : 0.909020 Centerline is valid? [False, False] Translation: X:16.76, Y:-0.11, Z:-2.45 [[ 9.99853582e-01 1.71027395e-02 -5.58142555e-04 1.67612302e+01] [-1.71106940e-02 9.99632606e-01 -2.10208941e-02 -1.08723719e-01] [ 1.98422621e-04 2.10273665e-02 9.99778881e-01 -2.45350829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38719347 meters Centerline goodness : 0.909020 Centerline is valid? [False, False] Translation: X:16.76, Y:-0.11, Z:-2.45 [[ 9.99853582e-01 1.71027395e-02 -5.58142555e-04 1.67612302e+01] [-1.71106940e-02 9.99632606e-01 -2.10208941e-02 -1.08723719e-01] [ 1.98422621e-04 2.10273665e-02 9.99778881e-01 -2.45350829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.41719347 meters Centerline goodness : 0.908060 Centerline is valid? [False, False] Translation: X:16.77, Y:-0.11, Z:-2.46 [[ 9.99826138e-01 1.85662488e-02 -1.72873348e-03 1.67652832e+01] [-1.85960366e-02 9.99642759e-01 -1.91974194e-02 -1.08940279e-01] [ 1.37169184e-03 1.92262293e-02 9.99814218e-01 -2.45563371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.44719347 meters Centerline goodness : 0.907909 Centerline is valid? [False, False] Translation: X:16.77, Y:-0.11, Z:-2.46 [[ 9.99819401e-01 1.88536502e-02 -2.38859269e-03 1.67671207e+01] [-1.88948910e-02 9.99648188e-01 -1.86140463e-02 -1.10254836e-01] [ 2.03680964e-03 1.86558168e-02 9.99823890e-01 -2.45638806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.47719347 meters Centerline goodness : 0.907377 Centerline is valid? [False, False] Translation: X:16.77, Y:-0.11, Z:-2.46 [[ 9.99832641e-01 1.80064072e-02 -3.23408094e-03 1.67701390e+01] [-1.80640064e-02 9.99660742e-01 -1.87641549e-02 -1.14362149e-01] [ 2.89510874e-03 1.88194350e-02 9.99818707e-01 -2.45818221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.50719347 meters Centerline goodness : 0.906264 Centerline is valid? [False, False] Translation: X:16.77, Y:-0.12, Z:-2.46 [[ 9.99847954e-01 1.69529319e-02 -4.08264332e-03 1.67728569e+01] [-1.70281307e-02 9.99671635e-01 -1.91484853e-02 -1.15827899e-01] [ 3.75667976e-03 1.92150936e-02 9.99808315e-01 -2.45951205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.53719347 meters Centerline goodness : 0.908185 Centerline is valid? [False, False] Translation: X:16.78, Y:-0.12, Z:-2.46 [[ 9.99901068e-01 1.39160165e-02 2.04927482e-03 1.67840746e+01] [-1.38851048e-02 9.99799958e-01 -1.43960997e-02 -1.18234591e-01] [-2.24920124e-03 1.43662211e-02 9.99894271e-01 -2.46339667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.56719347 meters Centerline goodness : 0.908353 Centerline is valid? [False, False] Translation: X:16.78, Y:-0.12, Z:-2.46 [[ 9.99900014e-01 1.40497500e-02 1.60184411e-03 1.67848195e+01] [-1.40261336e-02 9.99804904e-01 -1.39076042e-02 -1.19644991e-01] [-1.79692996e-03 1.38837460e-02 9.99902002e-01 -2.46303250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.59719347 meters Centerline goodness : 0.907445 Centerline is valid? [False, False] Translation: X:16.79, Y:-0.12, Z:-2.47 [[ 9.99857062e-01 1.32620746e-02 1.04868194e-02 1.67937215e+01] [-1.31594567e-02 9.99865438e-01 -9.79460801e-03 -1.24004270e-01] [-1.06153051e-02 9.65520714e-03 9.99897041e-01 -2.46526939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.62719347 meters Centerline goodness : 0.907038 Centerline is valid? [False, False] Translation: X:16.79, Y:-0.13, Z:-2.46 [[ 9.99865632e-01 1.29742980e-02 1.00193053e-02 1.67945857e+01] [-1.28815880e-02 9.99874124e-01 -9.26288509e-03 -1.26524241e-01] [-1.01382235e-02 9.13257589e-03 9.99906902e-01 -2.46493824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.65719347 meters Centerline goodness : 0.905346 Centerline is valid? [False, False] Translation: X:16.80, Y:-0.13, Z:-2.47 [[ 9.99888669e-01 1.16522060e-02 9.32073012e-03 1.67965044e+01] [-1.15638994e-02 9.99888266e-01 -9.47265507e-03 -1.30068098e-01] [-9.43006601e-03 9.36381649e-03 9.99911692e-01 -2.46532567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.68719347 meters Centerline goodness : 0.907673 Centerline is valid? [False, False] Translation: X:16.80, Y:-0.13, Z:-2.47 [[ 9.99933860e-01 7.44610603e-03 8.76536778e-03 1.67974177e+01] [-7.33400345e-03 9.99891785e-01 -1.27526730e-02 -1.33051072e-01] [-8.85937699e-03 1.26875443e-02 9.99880262e-01 -2.46502267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.71719346999998 meters Centerline goodness : 0.907977 Centerline is valid? [False, False] Translation: X:16.80, Y:-0.14, Z:-2.46 [[ 9.99957725e-01 -7.75964924e-04 9.16216315e-03 1.67958281e+01] [ 9.39760363e-04 9.99839580e-01 -1.78866266e-02 -1.41527742e-01] [-9.14681396e-03 1.78944807e-02 9.99798041e-01 -2.46249974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74719346999998 meters Centerline goodness : 0.907631 Centerline is valid? [False, False] Translation: X:16.80, Y:-0.15, Z:-2.46 [[ 9.99949561e-01 -5.32346681e-03 8.51679423e-03 1.67975253e+01] [ 5.50142200e-03 9.99764141e-01 -2.10094654e-02 -1.45864495e-01] [-8.40294227e-03 2.10552602e-02 9.99743000e-01 -2.46285726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.77719347 meters Centerline goodness : 0.907183 Centerline is valid? [False, False] Translation: X:16.80, Y:-0.15, Z:-2.46 [[ 9.99918941e-01 -1.00307350e-02 7.84193423e-03 1.67997474e+01] [ 1.02185118e-02 9.99652885e-01 -2.42835818e-02 -1.50305001e-01] [-7.59563000e-03 2.43617463e-02 9.99674353e-01 -2.46382741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80719347 meters Centerline goodness : 0.911432 Centerline is valid? [False, False] Translation: X:16.80, Y:-0.16, Z:-2.47 [[ 9.99796153e-01 -1.90240095e-02 6.76302703e-03 1.68038407e+01] [ 1.92257184e-02 9.99330450e-01 -3.11291524e-02 -1.56063493e-01] [-6.16629755e-03 3.12528309e-02 9.99492490e-01 -2.46618917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.83719347 meters Centerline goodness : 0.910713 Centerline is valid? [False, False] Translation: X:16.81, Y:-0.16, Z:-2.47 [[ 9.99765832e-01 -2.07503046e-02 6.14053035e-03 1.68066617e+01] [ 2.09357728e-02 9.99272978e-01 -3.18623295e-02 -1.58693174e-01] [-5.47491301e-03 3.19834251e-02 9.99473404e-01 -2.46801838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86719347 meters Centerline goodness : 0.909379 Centerline is valid? [False, False] Translation: X:16.81, Y:-0.16, Z:-2.47 [[ 9.99758000e-01 -2.13132872e-02 5.44833861e-03 1.68089089e+01] [ 2.14753448e-02 9.99268169e-01 -3.16533801e-02 -1.60659455e-01] [-4.76971376e-03 3.17627249e-02 9.99484056e-01 -2.46914260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.89719347 meters Centerline goodness : 0.910746 Centerline is valid? [False, False] Translation: X:16.83, Y:-0.16, Z:-2.47 [[ 9.99809336e-01 -1.92102407e-02 3.50115323e-03 1.68317017e+01] [ 1.93103866e-02 9.99324840e-01 -3.12565822e-02 -1.62554054e-01] [-2.89834293e-03 3.13182313e-02 9.99505262e-01 -2.47068795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92719347 meters Centerline goodness : 0.910181 Centerline is valid? [False, False] Translation: X:16.86, Y:-0.16, Z:-2.47 [[ 9.99928150e-01 -1.18842741e-02 1.56829925e-03 1.68551975e+01] [ 1.19225650e-02 9.99558504e-01 -2.72148904e-02 -1.60867077e-01] [-1.24417764e-03 2.72316331e-02 9.99628376e-01 -2.47266495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.95719347 meters Centerline goodness : 0.911541 Centerline is valid? [False, False] Translation: X:16.87, Y:-0.16, Z:-2.48 [[ 9.99966397e-01 -5.83426423e-03 5.75897982e-03 1.68676088e+01] [ 6.01456764e-03 9.99476030e-01 -3.18039470e-02 -1.57960444e-01] [-5.57040966e-03 3.18375160e-02 9.99477535e-01 -2.47656148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98719347 meters Centerline goodness : 0.909379 Centerline is valid? [False, False] Translation: X:16.89, Y:-0.16, Z:-2.48 [[ 9.99974955e-01 -5.91153229e-04 7.05258285e-03 1.68876459e+01] [ 8.08801889e-04 9.99522215e-01 -3.08980204e-02 -1.56639683e-01] [-7.03094777e-03 3.09029507e-02 9.99497661e-01 -2.47776890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.01719347 meters Centerline goodness : 0.911106 Centerline is valid? [False, False] Translation: X:16.89, Y:-0.16, Z:-2.48 [[ 9.99973735e-01 3.40848981e-03 6.39625960e-03 1.68886772e+01] [-3.23424983e-03 9.99628678e-01 -2.70563258e-02 -1.55358321e-01] [-6.48610575e-03 2.70349280e-02 9.99613447e-01 -2.47717849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04719347 meters Centerline goodness : 0.908807 Centerline is valid? [False, False] Translation: X:16.91, Y:-0.15, Z:-2.48 [[ 9.99887972e-01 1.08921767e-02 1.02666490e-02 1.69050215e+01] [-1.06387626e-02 9.99645109e-01 -2.44228095e-02 -1.50423006e-01] [-1.05290230e-02 2.43108490e-02 9.99649000e-01 -2.47632919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.07719347 meters Centerline goodness : 0.908747 Centerline is valid? [False, False] Translation: X:16.91, Y:-0.15, Z:-2.48 [[ 9.99843506e-01 1.47027555e-02 9.83831455e-03 1.69053295e+01] [-1.44997635e-02 9.99686842e-01 -2.03954545e-02 -1.50048181e-01] [-1.01351030e-02 2.02496095e-02 9.99743584e-01 -2.47507772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.10719347 meters Centerline goodness : 0.909707 Centerline is valid? [False, False] Translation: X:16.91, Y:-0.15, Z:-2.48 [[ 9.99811123e-01 1.71525068e-02 9.13833962e-03 1.69074461e+01] [-1.69898361e-02 9.99700912e-01 -1.75906801e-02 -1.49924272e-01] [-9.43733072e-03 1.74320988e-02 9.99803510e-01 -2.47563985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.13719347 meters Centerline goodness : 0.912048 Centerline is valid? [False, False] Translation: X:16.93, Y:-0.15, Z:-2.48 [[ 9.99787014e-01 1.79384670e-02 1.02048081e-02 1.69283256e+01] [-1.77042119e-02 9.99587809e-01 -2.26003035e-02 -1.46831269e-01] [-1.06060166e-02 2.24148219e-02 9.99692497e-01 -2.47841343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.16719347 meters Centerline goodness : 0.909310 Centerline is valid? [False, False] Translation: X:16.94, Y:-0.15, Z:-2.48 [[ 9.99723004e-01 1.70805023e-02 1.61917266e-02 1.69399897e+01] [-1.68171580e-02 9.99726310e-01 -1.62631042e-02 -1.47447169e-01] [-1.64650770e-02 1.59863006e-02 9.99736635e-01 -2.48282774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.19719347 meters Centerline goodness : 0.910991 Centerline is valid? [False, False] Translation: X:16.96, Y:-0.15, Z:-2.48 [[ 0.99964425 0.01868528 0.0190322 16.95845542] [-0.01830601 0.99963416 -0.01991078 -0.14575914] [-0.01939728 0.0195553 0.9996206 -2.48494045] [ 0. 0. 0. 1. ]] SLAMing on 173.22719347 meters Centerline goodness : 0.912314 Centerline is valid? [False, False] Translation: X:16.98, Y:-0.14, Z:-2.49 [[ 0.99956553 0.0188641 0.02264715 16.97504144] [-0.01826353 0.99948358 -0.02643885 -0.14331871] [-0.0231342 0.02601375 0.99939386 -2.48764015] [ 0. 0. 0. 1. ]] SLAMing on 173.25719347 meters Centerline goodness : 0.909114 Centerline is valid? [False, False] Translation: X:17.00, Y:-0.14, Z:-2.49 [[ 0.99944022 0.02285327 0.024433 16.99538749] [-0.02218439 0.99938095 -0.02730518 -0.14300865] [-0.02504189 0.02674787 0.9993285 -2.49015884] [ 0. 0. 0. 1. ]] SLAMing on 173.28719347 meters Centerline goodness : 0.910731 Centerline is valid? [False, False] Translation: X:17.00, Y:-0.14, Z:-2.49 [[ 0.99943719 0.02340799 0.02402855 16.99647959] [-0.02276497 0.9993844 -0.0266941 -0.1440886 ] [-0.02463861 0.02613207 0.99935482 -2.49061222] [ 0. 0. 0. 1. ]] SLAMing on 173.31719347 meters Centerline goodness : 0.910184 Centerline is valid? [False, False] Translation: X:17.00, Y:-0.15, Z:-2.49 [[ 0.99947837 0.02241506 0.02324992 16.99880816] [-0.02178375 0.99939643 -0.02705997 -0.1456668 ] [-0.02384244 0.02653939 0.9993634 -2.49169509] [ 0. 0. 0. 1. ]] SLAMing on 173.34719347 meters Centerline goodness : 0.909648 Centerline is valid? [False, False] Translation: X:17.01, Y:-0.15, Z:-2.49 [[ 0.99948876 0.01957777 0.0252769 17.00866368] [-0.0190931 0.99963189 -0.01927548 -0.14967172] [-0.02564496 0.01878301 0.99949464 -2.49187207] [ 0. 0. 0. 1. ]] SLAMing on 173.37719347 meters Centerline goodness : 0.909735 Centerline is valid? [False, False] Translation: X:17.01, Y:-0.15, Z:-2.49 [[ 9.99569199e-01 1.54983425e-02 2.49242517e-02 1.70091497e+01] [-1.49553718e-02 9.99649928e-01 -2.18256459e-02 -1.54928279e-01] [-2.52537878e-02 2.14434919e-02 9.99451061e-01 -2.49143784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.40719347 meters Centerline goodness : 0.911246 Centerline is valid? [False, False] Translation: X:17.01, Y:-0.16, Z:-2.49 [[ 9.99749659e-01 7.58705646e-03 2.10489034e-02 1.70097701e+01] [-7.35511842e-03 9.99911623e-01 -1.10746297e-02 -1.59778153e-01] [-2.11310670e-02 1.09170401e-02 9.99717108e-01 -2.49009356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.43719347 meters Centerline goodness : 0.913862 Centerline is valid? [False, False] Translation: X:17.01, Y:-0.16, Z:-2.49 [[ 9.99784125e-01 3.38546431e-03 2.04997911e-02 1.70115503e+01] [-3.08850716e-03 9.99890096e-01 -1.45002361e-02 -1.62510651e-01] [-2.05466281e-02 1.44337921e-02 9.99684701e-01 -2.49106120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46719346999998 meters Centerline goodness : 0.914747 Centerline is valid? [False, False] Translation: X:17.01, Y:-0.17, Z:-2.49 [[ 9.99849785e-01 -7.84619121e-03 1.54546098e-02 1.70102309e+01] [ 7.95299323e-03 9.99944834e-01 -6.86139609e-03 -1.73084762e-01] [-1.53999214e-02 6.98327582e-03 9.99857028e-01 -2.48882418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.49719346999998 meters Centerline goodness : 0.916382 Centerline is valid? [False, False] Translation: X:17.01, Y:-0.18, Z:-2.49 [[ 9.99813898e-01 -1.26332851e-02 1.45797513e-02 1.70134934e+01] [ 1.27897864e-02 9.99861049e-01 -1.06912974e-02 -1.76217888e-01] [-1.44426592e-02 1.08757796e-02 9.99836550e-01 -2.49069028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52719347 meters Centerline goodness : 0.917246 Centerline is valid? [False, False] Translation: X:17.04, Y:-0.18, Z:-2.49 [[ 9.99819932e-01 -1.48677554e-02 1.17921050e-02 1.70373515e+01] [ 1.50164309e-02 9.99807586e-01 -1.26213478e-02 -1.80631876e-01] [-1.16021849e-02 1.27961505e-02 9.99850813e-01 -2.49227229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.55719347 meters Centerline goodness : 0.917978 Centerline is valid? [False, False] Translation: X:17.03, Y:-0.19, Z:-2.49 [[ 9.99687371e-01 -2.43534116e-02 5.66322854e-03 1.70310128e+01] [ 2.44000492e-02 9.99667675e-01 -8.31728986e-03 -1.86505790e-01] [-5.45879212e-03 8.45287268e-03 9.99949374e-01 -2.48961727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58719347 meters Centerline goodness : 0.916737 Centerline is valid? [False, False] Translation: X:17.03, Y:-0.19, Z:-2.49 [[ 9.99660210e-01 -2.56356168e-02 4.72020971e-03 1.70340603e+01] [ 2.56755021e-02 9.99633400e-01 -8.59262725e-03 -1.88491542e-01] [-4.49820199e-03 8.71090132e-03 9.99951942e-01 -2.49086969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.61719347 meters Centerline goodness : 0.915256 Centerline is valid? [False, False] Translation: X:17.04, Y:-0.19, Z:-2.49 [[ 9.99644143e-01 -2.63898017e-02 3.89429296e-03 1.70362471e+01] [ 2.64227555e-02 9.99613275e-01 -8.66825043e-03 -1.89402889e-01] [-3.66403352e-03 8.76806373e-03 9.99954847e-01 -2.49146620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64719347 meters Centerline goodness : 0.915162 Centerline is valid? [False, False] Translation: X:17.04, Y:-0.19, Z:-2.49 [[ 9.99623550e-01 -2.72663211e-02 3.05064155e-03 1.70384449e+01] [ 2.72931728e-02 9.99585715e-01 -9.13682135e-03 -1.89430746e-01] [-2.80025021e-03 9.21664347e-03 9.99953605e-01 -2.49203411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.67719347 meters Centerline goodness : 0.916968 Centerline is valid? [False, False] Translation: X:17.04, Y:-0.19, Z:-2.49 [[ 9.99616374e-01 -2.75787995e-02 2.55240651e-03 1.70396412e+01] [ 2.76009673e-02 9.99577592e-01 -9.10077058e-03 -1.89696648e-01] [-2.30034002e-03 9.16772817e-03 9.99955330e-01 -2.49215345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70719347 meters Centerline goodness : 0.916753 Centerline is valid? [False, False] Translation: X:17.04, Y:-0.19, Z:-2.49 [[ 9.99614024e-01 -2.76944864e-02 2.19486861e-03 1.70394425e+01] [ 2.77136497e-02 9.99573168e-01 -9.24309851e-03 -1.89171734e-01] [-1.93794890e-03 9.30035872e-03 9.99954873e-01 -2.49068048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.73719347 meters Centerline goodness : 0.915611 Centerline is valid? [False, False] Translation: X:17.06, Y:-0.19, Z:-2.49 [[ 9.99655105e-01 -2.56532308e-02 5.61985834e-03 1.70565542e+01] [ 2.57204944e-02 9.99594203e-01 -1.22427843e-02 -1.87303417e-01] [-5.30351085e-03 1.23831074e-02 9.99909262e-01 -2.49166274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76719347 meters Centerline goodness : 0.916065 Centerline is valid? [False, False] Translation: X:17.06, Y:-0.19, Z:-2.49 [[ 9.99726017e-01 -2.28862784e-02 4.91019252e-03 1.70582948e+01] [ 2.29315248e-02 9.99693171e-01 -9.36534744e-03 -1.86072292e-01] [-4.69434798e-03 9.47537969e-03 9.99944089e-01 -2.49206715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.79719347 meters Centerline goodness : 0.915602 Centerline is valid? [False, False] Translation: X:17.09, Y:-0.18, Z:-2.49 [[ 9.99918243e-01 -1.24338687e-02 2.98442796e-03 1.70862437e+01] [ 1.24755180e-02 9.99818943e-01 -1.43680975e-02 -1.80014611e-01] [-2.80523657e-03 1.44041551e-02 9.99892320e-01 -2.49178058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.82719347 meters Centerline goodness : 0.915796 Centerline is valid? [False, False] Translation: X:17.10, Y:-0.18, Z:-2.50 [[ 9.99951534e-01 -6.09983430e-03 7.72791794e-03 1.70994494e+01] [ 6.23737324e-03 9.99820320e-01 -1.79003803e-02 -1.75791689e-01] [-7.61734003e-03 1.79477147e-02 9.99809910e-01 -2.49581865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.85719347 meters Centerline goodness : 0.915449 Centerline is valid? [False, False] Translation: X:17.12, Y:-0.17, Z:-2.50 [[ 9.99950565e-01 -8.83601807e-04 9.90382998e-03 1.71190968e+01] [ 1.05833360e-03 9.99843640e-01 -1.76515183e-02 -1.72826247e-01] [-9.88668450e-03 1.76611273e-02 9.99795148e-01 -2.49731158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88719347 meters Centerline goodness : 0.918848 Centerline is valid? [False, False] Translation: X:17.13, Y:-0.17, Z:-2.50 [[ 9.99907160e-01 3.59776756e-03 1.31425552e-02 1.71342513e+01] [-3.30987951e-03 9.99755530e-01 -2.18614865e-02 -1.66581755e-01] [-1.32179948e-02 2.18159566e-02 9.99674621e-01 -2.49846944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.91719347 meters Centerline goodness : 0.914121 Centerline is valid? [False, False] Translation: X:17.15, Y:-0.16, Z:-2.50 [[ 9.99867442e-01 6.36456749e-03 1.49863675e-02 1.71547422e+01] [-6.00473194e-03 9.99695492e-01 -2.39346499e-02 -1.63836809e-01] [-1.51341377e-02 2.38414880e-02 9.99601191e-01 -2.50082843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.94719347 meters Centerline goodness : 0.916628 Centerline is valid? [False, False] Translation: X:17.17, Y:-0.16, Z:-2.50 [[ 9.99827692e-01 8.66427960e-03 1.64169806e-02 1.71739846e+01] [-8.21864010e-03 9.99601087e-01 -2.70207629e-02 -1.61005058e-01] [-1.66445471e-02 2.68811818e-02 9.99500056e-01 -2.50199988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.97719347 meters Centerline goodness : 0.914425 Centerline is valid? [False, False] Translation: X:17.19, Y:-0.16, Z:-2.50 [[ 9.99777442e-01 1.13097435e-02 1.78089055e-02 1.71942903e+01] [-1.08008737e-02 9.99537847e-01 -2.84153786e-02 -1.60520056e-01] [-1.81220457e-02 2.82167028e-02 9.99437546e-01 -2.50344168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.00719347 meters Centerline goodness : 0.917779 Centerline is valid? [False, False] Translation: X:17.20, Y:-0.16, Z:-2.50 [[ 9.99785192e-01 1.14050311e-02 1.73059272e-02 1.71951939e+01] [-1.09149709e-02 9.99544047e-01 -2.81524753e-02 -1.61267378e-01] [-1.76191163e-02 2.79575343e-02 9.99453822e-01 -2.50332176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.03719347 meters Centerline goodness : 0.918344 Centerline is valid? [False, False] Translation: X:17.20, Y:-0.16, Z:-2.50 [[ 9.99800122e-01 1.08092057e-02 1.68189553e-02 1.71967378e+01] [-1.03258460e-02 9.99538598e-01 -2.85651654e-02 -1.60505511e-01] [-1.71199617e-02 2.83857859e-02 9.99450426e-01 -2.50407533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.06719347 meters Centerline goodness : 0.920047 Centerline is valid? [False, False] Translation: X:17.20, Y:-0.16, Z:-2.51 [[ 9.99823865e-01 9.84051653e-03 1.59813331e-02 1.71991343e+01] [-9.37161939e-03 9.99530976e-01 -2.91547868e-02 -1.59690046e-01] [-1.62607356e-02 2.89998806e-02 9.99447145e-01 -2.50505733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.09719347 meters Centerline goodness : 0.917884 Centerline is valid? [False, False] Translation: X:17.20, Y:-0.16, Z:-2.51 [[ 9.99852359e-01 8.32431296e-03 1.50321715e-02 1.72021840e+01] [-7.86991453e-03 9.99517756e-01 -3.00386410e-02 -1.59732091e-01] [-1.52749734e-02 2.99159042e-02 9.99435698e-01 -2.50660907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.12719347 meters Centerline goodness : 0.918846 Centerline is valid? [False, False] Translation: X:17.20, Y:-0.16, Z:-2.50 [[ 9.99952007e-01 1.88223534e-03 9.61462847e-03 1.72020880e+01] [-1.70251330e-03 9.99824313e-01 -1.86666667e-02 -1.64184546e-01] [-9.64807437e-03 1.86494018e-02 9.99779533e-01 -2.50487229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.15719347 meters Centerline goodness : 0.917922 Centerline is valid? [False, False] Translation: X:17.20, Y:-0.16, Z:-2.51 [[ 9.99960963e-01 9.30034685e-04 8.78675944e-03 1.72046905e+01] [-7.61882188e-04 9.99816886e-01 -1.91210353e-02 -1.64997599e-01] [-8.80293368e-03 1.91135944e-02 9.99778565e-01 -2.50617317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.18719347 meters Centerline goodness : 0.918278 Centerline is valid? [False, False] Translation: X:17.21, Y:-0.17, Z:-2.51 [[ 9.99966366e-01 2.86048027e-04 8.19669093e-03 1.72065471e+01] [-1.26956279e-04 9.99811732e-01 -1.94032159e-02 -1.65438715e-01] [-8.20069800e-03 1.94015226e-02 9.99778140e-01 -2.50703373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.21719346999998 meters Centerline goodness : 0.918670 Centerline is valid? [False, False] Translation: X:17.21, Y:-0.16, Z:-2.51 [[ 9.99970893e-01 -3.85233611e-04 7.62008352e-03 1.72080153e+01] [ 5.36248372e-04 9.99803304e-01 -1.98258884e-02 -1.64901066e-01] [-7.61094708e-03 1.98293976e-02 9.99774409e-01 -2.50732737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24719346999998 meters Centerline goodness : 0.918183 Centerline is valid? [False, False] Translation: X:17.21, Y:-0.16, Z:-2.51 [[ 9.99976205e-01 1.20049443e-03 6.79319222e-03 1.72102388e+01] [-1.07965496e-03 9.99841623e-01 -1.77641111e-02 -1.62549455e-01] [-6.81344205e-03 1.77563541e-02 9.99819128e-01 -2.50771822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.27719347 meters Centerline goodness : 0.918183 Centerline is valid? [False, False] Translation: X:17.21, Y:-0.16, Z:-2.51 [[ 9.99976205e-01 1.20049443e-03 6.79319222e-03 1.72102388e+01] [-1.07965496e-03 9.99841623e-01 -1.77641111e-02 -1.62549455e-01] [-6.81344205e-03 1.77563541e-02 9.99819128e-01 -2.50771822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30719347 meters Centerline goodness : 0.917001 Centerline is valid? [False, False] Translation: X:17.21, Y:-0.16, Z:-2.51 [[ 9.99978443e-01 2.99972359e-03 5.84083734e-03 1.72132600e+01] [-2.90865328e-03 9.99875039e-01 -1.55385539e-02 -1.61709361e-01] [-5.88671882e-03 1.55212300e-02 9.99862209e-01 -2.50901591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.33719347 meters Centerline goodness : 0.917879 Centerline is valid? [False, False] Translation: X:17.22, Y:-0.16, Z:-2.51 [[ 9.99979893e-01 4.07104277e-03 4.86221934e-03 1.72163883e+01] [-3.99988777e-03 9.99886064e-01 -1.45554083e-02 -1.61227891e-01] [-4.92092105e-03 1.45356673e-02 9.99882243e-01 -2.51050621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36719347 meters Centerline goodness : 0.917120 Centerline is valid? [False, False] Translation: X:17.22, Y:-0.16, Z:-2.51 [[ 9.99984779e-01 3.59471683e-03 4.18555330e-03 1.72183060e+01] [-3.53036030e-03 9.99876975e-01 -1.52830512e-02 -1.60132467e-01] [-4.23997661e-03 1.52680421e-02 9.99874447e-01 -2.51129236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.39719347 meters Centerline goodness : 0.919598 Centerline is valid? [False, False] Translation: X:17.22, Y:-0.16, Z:-2.51 [[ 9.99973706e-01 6.40448801e-03 3.40136785e-03 1.72206677e+01] [-6.36095445e-03 9.99899638e-01 -1.26590397e-02 -1.58607475e-01] [-3.48210115e-03 1.26370709e-02 9.99914086e-01 -2.51238905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42719347 meters Centerline goodness : 0.916392 Centerline is valid? [False, False] Translation: X:17.22, Y:-0.16, Z:-2.51 [[ 9.99957476e-01 8.83617698e-03 2.63956940e-03 1.72231138e+01] [-8.80896782e-03 9.99909708e-01 -1.01478323e-02 -1.56780631e-01] [-2.72899911e-03 1.01241489e-02 9.99945026e-01 -2.51347956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.45719347 meters Centerline goodness : 0.919066 Centerline is valid? [False, False] Translation: X:17.23, Y:-0.16, Z:-2.51 [[ 9.99931956e-01 1.15006898e-02 1.95377662e-03 1.72251350e+01] [-1.14860483e-02 9.99907043e-01 -7.34681316e-03 -1.55020524e-01] [-2.03808843e-03 7.32387208e-03 9.99971103e-01 -2.51412288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48719347 meters Centerline goodness : 0.919440 Centerline is valid? [False, False] Translation: X:17.24, Y:-0.15, Z:-2.52 [[ 9.99915124e-01 1.23272308e-02 4.21712586e-03 1.72446992e+01] [-1.22751132e-02 9.99850608e-01 -1.21689225e-02 -1.51388614e-01] [-4.36650498e-03 1.21161239e-02 9.99917063e-01 -2.51667584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.51719347 meters Centerline goodness : 0.917158 Centerline is valid? [False, False] Translation: X:17.26, Y:-0.15, Z:-2.52 [[ 9.99837255e-01 1.51789870e-02 9.74994890e-03 1.72564434e+01] [-1.49855333e-02 9.99695253e-01 -1.96172092e-02 -1.47880684e-01] [-1.00447470e-02 1.94679085e-02 9.99760023e-01 -2.51994196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54719347 meters Centerline goodness : 0.919015 Centerline is valid? [False, False] Translation: X:17.26, Y:-0.15, Z:-2.52 [[ 9.99801995e-01 1.77208225e-02 9.05228619e-03 1.72584842e+01] [-1.75665502e-02 9.99703759e-01 -1.68466742e-02 -1.48042183e-01] [-9.34814146e-03 1.66843211e-02 9.99817106e-01 -2.52048931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.57719347 meters Centerline goodness : 0.917491 Centerline is valid? [False, False] Translation: X:17.26, Y:-0.15, Z:-2.52 [[ 9.99737083e-01 2.12307555e-02 8.66139244e-03 1.72593273e+01] [-2.11162307e-02 9.99691117e-01 -1.31062892e-02 -1.47885883e-01] [-8.93697351e-03 1.29199474e-02 9.99876595e-01 -2.52021819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.60719347 meters Centerline goodness : 0.917899 Centerline is valid? [False, False] Translation: X:17.28, Y:-0.14, Z:-2.52 [[ 9.99691777e-01 2.22289272e-02 1.10555710e-02 1.72780204e+01] [-2.20241977e-02 9.99589801e-01 -1.83074746e-02 -1.43652965e-01] [-1.14579915e-02 1.80583418e-02 9.99771279e-01 -2.52306881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.63719347 meters Centerline goodness : 0.917552 Centerline is valid? [False, False] Translation: X:17.28, Y:-0.14, Z:-2.52 [[ 9.99645773e-01 2.45942978e-02 1.01710387e-02 1.72811482e+01] [-2.44326985e-02 9.99577898e-01 -1.57184232e-02 -1.42885758e-01] [-1.05533290e-02 1.54643494e-02 9.99824725e-01 -2.52465011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.66719347 meters Centerline goodness : 0.917684 Centerline is valid? [False, False] Translation: X:17.28, Y:-0.14, Z:-2.53 [[ 9.99675576e-01 2.37389905e-02 9.23058348e-03 1.72838477e+01] [-2.35852178e-02 9.99586884e-01 -1.64255512e-02 -1.42523777e-01] [-9.61669618e-03 1.62025170e-02 9.99822483e-01 -2.52595936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.69719347 meters Centerline goodness : 0.917546 Centerline is valid? [False, False] Translation: X:17.29, Y:-0.14, Z:-2.53 [[ 9.99715010e-01 2.23194535e-02 8.46999049e-03 1.72863522e+01] [-2.21703312e-02 9.99604353e-01 -1.73093519e-02 -1.43043813e-01] [-8.85297464e-03 1.71166364e-02 9.99814306e-01 -2.52722384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.72719347 meters Centerline goodness : 0.916563 Centerline is valid? [False, False] Translation: X:17.29, Y:-0.14, Z:-2.53 [[ 9.99900201e-01 1.10329519e-02 8.82397199e-03 1.72869014e+01] [-1.09482411e-02 9.99894064e-01 -9.59144587e-03 -1.44493312e-01] [-8.92885917e-03 9.49388168e-03 9.99915067e-01 -2.52733734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.75719347 meters Centerline goodness : 0.920329 Centerline is valid? [False, False] Translation: X:17.29, Y:-0.14, Z:-2.53 [[ 9.99930030e-01 8.66930796e-03 8.04849995e-03 1.72894014e+01] [-8.57848696e-03 9.99899908e-01 -1.12509795e-02 -1.44389286e-01] [-8.14523256e-03 1.11811483e-02 9.99904314e-01 -2.52835447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.78719347 meters Centerline goodness : 0.920388 Centerline is valid? [False, False] Translation: X:17.29, Y:-0.14, Z:-2.53 [[ 9.99940796e-01 7.54846312e-03 7.83740007e-03 1.72899111e+01] [-7.45536345e-03 9.99902100e-01 -1.18409249e-02 -1.44318255e-01] [-7.92601358e-03 1.17817932e-02 9.99899179e-01 -2.52816037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.81719347 meters Centerline goodness : 0.920094 Centerline is valid? [False, False] Translation: X:17.29, Y:-0.14, Z:-2.53 [[ 9.99953813e-01 6.42321684e-03 7.14945278e-03 1.72915391e+01] [-6.33145453e-03 9.99898231e-01 -1.27843433e-02 -1.43534505e-01] [-7.23084180e-03 1.27384864e-02 9.99892717e-01 -2.52843618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.84719347 meters Centerline goodness : 0.921469 Centerline is valid? [False, False] Translation: X:17.29, Y:-0.14, Z:-2.53 [[ 9.99961543e-01 5.59380977e-03 6.75438742e-03 1.72918643e+01] [-5.50112952e-03 9.99891524e-01 -1.36629726e-02 -1.42306570e-01] [-6.83008280e-03 1.36252904e-02 9.99883844e-01 -2.52747362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.87719347 meters Centerline goodness : 0.918804 Centerline is valid? [False, False] Translation: X:17.29, Y:-0.14, Z:-2.53 [[ 9.99965710e-01 5.13770924e-03 6.49487019e-03 1.72922515e+01] [-5.04446618e-03 9.99885137e-01 -1.42921883e-02 -1.41073283e-01] [-6.56755327e-03 1.42589351e-02 9.99876767e-01 -2.52712342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.90719347 meters Centerline goodness : 0.919655 Centerline is valid? [False, False] Translation: X:17.29, Y:-0.14, Z:-2.53 [[ 9.99959672e-01 6.88172716e-03 5.77022859e-03 1.72947513e+01] [-6.81029263e-03 9.99901044e-01 -1.23094231e-02 -1.39611579e-01] [-5.85436768e-03 1.22696297e-02 9.99907587e-01 -2.52821963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.93719347 meters Centerline goodness : 0.918118 Centerline is valid? [False, False] Translation: X:17.30, Y:-0.14, Z:-2.53 [[ 9.99946221e-01 9.11235007e-03 4.95179703e-03 1.72975701e+01] [-9.06206476e-03 9.99908089e-01 -1.00842455e-02 -1.36881858e-01] [-5.04323308e-03 1.00388297e-02 9.99936892e-01 -2.52962169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96719346999998 meters Centerline goodness : 0.918025 Centerline is valid? [False, False] Translation: X:17.30, Y:-0.13, Z:-2.53 [[ 9.99924228e-01 1.16718726e-02 3.91235045e-03 1.73013651e+01] [-1.16388317e-02 9.99897283e-01 -8.36426317e-03 -1.32198639e-01] [-4.00957520e-03 8.31809420e-03 9.99957365e-01 -2.53216883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.99719346999998 meters Centerline goodness : 0.917235 Centerline is valid? [False, False] Translation: X:17.31, Y:-0.13, Z:-2.53 [[ 9.99922496e-01 1.21673614e-02 2.63781422e-03 1.73059241e+01] [-1.21456897e-02 9.99893578e-01 -8.08177062e-03 -1.31638856e-01] [-2.73586732e-03 8.04910618e-03 9.99963863e-01 -2.53499417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02719347 meters Centerline goodness : 0.916910 Centerline is valid? [False, False] Translation: X:17.31, Y:-0.13, Z:-2.54 [[ 9.99915537e-01 1.29046448e-02 1.54553117e-03 1.73101523e+01] [-1.28925618e-02 9.99888094e-01 -7.58822544e-03 -1.31115559e-01] [-1.64328157e-03 7.56765866e-03 9.99970015e-01 -2.53773597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.05719347 meters Centerline goodness : 0.912578 Centerline is valid? [False, False] Translation: X:17.31, Y:-0.13, Z:-2.54 [[ 9.99874217e-01 1.58396524e-02 8.09104074e-04 1.73127664e+01] [-1.58351637e-02 9.99860666e-01 -5.28170216e-03 -1.26717981e-01] [-8.92651665e-04 5.26822552e-03 9.99985724e-01 -2.53931228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08719347 meters Centerline goodness : 0.911991 Centerline is valid? [False, False] Translation: X:17.32, Y:-0.13, Z:-2.54 [[ 9.99872328e-01 1.48644594e-02 5.86310723e-03 1.73240773e+01] [-1.48787493e-02 9.99886422e-01 2.40122552e-03 -1.26030976e-01] [-5.82674839e-03 -2.48815466e-03 9.99979929e-01 -2.54230356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.11719347 meters Centerline goodness : 0.910855 Centerline is valid? [False, False] Translation: X:17.32, Y:-0.12, Z:-2.54 [[ 9.99917962e-01 1.15657533e-02 5.50481470e-03 1.73242088e+01] [-1.15553844e-02 9.99931407e-01 -1.91170882e-03 -1.23428556e-01] [-5.52654746e-03 1.84794173e-03 9.99983021e-01 -2.54151770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14719347 meters Centerline goodness : 0.910576 Centerline is valid? [False, False] Translation: X:17.32, Y:-0.12, Z:-2.54 [[ 9.99953316e-01 8.17583464e-03 5.14983920e-03 1.73244030e+01] [-8.14500085e-03 9.99948947e-01 -5.98011557e-03 -1.22065912e-01] [-5.19846872e-03 5.93789096e-03 9.99968858e-01 -2.54078772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.17719347 meters Centerline goodness : 0.914448 Centerline is valid? [False, False] Translation: X:17.34, Y:-0.12, Z:-2.54 [[ 9.99943720e-01 6.83983542e-03 8.11012366e-03 1.73431632e+01] [-6.75045318e-03 9.99916738e-01 -1.09976943e-02 -1.21089166e-01] [-8.18467081e-03 1.09423284e-02 9.99906634e-01 -2.54187917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20719347 meters Centerline goodness : 0.909418 Centerline is valid? [False, False] Translation: X:17.34, Y:-0.12, Z:-2.54 [[ 9.99951736e-01 5.76434982e-03 7.95600617e-03 1.73437663e+01] [-5.66864983e-03 9.99911939e-01 -1.19992327e-02 -1.19270957e-01] [-8.02447332e-03 1.19535537e-02 9.99896355e-01 -2.54207837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.23719347 meters Centerline goodness : 0.908922 Centerline is valid? [False, False] Translation: X:17.34, Y:-0.12, Z:-2.54 [[ 9.99958693e-01 5.11287182e-03 7.51476058e-03 1.73449396e+01] [-5.01847329e-03 9.99908936e-01 -1.25273753e-02 -1.18230945e-01] [-7.57812712e-03 1.24891452e-02 9.99893291e-01 -2.54230987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26719347 meters Centerline goodness : 0.905686 Centerline is valid? [False, False] Translation: X:17.35, Y:-0.12, Z:-2.54 [[ 9.99963976e-01 4.48042057e-03 7.20922905e-03 1.73454941e+01] [-4.38575204e-03 9.99904649e-01 -1.30942312e-02 -1.17222282e-01] [-7.26720930e-03 1.30621416e-02 9.99888278e-01 -2.54205688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.29719347 meters Centerline goodness : 0.906369 Centerline is valid? [False, False] Translation: X:17.35, Y:-0.12, Z:-2.54 [[ 9.99968319e-01 4.06102192e-03 6.84615824e-03 1.73462368e+01] [-3.96787156e-03 9.99900114e-01 -1.35653358e-02 -1.16155292e-01] [-6.90056353e-03 1.35377414e-02 9.99884549e-01 -2.54190364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.32719347 meters Centerline goodness : 0.904765 Centerline is valid? [False, False] Translation: X:17.35, Y:-0.11, Z:-2.54 [[ 9.99969035e-01 4.13011985e-03 6.69854137e-03 1.73461434e+01] [-4.03578907e-03 9.99893357e-01 -1.40351899e-02 -1.13698002e-01] [-6.75579404e-03 1.40077214e-02 9.99879064e-01 -2.54126009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.35719347 meters Centerline goodness : 0.903298 Centerline is valid? [False, False] Translation: X:17.35, Y:-0.11, Z:-2.54 [[ 9.99970183e-01 5.08814577e-03 5.80897390e-03 1.73492023e+01] [-5.01069398e-03 9.99899385e-01 -1.32707175e-02 -1.12715042e-01] [-5.87591278e-03 1.32412148e-02 9.99895066e-01 -2.54285595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.38719347 meters Centerline goodness : 0.901515 Centerline is valid? [False, False] Translation: X:17.37, Y:-0.11, Z:-2.55 [[ 9.99964287e-01 4.92617596e-03 6.86720103e-03 1.73699226e+01] [-4.79611550e-03 9.99811217e-01 -1.88288896e-02 -1.09289741e-01] [-6.95865904e-03 1.87952813e-02 9.99799137e-01 -2.54604082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.41719347 meters Centerline goodness : 0.901995 Centerline is valid? [False, False] Translation: X:17.37, Y:-0.11, Z:-2.55 [[ 9.99955538e-01 7.39368850e-03 5.85288556e-03 1.73733668e+01] [-7.29729550e-03 9.99840145e-01 -1.63228101e-02 -1.08489463e-01] [-5.97263572e-03 1.62793742e-02 9.99849643e-01 -2.54791123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.44719347 meters Centerline goodness : 0.901302 Centerline is valid? [False, False] Translation: X:17.39, Y:-0.10, Z:-2.55 [[ 9.99921322e-01 1.00741302e-02 7.47401475e-03 1.73941132e+01] [-9.92579018e-03 9.99758122e-01 -1.96258940e-02 -1.04390854e-01] [-7.66992076e-03 1.95501644e-02 9.99779457e-01 -2.55148754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.47719347 meters Centerline goodness : 0.900569 Centerline is valid? [False, False] Translation: X:17.41, Y:-0.10, Z:-2.55 [[ 9.99874756e-01 1.14821974e-02 1.08918054e-02 1.74122590e+01] [-1.12430536e-02 9.99699804e-01 -2.17691212e-02 -1.02528776e-01] [-1.11384931e-02 2.16439376e-02 9.99703693e-01 -2.55290727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.50719347 meters Centerline goodness : 0.899580 Centerline is valid? [False, False] Translation: X:17.43, Y:-0.10, Z:-2.56 [[ 9.99854874e-01 1.09398341e-02 1.30594924e-02 1.74314772e+01] [-1.05820941e-02 9.99575226e-01 -2.71548643e-02 -9.99521426e-02] [-1.33510148e-02 2.70127267e-02 9.99545928e-01 -2.55549078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.53719347 meters Centerline goodness : 0.896675 Centerline is valid? [False, False] Translation: X:17.46, Y:-0.10, Z:-2.56 [[ 9.99916593e-01 9.81218271e-03 8.39806368e-03 1.74626371e+01] [-9.60421594e-03 9.99654780e-01 -2.44556916e-02 -1.00794483e-01] [-8.63512821e-03 2.43729951e-02 9.99665640e-01 -2.55667347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.56719347 meters Centerline goodness : 0.898561 Centerline is valid? [False, False] Translation: X:17.46, Y:-0.10, Z:-2.56 [[ 9.99923504e-01 9.52592249e-03 7.88936205e-03 1.74644152e+01] [-9.33041890e-03 9.99657331e-01 -2.44573755e-02 -1.01324252e-01] [-8.11963767e-03 2.43818936e-02 9.99669743e-01 -2.55772280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.59719347 meters Centerline goodness : 0.895979 Centerline is valid? [False, False] Translation: X:17.47, Y:-0.10, Z:-2.56 [[ 9.99931037e-01 9.18910245e-03 7.31315491e-03 1.74660295e+01] [-9.00919085e-03 9.99664964e-01 -2.42650714e-02 -1.02700497e-01] [-7.53367897e-03 2.41975124e-02 9.99678810e-01 -2.55840603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.62719347 meters Centerline goodness : 0.895382 Centerline is valid? [False, False] Translation: X:17.47, Y:-0.10, Z:-2.56 [[ 9.99938919e-01 8.78747079e-03 6.70359532e-03 1.74676930e+01] [-8.62447583e-03 9.99675529e-01 -2.39678053e-02 -1.04977793e-01] [-6.91203658e-03 2.39085263e-02 9.99690255e-01 -2.55905792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.65719347 meters Centerline goodness : 0.893291 Centerline is valid? [False, False] Translation: X:17.47, Y:-0.11, Z:-2.56 [[ 9.99949885e-01 7.92252824e-03 6.12052980e-03 1.74696927e+01] [-7.77660715e-03 9.99693401e-01 -2.35080592e-02 -1.09043250e-01] [-6.30489652e-03 2.34592842e-02 9.99704912e-01 -2.56015945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.68719347 meters Centerline goodness : 0.893489 Centerline is valid? [False, False] Translation: X:17.47, Y:-0.11, Z:-2.56 [[ 9.99961085e-01 6.97580804e-03 5.40052506e-03 1.74720860e+01] [-6.84524033e-03 9.99692610e-01 -2.38291271e-02 -1.10503696e-01] [-5.56509242e-03 2.37912319e-02 9.99701459e-01 -2.56137845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.71719346999998 meters Centerline goodness : 0.894484 Centerline is valid? [False, False] Translation: X:17.47, Y:-0.11, Z:-2.56 [[ 9.99966454e-01 6.61828521e-03 4.82579461e-03 1.74733890e+01] [-6.50236833e-03 9.99699087e-01 -2.36527849e-02 -1.11770405e-01] [-4.98088334e-03 2.36206123e-02 9.99708586e-01 -2.56150493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74719346999998 meters Centerline goodness : 0.891429 Centerline is valid? [False, False] Translation: X:17.50, Y:-0.11, Z:-2.56 [[ 9.99977366e-01 6.17976739e-03 2.66059366e-03 1.75005691e+01] [-6.13019648e-03 9.99814606e-01 -1.82530581e-02 -1.14371302e-01] [-2.77290006e-03 1.82363350e-02 9.99829859e-01 -2.55944754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.77719347 meters Centerline goodness : 0.892711 Centerline is valid? [False, False] Translation: X:17.50, Y:-0.12, Z:-2.56 [[ 9.99979520e-01 5.99800028e-03 2.23224491e-03 1.75013634e+01] [-5.95648338e-03 9.99817306e-01 -1.81624745e-02 -1.15132000e-01] [-2.34077562e-03 1.81488062e-02 9.99832557e-01 -2.55926356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80719347 meters Centerline goodness : 0.892334 Centerline is valid? [False, False] Translation: X:17.50, Y:-0.12, Z:-2.56 [[ 9.99981280e-01 5.80587615e-03 1.93192318e-03 1.75018149e+01] [-5.77012112e-03 9.99820885e-01 -1.80251097e-02 -1.16190281e-01] [-2.03622870e-03 1.80136249e-02 9.99835668e-01 -2.55895697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.83719347 meters Centerline goodness : 0.893739 Centerline is valid? [False, False] Translation: X:17.50, Y:-0.12, Z:-2.56 [[ 9.99983835e-01 5.47682809e-03 1.52807416e-03 1.75025735e+01] [-5.44837012e-03 9.99822343e-01 -1.80443120e-02 -1.16968737e-01] [-1.62662828e-03 1.80356948e-02 9.99836020e-01 -2.55877032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86719347 meters Centerline goodness : 0.896422 Centerline is valid? [False, False] Translation: X:17.51, Y:-0.12, Z:-2.56 [[ 9.99977947e-01 3.18141359e-03 5.82953708e-03 1.75115903e+01] [-3.12184579e-03 9.99943115e-01 -1.01990393e-02 -1.17514027e-01] [-5.86165283e-03 1.01806154e-02 9.99930996e-01 -2.55938313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.89719347 meters Centerline goodness : 0.896815 Centerline is valid? [False, False] Translation: X:17.51, Y:-0.12, Z:-2.56 [[ 9.99980590e-01 2.77869122e-03 5.57655494e-03 1.75118024e+01] [-2.71893317e-03 9.99939110e-01 -1.06950673e-02 -1.15614743e-01] [-5.60593367e-03 1.06796974e-02 9.99927256e-01 -2.55874085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92719347 meters Centerline goodness : 0.896555 Centerline is valid? [False, False] Translation: X:17.51, Y:-0.11, Z:-2.56 [[ 9.99982227e-01 2.39029772e-03 5.46197116e-03 1.75119025e+01] [-2.32866376e-03 9.99933861e-01 -1.12628301e-02 -1.14095611e-01] [-5.48853143e-03 1.12499108e-02 9.99921655e-01 -2.55830515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.95719347 meters Centerline goodness : 0.896765 Centerline is valid? [False, False] Translation: X:17.53, Y:-0.11, Z:-2.56 [[ 9.99952942e-01 2.78482760e-03 9.29291044e-03 1.75288327e+01] [-2.65776675e-03 9.99903202e-01 -1.36573309e-02 -1.14638019e-01] [-9.33004421e-03 1.36319898e-02 9.99863550e-01 -2.55777795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98719347 meters Centerline goodness : 0.896746 Centerline is valid? [False, False] Translation: X:17.53, Y:-0.12, Z:-2.56 [[ 9.99958182e-01 2.41055133e-03 8.82178805e-03 1.75301578e+01] [-2.28812465e-03 9.99901305e-01 -1.38616414e-02 -1.15131503e-01] [-8.85433158e-03 1.38408764e-02 9.99865006e-01 -2.55827394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.01719347 meters Centerline goodness : 0.897152 Centerline is valid? [False, False] Translation: X:17.55, Y:-0.12, Z:-2.56 [[ 9.99975197e-01 3.73000721e-03 5.97437516e-03 1.75527783e+01] [-3.64785683e-03 9.99899458e-01 -1.37028276e-02 -1.16225141e-01] [-6.02488613e-03 1.36806941e-02 9.99888263e-01 -2.55946877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04719347 meters Centerline goodness : 0.898532 Centerline is valid? [False, False] Translation: X:17.56, Y:-0.12, Z:-2.56 [[ 9.99977554e-01 4.32848264e-03 5.11424055e-03 1.75564429e+01] [-4.26107012e-03 9.99904856e-01 -1.31195103e-02 -1.15845702e-01] [-5.17054154e-03 1.30974237e-02 9.99900857e-01 -2.56203396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.07719347 meters Centerline goodness : 0.896458 Centerline is valid? [False, False] Translation: X:17.58, Y:-0.11, Z:-2.56 [[ 9.99978030e-01 5.64169484e-03 3.48001283e-03 1.75793181e+01] [-5.58713660e-03 9.99864366e-01 -1.54929864e-02 -1.14935495e-01] [-3.56694753e-03 1.54732027e-02 9.99873920e-01 -2.56436769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.10719347 meters Centerline goodness : 0.895933 Centerline is valid? [False, False] Translation: X:17.58, Y:-0.12, Z:-2.57 [[ 9.99979200e-01 5.70658652e-03 3.00587948e-03 1.75807570e+01] [-5.65999968e-03 9.99867150e-01 -1.52855289e-02 -1.15595677e-01] [-3.09270834e-03 1.52681976e-02 9.99878651e-01 -2.56512892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.13719347 meters Centerline goodness : 0.897440 Centerline is valid? [False, False] Translation: X:17.60, Y:-0.12, Z:-2.57 [[ 9.99976752e-01 6.68543525e-03 1.34186346e-03 1.76036049e+01] [-6.66367950e-03 9.99855939e-01 -1.56107911e-02 -1.17237403e-01] [-1.44603509e-03 1.56014864e-02 9.99877244e-01 -2.56710247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.16719347 meters Centerline goodness : 0.895972 Centerline is valid? [False, False] Translation: X:17.61, Y:-0.12, Z:-2.57 [[ 9.99978946e-01 6.44094254e-03 7.88932395e-04 1.76053169e+01] [-6.42780758e-03 9.99856842e-01 -1.56518051e-02 -1.17769749e-01] [-8.89631830e-04 1.56464044e-02 9.99877192e-01 -2.56804160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.19719347 meters Centerline goodness : 0.895972 Centerline is valid? [False, False] Translation: X:17.61, Y:-0.12, Z:-2.57 [[ 9.99978946e-01 6.44094254e-03 7.88932395e-04 1.76053169e+01] [-6.42780758e-03 9.99856842e-01 -1.56518051e-02 -1.17769749e-01] [-8.89631830e-04 1.56464044e-02 9.99877192e-01 -2.56804160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.22719347 meters Centerline goodness : 0.897205 Centerline is valid? [False, False] Translation: X:17.61, Y:-0.12, Z:-2.57 [[ 9.99978789e-01 6.50066186e-03 -4.03816036e-04 1.76098488e+01] [-6.50598115e-03 9.99866669e-01 -1.49771997e-02 -1.20151111e-01] [ 3.06400484e-04 1.49795093e-02 9.99887754e-01 -2.57103862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.25719347 meters Centerline goodness : 0.898861 Centerline is valid? [False, False] Translation: X:17.61, Y:-0.12, Z:-2.57 [[ 9.99983319e-01 5.61139732e-03 -1.36864530e-03 1.76128007e+01] [-5.63162549e-03 9.99867806e-01 -1.52530600e-02 -1.21734406e-01] [ 1.28287339e-03 1.52605132e-02 9.99882729e-01 -2.57251821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.28719347 meters Centerline goodness : 0.895631 Centerline is valid? [False, False] Translation: X:17.62, Y:-0.12, Z:-2.57 [[ 9.99988976e-01 4.16665239e-03 -2.16478979e-03 1.76156906e+01] [-4.20129537e-03 9.99859089e-01 -1.62527517e-02 -1.23314818e-01] [ 2.09676518e-03 1.62616674e-02 9.99865572e-01 -2.57426568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.31719347 meters Centerline goodness : 0.896381 Centerline is valid? [False, False] Translation: X:17.62, Y:-0.13, Z:-2.57 [[ 9.99990036e-01 3.35414518e-03 -2.94581229e-03 1.76177076e+01] [-3.40197573e-03 9.99859974e-01 -1.63847222e-02 -1.25124987e-01] [ 2.89044306e-03 1.63945805e-02 9.99861422e-01 -2.57492504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.34719347 meters Centerline goodness : 0.896163 Centerline is valid? [False, False] Translation: X:17.63, Y:-0.13, Z:-2.58 [[ 9.99996830e-01 5.91010796e-04 2.44749953e-03 1.76281151e+01] [-5.68535690e-04 9.99957762e-01 -9.17342171e-03 -1.29014270e-01] [-2.45281774e-03 9.17200114e-03 9.99954928e-01 -2.57741950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.37719347 meters Centerline goodness : 0.897118 Centerline is valid? [False, False] Translation: X:17.63, Y:-0.13, Z:-2.58 [[ 9.99997905e-01 6.64234359e-05 2.04573470e-03 1.76292928e+01] [-4.72317061e-05 9.99956006e-01 -9.37995846e-03 -1.29386100e-01] [-2.04626775e-03 9.37984219e-03 9.99953915e-01 -2.57785661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.40719347 meters Centerline goodness : 0.897928 Centerline is valid? [False, False] Translation: X:17.63, Y:-0.13, Z:-2.58 [[ 9.99998672e-01 -4.13304669e-04 1.57653448e-03 1.76305936e+01] [ 4.28499197e-04 9.99953348e-01 -9.64979845e-03 -1.29569602e-01] [-1.57247262e-03 9.65046118e-03 9.99952197e-01 -2.57833253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.43719347 meters Centerline goodness : 0.897114 Centerline is valid? [False, False] Translation: X:17.63, Y:-0.13, Z:-2.58 [[ 9.99999074e-01 -7.32020004e-04 1.14682174e-03 1.76317106e+01] [ 7.43265468e-04 9.99951347e-01 -9.83622086e-03 -1.29959398e-01] [-1.13956563e-03 9.83706415e-03 9.99950966e-01 -2.57863434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46719346999998 meters Centerline goodness : 0.897024 Centerline is valid? [False, False] Translation: X:17.63, Y:-0.13, Z:-2.58 [[ 9.99999471e-01 -7.82027974e-04 6.67972931e-04 1.76327633e+01] [ 7.88598480e-04 9.99950747e-01 -9.89352449e-03 -1.30072988e-01] [-6.60203019e-04 9.89404602e-03 9.99950835e-01 -2.57874584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.49719346999998 meters Centerline goodness : 0.894736 Centerline is valid? [False, False] Translation: X:17.63, Y:-0.13, Z:-2.58 [[ 9.99999765e-01 1.31667041e-04 6.72370581e-04 1.76321068e+01] [-1.25027714e-04 9.99951332e-01 -9.86501976e-03 -1.28089110e-01] [-6.73636756e-04 9.86493338e-03 9.99951113e-01 -2.57762516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52719347 meters Centerline goodness : 0.896181 Centerline is valid? [False, False] Translation: X:17.65, Y:-0.13, Z:-2.58 [[ 9.99992550e-01 2.06352102e-03 3.26204314e-03 1.76503597e+01] [-2.02512698e-03 9.99929153e-01 -1.17297429e-02 -1.25937564e-01] [-3.28601661e-03 1.17230495e-02 9.99925883e-01 -2.57784190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.55719347 meters Centerline goodness : 0.895423 Centerline is valid? [False, False] Translation: X:17.65, Y:-0.13, Z:-2.58 [[ 9.99980084e-01 5.64862797e-03 2.81493316e-03 1.76510298e+01] [-5.62617193e-03 9.99952789e-01 -7.92253462e-03 -1.26063026e-01] [-2.85955171e-03 7.90653954e-03 9.99964654e-01 -2.57732989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58719347 meters Centerline goodness : 0.894801 Centerline is valid? [False, False] Translation: X:17.67, Y:-0.12, Z:-2.58 [[ 9.99972617e-01 5.78687505e-03 4.61264241e-03 1.76700010e+01] [-5.72882563e-03 9.99905458e-01 -1.25002500e-02 -1.23770306e-01] [-4.68454371e-03 1.24734827e-02 9.99911230e-01 -2.57818991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.61719347 meters Centerline goodness : 0.893333 Centerline is valid? [False, False] Translation: X:17.67, Y:-0.12, Z:-2.58 [[ 9.99969793e-01 6.54584608e-03 4.19107310e-03 1.76700861e+01] [-6.49619521e-03 9.99909831e-01 -1.17528086e-02 -1.24926610e-01] [-4.26762727e-03 1.17252275e-02 9.99922150e-01 -2.57712924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64719347 meters Centerline goodness : 0.895363 Centerline is valid? [False, False] Translation: X:17.67, Y:-0.13, Z:-2.58 [[ 9.99971401e-01 6.53244424e-03 3.81121304e-03 1.76708826e+01] [-6.48816409e-03 9.99912624e-01 -1.15173107e-02 -1.25974667e-01] [-3.88611622e-03 1.14922535e-02 9.99926410e-01 -2.57716712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.67719347 meters Centerline goodness : 0.892465 Centerline is valid? [False, False] Translation: X:17.67, Y:-0.13, Z:-2.58 [[ 9.99973089e-01 6.49593488e-03 3.40944387e-03 1.76718683e+01] [-6.45691665e-03 9.99914931e-01 -1.13330505e-02 -1.26644608e-01] [-3.48277259e-03 1.13107311e-02 9.99929966e-01 -2.57737632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70719347 meters Centerline goodness : 0.894013 Centerline is valid? [False, False] Translation: X:17.67, Y:-0.13, Z:-2.58 [[ 9.99975188e-01 6.38087655e-03 2.98466037e-03 1.76729133e+01] [-6.34694567e-03 9.99916652e-01 -1.12429978e-02 -1.27031572e-01] [-3.05615178e-03 1.12237753e-02 9.99932341e-01 -2.57761973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.73719347 meters Centerline goodness : 0.895880 Centerline is valid? [False, False] Translation: X:17.67, Y:-0.13, Z:-2.58 [[ 9.99973603e-01 6.71784326e-03 2.76831868e-03 1.76729206e+01] [-6.68993782e-03 9.99927927e-01 -9.96918117e-03 -1.30687843e-01] [-2.83509056e-03 9.95039813e-03 9.99946474e-01 -2.57690518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76719347 meters Centerline goodness : 0.896858 Centerline is valid? [False, False] Translation: X:17.68, Y:-0.13, Z:-2.58 [[ 9.99982539e-01 5.55939187e-03 2.00370243e-03 1.76755672e+01] [-5.53789649e-03 9.99928713e-01 -1.05783019e-02 -1.33052189e-01] [-2.06236852e-03 1.05670209e-02 9.99942041e-01 -2.57839469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.79719347 meters Centerline goodness : 0.897483 Centerline is valid? [False, False] Translation: X:17.68, Y:-0.14, Z:-2.58 [[ 9.99987713e-01 4.78597241e-03 1.29135748e-03 1.76786410e+01] [-4.77240728e-03 9.99935454e-01 -1.03107417e-02 -1.37386419e-01] [-1.34062105e-03 1.03044522e-02 9.99946009e-01 -2.58073485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.82719347 meters Centerline goodness : 0.896700 Centerline is valid? [False, False] Translation: X:17.68, Y:-0.14, Z:-2.58 [[ 9.99989608e-01 4.48985415e-03 7.90597675e-04 1.76805069e+01] [-4.48148094e-03 9.99936993e-01 -1.02920690e-02 -1.38049369e-01] [-8.36757751e-04 1.02884190e-02 9.99946723e-01 -2.58200873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.85719347 meters Centerline goodness : 0.894580 Centerline is valid? [False, False] Translation: X:17.70, Y:-0.14, Z:-2.58 [[ 9.99989883e-01 4.48274507e-03 -3.73448195e-04 1.77022473e+01] [-4.48730315e-03 9.99902013e-01 -1.32600079e-02 -1.38045413e-01] [ 3.13970367e-04 1.32615495e-02 9.99912012e-01 -2.58404712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.88719347 meters Centerline goodness : 0.894091 Centerline is valid? [False, False] Translation: X:17.72, Y:-0.14, Z:-2.59 [[ 9.99985534e-01 5.24751746e-03 -1.18163568e-03 1.77237492e+01] [-5.26505974e-03 9.99868054e-01 -1.53672648e-02 -1.38612763e-01] [ 1.10083977e-03 1.53732639e-02 9.99881218e-01 -2.58530280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.91719347 meters Centerline goodness : 0.897405 Centerline is valid? [False, False] Translation: X:17.72, Y:-0.14, Z:-2.59 [[ 9.99980440e-01 6.02210487e-03 -1.68921254e-03 1.77247594e+01] [-6.04572125e-03 9.99878863e-01 -1.43425563e-02 -1.41617484e-01] [ 1.60263554e-03 1.43524883e-02 9.99895713e-01 -2.58540935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.94719347 meters Centerline goodness : 0.897723 Centerline is valid? [False, False] Translation: X:17.73, Y:-0.14, Z:-2.59 [[ 9.99977822e-01 6.35956973e-03 -1.97748107e-03 1.77254979e+01] [-6.38688586e-03 9.99879788e-01 -1.41285703e-02 -1.41724551e-01] [ 1.88739172e-03 1.41408869e-02 9.99898231e-01 -2.58564069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.97719347 meters Centerline goodness : 0.897872 Centerline is valid? [False, False] Translation: X:17.74, Y:-0.14, Z:-2.59 [[ 9.99975319e-01 7.00980050e-03 4.73968877e-04 1.77443551e+01] [-6.99944735e-03 9.99792366e-01 -1.91371950e-02 -1.39031104e-01] [-6.08018385e-04 1.91334052e-02 9.99816755e-01 -2.58831304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.00719347 meters Centerline goodness : 0.897557 Centerline is valid? [False, False] Translation: X:17.76, Y:-0.14, Z:-2.59 [[ 9.99954997e-01 9.03034052e-03 2.90791774e-03 1.77635999e+01] [-8.96620839e-03 9.99731649e-01 -2.13597274e-02 -1.37027773e-01] [-3.10002301e-03 2.13326932e-02 9.99767626e-01 -2.59018608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.03719347 meters Centerline goodness : 0.897714 Centerline is valid? [False, False] Translation: X:17.76, Y:-0.14, Z:-2.59 [[ 9.99911026e-01 1.29890689e-02 3.03716570e-03 1.77630025e+01] [-1.29342434e-02 9.99764537e-01 -1.74234318e-02 -1.36734613e-01] [-3.26276471e-03 1.73825982e-02 9.99843588e-01 -2.58931173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.06719347 meters Centerline goodness : 0.894929 Centerline is valid? [False, False] Translation: X:17.78, Y:-0.13, Z:-2.59 [[ 9.99916193e-01 1.14751576e-02 5.99399895e-03 1.77803574e+01] [-1.13225691e-02 9.99625852e-01 -2.48989097e-02 -1.33499440e-01] [-6.27747522e-03 2.48289555e-02 9.99672004e-01 -2.59136758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.09719347 meters Centerline goodness : 0.897109 Centerline is valid? [False, False] Translation: X:17.80, Y:-0.13, Z:-2.59 [[ 9.99912183e-01 1.02364937e-02 8.41665769e-03 1.77993962e+01] [-9.97963208e-03 9.99499663e-01 -3.00138538e-02 -1.32601755e-01] [-8.71968314e-03 2.99272229e-02 9.99514046e-01 -2.59302457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.12719347 meters Centerline goodness : 0.897204 Centerline is valid? [False, False] Translation: X:17.81, Y:-0.14, Z:-2.59 [[ 9.99902204e-01 6.72999006e-03 1.22592616e-02 1.78096069e+01] [-6.44263911e-03 9.99707057e-01 -2.33300761e-02 -1.35622923e-01] [-1.24126815e-02 2.32488125e-02 9.99652649e-01 -2.59494944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.15719347 meters Centerline goodness : 0.897541 Centerline is valid? [False, False] Translation: X:17.81, Y:-0.14, Z:-2.59 [[ 9.99931540e-01 -1.84622474e-03 1.15545384e-02 1.78088788e+01] [ 1.99579848e-03 9.99914194e-01 -1.29469062e-02 -1.42244858e-01] [-1.15296441e-02 1.29690803e-02 9.99849424e-01 -2.59429289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.18719347 meters Centerline goodness : 0.897507 Centerline is valid? [False, False] Translation: X:17.81, Y:-0.14, Z:-2.60 [[ 9.99933507e-01 -4.19280428e-03 1.07425632e-02 1.78122382e+01] [ 4.34889000e-03 9.99884719e-01 -1.45477294e-02 -1.44167550e-01] [-1.06803290e-02 1.45934803e-02 9.99836467e-01 -2.59652194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.21719346999998 meters Centerline goodness : 0.900600 Centerline is valid? [False, False] Translation: X:17.82, Y:-0.15, Z:-2.60 [[ 9.99927114e-01 -6.76833807e-03 9.99785505e-03 1.78154205e+01] [ 6.93332200e-03 9.99838826e-01 -1.65604987e-02 -1.46183137e-01] [-9.88415661e-03 1.66286100e-02 9.99812879e-01 -2.59873894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24719346999998 meters Centerline goodness : 0.898060 Centerline is valid? [False, False] Translation: X:17.82, Y:-0.15, Z:-2.60 [[ 9.99922780e-01 -8.33943820e-03 9.21351221e-03 1.78185339e+01] [ 8.49785873e-03 9.99814384e-01 -1.72911526e-02 -1.48691398e-01] [-9.06760354e-03 1.73681125e-02 9.99808045e-01 -2.60076619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.27719347 meters Centerline goodness : 0.899601 Centerline is valid? [False, False] Translation: X:17.82, Y:-0.15, Z:-2.60 [[ 9.99896313e-01 -1.14390003e-02 8.74715982e-03 1.78209537e+01] [ 1.16075315e-02 9.99743152e-01 -1.94652565e-02 -1.52297913e-01] [-8.52225005e-03 1.95647712e-02 9.99772270e-01 -2.60267147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30719347 meters Centerline goodness : 0.899398 Centerline is valid? [False, False] Translation: X:17.82, Y:-0.15, Z:-2.60 [[ 9.99894681e-01 -1.18910937e-02 8.32035675e-03 1.78222117e+01] [ 1.20511081e-02 9.99738134e-01 -1.94533898e-02 -1.53195898e-01] [-8.08685585e-03 1.95516105e-02 9.99776144e-01 -2.60321360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.33719347 meters Centerline goodness : 0.900165 Centerline is valid? [False, False] Translation: X:17.82, Y:-0.15, Z:-2.60 [[ 9.99894894e-01 -1.21214573e-02 7.95429700e-03 1.78230680e+01] [ 1.22739036e-02 9.99736367e-01 -1.94048419e-02 -1.53471089e-01] [-7.71698503e-03 1.95004326e-02 9.99780066e-01 -2.60334674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36719347 meters Centerline goodness : 0.898031 Centerline is valid? [False, False] Translation: X:17.82, Y:-0.15, Z:-2.60 [[ 9.99895898e-01 -1.22812383e-02 7.57388620e-03 1.78236593e+01] [ 1.24264768e-02 9.99733858e-01 -1.94369682e-02 -1.53478246e-01] [-7.33316043e-03 1.95290615e-02 9.99782397e-01 -2.60301431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.39719347 meters Centerline goodness : 0.898337 Centerline is valid? [False, False] Translation: X:17.82, Y:-0.15, Z:-2.60 [[ 9.99897100e-01 -1.24145667e-02 7.18799477e-03 1.78241280e+01] [ 1.25528828e-02 9.99730497e-01 -1.95284245e-02 -1.53355330e-01] [-6.94362065e-03 1.96166451e-02 9.99783463e-01 -2.60255524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42719347 meters Centerline goodness : 0.898983 Centerline is valid? [False, False] Translation: X:17.84, Y:-0.15, Z:-2.60 [[ 9.99882648e-01 -1.15928419e-02 1.00148297e-02 1.78424999e+01] [ 1.18020778e-02 9.99707866e-01 -2.10924795e-02 -1.52466242e-01] [-9.76738227e-03 2.12082001e-02 9.99727368e-01 -2.60281537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.45719347 meters Centerline goodness : 0.900346 Centerline is valid? [False, False] Translation: X:17.86, Y:-0.15, Z:-2.60 [[ 9.99900844e-01 -9.85528884e-03 1.00585775e-02 1.78634798e+01] [ 1.00624194e-02 9.99733977e-01 -2.07538842e-02 -1.52533096e-01] [-9.85136615e-03 2.08530400e-02 9.99734015e-01 -2.60393486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48719347 meters Centerline goodness : 0.901331 Centerline is valid? [False, False] Translation: X:17.87, Y:-0.15, Z:-2.60 [[ 9.99923803e-01 -7.86115443e-03 9.51790382e-03 1.78654617e+01] [ 8.03178163e-03 9.99805303e-01 -1.80234792e-02 -1.52858446e-01] [-9.37436537e-03 1.80985516e-02 9.99792260e-01 -2.60498914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.51719347 meters Centerline goodness : 0.902690 Centerline is valid? [False, False] Translation: X:17.87, Y:-0.15, Z:-2.61 [[ 9.99919628e-01 -8.51857673e-03 9.38992597e-03 1.78664019e+01] [ 8.69651402e-03 9.99780238e-01 -1.90747401e-02 -1.50121010e-01] [-9.22537279e-03 1.91548666e-02 9.99773966e-01 -2.60588251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54719347 meters Centerline goodness : 0.903005 Centerline is valid? [False, False] Translation: X:17.87, Y:-0.15, Z:-2.61 [[ 9.99941793e-01 -6.50775828e-03 8.60584333e-03 1.78691086e+01] [ 6.65095758e-03 9.99838137e-01 -1.67171918e-02 -1.49489355e-01] [-8.49565892e-03 1.67734558e-02 9.99823222e-01 -2.60743064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.57719347 meters Centerline goodness : 0.901752 Centerline is valid? [False, False] Translation: X:17.89, Y:-0.15, Z:-2.61 [[ 9.99927625e-01 -4.55206263e-03 1.11365499e-02 1.78877543e+01] [ 4.75255149e-03 9.99825916e-01 -1.80430512e-02 -1.47331488e-01] [-1.10524781e-02 1.80946724e-02 9.99775188e-01 -2.60843127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.60719347 meters Centerline goodness : 0.901935 Centerline is valid? [False, False] Translation: X:17.89, Y:-0.15, Z:-2.61 [[ 9.99939195e-01 -1.40431718e-03 1.09377847e-02 1.78882915e+01] [ 1.56592859e-03 9.99889529e-01 -1.47809947e-02 -1.46189209e-01] [-1.09158192e-02 1.47972238e-02 9.99830929e-01 -2.60849106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.63719347 meters Centerline goodness : 0.900544 Centerline is valid? [False, False] Translation: X:17.91, Y:-0.14, Z:-2.61 [[ 9.99913401e-01 1.31440846e-03 1.30944074e-02 1.79081446e+01] [-1.08689867e-03 9.99848599e-01 -1.73665678e-02 -1.40658695e-01] [-1.31152516e-02 1.73508315e-02 9.99763441e-01 -2.61110811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.66719347 meters Centerline goodness : 0.902323 Centerline is valid? [False, False] Translation: X:17.91, Y:-0.14, Z:-2.61 [[ 9.99919495e-01 2.66566008e-03 1.24055217e-02 1.79112137e+01] [-2.46533667e-03 9.99866778e-01 -1.61352956e-02 -1.39031935e-01] [-1.24468802e-02 1.61034128e-02 9.99792856e-01 -2.61334022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.69719347 meters Centerline goodness : 0.900758 Centerline is valid? [False, False] Translation: X:17.91, Y:-0.14, Z:-2.62 [[ 9.99923899e-01 3.90472689e-03 1.17025256e-02 1.79142023e+01] [-3.72861210e-03 9.99880038e-01 -1.50335174e-02 -1.37104284e-01] [-1.17598236e-02 1.49887392e-02 9.99818506e-01 -2.61539647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.72719347 meters Centerline goodness : 0.900974 Centerline is valid? [False, False] Translation: X:17.94, Y:-0.13, Z:-2.62 [[ 9.99925898e-01 4.90637869e-03 1.11411973e-02 1.79366932e+01] [-4.69587798e-03 9.99811444e-01 -1.88421005e-02 -1.30567730e-01] [-1.12315430e-02 1.87883866e-02 9.99760396e-01 -2.61869553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.75719347 meters Centerline goodness : 0.902708 Centerline is valid? [False, False] Translation: X:17.94, Y:-0.13, Z:-2.62 [[ 9.99929278e-01 6.01824443e-03 1.02576682e-02 1.79401485e+01] [-5.83426433e-03 9.99823254e-01 -1.78723870e-02 -1.28358217e-01] [-1.03634156e-02 1.78112771e-02 9.99787656e-01 -2.62092629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.78719347 meters Centerline goodness : 0.899772 Centerline is valid? [False, False] Translation: X:17.94, Y:-0.13, Z:-2.62 [[ 9.99929813e-01 7.19113258e-03 9.41576478e-03 1.79432337e+01] [-7.03294433e-03 9.99835358e-01 -1.67270447e-02 -1.26859385e-01] [-9.53450095e-03 1.66596501e-02 9.99815758e-01 -2.62269351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.81719347 meters Centerline goodness : 0.900829 Centerline is valid? [False, False] Translation: X:17.95, Y:-0.13, Z:-2.62 [[ 9.99924864e-01 8.59450846e-03 8.74077690e-03 1.79458690e+01] [-8.45918096e-03 9.99845580e-01 -1.54031990e-02 -1.25008301e-01] [-8.87181007e-03 1.53281019e-02 9.99843158e-01 -2.62423297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.84719347 meters Centerline goodness : 0.900430 Centerline is valid? [False, False] Translation: X:17.96, Y:-0.12, Z:-2.63 [[ 9.99871804e-01 1.05561154e-02 1.20392566e-02 1.79629901e+01] [-1.03211223e-02 9.99758202e-01 -1.94168005e-02 -1.17012921e-01] [-1.22413116e-02 1.92900527e-02 9.99738988e-01 -2.62539782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.87719347 meters Centerline goodness : 0.897184 Centerline is valid? [False, False] Translation: X:17.96, Y:-0.12, Z:-2.63 [[ 9.99831921e-01 1.39865104e-02 1.18535385e-02 1.79635587e+01] [-1.37939159e-02 9.99773994e-01 -1.61767746e-02 -1.15177389e-01] [-1.20771162e-02 1.60105489e-02 9.99798883e-01 -2.62541666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.90719347 meters Centerline goodness : 0.898551 Centerline is valid? [False, False] Translation: X:17.97, Y:-0.11, Z:-2.63 [[ 9.99792822e-01 1.68932627e-02 1.13547650e-02 1.79654087e+01] [-1.67404839e-02 9.99769830e-01 -1.34180455e-02 -1.13198163e-01] [-1.15788260e-02 1.32251813e-02 9.99845501e-01 -2.62635888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.93719347 meters Centerline goodness : 0.896905 Centerline is valid? [False, False] Translation: X:17.97, Y:-0.11, Z:-2.63 [[ 9.99751561e-01 1.94706019e-02 1.08495057e-02 1.79678297e+01] [-1.93517430e-02 9.99752723e-01 -1.09546034e-02 -1.11366381e-01] [-1.10601156e-02 1.07419250e-02 9.99881135e-01 -2.62810640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96719346999998 meters Centerline goodness : 0.896178 Centerline is valid? [False, False] Translation: X:17.97, Y:-0.11, Z:-2.63 [[ 9.99668230e-01 2.38378015e-02 9.75654134e-03 1.79724172e+01] [-2.37620746e-02 9.99687171e-01 -7.80535453e-03 -1.07848618e-01] [-9.93955170e-03 7.57092928e-03 9.99921940e-01 -2.63129447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.99719346999998 meters Centerline goodness : 0.894771 Centerline is valid? [False, False] Translation: X:17.96, Y:-0.10, Z:-2.63 [[ 9.99684095e-01 2.48767729e-02 3.58566400e-03 1.79594520e+01] [-2.48417140e-02 9.99646151e-01 -9.51117671e-03 -1.03279328e-01] [-3.82100260e-03 9.41909804e-03 9.99948339e-01 -2.63031122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02719347 meters Centerline goodness : 0.894167 Centerline is valid? [False, False] Translation: X:17.96, Y:-0.10, Z:-2.63 [[ 9.99674761e-01 2.53599321e-02 2.69200372e-03 1.79613356e+01] [-2.53297116e-02 9.99621650e-01 -1.07220701e-02 -9.98240561e-02] [-2.96289617e-03 1.06503952e-02 9.99938893e-01 -2.63001075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.05719347 meters Centerline goodness : 0.892549 Centerline is valid? [False, False] Translation: X:17.96, Y:-0.10, Z:-2.63 [[ 9.99570432e-01 2.92152707e-02 2.32778497e-03 1.79624983e+01] [-2.91981543e-02 9.99548598e-01 -7.07591900e-03 -9.92645678e-02] [-2.53345910e-03 7.00491239e-03 9.99972256e-01 -2.63029332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08719347 meters Centerline goodness : 0.892549 Centerline is valid? [False, False] Translation: X:17.96, Y:-0.10, Z:-2.63 [[ 9.99570432e-01 2.92152707e-02 2.32778497e-03 1.79624983e+01] [-2.91981543e-02 9.99548598e-01 -7.07591900e-03 -9.92645678e-02] [-2.53345910e-03 7.00491239e-03 9.99972256e-01 -2.63029332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.11719347 meters Centerline goodness : 0.893677 Centerline is valid? [False, False] Translation: X:17.96, Y:-0.10, Z:-2.63 [[ 9.99430464e-01 3.36969259e-02 1.80689404e-03 1.79640402e+01] [-3.36900696e-02 9.99425482e-01 -3.69944711e-03 -9.75635599e-02] [-1.93051594e-03 3.63646576e-03 9.99991525e-01 -2.63040775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14719347 meters Centerline goodness : 0.889568 Centerline is valid? [False, False] Translation: X:17.96, Y:-0.10, Z:-2.63 [[ 9.99425569e-01 3.38647937e-02 1.30714269e-03 1.79648380e+01] [-3.38592350e-02 9.99418352e-01 -4.06320842e-03 -9.70902935e-02] [-1.44398210e-03 4.01661554e-03 9.99990891e-01 -2.63004492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.17719347 meters Centerline goodness : 0.891553 Centerline is valid? [False, False] Translation: X:17.97, Y:-0.10, Z:-2.63 [[ 9.99421739e-01 3.39932302e-02 8.04752012e-04 1.79656295e+01] [-3.39894445e-02 9.99412833e-01 -4.32524767e-03 -9.68882833e-02] [-9.51308628e-04 4.29539348e-03 9.99990322e-01 -2.62961061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20719347 meters Centerline goodness : 0.891183 Centerline is valid? [False, False] Translation: X:17.97, Y:-0.09, Z:-2.63 [[ 9.99507301e-01 3.13868119e-02 -1.53497903e-04 1.79664917e+01] [-3.13869462e-02 9.99468507e-01 -8.80703624e-03 -9.47563749e-02] [-1.23008470e-04 8.80751486e-03 9.99961206e-01 -2.62797698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.23719347 meters Centerline goodness : 0.891976 Centerline is valid? [False, False] Translation: X:17.96, Y:-0.10, Z:-2.62 [[ 9.99464239e-01 3.27293038e-02 1.65036247e-04 1.79637488e+01] [-3.27269035e-02 9.99431679e-01 -8.07892932e-03 -9.64397606e-02] [-4.29360185e-04 8.06919982e-03 9.99967351e-01 -2.62427936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26719347 meters Centerline goodness : 0.889370 Centerline is valid? [False, False] Translation: X:17.96, Y:-0.10, Z:-2.62 [[ 9.99459684e-01 3.28677977e-02 -2.16739867e-04 1.79642442e+01] [-3.28684974e-02 9.99431218e-01 -7.54334298e-03 -9.80055175e-02] [-3.13164822e-05 7.54639111e-03 9.99971525e-01 -2.62402589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.29719347 meters Centerline goodness : 0.890069 Centerline is valid? [False, False] Translation: X:17.96, Y:-0.10, Z:-2.62 [[ 9.99455552e-01 3.29924658e-02 -3.10946082e-04 1.79645829e+01] [-3.29937786e-02 9.99435200e-01 -6.37899551e-03 -1.00978121e-01] [ 1.00311668e-04 6.38578177e-03 9.99979606e-01 -2.62462089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32719347 meters Centerline goodness : 0.891778 Centerline is valid? [False, False] Translation: X:17.97, Y:-0.10, Z:-2.63 [[ 9.99545938e-01 3.01081747e-02 -1.18997284e-03 1.79662543e+01] [-3.01174854e-02 9.99507739e-01 -8.78727148e-03 -1.03924396e-01] [ 9.24818357e-04 8.81912050e-03 9.99960683e-01 -2.62532137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.35719347 meters Centerline goodness : 0.894362 Centerline is valid? [False, False] Translation: X:17.97, Y:-0.11, Z:-2.63 [[ 9.99569247e-01 2.93020330e-02 -1.64632377e-03 1.79682497e+01] [-2.93133941e-02 9.99543156e-01 -7.36231868e-03 -1.09912894e-01] [ 1.42984076e-03 7.40740668e-03 9.99971543e-01 -2.62778668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38719347 meters Centerline goodness : 0.897703 Centerline is valid? [False, False] Translation: X:17.97, Y:-0.12, Z:-2.63 [[ 9.99748489e-01 2.23528511e-02 -1.81879021e-03 1.79689765e+01] [-2.23718944e-02 9.99686673e-01 -1.12273997e-02 -1.18446958e-01] [ 1.56725594e-03 1.12652657e-02 9.99935317e-01 -2.62997855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.41719347 meters Centerline goodness : 0.898907 Centerline is valid? [False, False] Translation: X:17.97, Y:-0.12, Z:-2.63 [[ 9.99822368e-01 1.87557272e-02 -1.85890575e-03 1.79689792e+01] [-1.87784081e-02 9.99738571e-01 -1.30445415e-02 -1.23378792e-01] [ 1.61375991e-03 1.30771317e-02 9.99913188e-01 -2.63076494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.44719347 meters Centerline goodness : 0.901034 Centerline is valid? [False, False] Translation: X:17.97, Y:-0.13, Z:-2.63 [[ 9.99886563e-01 1.48661296e-02 -2.42063858e-03 1.79702812e+01] [-1.49023277e-02 9.99765782e-01 -1.56940294e-02 -1.28221106e-01] [ 2.18676215e-03 1.57283223e-02 9.99873911e-01 -2.63130699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.47719347 meters Centerline goodness : 0.901227 Centerline is valid? [False, False] Translation: X:17.97, Y:-0.14, Z:-2.63 [[ 9.99962570e-01 7.96448241e-03 -3.38032639e-03 1.79736505e+01] [-8.03245422e-03 9.99755636e-01 -2.05948742e-02 -1.36929699e-01] [ 3.21547285e-03 2.06212556e-02 9.99782189e-01 -2.63382601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.50719347 meters Centerline goodness : 0.903904 Centerline is valid? [False, False] Translation: X:17.98, Y:-0.14, Z:-2.64 [[ 9.99975470e-01 5.70655310e-03 -4.06147050e-03 1.79763892e+01] [-5.79477814e-03 9.99740015e-01 -2.20527274e-02 -1.40651281e-01] [ 3.93456952e-03 2.20757218e-02 9.99748559e-01 -2.63559494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.53719347 meters Centerline goodness : 0.904592 Centerline is valid? [False, False] Translation: X:17.98, Y:-0.14, Z:-2.64 [[ 9.99973376e-01 5.72589070e-03 -4.52349503e-03 1.79773676e+01] [-5.81946971e-03 9.99763538e-01 -2.09523889e-02 -1.44392594e-01] [ 4.40245430e-03 2.09781554e-02 9.99770241e-01 -2.63580715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.56719347 meters Centerline goodness : 0.905568 Centerline is valid? [False, False] Translation: X:17.98, Y:-0.15, Z:-2.63 [[ 9.99985555e-01 2.96196996e-03 -4.48516176e-03 1.79760075e+01] [-3.06324623e-03 9.99736621e-01 -2.27443621e-02 -1.49600501e-01] [ 4.41661234e-03 2.27577727e-02 9.99731253e-01 -2.63411048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.59719347 meters Centerline goodness : 0.903681 Centerline is valid? [False, False] Translation: X:17.98, Y:-0.15, Z:-2.63 [[ 9.99998174e-01 1.88665315e-03 3.04680470e-04 1.79835487e+01] [-1.88247134e-03 9.99911274e-01 -1.31870981e-02 -1.54698972e-01] [-3.29532917e-04 1.31865004e-02 9.99913000e-01 -2.63405432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.62719347 meters Centerline goodness : 0.906759 Centerline is valid? [False, False] Translation: X:17.98, Y:-0.16, Z:-2.63 [[ 9.99998016e-01 1.98103065e-03 2.09593797e-04 1.79833041e+01] [-1.97825560e-03 9.99919893e-01 -1.25017370e-02 -1.56439352e-01] [-2.34343331e-04 1.25012976e-02 9.99921828e-01 -2.63330262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.65719347 meters Centerline goodness : 0.908951 Centerline is valid? [False, False] Translation: X:17.98, Y:-0.16, Z:-2.63 [[ 9.99998529e-01 1.71455708e-03 -5.28289439e-05 1.79841378e+01] [-1.71507954e-03 9.99921960e-01 -1.23746546e-02 -1.57320707e-01] [ 3.16077695e-05 1.23747270e-02 9.99923430e-01 -2.63364133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.68719347 meters Centerline goodness : 0.907797 Centerline is valid? [False, False] Translation: X:17.98, Y:-0.16, Z:-2.63 [[ 9.99999466e-01 9.50299834e-04 -4.05051421e-04 1.79849838e+01] [-9.55262202e-04 9.99922259e-01 -1.24323375e-02 -1.58600856e-01] [ 3.93205483e-04 1.24327178e-02 9.99922633e-01 -2.63373466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.71719346999998 meters Centerline goodness : 0.908640 Centerline is valid? [False, False] Translation: X:17.99, Y:-0.16, Z:-2.63 [[ 9.99999583e-01 6.97074895e-04 -5.89167068e-04 1.79852824e+01] [-7.04311764e-04 9.99923196e-01 -1.23735923e-02 -1.59112080e-01] [ 5.80496497e-04 1.23740021e-02 9.99923271e-01 -2.63354622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74719346999998 meters Centerline goodness : 0.910900 Centerline is valid? [False, False] Translation: X:17.99, Y:-0.16, Z:-2.63 [[ 9.99999621e-01 2.11562218e-04 -8.44850636e-04 1.79856417e+01] [-2.22176756e-04 9.99920799e-01 -1.25835375e-02 -1.59286527e-01] [ 8.42121522e-04 1.25837205e-02 9.99920467e-01 -2.63320901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.77719347 meters Centerline goodness : 0.907385 Centerline is valid? [False, False] Translation: X:18.00, Y:-0.16, Z:-2.64 [[ 9.99983519e-01 -3.05772110e-03 4.85913491e-03 1.79952025e+01] [ 3.08898302e-03 9.99974497e-01 -6.43921056e-03 -1.60887403e-01] [-4.83932168e-03 6.45411423e-03 9.99967462e-01 -2.63570856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80719347 meters Centerline goodness : 0.906395 Centerline is valid? [False, False] Translation: X:18.00, Y:-0.16, Z:-2.64 [[ 9.99982913e-01 -3.76134254e-03 4.47510481e-03 1.79962774e+01] [ 3.79176174e-03 9.99969633e-01 -6.80847260e-03 -1.61293764e-01] [-4.44935992e-03 6.82532480e-03 9.99966809e-01 -2.63607291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.83719347 meters Centerline goodness : 0.908720 Centerline is valid? [False, False] Translation: X:18.00, Y:-0.16, Z:-2.64 [[ 9.99979243e-01 -5.14972183e-03 3.87219023e-03 1.79983455e+01] [ 5.18118087e-03 9.99953294e-01 -8.15869199e-03 -1.59787422e-01] [-3.82999438e-03 8.17858516e-03 9.99959220e-01 -2.63721644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86719347 meters Centerline goodness : 0.906799 Centerline is valid? [False, False] Translation: X:18.00, Y:-0.16, Z:-2.64 [[ 9.99978070e-01 -5.58934338e-03 3.55240446e-03 1.79995675e+01] [ 5.62078426e-03 9.99944569e-01 -8.90310597e-03 -1.57565748e-01] [-3.50244503e-03 8.92287802e-03 9.99954057e-01 -2.63803350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.89719347 meters Centerline goodness : 0.908707 Centerline is valid? [False, False] Translation: X:18.00, Y:-0.15, Z:-2.64 [[ 9.99975490e-01 -6.26917425e-03 3.11714302e-03 1.80013183e+01] [ 6.30047226e-03 9.99928798e-01 -1.01342699e-02 -1.54181766e-01] [-3.05338757e-03 1.01536610e-02 9.99943788e-01 -2.63928798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92719347 meters Centerline goodness : 0.906201 Centerline is valid? [False, False] Translation: X:18.02, Y:-0.15, Z:-2.64 [[ 9.99979087e-01 -5.15454399e-03 3.90592332e-03 1.80212072e+01] [ 5.21441805e-03 9.99866625e-01 -1.54771322e-02 -1.46902998e-01] [-3.82562481e-03 1.54971757e-02 9.99872593e-01 -2.64308892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.95719347 meters Centerline goodness : 0.906528 Centerline is valid? [False, False] Translation: X:18.04, Y:-0.14, Z:-2.64 [[ 9.99969435e-01 -4.39812032e-03 6.46424436e-03 1.80403572e+01] [ 4.51592135e-03 9.99821916e-01 -1.83232925e-02 -1.43102953e-01] [-6.38250513e-03 1.83519244e-02 9.99811217e-01 -2.64415888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98719347 meters Centerline goodness : 0.906947 Centerline is valid? [False, False] Translation: X:18.04, Y:-0.14, Z:-2.64 [[ 9.99978069e-01 -3.04431824e-03 5.88164600e-03 1.80423650e+01] [ 3.14355005e-03 9.99851625e-01 -1.69365122e-02 -1.40556753e-01] [-5.82921318e-03 1.69546300e-02 9.99839267e-01 -2.64497738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.01719347 meters Centerline goodness : 0.907803 Centerline is valid? [False, False] Translation: X:18.06, Y:-0.14, Z:-2.65 [[ 9.99960828e-01 -2.69349436e-03 8.43137390e-03 1.80609152e+01] [ 2.86498505e-03 9.99787915e-01 -2.03940322e-02 -1.36809162e-01] [-8.37465452e-03 2.04173891e-02 9.99756468e-01 -2.64554179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04719347 meters Centerline goodness : 0.904520 Centerline is valid? [False, False] Translation: X:18.06, Y:-0.13, Z:-2.65 [[ 9.99968859e-01 -7.12848726e-04 7.85957518e-03 1.80627187e+01] [ 8.57605688e-04 9.99829786e-01 -1.84299519e-02 -1.34094215e-01] [-7.84509961e-03 1.84361184e-02 9.99799262e-01 -2.64624343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.07719347 meters Centerline goodness : 0.900096 Centerline is valid? [False, False] Translation: X:18.09, Y:-0.12, Z:-2.65 [[ 9.99963260e-01 -3.09000745e-03 7.99563063e-03 1.80918723e+01] [ 3.23829072e-03 9.99821769e-01 -1.85995374e-02 -1.22066467e-01] [-7.93673285e-03 1.86247463e-02 9.99795043e-01 -2.64728237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.10719347 meters Centerline goodness : 0.899694 Centerline is valid? [False, False] Translation: X:18.09, Y:-0.12, Z:-2.65 [[ 9.99971531e-01 -1.94636306e-03 7.29027526e-03 1.80944380e+01] [ 2.07460778e-03 9.99842513e-01 -1.76251482e-02 -1.17684248e-01] [-7.25482219e-03 1.76397709e-02 9.99818086e-01 -2.64861119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.13719347 meters Centerline goodness : 0.901620 Centerline is valid? [False, False] Translation: X:18.10, Y:-0.11, Z:-2.65 [[ 9.99978318e-01 -1.12000897e-03 6.48910693e-03 1.80973169e+01] [ 1.22960551e-03 9.99856259e-01 -1.69100114e-02 -1.13668842e-01] [-6.46923482e-03 1.69176238e-02 9.99835958e-01 -2.65009701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.16719347 meters Centerline goodness : 0.898485 Centerline is valid? [False, False] Translation: X:18.10, Y:-0.11, Z:-2.65 [[ 9.99983450e-01 -6.19058779e-05 5.75286844e-03 1.80999719e+01] [ 1.53222589e-04 9.99873986e-01 -1.58741639e-02 -1.10420364e-01] [-5.75116079e-03 1.58747827e-02 9.99857448e-01 -2.65150389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.19719347 meters Centerline goodness : 0.898979 Centerline is valid? [False, False] Translation: X:18.12, Y:-0.10, Z:-2.65 [[ 9.99974558e-01 -1.54528278e-03 6.96381679e-03 1.81210511e+01] [ 1.70104861e-03 9.99747243e-01 -2.24177536e-02 -1.00227113e-01] [-6.92741487e-03 2.24290291e-02 9.99724437e-01 -2.65446422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.22719347 meters Centerline goodness : 0.895010 Centerline is valid? [False, False] Translation: X:18.14, Y:-0.10, Z:-2.66 [[ 9.99984427e-01 1.31448605e-04 5.57924885e-03 1.81435906e+01] [-4.47113644e-06 9.99741122e-01 -2.27527957e-02 -9.62746929e-02] [-5.58079533e-03 2.27524164e-02 9.99725553e-01 -2.65582131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.25719347 meters Centerline goodness : 0.895941 Centerline is valid? [False, False] Translation: X:18.15, Y:-0.08, Z:-2.66 [[ 9.99976970e-01 4.91698965e-03 4.67783280e-03 1.81466277e+01] [-4.82472888e-03 9.99797553e-01 -1.95339279e-02 -8.48890576e-02] [-4.77293391e-03 1.95109088e-02 9.99798251e-01 -2.65704416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.28719347 meters Centerline goodness : 0.892989 Centerline is valid? [False, False] Translation: X:18.17, Y:-0.08, Z:-2.66 [[ 9.99960743e-01 6.90798074e-03 5.54915279e-03 1.81676331e+01] [-6.78287270e-03 9.99729286e-01 -2.22564106e-02 -7.81052715e-02] [-5.70139741e-03 2.22178977e-02 9.99736895e-01 -2.65928009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.31719347 meters Centerline goodness : 0.893850 Centerline is valid? [False, False] Translation: X:18.19, Y:-0.07, Z:-2.66 [[ 9.99931869e-01 9.84424060e-03 6.27282271e-03 1.81888767e+01] [-9.69460180e-03 9.99677890e-01 -2.34548902e-02 -7.23489451e-02] [-6.50169775e-03 2.33924796e-02 9.99705216e-01 -2.66168651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.34719347 meters Centerline goodness : 0.891038 Centerline is valid? [False, False] Translation: X:18.21, Y:-0.07, Z:-2.66 [[ 9.99892888e-01 1.29843352e-02 6.75420129e-03 1.82097940e+01] [-1.28203590e-02 9.99635024e-01 -2.37793406e-02 -6.76170458e-02] [-7.06049510e-03 2.36902023e-02 9.99694415e-01 -2.66308739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.37719347 meters Centerline goodness : 0.890442 Centerline is valid? [False, False] Translation: X:18.21, Y:-0.06, Z:-2.66 [[ 9.99846684e-01 1.62226735e-02 6.59046935e-03 1.82106360e+01] [-1.60778635e-02 9.99640389e-01 -2.14614605e-02 -6.30063904e-02] [-6.93626161e-03 2.13522094e-02 9.99747954e-01 -2.66322949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.40719347 meters Centerline goodness : 0.891680 Centerline is valid? [False, False] Translation: X:18.21, Y:-0.05, Z:-2.66 [[ 9.99729902e-01 2.24088793e-02 6.16156298e-03 1.82117898e+01] [-2.22988737e-02 9.99600313e-01 -1.73774091e-02 -5.46326157e-02] [-6.54850855e-03 1.72353196e-02 9.99830016e-01 -2.66237559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.43719347 meters Centerline goodness : 0.892090 Centerline is valid? [False, False] Translation: X:18.21, Y:-0.05, Z:-2.66 [[ 9.99667245e-01 2.51514156e-02 5.72762318e-03 1.82133254e+01] [-2.50632942e-02 9.99573778e-01 -1.49697715e-02 -5.18285894e-02] [-6.10169288e-03 1.48212371e-02 9.99871542e-01 -2.66295882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46719346999998 meters Centerline goodness : 0.889697 Centerline is valid? [False, False] Translation: X:18.22, Y:-0.05, Z:-2.66 [[ 9.99641617e-01 2.62407337e-02 5.29729620e-03 1.82157240e+01] [-2.61650017e-02 9.99561101e-01 -1.38923908e-02 -4.98232677e-02] [-5.65951775e-03 1.37488083e-02 9.99889464e-01 -2.66466232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.49719346999998 meters Centerline goodness : 0.889855 Centerline is valid? [False, False] Translation: X:18.22, Y:-0.05, Z:-2.66 [[ 9.99662526e-01 2.54081359e-02 5.40934435e-03 1.82156539e+01] [-2.53244378e-02 9.99566494e-01 -1.50165763e-02 -4.74393501e-02] [-5.78854257e-03 1.48745200e-02 9.99872613e-01 -2.66463928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52719347 meters Centerline goodness : 0.889156 Centerline is valid? [False, False] Translation: X:18.22, Y:-0.05, Z:-2.66 [[ 9.99668468e-01 2.51743259e-02 5.40438071e-03 1.82156609e+01] [-2.50879154e-02 9.99565048e-01 -1.55019470e-02 -4.60577443e-02] [-5.79228113e-03 1.53612229e-02 9.99865232e-01 -2.66449310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.55719347 meters Centerline goodness : 0.889116 Centerline is valid? [False, False] Translation: X:18.22, Y:-0.04, Z:-2.67 [[ 9.99637529e-01 2.64799141e-02 4.86051148e-03 1.82180206e+01] [-2.64094155e-02 9.99552657e-01 -1.40367218e-02 -4.42714223e-02] [-5.23002835e-03 1.39032706e-02 9.99889667e-01 -2.66585792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58719347 meters Centerline goodness : 0.890212 Centerline is valid? [False, False] Translation: X:18.22, Y:-0.04, Z:-2.67 [[ 9.99565034e-01 2.90925867e-02 4.83358804e-03 1.82183602e+01] [-2.90324648e-02 9.99505535e-01 -1.20748377e-02 -3.97206100e-02] [-5.18248627e-03 1.19292546e-02 9.99915414e-01 -2.66572653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.61719347 meters Centerline goodness : 0.890877 Centerline is valid? [False, False] Translation: X:18.22, Y:-0.04, Z:-2.67 [[ 9.99570791e-01 2.89369618e-02 4.57015471e-03 1.82193102e+01] [-2.88762342e-02 9.99500556e-01 -1.28374751e-02 -3.73010911e-02] [-4.93934971e-03 1.26999963e-02 9.99907152e-01 -2.66619888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64719347 meters Centerline goodness : 0.891186 Centerline is valid? [False, False] Translation: X:18.22, Y:-0.03, Z:-2.67 [[ 9.99585698e-01 2.84758314e-02 4.19047787e-03 1.82204637e+01] [-2.84149946e-02 9.99499226e-01 -1.39242350e-02 -3.48113078e-02] [-4.58488356e-03 1.37993937e-02 9.99894272e-01 -2.66666190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.67719347 meters Centerline goodness : 0.890602 Centerline is valid? [False, False] Translation: X:18.22, Y:-0.03, Z:-2.67 [[ 9.99552939e-01 2.96872931e-02 3.54790803e-03 1.82233066e+01] [-2.96387234e-02 9.99475655e-01 -1.30368817e-02 -3.26149039e-02] [-3.93307743e-03 1.29258980e-02 9.99908722e-01 -2.66844157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70719347 meters Centerline goodness : 0.892802 Centerline is valid? [False, False] Translation: X:18.22, Y:-0.02, Z:-2.67 [[ 9.99456303e-01 3.27747657e-02 3.59345423e-03 1.82230217e+01] [-3.27330328e-02 9.99402324e-01 -1.11149623e-02 -2.49948015e-02] [-3.95559680e-03 1.09912945e-02 9.99931770e-01 -2.66753884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.73719347 meters Centerline goodness : 0.890630 Centerline is valid? [False, False] Translation: X:18.23, Y:-0.02, Z:-2.67 [[ 9.99427479e-01 3.37092545e-02 2.89826168e-03 1.82253059e+01] [-3.36775834e-02 9.99379070e-01 -1.03583025e-02 -2.15001619e-02] [-3.24563272e-03 1.02547657e-02 9.99942151e-01 -2.66842238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76719347 meters Centerline goodness : 0.888694 Centerline is valid? [False, False] Translation: X:18.23, Y:-0.02, Z:-2.67 [[ 9.99436276e-01 3.34582709e-02 2.77036390e-03 1.82254384e+01] [-3.34255092e-02 9.99379234e-01 -1.11302248e-02 -1.87711039e-02] [-3.14104223e-03 1.10313496e-02 9.99934219e-01 -2.66805356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.79719347 meters Centerline goodness : 0.889797 Centerline is valid? [False, False] Translation: X:18.23, Y:-0.02, Z:-2.67 [[ 9.99446245e-01 3.31695239e-02 2.64314295e-03 1.82255375e+01] [-3.31361460e-02 9.99381139e-01 -1.18040528e-02 -1.68224231e-02] [-3.03304202e-03 1.17099326e-02 9.99926836e-01 -2.66772725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.82719347 meters Centerline goodness : 0.888406 Centerline is valid? [False, False] Translation: X:18.22, Y:-0.01, Z:-2.67 [[ 9.99374017e-01 3.52344500e-02 3.17913138e-03 1.82240317e+01] [-3.52007397e-02 9.99329219e-01 -1.01004819e-02 -1.35405315e-02] [-3.53288381e-03 9.98225142e-03 9.99943935e-01 -2.66666442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.85719347 meters Centerline goodness : 0.889345 Centerline is valid? [False, False] Translation: X:18.22, Y:-0.01, Z:-2.67 [[ 9.99337795e-01 3.56505095e-02 7.28100635e-03 1.82161021e+01] [-3.56236320e-02 9.99358096e-01 -3.78841721e-03 -1.17618479e-02] [-7.41139165e-03 3.52653261e-03 9.99966317e-01 -2.66924650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.88719347 meters Centerline goodness : 0.888493 Centerline is valid? [False, False] Translation: X:18.20, Y:-0.01, Z:-2.67 [[ 9.99417406e-01 3.36039352e-02 5.96854645e-03 1.81958428e+01] [-3.36614822e-02 9.99385065e-01 9.81818901e-03 -1.02718898e-02] [-5.63494639e-03 -1.00133791e-02 9.99933988e-01 -2.66701382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.91719347 meters Centerline goodness : 0.891361 Centerline is valid? [False, False] Translation: X:18.17, Y:-0.01, Z:-2.66 [[ 9.99462290e-01 3.25134879e-02 4.24321727e-03 1.81736704e+01] [-3.25988443e-02 9.99228657e-01 2.18953653e-02 -8.66455094e-03] [-3.52804960e-03 -2.20219159e-02 9.99751263e-01 -2.66378523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.94719347 meters Centerline goodness : 0.889320 Centerline is valid? [False, False] Translation: X:18.17, Y:-0.01, Z:-2.67 [[ 9.99360848e-01 3.51249786e-02 6.64307561e-03 1.81706959e+01] [-3.52864980e-02 9.99038960e-01 2.60003878e-02 -8.69000147e-03] [-5.72342828e-03 -2.62181805e-02 9.99639860e-01 -2.66527463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.97719347 meters Centerline goodness : 0.886122 Centerline is valid? [False, False] Translation: X:18.17, Y:-0.01, Z:-2.67 [[ 9.99228050e-01 3.87462532e-02 6.48325341e-03 1.81717048e+01] [-3.89251322e-02 9.98785161e-01 3.02164941e-02 -9.56285476e-03] [-5.30460137e-03 -3.04455300e-02 9.99522351e-01 -2.66592790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.00719347 meters Centerline goodness : 0.883036 Centerline is valid? [False, False] Translation: X:18.16, Y:-0.01, Z:-2.66 [[ 9.99166092e-01 4.08238668e-02 7.29664178e-04 1.81631675e+01] [-4.08173223e-02 9.98234834e-01 4.31411903e-02 -1.33626980e-02] [ 1.03281401e-03 -4.31349975e-02 9.99068719e-01 -2.66312473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.03719347 meters Centerline goodness : 0.883036 Centerline is valid? [False, False] Translation: X:18.16, Y:-0.01, Z:-2.66 [[ 9.99165647e-01 4.08336152e-02 7.91463684e-04 1.81630762e+01] [-4.08299720e-02 9.98245211e-01 4.28883645e-02 -1.28234401e-02] [ 9.61212141e-04 -4.28848959e-02 9.99079557e-01 -2.66320296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.06719347 meters Centerline goodness : 0.885098 Centerline is valid? [False, False] Translation: X:18.16, Y:-0.01, Z:-2.66 [[ 9.99294914e-01 3.75401166e-02 6.43274186e-04 1.81630602e+01] [-3.75368256e-02 9.98543027e-01 3.87660952e-02 -1.18435748e-02] [ 8.12946783e-04 -3.87629082e-02 9.99248105e-01 -2.66310409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.09719347 meters Centerline goodness : 0.884031 Centerline is valid? [False, False] Translation: X:18.16, Y:-0.01, Z:-2.66 [[ 9.99278414e-01 3.79744382e-02 7.70008200e-04 1.81625979e+01] [-3.79752327e-02 9.98499109e-01 3.94640547e-02 -1.32280791e-02] [ 7.29772805e-04 -3.94648193e-02 9.99220694e-01 -2.66247485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.12719347 meters Centerline goodness : 0.885667 Centerline is valid? [False, False] Translation: X:18.16, Y:-0.01, Z:-2.66 [[ 9.99248654e-01 3.87481874e-02 8.40499916e-04 1.81619415e+01] [-3.87505521e-02 9.98434945e-01 4.03243685e-02 -1.40770833e-02] [ 7.23311701e-04 -4.03266408e-02 9.99186288e-01 -2.66143398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.15719347 meters Centerline goodness : 0.884344 Centerline is valid? [False, False] Translation: X:18.16, Y:-0.02, Z:-2.66 [[ 9.99138319e-01 4.15044100e-02 6.01149835e-05 1.81642051e+01] [-4.14669882e-02 9.98173839e-01 4.39257924e-02 -1.59640829e-02] [ 1.76310889e-03 -4.38904352e-02 9.99034795e-01 -2.66191726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.18719347 meters Centerline goodness : 0.882983 Centerline is valid? [False, False] Translation: X:18.16, Y:-0.02, Z:-2.66 [[ 9.99072371e-01 4.30626961e-02 -3.52581842e-05 1.81643217e+01] [-4.30181765e-02 9.98076057e-01 4.46499772e-02 -1.64966622e-02] [ 1.95793875e-03 -4.46070419e-02 9.99002692e-01 -2.66186268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.21719346999998 meters Centerline goodness : 0.882460 Centerline is valid? [False, False] Translation: X:18.17, Y:-0.02, Z:-2.66 [[ 9.99068681e-01 4.31443612e-02 -5.78705949e-04 1.81657943e+01] [-4.30765520e-02 9.98091850e-01 4.42387852e-02 -1.60167869e-02] [ 2.48625582e-03 -4.41726561e-02 9.99020818e-01 -2.66249850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24719346999998 meters Centerline goodness : 0.882946 Centerline is valid? [False, False] Translation: X:18.17, Y:-0.02, Z:-2.66 [[ 9.99056342e-01 4.34214150e-02 -1.00301591e-03 1.81668437e+01] [-4.33339587e-02 9.98071038e-01 4.44563963e-02 -1.71294711e-02] [ 2.93144076e-03 -4.43709800e-02 9.99010822e-01 -2.66282497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.27719347 meters Centerline goodness : 0.882450 Centerline is valid? [False, False] Translation: X:18.17, Y:-0.02, Z:-2.66 [[ 9.99054958e-01 4.34417172e-02 -1.41724502e-03 1.81678447e+01] [-4.33347515e-02 9.98056174e-01 4.47880886e-02 -1.90543909e-02] [ 3.36016162e-03 -4.46843460e-02 9.98995505e-01 -2.66291135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30719347 meters Centerline goodness : 0.880676 Centerline is valid? [False, False] Translation: X:18.18, Y:-0.03, Z:-2.66 [[ 9.99290165e-01 3.76688468e-02 4.73868419e-04 1.81805970e+01] [-3.76307003e-02 9.97532633e-01 5.92669951e-02 -2.73342907e-02] [ 1.75982015e-03 -5.92427573e-02 9.98242054e-01 -2.65688346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.33719347 meters Centerline goodness : 0.883066 Centerline is valid? [False, False] Translation: X:18.19, Y:-0.03, Z:-2.65 [[ 9.99419134e-01 3.37880726e-02 -4.44531276e-03 1.81890528e+01] [-3.35244430e-02 9.98190004e-01 4.99282297e-02 -2.95576436e-02] [ 6.12424541e-03 -4.97502014e-02 9.98742915e-01 -2.65338355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36719347 meters Centerline goodness : 0.882760 Centerline is valid? [False, False] Translation: X:18.19, Y:-0.03, Z:-2.65 [[ 9.99645401e-01 2.61407314e-02 -5.07287847e-03 1.81897652e+01] [-2.59008251e-02 9.98753123e-01 4.26772481e-02 -3.12972213e-02] [ 6.18216769e-03 -4.25307231e-02 9.99076032e-01 -2.65317971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.39719347 meters Centerline goodness : 0.880792 Centerline is valid? [False, False] Translation: X:18.19, Y:-0.03, Z:-2.65 [[ 9.99820829e-01 1.81235525e-02 -5.46320638e-03 1.81897369e+01] [-1.79201252e-02 9.99218514e-01 3.52310918e-02 -3.34534519e-02] [ 6.09744951e-03 -3.51268781e-02 9.99364260e-01 -2.65251315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42719347 meters Centerline goodness : 0.880785 Centerline is valid? [False, False] Translation: X:18.19, Y:-0.04, Z:-2.65 [[ 9.99933031e-01 1.01161689e-02 -5.62113505e-03 1.81893451e+01] [-9.95614978e-03 9.99563890e-01 2.78011693e-02 -3.55527214e-02] [ 5.89992494e-03 -2.77433426e-02 9.99597668e-01 -2.65177122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.45719347 meters Centerline goodness : 0.882719 Centerline is valid? [False, False] Translation: X:18.19, Y:-0.04, Z:-2.65 [[ 9.99983152e-01 1.91223347e-03 -5.48086194e-03 1.81884451e+01] [-1.79169565e-03 9.99758261e-01 2.19136602e-02 -4.17688259e-02] [ 5.52144104e-03 -2.19034709e-02 9.99744843e-01 -2.65088997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48719347 meters Centerline goodness : 0.886361 Centerline is valid? [False, False] Translation: X:18.19, Y:-0.04, Z:-2.65 [[ 9.99974828e-01 -3.43399525e-03 -6.20892008e-03 1.81911969e+01] [ 3.54086025e-03 9.99844364e-01 1.72832519e-02 -4.38722418e-02] [ 6.14860314e-03 -1.73048017e-02 9.99831355e-01 -2.65245779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.51719347 meters Centerline goodness : 0.886270 Centerline is valid? [False, False] Translation: X:18.19, Y:-0.05, Z:-2.65 [[ 9.99939904e-01 -8.43202024e-03 -7.00637590e-03 1.81943120e+01] [ 8.52211432e-03 9.99880086e-01 1.29300874e-02 -4.62139542e-02] [ 6.89650898e-03 -1.29890195e-02 9.99891856e-01 -2.65431978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54719347 meters Centerline goodness : 0.884990 Centerline is valid? [False, False] Translation: X:18.20, Y:-0.05, Z:-2.66 [[ 9.99866859e-01 -1.43591785e-02 -7.75103064e-03 1.81980482e+01] [ 1.44205208e-02 9.99864675e-01 7.91707713e-03 -5.21492355e-02] [ 7.63629901e-03 -8.02779694e-03 9.99938619e-01 -2.65714764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.57719347 meters Centerline goodness : 0.886363 Centerline is valid? [False, False] Translation: X:18.21, Y:-0.05, Z:-2.66 [[ 9.99900858e-01 -1.34629703e-02 -4.12583460e-03 1.82091245e+01] [ 1.34583117e-02 9.99908766e-01 -1.15480790e-03 -5.25923819e-02] [ 4.14100532e-03 1.09916665e-03 9.99990822e-01 -2.66044081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.60719347 meters Centerline goodness : 0.888361 Centerline is valid? [False, False] Translation: X:18.22, Y:-0.05, Z:-2.66 [[ 9.99949518e-01 -9.79375011e-03 -2.24586016e-03 1.82220288e+01] [ 9.77907590e-03 9.99931353e-01 -6.45434874e-03 -5.33358883e-02] [ 2.30891827e-03 6.43206047e-03 9.99976648e-01 -2.66381089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.63719347 meters Centerline goodness : 0.889120 Centerline is valid? [False, False] Translation: X:18.24, Y:-0.05, Z:-2.67 [[ 9.99980354e-01 -6.18909864e-03 9.92842513e-04 1.82351257e+01] [ 6.20041604e-03 9.99910769e-01 -1.18325409e-02 -5.31810913e-02] [-9.19521158e-04 1.18384644e-02 9.99929500e-01 -2.66779696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.66719347 meters Centerline goodness : 0.888016 Centerline is valid? [False, False] Translation: X:18.25, Y:-0.05, Z:-2.67 [[ 9.99987246e-01 -1.88764183e-03 4.68451465e-03 1.82486373e+01] [ 1.96789498e-03 9.99850364e-01 -1.71865225e-02 -5.28027354e-02] [-4.65137168e-03 1.71955219e-02 9.99841327e-01 -2.67217617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.69719347 meters Centerline goodness : 0.889057 Centerline is valid? [False, False] Translation: X:18.27, Y:-0.05, Z:-2.67 [[ 9.99996957e-01 3.23520266e-04 2.44585010e-03 1.82712866e+01] [-2.85915067e-04 9.99881990e-01 -1.53598498e-02 -5.39386559e-02] [-2.45053069e-03 1.53591038e-02 9.99879039e-01 -2.67351764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.72719347 meters Centerline goodness : 0.888440 Centerline is valid? [False, False] Translation: X:18.29, Y:-0.05, Z:-2.68 [[ 9.99998375e-01 1.17238607e-03 1.36981224e-03 1.82935443e+01] [-1.14972276e-03 9.99864356e-01 -1.64301020e-02 -5.31880410e-02] [-1.38888886e-03 1.64285004e-02 9.99864078e-01 -2.67552115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.75719347 meters Centerline goodness : 0.887881 Centerline is valid? [False, False] Translation: X:18.31, Y:-0.05, Z:-2.68 [[ 9.99982064e-01 5.45547116e-03 2.47160274e-03 1.83069171e+01] [-5.39965675e-03 9.99742232e-01 -2.20524976e-02 -5.15870731e-02] [-2.59127240e-03 2.20387563e-02 9.99753759e-01 -2.67892793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.78719347 meters Centerline goodness : 0.889875 Centerline is valid? [False, False] Translation: X:18.34, Y:-0.05, Z:-2.68 [[ 9.99894382e-01 1.45213084e-02 -5.96712660e-04 1.83378139e+01] [-1.45316691e-02 9.99583901e-01 -2.49169687e-02 -4.78024784e-02] [ 2.34637383e-04 2.49230082e-02 9.99689346e-01 -2.67916605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.81719347 meters Centerline goodness : 0.886878 Centerline is valid? [False, False] Translation: X:18.34, Y:-0.05, Z:-2.68 [[ 9.99815481e-01 1.91840757e-02 -9.87490232e-04 1.83390264e+01] [-1.92003231e-02 9.99604441e-01 -2.05501599e-02 -4.74760083e-02] [ 5.92863799e-04 2.05653281e-02 9.99788335e-01 -2.67944290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.84719347 meters Centerline goodness : 0.888412 Centerline is valid? [False, False] Translation: X:18.34, Y:-0.05, Z:-2.68 [[ 9.99610852e-01 2.78681159e-02 -1.22969282e-03 1.83401935e+01] [-2.78816418e-02 9.99528483e-01 -1.28618266e-02 -4.63417195e-02] [ 8.70678125e-04 1.28911073e-02 9.99916527e-01 -2.67957149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.87719347 meters Centerline goodness : 0.886536 Centerline is valid? [False, False] Translation: X:18.34, Y:-0.04, Z:-2.68 [[ 9.99581543e-01 2.88746005e-02 -1.73114182e-03 1.83409571e+01] [-2.88947472e-02 9.99497459e-01 -1.30354482e-02 -4.39972614e-02] [ 1.35387849e-03 1.30800143e-02 9.99913536e-01 -2.67895752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.90719347 meters Centerline goodness : 0.886034 Centerline is valid? [False, False] Translation: X:18.34, Y:-0.04, Z:-2.68 [[ 9.99560049e-01 2.95693348e-02 -2.31582795e-03 1.83421002e+01] [-2.95972279e-02 9.99475876e-01 -1.31140181e-02 -4.29422170e-02] [ 1.92684138e-03 1.31767906e-02 9.99911326e-01 -2.67877414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.93719347 meters Centerline goodness : 0.885053 Centerline is valid? [False, False] Translation: X:18.34, Y:-0.05, Z:-2.68 [[ 9.99443721e-01 3.32454633e-02 -2.64351048e-03 1.83430485e+01] [-3.32674244e-02 9.99408184e-01 -8.74983352e-03 -4.54041094e-02] [ 2.35105374e-03 8.83290896e-03 9.99958225e-01 -2.67891280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96719346999998 meters Centerline goodness : 0.887898 Centerline is valid? [False, False] Translation: X:18.34, Y:-0.05, Z:-2.68 [[ 9.99458671e-01 3.28057994e-02 -2.47879589e-03 1.83404142e+01] [-3.28273943e-02 9.99418311e-01 -9.24129249e-03 -4.69709643e-02] [ 2.17418602e-03 9.31766232e-03 9.99954226e-01 -2.67578273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.99719346999998 meters Centerline goodness : 0.888304 Centerline is valid? [False, False] Translation: X:18.34, Y:-0.05, Z:-2.67 [[ 9.99562358e-01 2.94370976e-02 -2.92409992e-03 1.83405232e+01] [-2.94723386e-02 9.99483061e-01 -1.28449119e-02 -4.68003787e-02] [ 2.54447142e-03 1.29254705e-02 9.99913225e-01 -2.67496244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02719347 meters Centerline goodness : 0.886965 Centerline is valid? [False, False] Translation: X:18.34, Y:-0.05, Z:-2.68 [[ 9.99578401e-01 2.88444152e-02 -3.31960293e-03 1.83413335e+01] [-2.88824900e-02 9.99510077e-01 -1.20585409e-02 -5.01072194e-02] [ 2.97015502e-03 1.21493354e-02 9.99921783e-01 -2.67512038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.05719347 meters Centerline goodness : 0.885560 Centerline is valid? [False, False] Translation: X:18.34, Y:-0.05, Z:-2.68 [[ 9.99677043e-01 2.51541243e-02 -3.61659227e-03 1.83415093e+01] [-2.52044820e-02 9.99575299e-01 -1.46272062e-02 -5.39363750e-02] [ 3.24712174e-03 1.47136366e-02 9.99886476e-01 -2.67504713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08719347 meters Centerline goodness : 0.886551 Centerline is valid? [False, False] Translation: X:18.34, Y:-0.07, Z:-2.67 [[ 9.99836243e-01 1.78269813e-02 -3.11236144e-03 1.83394102e+01] [-1.78805186e-02 9.99675985e-01 -1.81166289e-02 -6.56782634e-02] [ 2.78838819e-03 1.81693128e-02 9.99831036e-01 -2.67429958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.11719347 meters Centerline goodness : 0.890727 Centerline is valid? [False, False] Translation: X:18.34, Y:-0.07, Z:-2.67 [[ 9.99930491e-01 1.07852370e-02 -4.76358637e-03 1.83361559e+01] [-1.08144106e-02 9.99922662e-01 -6.14160130e-03 -7.37635679e-02] [ 4.69697933e-03 6.19268979e-03 9.99969794e-01 -2.67302755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14719347 meters Centerline goodness : 0.890854 Centerline is valid? [False, False] Translation: X:18.34, Y:-0.08, Z:-2.67 [[ 9.99961240e-01 7.12792638e-03 -5.16834697e-03 1.83373778e+01] [-7.17452381e-03 9.99933272e-01 -9.05414702e-03 -7.63720254e-02] [ 5.10346480e-03 9.09087651e-03 9.99945654e-01 -2.67358076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.17719347 meters Centerline goodness : 0.889496 Centerline is valid? [False, False] Translation: X:18.34, Y:-0.08, Z:-2.67 [[ 9.99964956e-01 5.98238461e-03 -5.85641474e-03 1.83398443e+01] [-6.03594567e-03 9.99939727e-01 -9.17116062e-03 -7.89812381e-02] [ 5.80119634e-03 9.20618823e-03 9.99940794e-01 -2.67494326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20719347 meters Centerline goodness : 0.889508 Centerline is valid? [False, False] Translation: X:18.34, Y:-0.08, Z:-2.68 [[ 9.99961206e-01 5.69597985e-03 -6.71878364e-03 1.83421981e+01] [-5.75245386e-03 9.99948037e-01 -8.41622944e-03 -8.48239552e-02] [ 6.67049584e-03 8.45455244e-03 9.99942011e-01 -2.67585194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.23719347 meters Centerline goodness : 0.890366 Centerline is valid? [False, False] Translation: X:18.34, Y:-0.09, Z:-2.68 [[ 9.99956791e-01 5.92637009e-03 -7.16203920e-03 1.83432666e+01] [-5.98159469e-03 9.99952356e-01 -7.71407408e-03 -8.75208714e-02] [ 7.11598151e-03 7.75658117e-03 9.99944598e-01 -2.67611455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26719347 meters Centerline goodness : 0.889727 Centerline is valid? [False, False] Translation: X:18.36, Y:-0.09, Z:-2.68 [[ 9.99965986e-01 7.93436252e-03 -2.25219227e-03 1.83568196e+01] [-7.96621985e-03 9.99863030e-01 -1.45072593e-02 -8.85437899e-02] [ 2.13677793e-03 1.45247074e-02 9.99892228e-01 -2.68085884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.29719347 meters Centerline goodness : 0.891463 Centerline is valid? [False, False] Translation: X:18.38, Y:-0.09, Z:-2.68 [[ 9.99971104e-01 7.56466326e-03 -7.52575983e-04 1.83762057e+01] [-7.57712771e-03 9.99805098e-01 -1.82305509e-02 -8.86055791e-02] [ 6.14521326e-04 1.82357265e-02 9.99833526e-01 -2.68209067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.32719347 meters Centerline goodness : 0.892410 Centerline is valid? [False, False] Translation: X:18.38, Y:-0.09, Z:-2.68 [[ 9.99967869e-01 7.93156439e-03 -1.16207155e-03 1.83773912e+01] [-7.95061876e-03 9.99816480e-01 -1.74296619e-02 -9.02518028e-02] [ 1.02361380e-03 1.74383410e-02 9.99847417e-01 -2.68264915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.35719347 meters Centerline goodness : 0.888926 Centerline is valid? [False, False] Translation: X:18.38, Y:-0.10, Z:-2.68 [[ 9.99972351e-01 7.15966839e-03 -2.00904994e-03 1.83803459e+01] [-7.19285992e-03 9.99829088e-01 -1.70311015e-02 -9.52346119e-02] [ 1.88676953e-03 1.70450814e-02 9.99852942e-01 -2.68441374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.38719347 meters Centerline goodness : 0.894197 Centerline is valid? [False, False] Translation: X:18.38, Y:-0.10, Z:-2.69 [[ 9.99980782e-01 5.48886577e-03 -2.88232687e-03 1.83834774e+01] [-5.54045630e-03 9.99818890e-01 -1.82068688e-02 -9.74530309e-02] [ 2.78186979e-03 1.82224883e-02 9.99830087e-01 -2.68630032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.41719347 meters Centerline goodness : 0.891794 Centerline is valid? [False, False] Translation: X:18.39, Y:-0.10, Z:-2.69 [[ 9.99982635e-01 4.53572060e-03 -3.76265282e-03 1.83860367e+01] [-4.60399984e-03 9.99821192e-01 -1.83408665e-02 -9.96041400e-02] [ 3.67879098e-03 1.83578713e-02 9.99824712e-01 -2.68742856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.44719347 meters Centerline goodness : 0.892681 Centerline is valid? [False, False] Translation: X:18.39, Y:-0.10, Z:-2.69 [[ 9.99983721e-01 3.51746657e-03 -4.49287240e-03 1.83884965e+01] [-3.60150635e-03 9.99816099e-01 -1.88360617e-02 -1.00646821e-01] [ 4.42579094e-03 1.88519362e-02 9.99812491e-01 -2.68869780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.47719347 meters Centerline goodness : 0.892060 Centerline is valid? [False, False] Translation: X:18.41, Y:-0.10, Z:-2.69 [[ 9.99988193e-01 4.10107499e-03 -2.60689287e-03 1.84065976e+01] [-4.13286605e-03 9.99915702e-01 -1.23088982e-02 -1.04851123e-01] [ 2.55619340e-03 1.23195268e-02 9.99920844e-01 -2.69385466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.50719347 meters Centerline goodness : 0.891532 Centerline is valid? [False, False] Translation: X:18.41, Y:-0.11, Z:-2.69 [[ 9.99985306e-01 4.43428450e-03 -3.11855839e-03 1.84076291e+01] [-4.47133585e-03 9.99918287e-01 -1.19760412e-02 -1.05795083e-01] [ 3.06519840e-03 1.19898093e-02 9.99923422e-01 -2.69390170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.53719347 meters Centerline goodness : 0.892810 Centerline is valid? [False, False] Translation: X:18.43, Y:-0.11, Z:-2.70 [[ 9.99988844e-01 4.70323329e-03 -4.38172718e-04 1.84266964e+01] [-4.70936236e-03 9.99872892e-01 -1.52322346e-02 -1.05734992e-01] [ 3.66476270e-04 1.52341281e-02 9.99883887e-01 -2.69500059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.56719347 meters Centerline goodness : 0.894692 Centerline is valid? [False, False] Translation: X:18.44, Y:-0.10, Z:-2.70 [[ 9.99974160e-01 5.23536114e-03 4.92643474e-03 1.84386871e+01] [-5.11503036e-03 9.99695766e-01 -2.41290481e-02 -1.04182658e-01] [-5.05126023e-03 2.41032258e-02 9.99696714e-01 -2.69842121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.59719347 meters Centerline goodness : 0.894822 Centerline is valid? [False, False] Translation: X:18.45, Y:-0.11, Z:-2.70 [[ 9.99916734e-01 4.12396543e-03 1.22277904e-02 1.84491034e+01] [-3.90456856e-03 9.99831936e-01 -1.79123863e-02 -1.08493737e-01] [-1.22996054e-02 1.78631505e-02 9.99764786e-01 -2.70137967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.62719347 meters Centerline goodness : 0.892767 Centerline is valid? [False, False] Translation: X:18.47, Y:-0.11, Z:-2.70 [[ 9.99868302e-01 3.66521680e-03 1.58096746e-02 1.84668904e+01] [-3.33720450e-03 9.99779659e-01 -2.07242853e-02 -1.09441555e-01] [-1.58821501e-02 2.06687959e-02 9.99660221e-01 -2.70206575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.65719347 meters Centerline goodness : 0.897582 Centerline is valid? [False, False] Translation: X:18.49, Y:-0.11, Z:-2.70 [[ 9.99814453e-01 3.48739520e-03 1.89446037e-02 1.84850082e+01] [-3.05868534e-03 9.99739644e-01 -2.26116861e-02 -1.11548829e-01] [-1.90185273e-02 2.25495450e-02 9.99564812e-01 -2.70230676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.68719347 meters Centerline goodness : 0.899731 Centerline is valid? [False, False] Translation: X:18.51, Y:-0.12, Z:-2.70 [[ 9.99841082e-01 4.15367676e-03 1.73366261e-02 1.85094499e+01] [-3.91620902e-03 9.99898358e-01 -1.37090060e-02 -1.21109681e-01] [-1.73918067e-02 1.36389336e-02 9.99755722e-01 -2.69868665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.71719346999998 meters Centerline goodness : 0.897932 Centerline is valid? [False, False] Translation: X:18.51, Y:-0.12, Z:-2.70 [[ 9.99855961e-01 3.22755226e-03 1.66625569e-02 1.85118894e+01] [-2.99408164e-03 9.99897265e-01 -1.40176747e-02 -1.23441212e-01] [-1.67060879e-02 1.39657666e-02 9.99762904e-01 -2.70013827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74719346999998 meters Centerline goodness : 0.896324 Centerline is valid? [False, False] Translation: X:18.51, Y:-0.13, Z:-2.70 [[ 9.99866939e-01 2.88424011e-03 1.60556736e-02 1.85137291e+01] [-2.66710734e-03 9.99904925e-01 -1.35287647e-02 -1.26158617e-01] [-1.60931673e-02 1.34841423e-02 9.99779570e-01 -2.70102406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.77719347 meters Centerline goodness : 0.899203 Centerline is valid? [False, False] Translation: X:18.52, Y:-0.13, Z:-2.70 [[ 9.99880784e-01 1.06988712e-03 1.54036938e-02 1.85158624e+01] [-8.52037667e-04 9.99899630e-01 -1.41422995e-02 -1.32868637e-01] [-1.54172784e-02 1.41274889e-02 9.99781337e-01 -2.70228805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80719347 meters Centerline goodness : 0.900146 Centerline is valid? [False, False] Translation: X:18.52, Y:-0.14, Z:-2.70 [[ 9.99892403e-01 3.55990764e-04 1.46647442e-02 1.85185261e+01] [-1.49511360e-04 9.99900879e-01 -1.40786776e-02 -1.36118468e-01] [-1.46683025e-02 1.40749702e-02 9.99793347e-01 -2.70394523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.83719347 meters Centerline goodness : 0.900601 Centerline is valid? [False, False] Translation: X:18.54, Y:-0.14, Z:-2.71 [[ 9.99918896e-01 2.08679506e-03 1.25636738e-02 1.85407273e+01] [-1.93483771e-03 9.99924981e-01 -1.20950068e-02 -1.41027843e-01] [-1.25879711e-02 1.20697172e-02 9.99847921e-01 -2.70513144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86719347 meters Centerline goodness : 0.898030 Centerline is valid? [False, False] Translation: X:18.54, Y:-0.14, Z:-2.71 [[ 9.99927579e-01 2.23888523e-03 1.18247375e-02 1.85422823e+01] [-2.10785499e-03 9.99936372e-01 -1.10818902e-02 -1.44068272e-01] [-1.18487962e-02 1.10561628e-02 9.99868675e-01 -2.70537630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.89719347 meters Centerline goodness : 0.898030 Centerline is valid? [False, False] Translation: X:18.54, Y:-0.14, Z:-2.71 [[ 9.99927579e-01 2.23888523e-03 1.18247375e-02 1.85422823e+01] [-2.10785499e-03 9.99936372e-01 -1.10818902e-02 -1.44068272e-01] [-1.18487962e-02 1.10561628e-02 9.99868675e-01 -2.70537630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92719347 meters Centerline goodness : 0.899467 Centerline is valid? [False, False] Translation: X:18.55, Y:-0.15, Z:-2.71 [[ 9.99938865e-01 3.55272786e-03 1.04710818e-02 1.85466020e+01] [-3.46035455e-03 9.99955057e-01 -8.82670887e-03 -1.49145806e-01] [-1.05019701e-02 8.78993560e-03 9.99906218e-01 -2.70790467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.95719347 meters Centerline goodness : 0.898866 Centerline is valid? [False, False] Translation: X:18.55, Y:-0.15, Z:-2.71 [[ 9.99946659e-01 4.04953463e-03 9.50159422e-03 1.85505505e+01] [-3.97549581e-03 9.99961691e-01 -7.79824237e-03 -1.51595585e-01] [-9.53280947e-03 7.76005286e-03 9.99924451e-01 -2.71055408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98719347 meters Centerline goodness : 0.899365 Centerline is valid? [False, False] Translation: X:18.57, Y:-0.15, Z:-2.71 [[ 9.99966744e-01 4.35151209e-03 6.89747848e-03 1.85722747e+01] [-4.28581853e-03 9.99945588e-01 -9.51062344e-03 -1.54485105e-01] [-6.93848877e-03 9.48074581e-03 9.99930984e-01 -2.71130463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.01719347 meters Centerline goodness : 0.899654 Centerline is valid? [False, False] Translation: X:18.57, Y:-0.16, Z:-2.71 [[ 9.99975162e-01 3.10413455e-03 6.32765231e-03 1.85742447e+01] [-3.03836664e-03 9.99941542e-01 -1.03769786e-02 -1.57029788e-01] [-6.35949394e-03 1.03574952e-02 9.99926137e-01 -2.71234835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04719347 meters Centerline goodness : 0.901628 Centerline is valid? [False, False] Translation: X:18.58, Y:-0.16, Z:-2.71 [[ 9.99983945e-01 1.21357600e-03 5.53501673e-03 1.85763137e+01] [-1.14672405e-03 9.99926555e-01 -1.20652254e-02 -1.59388481e-01] [-5.54925228e-03 1.20586846e-02 9.99911893e-01 -2.71304628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.07719347 meters Centerline goodness : 0.899962 Centerline is valid? [False, False] Translation: X:18.60, Y:-0.16, Z:-2.71 [[ 9.99979286e-01 1.25948054e-03 6.31196051e-03 1.85964192e+01] [-1.17104266e-03 9.99901375e-01 -1.39953209e-02 -1.61866256e-01] [-6.32896482e-03 1.39876395e-02 9.99882138e-01 -2.71367114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.10719347 meters Centerline goodness : 0.901533 Centerline is valid? [False, False] Translation: X:18.60, Y:-0.16, Z:-2.71 [[ 9.99978721e-01 -2.41254690e-03 6.06106652e-03 1.85972622e+01] [ 2.51523947e-03 9.99852447e-01 -1.69928884e-02 -1.64582964e-01] [-6.01917605e-03 1.70077718e-02 9.99837239e-01 -2.71409113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.13719347 meters Centerline goodness : 0.903521 Centerline is valid? [False, False] Translation: X:18.60, Y:-0.17, Z:-2.72 [[ 9.99979838e-01 -3.77868351e-03 5.10335977e-03 1.86000126e+01] [ 3.86660974e-03 9.99842338e-01 -1.73305487e-02 -1.66914354e-01] [-5.03706851e-03 1.73499320e-02 9.99836791e-01 -2.71509035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.16719347 meters Centerline goodness : 0.903303 Centerline is valid? [False, False] Translation: X:18.60, Y:-0.17, Z:-2.71 [[ 9.99980586e-01 -4.17421801e-03 4.62630168e-03 1.86008938e+01] [ 4.25020198e-03 9.99854204e-01 -1.65380572e-02 -1.69959212e-01] [-4.55659373e-03 1.65573989e-02 9.99852534e-01 -2.71473144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.19719347 meters Centerline goodness : 0.901681 Centerline is valid? [False, False] Translation: X:18.60, Y:-0.17, Z:-2.71 [[ 9.99980008e-01 -4.83303452e-03 4.07749379e-03 1.86019514e+01] [ 4.89915564e-03 9.99854081e-01 -1.63650561e-02 -1.71566490e-01] [-3.99780592e-03 1.63847052e-02 9.99857769e-01 -2.71440933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.22719347 meters Centerline goodness : 0.900469 Centerline is valid? [False, False] Translation: X:18.60, Y:-0.17, Z:-2.72 [[ 9.99977199e-01 -5.79870860e-03 3.46084182e-03 1.86037586e+01] [ 5.85613838e-03 9.99841361e-01 -1.68213855e-02 -1.70763558e-01] [-3.36275048e-03 1.68412691e-02 9.99852521e-01 -2.71508092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.25719347 meters Centerline goodness : 0.900834 Centerline is valid? [False, False] Translation: X:18.61, Y:-0.17, Z:-2.72 [[ 9.99988038e-01 -4.09872743e-03 2.66915724e-03 1.86067895e+01] [ 4.13732043e-03 9.99884598e-01 -1.46175410e-02 -1.71164131e-01] [-2.60893590e-03 1.46284093e-02 9.99889595e-01 -2.71672583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.28719347 meters Centerline goodness : 0.901710 Centerline is valid? [False, False] Translation: X:18.60, Y:-0.17, Z:-2.71 [[ 9.99990392e-01 -3.27223735e-03 2.91707783e-03 1.86048175e+01] [ 3.31218561e-03 9.99899336e-01 -1.37966279e-02 -1.72431473e-01] [-2.87163834e-03 1.38061572e-02 9.99900567e-01 -2.71425578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.31719347 meters Centerline goodness : 0.901567 Centerline is valid? [False, False] Translation: X:18.60, Y:-0.17, Z:-2.71 [[ 9.99989066e-01 -3.80484151e-03 2.71858390e-03 1.86048796e+01] [ 3.84318165e-03 9.99891224e-01 -1.42397636e-02 -1.72693383e-01] [-2.66410814e-03 1.42500559e-02 9.99894914e-01 -2.71353084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.34719347 meters Centerline goodness : 0.903279 Centerline is valid? [False, False] Translation: X:18.61, Y:-0.17, Z:-2.71 [[ 9.99988930e-01 -4.03437861e-03 2.42143874e-03 1.86053635e+01] [ 4.06872450e-03 9.99888743e-01 -1.43508480e-02 -1.72270235e-01] [-2.36327258e-03 1.43605413e-02 9.99894089e-01 -2.71322762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.37719347 meters Centerline goodness : 0.902344 Centerline is valid? [False, False] Translation: X:18.61, Y:-0.17, Z:-2.71 [[ 9.99987914e-01 -4.43561175e-03 2.12078339e-03 1.86061695e+01] [ 4.46634071e-03 9.99881810e-01 -1.47111795e-02 -1.70929131e-01] [-2.05527965e-03 1.47204739e-02 9.99889536e-01 -2.71334788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.40719347 meters Centerline goodness : 0.902726 Centerline is valid? [False, False] Translation: X:18.61, Y:-0.17, Z:-2.71 [[ 9.99996206e-01 -2.45345630e-03 1.25202754e-03 1.86088005e+01] [ 2.46808909e-03 9.99927063e-01 -1.18227260e-02 -1.71032085e-01] [-1.22292968e-03 1.18257712e-02 9.99929325e-01 -2.71428376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.43719347 meters Centerline goodness : 0.902721 Centerline is valid? [False, False] Translation: X:18.61, Y:-0.17, Z:-2.72 [[ 9.99994309e-01 -3.29909676e-03 7.05487508e-04 1.86107296e+01] [ 3.30778135e-03 9.99914068e-01 -1.26852215e-02 -1.69218258e-01] [-6.63577111e-04 1.26874829e-02 9.99919290e-01 -2.71542612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46719346999998 meters Centerline goodness : 0.902270 Centerline is valid? [False, False] Translation: X:18.61, Y:-0.17, Z:-2.72 [[ 9.99993452e-01 -3.61462241e-03 1.74150066e-04 1.86126491e+01] [ 3.61660004e-03 9.99906989e-01 -1.31504403e-02 -1.68383529e-01] [-1.26599992e-04 1.31509840e-02 9.99913514e-01 -2.71660449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.49719346999998 meters Centerline goodness : 0.904415 Centerline is valid? [False, False] Translation: X:18.64, Y:-0.17, Z:-2.72 [[ 9.99997764e-01 -1.42360362e-03 -1.56376175e-03 1.86356159e+01] [ 1.40208162e-03 9.99905456e-01 -1.36789031e-02 -1.68439267e-01] [ 1.58308725e-03 1.36766800e-02 9.99905217e-01 -2.71881279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52719347 meters Centerline goodness : 0.902847 Centerline is valid? [False, False] Translation: X:18.64, Y:-0.17, Z:-2.72 [[ 9.99996998e-01 -1.35869858e-03 -2.03891853e-03 1.86370466e+01] [ 1.32980571e-03 9.99899625e-01 -1.41057525e-02 -1.66790622e-01] [ 2.05787934e-03 1.41029988e-02 9.99898430e-01 -2.71947326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.55719347 meters Centerline goodness : 0.902783 Centerline is valid? [False, False] Translation: X:18.64, Y:-0.16, Z:-2.72 [[ 9.99993841e-01 2.61793161e-03 -2.33779632e-03 1.86381854e+01] [-2.64294369e-03 9.99938608e-01 -1.07607835e-02 -1.64613321e-01] [ 2.30948181e-03 1.07668959e-02 9.99939368e-01 -2.72018217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58719347 meters Centerline goodness : 0.901222 Centerline is valid? [False, False] Translation: X:18.66, Y:-0.16, Z:-2.72 [[ 9.99990918e-01 4.09641521e-03 -1.17595238e-03 1.86588961e+01] [-4.11277482e-03 9.99889807e-01 -1.42638900e-02 -1.61463122e-01] [ 1.11739198e-03 1.42685969e-02 9.99897574e-01 -2.72316320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.61719347 meters Centerline goodness : 0.901034 Centerline is valid? [False, False] Translation: X:18.68, Y:-0.16, Z:-2.73 [[ 9.99975058e-01 6.82412735e-03 -1.82072255e-03 1.86810885e+01] [-6.85218290e-03 9.99850497e-01 -1.58754932e-02 -1.56725360e-01] [ 1.71211396e-03 1.58875731e-02 9.99872319e-01 -2.72558951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64719347 meters Centerline goodness : 0.900947 Centerline is valid? [False, False] Translation: X:18.68, Y:-0.16, Z:-2.73 [[ 9.99965134e-01 7.88346195e-03 -2.75353609e-03 1.86845765e+01] [-7.92309709e-03 9.99860662e-01 -1.46928708e-02 -1.55917502e-01] [ 2.63732173e-03 1.47141750e-02 9.99888263e-01 -2.72755751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.67719347 meters Centerline goodness : 0.901395 Centerline is valid? [False, False] Translation: X:18.69, Y:-0.15, Z:-2.73 [[ 9.99966564e-01 7.51147259e-03 -3.23258040e-03 1.86859422e+01] [-7.55972464e-03 9.99856156e-01 -1.51828434e-02 -1.54203185e-01] [ 3.11806990e-03 1.52067731e-02 9.99879509e-01 -2.72807355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70719347 meters Centerline goodness : 0.902444 Centerline is valid? [False, False] Translation: X:18.69, Y:-0.15, Z:-2.73 [[ 9.99971209e-01 6.53350699e-03 -3.85940490e-03 1.86879419e+01] [-6.59521893e-03 9.99847023e-01 -1.61997850e-02 -1.52688562e-01] [ 3.75297310e-03 1.62247722e-02 9.99861326e-01 -2.72904119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.73719347 meters Centerline goodness : 0.900614 Centerline is valid? [False, False] Translation: X:18.69, Y:-0.15, Z:-2.73 [[ 9.99976321e-01 4.96872887e-03 -4.76126162e-03 1.86907847e+01] [-5.05111512e-03 9.99834969e-01 -1.74505514e-02 -1.51834453e-01] [ 4.67376880e-03 1.74741878e-02 9.99836391e-01 -2.73035851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76719347 meters Centerline goodness : 0.900958 Centerline is valid? [False, False] Translation: X:18.69, Y:-0.15, Z:-2.73 [[ 9.99987666e-01 5.35756345e-04 -4.93773633e-03 1.86912082e+01] [-6.43576558e-04 9.99760828e-01 -2.18603032e-02 -1.50878497e-01] [ 4.92484357e-03 2.18632113e-02 9.99748841e-01 -2.73037269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.79719347 meters Centerline goodness : 0.903827 Centerline is valid? [False, False] Translation: X:18.70, Y:-0.15, Z:-2.73 [[ 9.99998165e-01 -1.90642917e-03 -1.90402756e-04 1.87007336e+01] [ 1.90359117e-03 9.99901112e-01 -1.39335033e-02 -1.52573694e-01] [ 2.16947165e-04 1.39331153e-02 9.99902906e-01 -2.73208234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.82719347 meters Centerline goodness : 0.902807 Centerline is valid? [False, False] Translation: X:18.70, Y:-0.15, Z:-2.73 [[ 9.99995140e-01 -3.04086006e-03 -6.87838953e-04 1.87018764e+01] [ 3.03047824e-03 9.99888502e-01 -1.46218835e-02 -1.51865686e-01] [ 7.32225362e-04 1.46197280e-02 9.99892858e-01 -2.73209524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.85719347 meters Centerline goodness : 0.900751 Centerline is valid? [False, False] Translation: X:18.70, Y:-0.15, Z:-2.73 [[ 9.99992422e-01 -3.75797126e-03 -1.01646716e-03 1.87024816e+01] [ 3.74235545e-03 9.99881216e-01 -1.49515699e-02 -1.51219642e-01] [ 1.07253399e-03 1.49476526e-02 9.99887702e-01 -2.73181164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.88719347 meters Centerline goodness : 0.902996 Centerline is valid? [False, False] Translation: X:18.72, Y:-0.15, Z:-2.73 [[ 9.99975651e-01 -6.34012963e-03 2.91563916e-03 1.87196271e+01] [ 6.39370059e-03 9.99803819e-01 -1.87468630e-02 -1.48624032e-01] [-2.79620962e-03 1.87650482e-02 9.99820011e-01 -2.73139803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.91719347 meters Centerline goodness : 0.901609 Centerline is valid? [False, False] Translation: X:18.72, Y:-0.15, Z:-2.73 [[ 9.99973750e-01 -6.73522292e-03 2.67123891e-03 1.87197103e+01] [ 6.78463624e-03 9.99797564e-01 -1.89420277e-02 -1.47978241e-01] [-2.54311937e-03 1.89596539e-02 9.99817015e-01 -2.73067740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.94719347 meters Centerline goodness : 0.904040 Centerline is valid? [False, False] Translation: X:18.72, Y:-0.15, Z:-2.73 [[ 9.99970821e-01 -7.29963778e-03 2.25208995e-03 1.87205346e+01] [ 7.34216127e-03 9.99783099e-01 -1.94896978e-02 -1.46833274e-01] [-2.10933373e-03 1.95056644e-02 9.99807521e-01 -2.73052426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.97719347 meters Centerline goodness : 0.901789 Centerline is valid? [False, False] Translation: X:18.72, Y:-0.15, Z:-2.73 [[ 9.99967517e-01 -7.84414135e-03 1.85314214e-03 1.87217983e+01] [ 7.87992929e-03 9.99765589e-01 -2.01661440e-02 -1.45340492e-01] [-1.69452166e-03 2.01800916e-02 9.99794925e-01 -2.73108998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.00719347 meters Centerline goodness : 0.905894 Centerline is valid? [False, False] Translation: X:18.74, Y:-0.14, Z:-2.73 [[ 9.99979004e-01 -6.47633123e-03 -2.18523748e-04 1.87443977e+01] [ 6.47048514e-03 9.99768587e-01 -2.05159717e-02 -1.44338927e-01] [ 3.51341406e-04 2.05141270e-02 9.99789501e-01 -2.73238541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.03719347 meters Centerline goodness : 0.902981 Centerline is valid? [False, False] Translation: X:18.77, Y:-0.14, Z:-2.74 [[ 9.99992868e-01 -3.72953783e-03 -5.95110756e-04 1.87665315e+01] [ 3.71577659e-03 9.99758588e-01 -2.16554524e-02 -1.38196261e-01] [ 6.75731918e-04 2.16530867e-02 9.99765316e-01 -2.73502871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.06719347 meters Centerline goodness : 0.903353 Centerline is valid? [False, False] Translation: X:18.77, Y:-0.14, Z:-2.74 [[ 9.99998543e-01 -1.12430296e-03 -1.28432913e-03 1.87685221e+01] [ 1.09938535e-03 9.99814291e-01 -1.92399399e-02 -1.35303458e-01] [ 1.30572214e-03 1.92384999e-02 9.99814070e-01 -2.73570899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.09719347 meters Centerline goodness : 0.903472 Centerline is valid? [False, False] Translation: X:18.79, Y:-0.13, Z:-2.74 [[ 9.99997750e-01 1.63564600e-03 -1.35088567e-03 1.87899385e+01] [-1.66158422e-03 9.99809871e-01 -1.94283374e-02 -1.32642925e-01] [ 1.31885095e-03 1.94305383e-02 9.99810339e-01 -2.73703414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.12719347 meters Centerline goodness : 0.896454 Centerline is valid? [False, False] Translation: X:18.79, Y:-0.13, Z:-2.74 [[ 9.99987476e-01 4.71829872e-03 -1.66879994e-03 1.87905402e+01] [-4.74693423e-03 9.99833960e-01 -1.75931701e-02 -1.26588663e-01] [ 1.58551302e-03 1.76008715e-02 9.99843836e-01 -2.73664662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.15719347 meters Centerline goodness : 0.900278 Centerline is valid? [False, False] Translation: X:18.79, Y:-0.12, Z:-2.74 [[ 9.99971211e-01 7.24279017e-03 -2.26259540e-03 1.87926416e+01] [-7.27640173e-03 9.99857720e-01 -1.52181764e-02 -1.24370330e-01] [ 2.15205142e-03 1.52342018e-02 9.99881637e-01 -2.73763991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.18719347 meters Centerline goodness : 0.900332 Centerline is valid? [False, False] Translation: X:18.80, Y:-0.12, Z:-2.74 [[ 9.99949834e-01 9.55661128e-03 -3.00024583e-03 1.87953762e+01] [-9.59534638e-03 9.99867189e-01 -1.31732429e-02 -1.21122480e-01] [ 2.87395580e-03 1.32013704e-02 9.99908728e-01 -2.73911795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.21719346999998 meters Centerline goodness : 0.896491 Centerline is valid? [False, False] Translation: X:18.82, Y:-0.11, Z:-2.74 [[ 9.99916144e-01 1.27669988e-02 -2.16976139e-03 1.88168889e+01] [-1.28011704e-02 9.99781229e-01 -1.65415625e-02 -1.11557335e-01] [ 1.95810060e-03 1.65679509e-02 9.99860825e-01 -2.74347257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24719346999998 meters Centerline goodness : 0.894960 Centerline is valid? [False, False] Translation: X:18.82, Y:-0.11, Z:-2.74 [[ 9.99871848e-01 1.58115282e-02 -2.50670188e-03 1.88182521e+01] [-1.58443771e-02 9.99780934e-01 -1.36762410e-02 -1.09458311e-01] [ 2.28991047e-03 1.37142055e-02 9.99903334e-01 -2.74411380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.27719347 meters Centerline goodness : 0.895986 Centerline is valid? [False, False] Translation: X:18.82, Y:-0.11, Z:-2.74 [[ 9.99867607e-01 1.59942820e-02 -2.99175247e-03 1.88191691e+01] [-1.60370015e-02 9.99761173e-01 -1.48462305e-02 -1.06332314e-01] [ 2.75358317e-03 1.48922437e-02 9.99885313e-01 -2.74349299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30719347 meters Centerline goodness : 0.895456 Centerline is valid? [False, False] Translation: X:18.82, Y:-0.10, Z:-2.74 [[ 9.99861515e-01 1.62594952e-02 -3.54686703e-03 1.88202173e+01] [-1.63140305e-02 9.99740002e-01 -1.59305300e-02 -1.03203290e-01] [ 3.28692247e-03 1.59861875e-02 9.99866810e-01 -2.74285823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.33719347 meters Centerline goodness : 0.894635 Centerline is valid? [False, False] Translation: X:18.82, Y:-0.10, Z:-2.74 [[ 9.99814509e-01 1.88437528e-02 -3.98247594e-03 1.88215586e+01] [-1.89012314e-02 9.99709953e-01 -1.49249465e-02 -9.70433206e-02] [ 3.70007883e-03 1.49974518e-02 9.99880686e-01 -2.74259053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36719347 meters Centerline goodness : 0.893044 Centerline is valid? [False, False] Translation: X:18.82, Y:-0.09, Z:-2.74 [[ 9.99819947e-01 1.84469498e-02 -4.44789392e-03 1.88227728e+01] [-1.85166550e-02 9.99697694e-01 -1.61757143e-02 -9.36231727e-02] [ 4.14815671e-03 1.62551619e-02 9.99859271e-01 -2.74266748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.39719347 meters Centerline goodness : 0.892109 Centerline is valid? [False, False] Translation: X:18.82, Y:-0.09, Z:-2.74 [[ 9.99824974e-01 1.80862230e-02 -4.78644231e-03 1.88234520e+01] [-1.81649579e-02 9.99691287e-01 -1.69518270e-02 -9.18226553e-02] [ 4.47837015e-03 1.70358055e-02 9.99844851e-01 -2.74251699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42719347 meters Centerline goodness : 0.894494 Centerline is valid? [False, False] Translation: X:18.82, Y:-0.09, Z:-2.74 [[ 9.99834070e-01 1.74535886e-02 -5.21574628e-03 1.88241642e+01] [-1.75437586e-02 9.99688109e-01 -1.77736037e-02 -9.07553109e-02] [ 4.90390637e-03 1.78621583e-02 9.99828433e-01 -2.74217398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.45719347 meters Centerline goodness : 0.897847 Centerline is valid? [False, False] Translation: X:18.83, Y:-0.09, Z:-2.74 [[ 9.99886474e-01 1.49508466e-02 -1.87375001e-03 1.88286618e+01] [-1.49663309e-02 9.99851512e-01 -8.54177777e-03 -8.99821672e-02] [ 1.74576497e-03 8.56885122e-03 9.99961763e-01 -2.74003019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48719347 meters Centerline goodness : 0.897847 Centerline is valid? [False, False] Translation: X:18.83, Y:-0.09, Z:-2.74 [[ 9.99886474e-01 1.49508466e-02 -1.87375001e-03 1.88286618e+01] [-1.49663309e-02 9.99851512e-01 -8.54177777e-03 -8.99821672e-02] [ 1.74576497e-03 8.56885122e-03 9.99961763e-01 -2.74003019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.51719347 meters Centerline goodness : 0.896540 Centerline is valid? [False, False] Translation: X:18.83, Y:-0.08, Z:-2.74 [[ 9.99885552e-01 1.50375691e-02 -1.65959440e-03 1.88270738e+01] [-1.50546699e-02 9.99828088e-01 -1.08236668e-02 -8.22765071e-02] [ 1.49654746e-03 1.08474127e-02 9.99940045e-01 -2.73740916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54719347 meters Centerline goodness : 0.894344 Centerline is valid? [False, False] Translation: X:18.83, Y:-0.08, Z:-2.74 [[ 9.99835510e-01 1.80473444e-02 -1.80148331e-03 1.88274329e+01] [-1.80616680e-02 9.99802594e-01 -8.27945916e-03 -7.96574882e-02] [ 1.65170544e-03 8.31063507e-03 9.99964102e-01 -2.73699819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.57719347 meters Centerline goodness : 0.896753 Centerline is valid? [False, False] Translation: X:18.83, Y:-0.08, Z:-2.74 [[ 9.99833858e-01 1.80827885e-02 -2.29561845e-03 1.88281749e+01] [-1.81041243e-02 9.99789623e-01 -9.64103669e-03 -7.54054114e-02] [ 2.12079868e-03 9.68099507e-03 9.99950889e-01 -2.73623559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.60719347 meters Centerline goodness : 0.897487 Centerline is valid? [False, False] Translation: X:18.83, Y:-0.07, Z:-2.74 [[ 9.99838344e-01 1.78025902e-02 -2.52049401e-03 1.88282659e+01] [-1.78294466e-02 9.99779792e-01 -1.10670336e-02 -7.18835161e-02] [ 2.32291711e-03 1.11101836e-02 9.99935582e-01 -2.73532451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.63719347 meters Centerline goodness : 0.898633 Centerline is valid? [False, False] Translation: X:18.83, Y:-0.07, Z:-2.74 [[ 9.99814101e-01 1.91609377e-02 -2.14991546e-03 1.88278031e+01] [-1.91809710e-02 9.99768775e-01 -9.72040791e-03 -6.89540416e-02] [ 1.96316622e-03 9.75983836e-03 9.99950445e-01 -2.73526878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.66719347 meters Centerline goodness : 0.900422 Centerline is valid? [False, False] Translation: X:18.83, Y:-0.07, Z:-2.74 [[ 9.99833226e-01 1.80872955e-02 -2.52372744e-03 1.88288864e+01] [-1.81134031e-02 9.99778287e-01 -1.07368861e-02 -6.77917920e-02] [ 2.32896666e-03 1.07808088e-02 9.99939173e-01 -2.73574013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.69719347 meters Centerline goodness : 0.899136 Centerline is valid? [False, False] Translation: X:18.83, Y:-0.07, Z:-2.74 [[ 9.99934869e-01 1.03403816e-02 -4.83054282e-03 1.88286169e+01] [-1.03575429e-02 9.99940089e-01 -3.54126461e-03 -6.72509462e-02] [ 4.79363539e-03 3.59106652e-03 9.99982062e-01 -2.73538314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.72719347 meters Centerline goodness : 0.900221 Centerline is valid? [False, False] Translation: X:18.83, Y:-0.07, Z:-2.74 [[ 9.99973126e-01 5.26207333e-03 -5.10473087e-03 1.88298548e+01] [-5.30569699e-03 9.99949200e-01 -8.57016589e-03 -6.56533901e-02] [ 5.05937471e-03 8.59701972e-03 9.99950246e-01 -2.73655713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.75719347 meters Centerline goodness : 0.901384 Centerline is valid? [False, False] Translation: X:18.81, Y:-0.07, Z:-2.74 [[ 9.99981771e-01 5.14512294e-04 -6.01612424e-03 1.88112515e+01] [-4.92942028e-04 9.99993448e-01 3.58634232e-03 -6.50176036e-02] [ 6.01793003e-03 -3.58331134e-03 9.99975472e-01 -2.73636049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.78719347 meters Centerline goodness : 0.898726 Centerline is valid? [False, False] Translation: X:18.81, Y:-0.06, Z:-2.74 [[ 9.99978676e-01 -1.37515815e-04 -6.52902517e-03 1.88130122e+01] [ 1.52890526e-04 9.99997217e-01 2.35438425e-03 -6.24041067e-02] [ 6.52868323e-03 -2.35533227e-03 9.99975914e-01 -2.73723759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.81719347 meters Centerline goodness : 0.903131 Centerline is valid? [False, False] Translation: X:18.83, Y:-0.05, Z:-2.74 [[ 9.99990311e-01 2.89513227e-03 -3.31592939e-03 1.88261207e+01] [-2.91270658e-03 9.99981673e-01 -5.30745448e-03 -5.43538360e-02] [ 3.30050284e-03 5.31706138e-03 9.99980418e-01 -2.74093655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.84719347 meters Centerline goodness : 0.903131 Centerline is valid? [False, False] Translation: X:18.83, Y:-0.05, Z:-2.74 [[ 9.99990311e-01 2.89513227e-03 -3.31592939e-03 1.88261207e+01] [-2.91270658e-03 9.99981673e-01 -5.30745448e-03 -5.43538360e-02] [ 3.30050284e-03 5.31706138e-03 9.99980418e-01 -2.74093655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.87719347 meters Centerline goodness : 0.902787 Centerline is valid? [False, False] Translation: X:18.83, Y:-0.05, Z:-2.74 [[ 9.99972835e-01 6.37588687e-03 -3.69819059e-03 1.88271474e+01] [-6.38357741e-03 9.99977479e-01 -2.07147729e-03 -5.20264762e-02] [ 3.68489980e-03 2.09502870e-03 9.99991016e-01 -2.74126333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.90719347 meters Centerline goodness : 0.903389 Centerline is valid? [False, False] Translation: X:18.83, Y:-0.05, Z:-2.74 [[ 9.99944595e-01 9.74419576e-03 -3.98209037e-03 1.88277895e+01] [-9.74066879e-03 9.99952150e-01 9.04147435e-04 -4.93049621e-02] [ 3.99071002e-03 -8.65309118e-04 9.99991663e-01 -2.74123693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.93719347 meters Centerline goodness : 0.900324 Centerline is valid? [False, False] Translation: X:18.83, Y:-0.05, Z:-2.74 [[ 9.99904857e-01 1.31749309e-02 -4.08627503e-03 1.88280455e+01] [-1.31593712e-02 9.99906147e-01 3.81160260e-03 -4.62405498e-02] [ 4.13610912e-03 -3.75746714e-03 9.99984387e-01 -2.74103910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96719346999998 meters Centerline goodness : 0.903195 Centerline is valid? [False, False] Translation: X:18.83, Y:-0.04, Z:-2.74 [[ 9.99849923e-01 1.67889959e-02 -4.27339461e-03 1.88285378e+01] [-1.67595130e-02 9.99836126e-01 6.84394745e-03 -4.32687466e-02] [ 4.38759732e-03 -6.77130032e-03 9.99967449e-01 -2.74096023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.99719346999998 meters Centerline goodness : 0.899314 Centerline is valid? [False, False] Translation: X:18.83, Y:-0.04, Z:-2.74 [[ 9.99682574e-01 2.48250673e-02 -4.29728370e-03 1.88287191e+01] [-2.47672688e-02 9.99608484e-01 1.30177282e-02 -3.72729851e-02] [ 4.61876722e-03 -1.29071641e-02 9.99906032e-01 -2.74065732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02719347 meters Centerline goodness : 0.900158 Centerline is valid? [False, False] Translation: X:18.83, Y:-0.03, Z:-2.74 [[ 9.99578984e-01 2.86933250e-02 -4.30669163e-03 1.88288307e+01] [-2.86216145e-02 9.99464185e-01 1.58790871e-02 -3.35837529e-02] [ 4.76000785e-03 -1.57491373e-02 9.99864644e-01 -2.74035175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.05719347 meters Centerline goodness : 0.903405 Centerline is valid? [False, False] Translation: X:18.83, Y:-0.03, Z:-2.74 [[ 9.99461281e-01 3.25551671e-02 -4.16041570e-03 1.88284276e+01] [-3.24720275e-02 9.99297812e-01 1.86935762e-02 -2.96089376e-02] [ 4.76606680e-03 -1.85484084e-02 9.99816604e-01 -2.73969474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08719347 meters Centerline goodness : 0.900076 Centerline is valid? [False, False] Translation: X:18.83, Y:-0.02, Z:-2.74 [[ 9.99294895e-01 3.73356687e-02 -3.96999128e-03 1.88278607e+01] [-3.72417333e-02 9.99073604e-01 2.15635396e-02 -2.41440955e-02] [ 4.77140267e-03 -2.14004857e-02 9.99759598e-01 -2.73874229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.11719347 meters Centerline goodness : 0.898954 Centerline is valid? [False, False] Translation: X:18.83, Y:-0.02, Z:-2.74 [[ 9.99281305e-01 3.76502284e-02 -4.39705060e-03 1.88285245e+01] [-3.75505460e-02 9.99076194e-01 2.08977114e-02 -2.19321715e-02] [ 5.17979219e-03 -2.07175806e-02 9.99771950e-01 -2.73857286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14719347 meters Centerline goodness : 0.901196 Centerline is valid? [False, False] Translation: X:18.85, Y:-0.02, Z:-2.74 [[ 9.99333363e-01 3.64709373e-02 -1.64335089e-03 1.88464038e+01] [-3.64376419e-02 9.99190149e-01 1.70688418e-02 -1.95883288e-02] [ 2.26453668e-03 -1.69975833e-02 9.99852966e-01 -2.73837174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.17719347 meters Centerline goodness : 0.902590 Centerline is valid? [False, False] Translation: X:18.85, Y:-0.02, Z:-2.74 [[ 9.99330504e-01 3.65356775e-02 -1.92054395e-03 1.88466634e+01] [-3.64984972e-02 9.99193493e-01 1.67398632e-02 -1.88722466e-02] [ 2.53059726e-03 -1.66585589e-02 9.99858034e-01 -2.73800794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20719347 meters Centerline goodness : 0.901569 Centerline is valid? [False, False] Translation: X:18.86, Y:-0.02, Z:-2.74 [[ 9.99401356e-01 3.43258703e-02 4.32020985e-03 1.88551722e+01] [-3.44188723e-02 9.99126485e-01 2.36982870e-02 -2.17854371e-02] [-3.50297175e-03 -2.38327969e-02 9.99709821e-01 -2.73981553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.23719347 meters Centerline goodness : 0.902605 Centerline is valid? [False, False] Translation: X:18.86, Y:-0.02, Z:-2.74 [[ 9.99472060e-01 3.22843858e-02 3.64959529e-03 1.88572067e+01] [-3.23552974e-02 9.99247094e-01 2.14097957e-02 -2.29436346e-02] [-2.95564539e-03 -2.15165764e-02 9.99764123e-01 -2.74092435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26719347 meters Centerline goodness : 0.903312 Centerline is valid? [False, False] Translation: X:18.86, Y:-0.03, Z:-2.74 [[ 9.99471619e-01 3.23195611e-02 3.45387498e-03 1.88577971e+01] [-3.23877299e-02 9.99234407e-01 2.19461678e-02 -2.50884099e-02] [-2.74194021e-03 -2.20464351e-02 9.99753188e-01 -2.74089937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.29719347 meters Centerline goodness : 0.901761 Centerline is valid? [False, False] Translation: X:18.86, Y:-0.03, Z:-2.74 [[ 9.99463473e-01 3.25992926e-02 3.17045225e-03 1.88587034e+01] [-3.26631017e-02 9.99207534e-01 2.27469789e-02 -2.73165700e-02] [-2.42640435e-03 -2.28383313e-02 9.99736227e-01 -2.74101934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.32719347 meters Centerline goodness : 0.899151 Centerline is valid? [False, False] Translation: X:18.87, Y:-0.04, Z:-2.74 [[ 9.99469121e-01 3.23671920e-02 3.72025454e-03 1.88688655e+01] [-3.24798430e-02 9.98830194e-01 3.58232143e-02 -3.51859000e-02] [-2.55640571e-03 -3.59250298e-02 9.99351218e-01 -2.73971713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.35719347 meters Centerline goodness : 0.897536 Centerline is valid? [False, False] Translation: X:18.87, Y:-0.04, Z:-2.74 [[ 9.99567161e-01 2.92534529e-02 3.11854998e-03 1.88704617e+01] [-2.93391763e-02 9.99045140e-01 3.23731434e-02 -3.59450599e-02] [-2.16854598e-03 -3.24506268e-02 9.99470987e-01 -2.74069532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.38719347 meters Centerline goodness : 0.896558 Centerline is valid? [False, False] Translation: X:18.87, Y:-0.04, Z:-2.74 [[ 9.99583506e-01 2.87851075e-02 2.05709760e-03 1.88743767e+01] [-2.88367614e-02 9.99056486e-01 3.24742740e-02 -3.89753853e-02] [-1.12038123e-03 -3.25200687e-02 9.99470455e-01 -2.74300941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.41719347 meters Centerline goodness : 0.894781 Centerline is valid? [False, False] Translation: X:18.89, Y:-0.06, Z:-2.74 [[ 9.99651363e-01 2.62540133e-02 -2.80707982e-03 1.88884322e+01] [-2.60138285e-02 9.97511861e-01 6.55238028e-02 -5.56736182e-02] [ 4.52035821e-03 -6.54279359e-02 9.97847058e-01 -2.73872128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.44719347 meters Centerline goodness : 0.893682 Centerline is valid? [False, False] Translation: X:18.90, Y:-0.06, Z:-2.73 [[ 9.99666985e-01 2.51135896e-02 -5.93527225e-03 1.88966914e+01] [-2.45914009e-02 9.96813772e-01 7.58786383e-02 -6.09852857e-02] [ 7.82194609e-03 -7.57074129e-02 9.97099396e-01 -2.73229941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.47719347 meters Centerline goodness : 0.891856 Centerline is valid? [False, False] Translation: X:18.90, Y:-0.06, Z:-2.73 [[ 9.99724115e-01 2.24480154e-02 -6.91228337e-03 1.88999612e+01] [-2.18807590e-02 9.97062601e-01 7.33989274e-02 -6.25641134e-02] [ 8.53963949e-03 -7.32274318e-02 9.97278706e-01 -2.73403788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.50719347 meters Centerline goodness : 0.889947 Centerline is valid? [False, False] Translation: X:18.89, Y:-0.07, Z:-2.73 [[ 9.99812469e-01 1.62604505e-02 -1.05178527e-02 1.88934228e+01] [-1.56367340e-02 9.98258180e-01 5.68867131e-02 -6.64300516e-02] [ 1.14245360e-02 -5.67115802e-02 9.98325236e-01 -2.73456716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.53719347 meters Centerline goodness : 0.887851 Centerline is valid? [False, False] Translation: X:18.89, Y:-0.07, Z:-2.73 [[ 9.99903513e-01 8.73654566e-03 -1.07999109e-02 1.88937590e+01] [-8.18959334e-03 9.98731071e-01 4.96908221e-02 -6.82467277e-02] [ 1.12203328e-02 -4.95975807e-02 9.98706255e-01 -2.73452295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.56719347 meters Centerline goodness : 0.890802 Centerline is valid? [False, False] Translation: X:18.89, Y:-0.07, Z:-2.73 [[ 9.99936776e-01 8.34861497e-04 -1.12137330e-02 1.88944488e+01] [-3.60375446e-04 9.99107069e-01 4.22484969e-02 -6.98724709e-02] [ 1.12389915e-02 -4.22417846e-02 9.99044202e-01 -2.73445609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.59719347 meters Centerline goodness : 0.889735 Centerline is valid? [False, False] Translation: X:18.90, Y:-0.07, Z:-2.73 [[ 9.99947028e-01 -5.24719368e-03 -8.85482248e-03 1.89024018e+01] [ 5.46901736e-03 9.99667073e-01 2.52157404e-02 -6.97859009e-02] [ 8.71956259e-03 -2.52628318e-02 9.99642815e-01 -2.73390060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.62719347 meters Centerline goodness : 0.891838 Centerline is valid? [False, False] Translation: X:18.91, Y:-0.07, Z:-2.74 [[ 9.99932209e-01 -1.09609724e-02 -3.92871821e-03 1.89138880e+01] [ 1.10006643e-02 9.99887181e-01 1.02279362e-02 -6.95446120e-02] [ 3.81616685e-03 -1.02704613e-02 9.99939975e-01 -2.73722346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.65719347 meters Centerline goodness : 0.891611 Centerline is valid? [False, False] Translation: X:18.92, Y:-0.07, Z:-2.74 [[ 9.99835325e-01 -1.75973492e-02 -4.43343776e-03 1.89154871e+01] [ 1.76147247e-02 9.99837199e-01 3.91111519e-03 -7.08204797e-02] [ 4.36389073e-03 -3.98856492e-03 9.99982524e-01 -2.73757449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.68719347 meters Centerline goodness : 0.891840 Centerline is valid? [False, False] Translation: X:18.91, Y:-0.07, Z:-2.73 [[ 9.99674107e-01 -2.52221018e-02 -3.94016279e-03 1.89130298e+01] [ 2.52111968e-02 9.99678245e-01 -2.79323247e-03 -7.36898825e-02] [ 4.00934621e-03 2.69298595e-03 9.99988336e-01 -2.73478778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.71719346999998 meters Centerline goodness : 0.893237 Centerline is valid? [False, False] Translation: X:18.91, Y:-0.07, Z:-2.73 [[ 9.99658719e-01 -2.57752792e-02 -4.25208725e-03 1.89138363e+01] [ 2.57630466e-02 9.99663851e-01 -2.90696746e-03 -7.41543089e-02] [ 4.32558581e-03 2.79642864e-03 9.99986735e-01 -2.73491237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74719346999998 meters Centerline goodness : 0.893630 Centerline is valid? [False, False] Translation: X:18.91, Y:-0.07, Z:-2.74 [[ 9.99643035e-01 -2.63147863e-02 -4.61887691e-03 1.89149269e+01] [ 2.62989101e-02 9.99648119e-01 -3.46496465e-03 -7.29633596e-02] [ 4.70843142e-03 3.34225635e-03 9.99983330e-01 -2.73533996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.77719347 meters Centerline goodness : 0.892518 Centerline is valid? [False, False] Translation: X:18.93, Y:-0.07, Z:-2.74 [[ 9.99685427e-01 -2.50400242e-02 1.42965289e-03 1.89263058e+01] [ 2.50544934e-02 9.99623276e-01 -1.12061778e-02 -6.86001688e-02] [-1.14851134e-03 1.12384718e-02 9.99936187e-01 -2.73889468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80719347 meters Centerline goodness : 0.892263 Centerline is valid? [False, False] Translation: X:18.93, Y:-0.07, Z:-2.74 [[ 9.99676914e-01 -2.53925049e-02 1.13531915e-03 1.89265295e+01] [ 2.54043936e-02 9.99604050e-01 -1.20979093e-02 -6.61943742e-02] [-8.27673403e-04 1.21228427e-02 9.99926173e-01 -2.73832211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.83719347 meters Centerline goodness : 0.895107 Centerline is valid? [False, False] Translation: X:18.93, Y:-0.06, Z:-2.74 [[ 9.99668932e-01 -2.57137770e-02 9.09867323e-04 1.89268563e+01] [ 2.57235570e-02 9.99581865e-01 -1.32058460e-02 -6.25957650e-02] [-5.69914695e-04 1.32248790e-02 9.99912385e-01 -2.73802641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86719347 meters Centerline goodness : 0.895372 Centerline is valid? [False, False] Translation: X:18.93, Y:-0.06, Z:-2.74 [[ 9.99729280e-01 -2.32625664e-02 4.67792930e-04 1.89280062e+01] [ 2.32663193e-02 9.99668083e-01 -1.10635348e-02 -5.89019607e-02] [-2.10271448e-04 1.10714235e-02 9.99938688e-01 -2.73846475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.89719347 meters Centerline goodness : 0.893942 Centerline is valid? [False, False] Translation: X:18.95, Y:-0.05, Z:-2.74 [[ 9.99753316e-01 -2.20333254e-02 2.80005790e-03 1.89474393e+01] [ 2.20737968e-02 9.99638433e-01 -1.53542011e-02 -4.74686601e-02] [-2.46074138e-03 1.54122214e-02 9.99878197e-01 -2.74187211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92719347 meters Centerline goodness : 0.893697 Centerline is valid? [False, False] Translation: X:18.97, Y:-0.04, Z:-2.74 [[ 9.99764793e-01 -2.15204234e-02 2.68878076e-03 1.89685781e+01] [ 2.15606931e-02 9.99639940e-01 -1.59727130e-02 -4.42921796e-02] [-2.34407309e-03 1.60269281e-02 9.99868813e-01 -2.74319277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.95719347 meters Centerline goodness : 0.891535 Centerline is valid? [False, False] Translation: X:18.97, Y:-0.04, Z:-2.74 [[ 9.99751702e-01 -2.21552846e-02 2.38265695e-03 1.89697837e+01] [ 2.21927065e-02 9.99608610e-01 -1.70326235e-02 -4.13781565e-02] [-2.00436179e-03 1.70812719e-02 9.99852095e-01 -2.74389523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98719347 meters Centerline goodness : 0.891452 Centerline is valid? [False, False] Translation: X:18.99, Y:-0.03, Z:-2.75 [[ 9.99701780e-01 -2.40263335e-02 4.36886588e-03 1.89891787e+01] [ 2.41141595e-02 9.99482181e-01 -2.13043716e-02 -3.46566667e-02] [-3.85473766e-03 2.14033697e-02 9.99763490e-01 -2.74517563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.01719347 meters Centerline goodness : 0.893403 Centerline is valid? [False, False] Translation: X:19.00, Y:-0.03, Z:-2.75 [[ 9.99670890e-01 -2.36021077e-02 1.00524561e-02 1.90026152e+01] [ 2.38731555e-02 9.99329621e-01 -2.77557333e-02 -3.00367431e-02] [-9.39062330e-03 2.79865825e-02 9.99564189e-01 -2.74911937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04719347 meters Centerline goodness : 0.895094 Centerline is valid? [False, False] Translation: X:19.00, Y:-0.03, Z:-2.75 [[ 9.99730076e-01 -2.10865700e-02 9.75356736e-03 1.90035414e+01] [ 2.13222512e-02 9.99466847e-01 -2.47261489e-02 -2.86188790e-02] [-9.22697756e-03 2.49274427e-02 9.99646680e-01 -2.74967489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.07719347 meters Centerline goodness : 0.891039 Centerline is valid? [False, False] Translation: X:19.01, Y:-0.02, Z:-2.75 [[ 9.99758934e-01 -2.00473479e-02 8.95425759e-03 1.90064353e+01] [ 2.02578816e-02 9.99504877e-01 -2.40752655e-02 -2.10587043e-02] [-8.46717892e-03 2.42508561e-02 9.99670047e-01 -2.75143114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.10719347 meters Centerline goodness : 0.893441 Centerline is valid? [False, False] Translation: X:19.01, Y:-0.02, Z:-2.75 [[ 9.99813457e-01 -1.73080283e-02 8.57225839e-03 1.90076257e+01] [ 1.74867326e-02 9.99621676e-01 -2.12301440e-02 -1.86244410e-02] [-8.20156336e-03 2.13760844e-02 9.99737864e-01 -2.75212021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.13719347 meters Centerline goodness : 0.892590 Centerline is valid? [False, False] Translation: X:19.03, Y:-0.02, Z:-2.75 [[ 9.99813037e-01 -1.66990552e-02 9.74845453e-03 1.90281241e+01] [ 1.69056217e-02 9.99625765e-01 -2.15064992e-02 -1.55002131e-02] [-9.38566811e-03 2.16672819e-02 9.99721180e-01 -2.75332359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.16719347 meters Centerline goodness : 0.891900 Centerline is valid? [False, False] Translation: X:19.03, Y:-0.01, Z:-2.75 [[ 9.99859510e-01 -1.38088028e-02 9.50143126e-03 1.90286324e+01] [ 1.39841856e-02 9.99728336e-01 -1.86466179e-02 -1.32752187e-02] [-9.24136259e-03 1.87768680e-02 9.99780989e-01 -2.75332473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.19719347 meters Centerline goodness : 0.894793 Centerline is valid? [False, False] Translation: X:19.03, Y:-0.01, Z:-2.75 [[ 9.99898162e-01 -1.07075857e-02 9.43470675e-03 1.90286994e+01] [ 1.08583341e-02 9.99811837e-01 -1.60744213e-02 -9.80297869e-03] [-9.26081325e-03 1.61752295e-02 9.99826285e-01 -2.75308085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.22719347 meters Centerline goodness : 0.895610 Centerline is valid? [False, False] Translation: X:19.03, Y:0.00, Z:-2.75 [[ 9.99960284e-01 -2.63118039e-03 8.51518099e-03 1.90310236e+01] [ 2.71176075e-03 9.99951524e-01 -9.46547234e-03 1.97007592e-03] [-8.48986284e-03 9.48818754e-03 9.99918945e-01 -2.75369535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.25719347 meters Centerline goodness : 0.894663 Centerline is valid? [False, False] Translation: X:19.03, Y:0.01, Z:-2.75 [[ 9.99963651e-01 1.67542631e-03 8.36000145e-03 1.90311263e+01] [-1.62434035e-03 9.99979991e-01 -6.11381173e-03 9.21846216e-03] [-8.37007742e-03 6.10001001e-03 9.99946364e-01 -2.75325216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.28719347 meters Centerline goodness : 0.893784 Centerline is valid? [False, False] Translation: X:19.03, Y:0.02, Z:-2.75 [[ 9.99938609e-01 7.64477727e-03 8.02091565e-03 1.90316448e+01] [-7.63553889e-03 9.99970151e-01 -1.18177848e-03 1.59896979e-02] [-8.02971066e-03 1.12046192e-03 9.99967134e-01 -2.75281106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.31719347 meters Centerline goodness : 0.893371 Centerline is valid? [False, False] Translation: X:19.04, Y:0.03, Z:-2.75 [[ 9.99848671e-01 1.67020671e-02 4.86573014e-03 1.90368512e+01] [-1.66898013e-02 9.99857462e-01 -2.55066126e-03 3.25134981e-02] [-4.90763790e-03 2.46906720e-03 9.99984909e-01 -2.75010214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.34719347 meters Centerline goodness : 0.894160 Centerline is valid? [False, False] Translation: X:19.04, Y:0.04, Z:-2.75 [[ 9.99777260e-01 2.05812798e-02 4.67346056e-03 1.90378111e+01] [-2.05807268e-02 9.99788181e-01 -1.66391452e-04 3.83811607e-02] [-4.67589517e-03 7.01711746e-05 9.99989065e-01 -2.75043501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.37719347 meters Centerline goodness : 0.893050 Centerline is valid? [False, False] Translation: X:19.04, Y:0.04, Z:-2.75 [[ 9.99710059e-01 2.36660276e-02 4.44048623e-03 1.90388415e+01] [-2.36738060e-02 9.99718278e-01 1.70740217e-03 4.38447903e-02] [-4.39882782e-03 -1.81203033e-03 9.99988683e-01 -2.75084527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.40719347 meters Centerline goodness : 0.890242 Centerline is valid? [False, False] Translation: X:19.04, Y:0.05, Z:-2.75 [[ 9.99652096e-01 2.60061618e-02 4.40075154e-03 1.90385288e+01] [-2.60159883e-02 9.99659127e-01 2.19057675e-03 5.40158148e-02] [-4.34228295e-03 -2.30430454e-03 9.99987917e-01 -2.74972710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.43719347 meters Centerline goodness : 0.891348 Centerline is valid? [False, False] Translation: X:19.04, Y:0.06, Z:-2.75 [[ 9.99661545e-01 2.56993297e-02 4.04238372e-03 1.90390749e+01] [-2.57043228e-02 9.99668883e-01 1.18812756e-03 5.83342366e-02] [-4.01051113e-03 -1.29163217e-03 9.99991124e-01 -2.74930629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46719346999998 meters Centerline goodness : 0.892233 Centerline is valid? [False, False] Translation: X:19.04, Y:0.06, Z:-2.75 [[ 9.99674840e-01 2.52282588e-02 3.70803003e-03 1.90394883e+01] [-2.52285028e-02 9.99681710e-01 1.90261339e-05 6.18109593e-02] [-3.70636980e-03 -1.12567993e-04 9.99993125e-01 -2.74882690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.49719346999998 meters Centerline goodness : 0.891169 Centerline is valid? [False, False] Translation: X:19.04, Y:0.06, Z:-2.75 [[ 9.99590845e-01 2.83770286e-02 3.58979667e-03 1.90402143e+01] [-2.83890987e-02 9.99591310e-01 3.35730814e-03 6.25231220e-02] [-3.49305912e-03 -3.45784557e-03 9.99987921e-01 -2.74910377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52719347 meters Centerline goodness : 0.889548 Centerline is valid? [False, False] Translation: X:19.04, Y:0.06, Z:-2.75 [[ 9.99490394e-01 3.17835914e-02 2.95894146e-03 1.90421054e+01] [-3.18037049e-02 9.99469491e-01 7.01859796e-03 6.27841328e-02] [-2.73429546e-03 -7.10912654e-03 9.99970992e-01 -2.74980829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.55719347 meters Centerline goodness : 0.889071 Centerline is valid? [False, False] Translation: X:19.04, Y:0.06, Z:-2.75 [[ 9.99353987e-01 3.58525755e-02 2.49014581e-03 1.90438693e+01] [-3.58770915e-02 9.99299788e-01 1.06191896e-02 6.42397119e-02] [-2.10767688e-03 -1.07016686e-02 9.99940514e-01 -2.75073379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58719347 meters Centerline goodness : 0.887091 Centerline is valid? [False, False] Translation: X:19.06, Y:0.06, Z:-2.75 [[ 9.99382905e-01 3.48957056e-02 4.01227202e-03 1.90554691e+01] [-3.49713469e-02 9.99174964e-01 2.06493792e-02 6.36459600e-02] [-3.28838710e-03 -2.07769511e-02 9.99778728e-01 -2.75295276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.61719347 meters Centerline goodness : 0.887336 Centerline is valid? [False, False] Translation: X:19.06, Y:0.06, Z:-2.75 [[ 9.99380047e-01 3.50252582e-02 3.57125458e-03 1.90569142e+01] [-3.50913440e-02 9.99173424e-01 2.05199017e-02 6.46093801e-02] [-2.84958781e-03 -2.06325004e-02 9.99783066e-01 -2.75357813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64719347 meters Centerline goodness : 0.886361 Centerline is valid? [False, False] Translation: X:19.07, Y:0.06, Z:-2.76 [[ 9.99493550e-01 3.08649577e-02 7.74585190e-03 1.90668522e+01] [-3.10723631e-02 9.99117519e-01 2.82611268e-02 6.20509215e-02] [-6.86673785e-03 -2.84874959e-02 9.99570563e-01 -2.75586049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.67719347 meters Centerline goodness : 0.883933 Centerline is valid? [False, False] Translation: X:19.08, Y:0.06, Z:-2.76 [[ 9.99651670e-01 2.47786844e-02 9.08600192e-03 1.90765807e+01] [-2.50775696e-02 9.99093240e-01 3.44065876e-02 5.96017455e-02] [-8.22521312e-03 -3.46224576e-02 9.99366615e-01 -2.75625018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70719347 meters Centerline goodness : 0.883933 Centerline is valid? [False, False] Translation: X:19.08, Y:0.06, Z:-2.76 [[ 9.99651708e-01 2.47615645e-02 9.12840780e-03 1.90765200e+01] [-2.50598802e-02 9.99102173e-01 3.41592012e-02 6.01537493e-02] [-8.27437680e-03 -3.43760606e-02 9.99374715e-01 -2.75627950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.73719347 meters Centerline goodness : 0.885286 Centerline is valid? [False, False] Translation: X:19.08, Y:0.06, Z:-2.76 [[ 9.99754115e-01 2.04364905e-02 8.60575878e-03 1.90779478e+01] [-2.06924495e-02 9.99311790e-01 3.07858612e-02 5.74086063e-02] [-7.97068126e-03 -3.09563656e-02 9.99488955e-01 -2.75716235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76719347 meters Centerline goodness : 0.883593 Centerline is valid? [False, False] Translation: X:19.06, Y:0.06, Z:-2.76 [[ 9.99950510e-01 6.65795637e-03 7.39251090e-03 1.90601868e+01] [-6.90776683e-03 9.99387795e-01 3.42974977e-02 5.50308981e-02] [-7.15963392e-03 -3.43468660e-02 9.99384327e-01 -2.75880843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.79719347 meters Centerline goodness : 0.884233 Centerline is valid? [False, False] Translation: X:19.05, Y:0.06, Z:-2.76 [[ 9.99994090e-01 2.08239455e-03 2.73577986e-03 1.90451675e+01] [-2.15594022e-03 9.99628752e-01 2.71608150e-02 5.93548341e-02] [-2.67820467e-03 -2.71665527e-02 9.99627333e-01 -2.75925101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82719347 meters Centerline goodness : 0.884912 Centerline is valid? [False, False] Translation: X:19.03, Y:0.07, Z:-2.75 [[ 9.99992821e-01 2.88466000e-04 -3.77828099e-03 1.90331226e+01] [-2.24594652e-04 9.99857254e-01 1.68943980e-02 6.55263371e-02] [ 3.78261512e-03 -1.68934282e-02 9.99850141e-01 -2.75499525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.85719347 meters Centerline goodness : 0.881980 Centerline is valid? [False, False] Translation: X:19.03, Y:0.07, Z:-2.76 [[ 9.99990519e-01 -3.66064490e-04 -4.33906524e-03 1.90345083e+01] [ 4.35003608e-04 9.99873528e-01 1.58977306e-02 6.84064871e-02] [ 4.33269688e-03 -1.58994674e-02 9.99864208e-01 -2.75542559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.88719347 meters Centerline goodness : 0.882178 Centerline is valid? [False, False] Translation: X:19.02, Y:0.07, Z:-2.75 [[ 9.99960473e-01 1.68427395e-03 -8.73020842e-03 1.90176869e+01] [-1.57823270e-03 9.99925072e-01 1.21391643e-02 7.46285179e-02] [ 8.74999996e-03 -1.21249062e-02 9.99888206e-01 -2.75330951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.91719347 meters Centerline goodness : 0.879878 Centerline is valid? [False, False] Translation: X:19.00, Y:0.08, Z:-2.75 [[ 9.99941226e-01 5.41287012e-03 -9.39385521e-03 1.89966625e+01] [-5.28767421e-03 9.99897550e-01 1.33014759e-02 7.66598726e-02] [ 9.46489197e-03 -1.32510225e-02 9.99867404e-01 -2.75176529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.94719347 meters Centerline goodness : 0.883182 Centerline is valid? [False, False] Translation: X:18.99, Y:0.08, Z:-2.75 [[ 9.99927261e-01 7.90218018e-03 -9.11199448e-03 1.89948928e+01] [-7.76083947e-03 9.99850616e-01 1.54439051e-02 7.81648629e-02] [ 9.23267382e-03 -1.53720650e-02 9.99839216e-01 -2.74991572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.97719347 meters Centerline goodness : 0.883139 Centerline is valid? [False, False] Translation: X:18.99, Y:0.08, Z:-2.75 [[ 9.99891560e-01 1.14789369e-02 -9.22508299e-03 1.89944596e+01] [-1.13161713e-02 9.99782711e-01 1.75064560e-02 8.43634638e-02] [ 9.42403398e-03 -1.74001650e-02 9.99804192e-01 -2.74871110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.00719347 meters Centerline goodness : 0.882530 Centerline is valid? [False, False] Translation: X:19.00, Y:0.09, Z:-2.75 [[ 9.99843673e-01 1.48794857e-02 -9.55147118e-03 1.89950089e+01] [-1.46803329e-02 9.99680167e-01 2.05925113e-02 8.69935380e-02] [ 9.85482228e-03 -2.04490734e-02 9.99742326e-01 -2.74834259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.03719347 meters Centerline goodness : 0.878938 Centerline is valid? [False, False] Translation: X:19.00, Y:0.09, Z:-2.75 [[ 9.99788295e-01 1.81237009e-02 -9.74149802e-03 1.89952627e+01] [-1.78895464e-02 9.99561189e-01 2.36091937e-02 8.88670870e-02] [ 1.01651093e-02 -2.34299245e-02 9.99673801e-01 -2.74788313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.06719347 meters Centerline goodness : 0.881166 Centerline is valid? [False, False] Translation: X:19.00, Y:0.09, Z:-2.75 [[ 9.99714299e-01 2.18392179e-02 -9.71434141e-03 1.89953940e+01] [-2.15659150e-02 9.99391862e-01 2.74010340e-02 8.86341549e-02] [ 1.03068509e-02 -2.71837068e-02 9.99577318e-01 -2.74776853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.09719347 meters Centerline goodness : 0.880102 Centerline is valid? [False, False] Translation: X:19.00, Y:0.09, Z:-2.75 [[ 9.99687513e-01 2.30784831e-02 -9.60515958e-03 1.89953261e+01] [-2.28015943e-02 9.99347780e-01 2.80018024e-02 8.82665282e-02] [ 1.02451340e-02 -2.77740393e-02 9.99561724e-01 -2.74771951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.12719347 meters Centerline goodness : 0.879396 Centerline is valid? [False, False] Translation: X:19.00, Y:0.09, Z:-2.75 [[ 9.99657622e-01 2.41459307e-02 -1.00803583e-02 1.89975763e+01] [-2.38500622e-02 9.99309052e-01 2.85060042e-02 8.92603654e-02] [ 1.07616973e-02 -2.82558272e-02 9.99542793e-01 -2.74919215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.15719347 meters Centerline goodness : 0.879955 Centerline is valid? [False, False] Translation: X:19.00, Y:0.09, Z:-2.75 [[ 9.99583698e-01 2.67483585e-02 -1.08145996e-02 1.90001755e+01] [-2.63977476e-02 9.99159575e-01 3.13576451e-02 8.92218404e-02] [ 1.16442763e-02 -3.10591098e-02 9.99449720e-01 -2.75042328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.18719347 meters Centerline goodness : 0.878732 Centerline is valid? [False, False] Translation: X:19.00, Y:0.09, Z:-2.75 [[ 9.99459230e-01 3.09181189e-02 -1.11945691e-02 1.90010872e+01] [-3.05003715e-02 9.98895578e-01 3.57400438e-02 8.78687742e-02] [ 1.22872205e-02 -3.53792781e-02 9.99298419e-01 -2.75026550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.21719346999998 meters Centerline goodness : 0.878550 Centerline is valid? [False, False] Translation: X:19.01, Y:0.09, Z:-2.75 [[ 9.99554273e-01 2.92874056e-02 -5.78818718e-03 1.90126052e+01] [-2.90118526e-02 9.98652747e-01 4.30232814e-02 8.57677528e-02] [ 7.04042932e-03 -4.28361787e-02 9.99057303e-01 -2.75382052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24719346999998 meters Centerline goodness : 0.877313 Centerline is valid? [False, False] Translation: X:19.01, Y:0.09, Z:-2.75 [[ 9.99546955e-01 2.94580493e-02 -6.17323826e-03 1.90137572e+01] [-2.91658898e-02 9.98648490e-01 4.30179606e-02 8.53975352e-02] [ 7.43212027e-03 -4.28184235e-02 9.99055227e-01 -2.75415411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.27719347 meters Centerline goodness : 0.876867 Centerline is valid? [False, False] Translation: X:19.03, Y:0.08, Z:-2.76 [[ 9.99631930e-01 2.70946159e-02 -1.37312352e-03 1.90267065e+01] [-2.69929801e-02 9.98400128e-01 4.96846483e-02 8.29433723e-02] [ 2.71711315e-03 -4.96292962e-02 9.98764011e-01 -2.75865303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30719347 meters Centerline goodness : 0.876728 Centerline is valid? [False, False] Translation: X:19.03, Y:0.08, Z:-2.76 [[ 9.99718065e-01 2.36749259e-02 -1.81314679e-03 1.90273632e+01] [-2.35641876e-02 9.98626230e-01 4.68015106e-02 8.06968779e-02] [ 2.91867824e-03 -4.67455903e-02 9.98902563e-01 -2.75779798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.33719347 meters Centerline goodness : 0.876176 Centerline is valid? [False, False] Translation: X:19.03, Y:0.08, Z:-2.76 [[ 9.99788971e-01 2.04135163e-02 -2.30252155e-03 1.90284600e+01] [-2.02943357e-02 9.98850382e-01 4.34287307e-02 7.95210350e-02] [ 3.18640763e-03 -4.33728379e-02 9.99053874e-01 -2.75783846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36719347 meters Centerline goodness : 0.879736 Centerline is valid? [False, False] Translation: X:19.03, Y:0.08, Z:-2.76 [[ 9.99851754e-01 1.69401522e-02 -3.08251585e-03 1.90298998e+01] [-1.68029564e-02 9.99053749e-01 4.01156638e-02 7.80561741e-02] [ 3.75916447e-03 -4.00579214e-02 9.99190288e-01 -2.75755103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.39719347 meters Centerline goodness : 0.880222 Centerline is valid? [False, False] Translation: X:19.03, Y:0.08, Z:-2.76 [[ 9.99887194e-01 1.45317744e-02 -3.79835259e-03 1.90325086e+01] [-1.43772068e-02 9.99175590e-01 3.79662551e-02 7.58714837e-02] [ 4.34693825e-03 -3.79073626e-02 9.99271803e-01 -2.75867667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42719347 meters Centerline goodness : 0.877989 Centerline is valid? [False, False] Translation: X:19.04, Y:0.07, Z:-2.76 [[ 9.99916649e-01 9.26126972e-03 -8.99578312e-03 1.90366785e+01] [-8.80106355e-03 9.98714630e-01 4.99162306e-02 6.96211576e-02] [ 9.44650788e-03 -4.98328976e-02 9.98712895e-01 -2.75934017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.45719347 meters Centerline goodness : 0.879533 Centerline is valid? [False, False] Translation: X:19.04, Y:0.07, Z:-2.76 [[ 9.99913100e-01 8.94891994e-03 -9.68035498e-03 1.90386090e+01] [-8.45109731e-03 9.98698461e-01 5.02987399e-02 6.74745415e-02] [ 1.01178750e-02 -5.02125593e-02 9.98687302e-01 -2.76013699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48719347 meters Centerline goodness : 0.878086 Centerline is valid? [False, False] Translation: X:19.04, Y:0.07, Z:-2.76 [[ 9.99908131e-01 9.08507822e-03 -1.00594174e-02 1.90394352e+01] [-8.56006112e-03 9.98658971e-01 5.10586385e-02 6.52497044e-02] [ 1.05097992e-02 -5.09678385e-02 9.98644994e-01 -2.76006235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.51719347 meters Centerline goodness : 0.877328 Centerline is valid? [False, False] Translation: X:19.04, Y:0.06, Z:-2.76 [[ 9.99904682e-01 9.18056636e-03 -1.03122991e-02 1.90399862e+01] [-8.63607955e-03 9.98627508e-01 5.16577075e-02 6.27148494e-02] [ 1.07723926e-02 -5.15637258e-02 9.98611605e-01 -2.75999985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54719347 meters Centerline goodness : 0.879572 Centerline is valid? [False, False] Translation: X:19.04, Y:0.06, Z:-2.76 [[ 9.99900200e-01 9.13282353e-03 -1.07787138e-02 1.90413732e+01] [-8.55820825e-03 9.98599819e-01 5.22030542e-02 6.00787825e-02] [ 1.12403829e-02 -5.21055979e-02 9.98578320e-01 -2.76059219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.57719347 meters Centerline goodness : 0.877200 Centerline is valid? [False, False] Translation: X:19.04, Y:0.06, Z:-2.76 [[ 9.99888558e-01 9.28996832e-03 -1.16862749e-02 1.90437314e+01] [-8.65165556e-03 9.98528573e-01 5.35335184e-02 5.54541638e-02] [ 1.21664041e-02 -5.34264469e-02 9.98497668e-01 -2.76119357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.60719347 meters Centerline goodness : 0.876535 Centerline is valid? [False, False] Translation: X:19.04, Y:0.05, Z:-2.76 [[ 9.99884505e-01 9.09270766e-03 -1.21777966e-02 1.90447497e+01] [-8.42217007e-03 9.98504053e-01 5.40252162e-02 5.30881066e-02] [ 1.26508148e-02 -5.39164131e-02 9.98465311e-01 -2.76109677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.63719347 meters Centerline goodness : 0.875332 Centerline is valid? [False, False] Translation: X:19.05, Y:0.05, Z:-2.76 [[ 9.99884201e-01 8.62128885e-03 -1.25402539e-02 1.90454564e+01] [-7.92315719e-03 9.98471741e-01 5.46937558e-02 5.01339539e-02] [ 1.29926198e-02 -5.45880639e-02 9.98424426e-01 -2.76072133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.66719347 meters Centerline goodness : 0.875898 Centerline is valid? [False, False] Translation: X:19.04, Y:0.05, Z:-2.76 [[ 9.99916362e-01 1.43296670e-03 -1.28536182e-02 1.90444766e+01] [-8.01690411e-04 9.98799238e-01 4.89840824e-02 4.52220343e-02] [ 1.29083766e-02 -4.89696809e-02 9.98716849e-01 -2.75834690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.69719347 meters Centerline goodness : 0.875901 Centerline is valid? [False, False] Translation: X:19.01, Y:0.05, Z:-2.76 [[ 9.99975821e-01 -2.86787984e-03 -6.33509669e-03 1.90070697e+01] [ 3.13071453e-03 9.99117909e-01 4.18760334e-02 4.55644989e-02] [ 6.20941313e-03 -4.18948542e-02 9.99102730e-01 -2.75936175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.72719347 meters Centerline goodness : 0.872851 Centerline is valid? [False, False] Translation: X:18.98, Y:0.04, Z:-2.76 [[ 9.99962180e-01 -7.15752802e-03 -4.94058274e-03 1.89834793e+01] [ 7.34208006e-03 9.99235243e-01 3.84060208e-02 4.45579115e-02] [ 4.66191223e-03 -3.84408424e-02 9.99250003e-01 -2.75620102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.75719347 meters Centerline goodness : 0.875428 Centerline is valid? [False, False] Translation: X:18.96, Y:0.04, Z:-2.75 [[ 9.99930488e-01 -1.12014880e-02 -3.68050117e-03 1.89612084e+01] [ 1.13257357e-02 9.99299180e-01 3.56773928e-02 4.27793208e-02] [ 3.27828191e-03 -3.57165971e-02 9.99356582e-01 -2.75450217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.78719347 meters Centerline goodness : 0.877617 Centerline is valid? [False, False] Translation: X:18.96, Y:0.04, Z:-2.75 [[ 9.99820984e-01 -1.85000641e-02 -3.96830585e-03 1.89619514e+01] [ 1.86049474e-02 9.99427445e-01 2.82601952e-02 4.22385782e-02] [ 3.44321836e-03 -2.83289663e-02 9.99592724e-01 -2.75424142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.81719347 meters Centerline goodness : 0.878126 Centerline is valid? [False, False] Translation: X:18.96, Y:0.04, Z:-2.76 [[ 9.99645402e-01 -2.63074204e-02 -4.12181256e-03 1.89633794e+01] [ 2.63867842e-02 9.99440439e-01 2.05559243e-02 4.13000118e-02] [ 3.57873281e-03 -2.06573966e-02 9.99780208e-01 -2.75514035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.84719347 meters Centerline goodness : 0.880726 Centerline is valid? [False, False] Translation: X:18.96, Y:0.04, Z:-2.76 [[ 9.99627276e-01 -2.69564229e-02 -4.31976590e-03 1.89644807e+01] [ 2.70366800e-02 9.99439433e-01 1.97443005e-02 4.27621595e-02] [ 3.78510867e-03 -1.98537334e-02 9.99795730e-01 -2.75597755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.87719347 meters Centerline goodness : 0.878734 Centerline is valid? [False, False] Translation: X:18.97, Y:0.05, Z:-2.76 [[ 9.99613262e-01 -2.74348718e-02 -4.54478230e-03 1.89653752e+01] [ 2.75157873e-02 9.99444237e-01 1.88174918e-02 4.54135301e-02] [ 4.02600101e-03 -1.89352677e-02 9.99812606e-01 -2.75646257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.90719347 meters Centerline goodness : 0.877652 Centerline is valid? [False, False] Translation: X:18.97, Y:0.05, Z:-2.76 [[ 9.99685148e-01 -2.49178741e-02 -2.95034743e-03 1.89746089e+01] [ 2.49450184e-02 9.99643191e-01 9.55181805e-03 5.14737777e-02] [ 2.71128372e-03 -9.62240711e-03 9.99950028e-01 -2.75618704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.93719347 meters Centerline goodness : 0.879090 Centerline is valid? [False, False] Translation: X:18.98, Y:0.05, Z:-2.76 [[ 9.99685627e-01 -2.48315323e-02 -3.47021523e-03 1.89760509e+01] [ 2.48614737e-02 9.99651562e-01 8.86918141e-03 5.42851301e-02] [ 3.24877071e-03 -8.95266784e-03 9.99954647e-01 -2.75677631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96719346999998 meters Centerline goodness : 0.880971 Centerline is valid? [False, False] Translation: X:18.98, Y:0.06, Z:-2.76 [[ 9.99689350e-01 -2.45879861e-02 -4.07854656e-03 1.89778217e+01] [ 2.46210017e-02 9.99662794e-01 8.25252947e-03 5.83631760e-02] [ 3.87425817e-03 -8.35038372e-03 9.99957630e-01 -2.75750692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.99719346999998 meters Centerline goodness : 0.877570 Centerline is valid? [False, False] Translation: X:18.96, Y:0.07, Z:-2.75 [[ 9.99734286e-01 -2.07116212e-02 -1.01185887e-02 1.89640019e+01] [ 2.07760069e-02 9.99764306e-01 6.29997598e-03 6.82283716e-02] [ 9.98572109e-03 -6.50852585e-03 9.99928960e-01 -2.75416924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02719347 meters Centerline goodness : 0.879987 Centerline is valid? [False, False] Translation: X:18.97, Y:0.07, Z:-2.76 [[ 9.99729415e-01 -2.04283032e-02 -1.11257032e-02 1.89674173e+01] [ 2.04989497e-02 9.99770193e-01 6.27325507e-03 7.02251850e-02] [ 1.09949944e-02 -6.49962285e-03 9.99918429e-01 -2.75597006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.05719347 meters Centerline goodness : 0.878876 Centerline is valid? [False, False] Translation: X:18.97, Y:0.07, Z:-2.76 [[ 9.99707181e-01 -2.12484142e-02 -1.15782814e-02 1.89693515e+01] [ 2.13090355e-02 9.99759735e-01 5.13780048e-03 7.23867834e-02] [ 1.14663295e-02 -5.38301805e-03 9.99919770e-01 -2.75722036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08719347 meters Centerline goodness : 0.879330 Centerline is valid? [False, False] Translation: X:18.97, Y:0.08, Z:-2.76 [[ 9.99684993e-01 -2.20215402e-02 -1.20401865e-02 1.89710286e+01] [ 2.20707644e-02 9.99748525e-01 3.97083979e-03 7.52912385e-02] [ 1.19497147e-02 -4.23532507e-03 9.99919630e-01 -2.75811968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.11719347 meters Centerline goodness : 0.881360 Centerline is valid? [False, False] Translation: X:18.97, Y:0.08, Z:-2.76 [[ 9.99656287e-01 -2.29913168e-02 -1.25979140e-02 1.89723174e+01] [ 2.30208957e-02 9.99732546e-01 2.20794327e-03 8.27169250e-02] [ 1.25437812e-02 -2.49719963e-03 9.99918205e-01 -2.75832405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14719347 meters Centerline goodness : 0.881652 Centerline is valid? [False, False] Translation: X:18.97, Y:0.09, Z:-2.76 [[ 9.99642452e-01 -2.32546610e-02 -1.31980346e-02 1.89736551e+01] [ 2.32753775e-02 9.99728086e-01 1.41821949e-03 8.53120208e-02] [ 1.31614657e-02 -1.72490164e-03 9.99911896e-01 -2.75836858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.17719347 meters Centerline goodness : 0.883445 Centerline is valid? [False, False] Translation: X:18.97, Y:0.09, Z:-2.76 [[ 9.99713213e-01 -1.97824456e-02 -1.34961711e-02 1.89742754e+01] [ 1.98509180e-02 9.99790655e-01 4.95850000e-03 8.57670348e-02] [ 1.33952545e-02 -5.22498935e-03 9.99896628e-01 -2.75845871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20719347 meters Centerline goodness : 0.885879 Centerline is valid? [False, False] Translation: X:18.98, Y:0.09, Z:-2.76 [[ 9.99777427e-01 -1.59546475e-02 -1.38038425e-02 1.89750795e+01] [ 1.60747787e-02 9.99833497e-01 8.63599440e-03 8.69534060e-02] [ 1.36637599e-02 -8.85596597e-03 9.99867428e-01 -2.75875895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.23719347 meters Centerline goodness : 0.886095 Centerline is valid? [False, False] Translation: X:18.98, Y:0.10, Z:-2.76 [[ 9.99854367e-01 -9.31811409e-03 -1.42974939e-02 1.89757633e+01] [ 9.50886059e-03 9.99865914e-01 1.33317862e-02 9.51121533e-02] [ 1.41713497e-02 -1.34657976e-02 9.99808904e-01 -2.75909238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26719347 meters Centerline goodness : 0.885226 Centerline is valid? [False, False] Translation: X:18.98, Y:0.10, Z:-2.76 [[ 9.99873704e-01 -5.80978755e-03 -1.47926495e-02 1.89772218e+01] [ 6.04793254e-03 9.99852009e-01 1.61053607e-02 9.85956699e-02] [ 1.46968916e-02 -1.61927916e-02 9.99760869e-01 -2.75974682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.29719347 meters Centerline goodness : 0.887627 Centerline is valid? [False, False] Translation: X:18.96, Y:0.10, Z:-2.76 [[ 9.99817414e-01 -2.53347717e-03 -1.89399236e-02 1.89609875e+01] [ 2.79873122e-03 9.99898195e-01 1.39916594e-02 1.04464991e-01] [ 1.89025478e-02 -1.40421125e-02 9.99722718e-01 -2.75899237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32719347 meters Centerline goodness : 0.886729 Centerline is valid? [False, False] Translation: X:18.96, Y:0.11, Z:-2.76 [[ 9.99814496e-01 9.29704186e-04 -1.92382152e-02 1.89620948e+01] [-6.10175774e-04 9.99861887e-01 1.66082557e-02 1.08171717e-01] [ 1.92509989e-02 -1.65934361e-02 9.99676976e-01 -2.75948570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.35719347 meters Centerline goodness : 0.890917 Centerline is valid? [False, False] Translation: X:18.96, Y:0.12, Z:-2.76 [[ 9.99810933e-01 3.96024315e-03 -1.90372033e-02 1.89602640e+01] [-3.62631263e-03 9.99839524e-01 1.75435752e-02 1.16228571e-01] [ 1.91036251e-02 -1.74712234e-02 9.99664848e-01 -2.75698350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38719347 meters Centerline goodness : 0.891255 Centerline is valid? [False, False] Translation: X:18.96, Y:0.12, Z:-2.76 [[ 9.99797770e-01 6.79454531e-03 -1.89275974e-02 1.89595766e+01] [-6.40617610e-03 9.99769241e-01 2.05042838e-02 1.16906458e-01] [ 1.90625470e-02 -2.03788836e-02 9.99610584e-01 -2.75610035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.41719347 meters Centerline goodness : 0.891308 Centerline is valid? [False, False] Translation: X:18.97, Y:0.12, Z:-2.75 [[ 9.99728715e-01 5.27598447e-03 -2.26861441e-02 1.89666514e+01] [-4.75174452e-03 9.99721855e-01 2.31005119e-02 1.19087301e-01] [ 2.28017120e-02 -2.29864463e-02 9.99475715e-01 -2.75425054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.44719347 meters Centerline goodness : 0.893400 Centerline is valid? [False, False] Translation: X:18.97, Y:0.12, Z:-2.75 [[ 9.99723752e-01 5.01151814e-03 -2.29631031e-02 1.89672248e+01] [-4.49650638e-03 9.99738421e-01 2.24248003e-02 1.20828342e-01] [ 2.30694787e-02 -2.23153517e-02 9.99484779e-01 -2.75399690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.47719347 meters Centerline goodness : 0.895386 Centerline is valid? [False, False] Translation: X:18.97, Y:0.12, Z:-2.75 [[ 9.99720368e-01 4.55098890e-03 -2.32050539e-02 1.89677708e+01] [-4.04749479e-03 9.99756365e-01 2.16985978e-02 1.22741599e-01] [ 2.32981504e-02 -2.15986079e-02 9.99495221e-01 -2.75393449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.50719347 meters Centerline goodness : 0.896338 Centerline is valid? [False, False] Translation: X:18.97, Y:0.13, Z:-2.75 [[ 9.99714974e-01 4.10025254e-03 -2.35193312e-02 1.89678181e+01] [-3.61358241e-03 9.99779250e-01 2.06976532e-02 1.25874861e-01] [ 2.35990049e-02 -2.06067648e-02 9.99509104e-01 -2.75299010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.53719347 meters Centerline goodness : 0.895980 Centerline is valid? [False, False] Translation: X:18.97, Y:0.13, Z:-2.75 [[ 9.99707236e-01 6.44101104e-03 -2.33228654e-02 1.89665477e+01] [-5.89762791e-03 9.99711295e-01 2.32926009e-02 1.26319048e-01] [ 2.34661599e-02 -2.31482321e-02 9.99456602e-01 -2.75161488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.56719347 meters Centerline goodness : 0.897921 Centerline is valid? [False, False] Translation: X:18.97, Y:0.13, Z:-2.75 [[ 9.99748911e-01 5.91555634e-03 -2.16129828e-02 1.89743228e+01] [-5.17064054e-03 9.99396114e-01 3.43609102e-02 1.25323050e-01] [ 2.18031949e-02 -3.42405296e-02 9.99175764e-01 -2.75045635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.59719347 meters Centerline goodness : 0.900298 Centerline is valid? [False, False] Translation: X:18.98, Y:0.13, Z:-2.75 [[ 9.99732270e-01 6.42422587e-03 -2.22287501e-02 1.89755912e+01] [-5.66510505e-03 9.99404196e-01 3.40464469e-02 1.27380914e-01] [ 2.24342282e-02 -3.39114034e-02 9.99173019e-01 -2.75038309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.62719347 meters Centerline goodness : 0.901470 Centerline is valid? [False, False] Translation: X:18.98, Y:0.13, Z:-2.75 [[ 9.99706968e-01 7.46959936e-03 -2.30257241e-02 1.89788056e+01] [-6.67201843e-03 9.99381632e-01 3.45230003e-02 1.28745325e-01] [ 2.32693587e-02 -3.43592558e-02 9.99138618e-01 -2.75235705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.65719347 meters Centerline goodness : 0.901470 Centerline is valid? [False, False] Translation: X:18.98, Y:0.13, Z:-2.75 [[ 9.99706865e-01 7.54405871e-03 -2.30058818e-02 1.89787621e+01] [-6.75034198e-03 9.99385856e-01 3.43852219e-02 1.28972517e-01] [ 2.32511570e-02 -3.42198448e-02 9.99143826e-01 -2.75238888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.68719347 meters Centerline goodness : 0.902002 Centerline is valid? [False, False] Translation: X:18.98, Y:0.13, Z:-2.75 [[ 9.99676373e-01 8.83363578e-03 -2.38561452e-02 1.89820931e+01] [-7.99389472e-03 9.99352921e-01 3.50690369e-02 1.30202822e-01] [ 2.41504955e-02 -3.48669841e-02 9.99100119e-01 -2.75429766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.71719346999998 meters Centerline goodness : 0.901896 Centerline is valid? [False, False] Translation: X:18.98, Y:0.13, Z:-2.76 [[ 9.99647943e-01 9.98803505e-03 -2.45810722e-02 1.89848712e+01] [-9.10848181e-03 9.99323283e-01 3.56372114e-02 1.30999240e-01] [ 2.49203835e-02 -3.54007689e-02 9.99062441e-01 -2.75593660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74719346999998 meters Centerline goodness : 0.900970 Centerline is valid? [False, False] Translation: X:18.99, Y:0.13, Z:-2.76 [[ 9.99564817e-01 1.27061029e-02 -2.66219958e-02 1.89910385e+01] [-1.17133081e-02 9.99242090e-01 3.71220136e-02 1.30939366e-01] [ 2.70734949e-02 -3.67940271e-02 9.98956068e-01 -2.75858186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.77719347 meters Centerline goodness : 0.899168 Centerline is valid? [False, False] Translation: X:19.00, Y:0.13, Z:-2.76 [[ 9.99533906e-01 1.29830855e-02 -2.76298841e-02 1.89954717e+01] [-1.19508683e-02 9.99236322e-01 3.72014762e-02 1.31113585e-01] [ 2.80917737e-02 -3.68539357e-02 9.98925743e-01 -2.76150141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80719347 meters Centerline goodness : 0.902226 Centerline is valid? [False, False] Translation: X:19.00, Y:0.13, Z:-2.76 [[ 9.99511474e-01 1.28845170e-02 -2.84746049e-02 1.89992146e+01] [-1.18255498e-02 9.99243425e-01 3.70504262e-02 1.31162445e-01] [ 2.89304386e-02 -3.66955983e-02 9.98907635e-01 -2.76408123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.83719347 meters Centerline goodness : 0.899502 Centerline is valid? [False, False] Translation: X:19.01, Y:0.13, Z:-2.77 [[ 9.99666153e-01 9.87516059e-03 -2.38759957e-02 1.90098979e+01] [-9.28208577e-03 9.99648737e-01 2.48242982e-02 1.33414449e-01] [ 2.41127529e-02 -2.45943917e-02 9.99406670e-01 -2.76634696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86719347 meters Centerline goodness : 0.899082 Centerline is valid? [False, False] Translation: X:19.03, Y:0.13, Z:-2.77 [[ 9.99753252e-01 6.02640889e-03 -2.13803293e-02 1.90290021e+01] [-5.49583882e-03 9.99677614e-01 2.47883616e-02 1.31146291e-01] [ 2.15228214e-02 -2.46647422e-02 9.99464066e-01 -2.76753681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.89719347 meters Centerline goodness : 0.899748 Centerline is valid? [False, False] Translation: X:19.05, Y:0.13, Z:-2.77 [[ 9.99826231e-01 1.79717274e-03 -1.85547277e-02 1.90475788e+01] [-1.35044960e-03 9.99709592e-01 2.40604926e-02 1.28946957e-01] [ 1.85925801e-02 -2.40312544e-02 9.99538301e-01 -2.76822258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92719347 meters Centerline goodness : 0.899155 Centerline is valid? [False, False] Translation: X:19.06, Y:0.12, Z:-2.77 [[ 9.99862731e-01 -8.31790818e-03 -1.43294260e-02 1.90628079e+01] [ 8.90107716e-03 9.99114313e-01 4.11261556e-02 1.22492080e-01] [ 1.39746510e-02 -4.12480576e-02 9.99051203e-01 -2.76739008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.95719347 meters Centerline goodness : 0.898889 Centerline is valid? [False, False] Translation: X:19.06, Y:0.12, Z:-2.77 [[ 9.99812519e-01 -1.28254847e-02 -1.45063403e-02 1.90625982e+01] [ 1.33517636e-02 9.99234045e-01 3.67838779e-02 1.23159692e-01] [ 1.40234581e-02 -3.69706669e-02 9.99217950e-01 -2.76609061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98719347 meters Centerline goodness : 0.901774 Centerline is valid? [False, False] Translation: X:19.03, Y:0.12, Z:-2.77 [[ 9.99796308e-01 -1.65365220e-02 -1.15709406e-02 1.90341705e+01] [ 1.69995888e-02 9.99008890e-01 4.11369804e-02 1.21309278e-01] [ 1.08792099e-02 -4.13253024e-02 9.99086514e-01 -2.76825183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.01719347 meters Centerline goodness : 0.900107 Centerline is valid? [False, False] Translation: X:19.03, Y:0.12, Z:-2.77 [[ 9.99752647e-01 -1.89638908e-02 -1.16196097e-02 1.90330644e+01] [ 1.94081059e-02 9.99035374e-01 3.93909505e-02 1.21465776e-01] [ 1.08613954e-02 -3.96067217e-02 9.99156313e-01 -2.76666800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04719347 meters Centerline goodness : 0.900146 Centerline is valid? [False, False] Translation: X:19.00, Y:0.12, Z:-2.77 [[ 9.99772928e-01 -1.93080535e-02 -9.01621478e-03 1.90033777e+01] [ 1.95484112e-02 9.99433988e-01 2.73781629e-02 1.24431828e-01] [ 8.48249246e-03 -2.75481988e-02 9.99584486e-01 -2.76632133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.07719347 meters Centerline goodness : 0.899369 Centerline is valid? [False, False] Translation: X:19.00, Y:0.13, Z:-2.76 [[ 9.99715231e-01 -2.23375262e-02 -8.39588534e-03 1.90004423e+01] [ 2.25362840e-02 9.99448829e-01 2.43752640e-02 1.27290908e-01] [ 7.84677467e-03 -2.45575347e-02 9.99667623e-01 -2.76365421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.10719347 meters Centerline goodness : 0.898097 Centerline is valid? [False, False] Translation: X:19.00, Y:0.13, Z:-2.76 [[ 9.99695036e-01 -2.31983435e-02 -8.46589616e-03 1.90005063e+01] [ 2.33892290e-02 9.99457393e-01 2.31918947e-02 1.29695800e-01] [ 7.92328896e-03 -2.33828328e-02 9.99695186e-01 -2.76341475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.13719347 meters Centerline goodness : 0.900384 Centerline is valid? [False, False] Translation: X:19.00, Y:0.13, Z:-2.76 [[ 9.99676071e-01 -2.39223936e-02 -8.68749399e-03 1.90009896e+01] [ 2.41081123e-02 9.99468526e-01 2.19422981e-02 1.33027180e-01] [ 8.15796452e-03 -2.21446294e-02 9.99721493e-01 -2.76339677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.16719347 meters Centerline goodness : 0.898523 Centerline is valid? [False, False] Translation: X:19.00, Y:0.14, Z:-2.76 [[ 9.99656707e-01 -2.46833591e-02 -8.78638786e-03 1.90012609e+01] [ 2.48602703e-02 9.99478056e-01 2.06296552e-02 1.36383261e-01] [ 8.27259267e-03 -2.08410051e-02 9.99748577e-01 -2.76331613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.19719347 meters Centerline goodness : 0.900569 Centerline is valid? [False, False] Translation: X:19.00, Y:0.14, Z:-2.76 [[ 9.99624009e-01 -2.61115420e-02 -8.36822924e-03 1.89999705e+01] [ 2.62583278e-02 9.99494214e-01 1.79392546e-02 1.43080547e-01] [ 7.89557511e-03 -1.81522453e-02 9.99804059e-01 -2.76236322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.22719347 meters Centerline goodness : 0.896992 Centerline is valid? [False, False] Translation: X:19.00, Y:0.15, Z:-2.76 [[ 9.99608920e-01 -2.66674877e-02 -8.41737426e-03 1.89998924e+01] [ 2.68049740e-02 9.99501731e-01 1.66668316e-02 1.46702580e-01] [ 7.96871761e-03 -1.68859410e-02 9.99825667e-01 -2.76196067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.25719347 meters Centerline goodness : 0.900048 Centerline is valid? [False, False] Translation: X:19.00, Y:0.15, Z:-2.76 [[ 9.99663535e-01 -2.44823175e-02 -8.56930550e-03 1.90012954e+01] [ 2.46294453e-02 9.99543348e-01 1.75067603e-02 1.54160610e-01] [ 8.13678624e-03 -1.77119271e-02 9.99810022e-01 -2.76350804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.28719347 meters Centerline goodness : 0.897408 Centerline is valid? [False, False] Translation: X:18.99, Y:0.16, Z:-2.76 [[ 9.99663553e-01 -2.10676278e-02 -1.51306412e-02 1.89892684e+01] [ 2.12699447e-02 9.99684804e-01 1.33372477e-02 1.59593625e-01] [ 1.48448880e-02 -1.36545883e-02 9.99796570e-01 -2.76088134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.31719347 meters Centerline goodness : 0.896871 Centerline is valid? [False, False] Translation: X:18.99, Y:0.16, Z:-2.76 [[ 9.99722590e-01 -1.79023743e-02 -1.53051859e-02 1.89899199e+01] [ 1.81482434e-02 9.99706004e-01 1.60793763e-02 1.62219914e-01] [ 1.50128272e-02 -1.63526780e-02 9.99753572e-01 -2.76148141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.34719347 meters Centerline goodness : 0.897814 Centerline is valid? [False, False] Translation: X:18.99, Y:0.17, Z:-2.76 [[ 9.99769424e-01 -1.47603273e-02 -1.55958985e-02 1.89905374e+01] [ 1.50527847e-02 9.99709865e-01 1.88042438e-02 1.65068916e-01] [ 1.53138168e-02 -1.90346697e-02 9.99701540e-01 -2.76170032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.37719347 meters Centerline goodness : 0.897684 Centerline is valid? [False, False] Translation: X:18.99, Y:0.17, Z:-2.76 [[ 9.99803370e-01 -1.18173928e-02 -1.59238940e-02 1.89911704e+01] [ 1.21544756e-02 9.99700509e-01 2.12405416e-02 1.68762061e-01] [ 1.56681171e-02 -2.14299116e-02 9.99647572e-01 -2.76181371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.40719347 meters Centerline goodness : 0.896849 Centerline is valid? [False, False] Translation: X:18.99, Y:0.18, Z:-2.76 [[ 9.99822833e-01 -4.20358044e-03 -1.83475537e-02 1.89855649e+01] [ 4.48615717e-03 9.99871542e-01 1.53874420e-02 1.77089387e-01] [ 1.82805144e-02 -1.54670259e-02 9.99713256e-01 -2.76350020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.43719347 meters Centerline goodness : 0.893754 Centerline is valid? [False, False] Translation: X:18.99, Y:0.18, Z:-2.76 [[ 9.99824002e-01 -3.27644427e-04 -1.87578678e-02 1.89870131e+01] [ 6.75722129e-04 9.99827649e-01 1.85530279e-02 1.79266261e-01] [ 1.87485561e-02 -1.85624377e-02 9.99651903e-01 -2.76439116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46719346999998 meters Centerline goodness : 0.895846 Centerline is valid? [False, False] Translation: X:18.99, Y:0.18, Z:-2.76 [[ 9.99811000e-01 4.01912305e-03 -1.90213030e-02 1.89878794e+01] [-3.60017221e-03 9.99751300e-01 2.20085717e-02 1.81365299e-01] [ 1.91050276e-02 -2.19359321e-02 9.99576817e-01 -2.76483374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.49719346999998 meters Centerline goodness : 0.891150 Centerline is valid? [False, False] Translation: X:18.99, Y:0.19, Z:-2.76 [[ 9.99822467e-01 1.24836554e-02 -1.41135886e-02 1.89882450e+01] [-1.22876143e-02 9.99827990e-01 1.38926561e-02 1.88581673e-01] [ 1.42845921e-02 -1.37167674e-02 9.99803881e-01 -2.76428363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52719347 meters Centerline goodness : 0.894532 Centerline is valid? [False, False] Translation: X:19.00, Y:0.19, Z:-2.76 [[ 9.99824309e-01 1.57253695e-02 -1.02012155e-02 1.89964373e+01] [-1.56558600e-02 9.99853918e-01 6.85829144e-03 1.92593583e-01] [ 1.03075744e-02 -6.69737769e-03 9.99924447e-01 -2.76408599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.55719347 meters Centerline goodness : 0.893860 Centerline is valid? [False, False] Translation: X:19.01, Y:0.19, Z:-2.76 [[ 9.99851606e-01 1.63695179e-02 -5.36692661e-03 1.90115094e+01] [-1.63173116e-02 9.99820478e-01 9.63103222e-03 1.94055684e-01] [ 5.52361848e-03 -9.54202923e-03 9.99939218e-01 -2.76258411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58719347 meters Centerline goodness : 0.891686 Centerline is valid? [False, False] Translation: X:19.02, Y:0.19, Z:-2.77 [[ 9.99883294e-01 1.52642698e-02 6.32527475e-04 1.90232082e+01] [-1.52726513e-02 9.99746304e-01 1.65551521e-02 1.93083653e-01] [-3.79664698e-04 -1.65628804e-02 9.99862754e-01 -2.76561252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.61719347 meters Centerline goodness : 0.892630 Centerline is valid? [False, False] Translation: X:19.02, Y:0.19, Z:-2.77 [[ 9.99869531e-01 1.61528162e-02 -8.59403124e-05 1.90249073e+01] [-1.61488425e-02 9.99716617e-01 1.74900113e-02 1.91258339e-01] [ 3.68428896e-04 -1.74863416e-02 9.99847034e-01 -2.76599959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64719347 meters Centerline goodness : 0.891008 Centerline is valid? [False, False] Translation: X:19.03, Y:0.19, Z:-2.77 [[ 9.99891367e-01 1.47167061e-02 -8.19694979e-04 1.90278475e+01] [-1.47019393e-02 9.99767307e-01 1.57855893e-02 1.91382222e-01] [ 1.05181612e-03 -1.57718234e-02 9.99875064e-01 -2.76793981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.67719347 meters Centerline goodness : 0.889964 Centerline is valid? [False, False] Translation: X:19.05, Y:0.19, Z:-2.77 [[ 9.99912535e-01 1.30253247e-02 -2.29403737e-03 1.90496543e+01] [-1.29850720e-02 9.99775136e-01 1.67649909e-02 1.90436446e-01] [ 2.51189097e-03 -1.67337363e-02 9.99856826e-01 -2.76920033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70719347 meters Centerline goodness : 0.889679 Centerline is valid? [False, False] Translation: X:19.06, Y:0.18, Z:-2.77 [[ 9.99915008e-01 1.29912814e-02 1.09706340e-03 1.90637351e+01] [-1.30159517e-02 9.99558579e-01 2.67064104e-02 1.84510433e-01] [-7.49628643e-04 -2.67184199e-02 9.99642718e-01 -2.77284512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.73719347 meters Centerline goodness : 0.891120 Centerline is valid? [False, False] Translation: X:19.08, Y:0.18, Z:-2.77 [[ 9.99927201e-01 1.17035089e-02 2.93596949e-03 1.90830649e+01] [-1.17853312e-02 9.99492332e-01 2.96004119e-02 1.81042525e-01] [-2.58805031e-03 -2.96328584e-02 9.99557500e-01 -2.77429669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76719347 meters Centerline goodness : 0.887064 Centerline is valid? [False, False] Translation: X:19.10, Y:0.18, Z:-2.78 [[ 9.99935835e-01 1.06809896e-02 3.77386053e-03 1.91026158e+01] [-1.07970740e-02 9.99422797e-01 3.22101855e-02 1.78454427e-01] [-3.42764559e-03 -3.22488654e-02 9.99473993e-01 -2.77504286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.79719347 meters Centerline goodness : 0.887892 Centerline is valid? [False, False] Translation: X:19.10, Y:0.18, Z:-2.78 [[ 9.99934135e-01 1.09733243e-02 3.36328063e-03 1.91036583e+01] [-1.10776808e-02 9.99401752e-01 3.27631480e-02 1.76692367e-01] [-3.00174790e-03 -3.27982474e-02 9.99457485e-01 -2.77526923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.82719347 meters Centerline goodness : 0.888599 Centerline is valid? [False, False] Translation: X:19.10, Y:0.17, Z:-2.78 [[ 9.99929493e-01 1.14764747e-02 3.04944075e-03 1.91045989e+01] [-1.15720189e-02 9.99374455e-01 3.34183708e-02 1.74969956e-01] [-2.66400810e-03 -3.34513027e-02 9.99436798e-01 -2.77556225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.85719347 meters Centerline goodness : 0.888966 Centerline is valid? [False, False] Translation: X:19.11, Y:0.17, Z:-2.78 [[ 9.99904944e-01 1.35445486e-02 2.57846674e-03 1.91059962e+01] [-1.36287601e-02 9.99256616e-01 3.60620530e-02 1.69260436e-01] [-2.08810572e-03 -3.60937664e-02 9.99346226e-01 -2.77588886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.88719347 meters Centerline goodness : 0.889143 Centerline is valid? [False, False] Translation: X:19.11, Y:0.17, Z:-2.78 [[ 9.99927801e-01 1.18751649e-02 1.83666281e-03 1.91082983e+01] [-1.19309091e-02 9.99347099e-01 3.41032034e-02 1.67552418e-01] [-1.43048249e-03 -3.41226542e-02 9.99416629e-01 -2.77683182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.91719347 meters Centerline goodness : 0.887683 Centerline is valid? [False, False] Translation: X:19.11, Y:0.17, Z:-2.78 [[ 9.99959456e-01 8.87353268e-03 1.53223451e-03 1.91090300e+01] [-8.91656060e-03 9.99484904e-01 3.08289152e-02 1.66492808e-01] [-1.25788388e-03 -3.08413275e-02 9.99523502e-01 -2.77689086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.94719347 meters Centerline goodness : 0.889153 Centerline is valid? [False, False] Translation: X:19.13, Y:0.16, Z:-2.78 [[ 9.99974307e-01 6.75669985e-03 2.39425858e-03 1.91308528e+01] [-6.83359299e-03 9.99408215e-01 3.37123483e-02 1.58262180e-01] [-2.16505747e-03 -3.37278435e-02 9.99428709e-01 -2.78059431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.97719347 meters Centerline goodness : 0.890445 Centerline is valid? [False, False] Translation: X:19.13, Y:0.15, Z:-2.78 [[ 9.99990107e-01 4.08469969e-03 1.76102405e-03 1.91329980e+01] [-4.13805416e-03 9.99497051e-01 3.14407580e-02 1.54645032e-01] [-1.63171229e-03 -3.14477342e-02 9.99504066e-01 -2.78173125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.00719347 meters Centerline goodness : 0.887028 Centerline is valid? [False, False] Translation: X:19.15, Y:0.15, Z:-2.78 [[ 9.99989260e-01 3.25510465e-03 3.29926930e-03 1.91530332e+01] [-3.37350379e-03 9.99326498e-01 3.65399759e-02 1.47509986e-01] [-3.17810579e-03 -3.65507135e-02 9.99326746e-01 -2.78488761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.03719347 meters Centerline goodness : 0.887157 Centerline is valid? [False, False] Translation: X:19.17, Y:0.13, Z:-2.79 [[ 9.99992438e-01 -2.41216909e-03 3.05041134e-03 1.91731181e+01] [ 2.23817490e-03 9.98438863e-01 5.58106321e-02 1.33720396e-01] [-3.18027391e-03 -5.58033827e-02 9.98436712e-01 -2.78525045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.06719347 meters Centerline goodness : 0.888896 Centerline is valid? [False, False] Translation: X:19.18, Y:0.13, Z:-2.79 [[ 9.99956491e-01 -4.94744648e-03 7.90816877e-03 1.91832892e+01] [ 4.42131651e-03 9.97861356e-01 6.52163003e-02 1.26693544e-01] [-8.21391017e-03 -6.51784983e-02 9.97839814e-01 -2.78774956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.09719347 meters Centerline goodness : 0.888790 Centerline is valid? [False, False] Translation: X:19.19, Y:0.12, Z:-2.79 [[ 9.99960879e-01 -5.05484197e-03 7.25867742e-03 1.91850164e+01] [ 4.55968206e-03 9.97763756e-01 6.66835579e-02 1.21414077e-01] [-7.57952009e-03 -6.66478519e-02 9.97747771e-01 -2.78801112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.12719347 meters Centerline goodness : 0.886303 Centerline is valid? [False, False] Translation: X:19.19, Y:0.12, Z:-2.79 [[ 9.99966386e-01 -5.04272091e-03 6.46512705e-03 1.91870607e+01] [ 4.59163368e-03 9.97675882e-01 6.79834573e-02 1.17411696e-01] [-6.79292293e-03 -6.79514866e-02 9.97665501e-01 -2.78828327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.15719347 meters Centerline goodness : 0.887972 Centerline is valid? [False, False] Translation: X:19.19, Y:0.11, Z:-2.79 [[ 9.99976888e-01 -3.78724523e-03 5.64634104e-03 1.91881766e+01] [ 3.37545455e-03 9.97453744e-01 7.12364688e-02 1.08835722e-01] [-5.90175399e-03 -7.12157634e-02 9.97443474e-01 -2.78673709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.18719347 meters Centerline goodness : 0.886562 Centerline is valid? [False, False] Translation: X:19.19, Y:0.11, Z:-2.79 [[ 9.99982219e-01 -2.95585538e-03 5.17924981e-03 1.91892314e+01] [ 2.57079053e-03 9.97340429e-01 7.28385902e-02 1.05052568e-01] [-5.38077557e-03 -7.28239803e-02 9.97330294e-01 -2.78653044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.21719346999998 meters Centerline goodness : 0.885164 Centerline is valid? [False, False] Translation: X:19.19, Y:0.10, Z:-2.79 [[ 9.99986413e-01 -1.89918676e-03 4.85461325e-03 1.91902639e+01] [ 1.53184769e-03 9.97213686e-01 7.45822862e-02 1.01177194e-01] [-4.98273247e-03 -7.45738363e-02 9.97203046e-01 -2.78647595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24719346999998 meters Centerline goodness : 0.883168 Centerline is valid? [False, False] Translation: X:19.19, Y:0.10, Z:-2.79 [[ 9.99989546e-01 -1.14180160e-03 4.42767025e-03 1.91913681e+01] [ 8.02300528e-04 9.97112492e-01 7.59344041e-02 9.73386348e-02] [-4.50158734e-03 -7.59300580e-02 9.97102985e-01 -2.78654420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.27719347 meters Centerline goodness : 0.881611 Centerline is valid? [False, False] Translation: X:19.21, Y:0.09, Z:-2.79 [[ 9.99976923e-01 5.53808433e-03 3.93492413e-03 1.92098147e+01] [-5.78806528e-03 9.97759777e-01 6.66477705e-02 9.06769526e-02] [-3.55700805e-03 -6.66690081e-02 9.97768806e-01 -2.78517605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30719347 meters Centerline goodness : 0.881134 Centerline is valid? [False, False] Translation: X:19.22, Y:0.09, Z:-2.78 [[ 9.99940828e-01 7.68727898e-03 7.69719642e-03 1.92153417e+01] [-8.11370424e-03 9.98341550e-01 5.69940144e-02 8.85684576e-02] [-7.24630211e-03 -5.70530947e-02 9.98344848e-01 -2.78455288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.33719347 meters Centerline goodness : 0.881369 Centerline is valid? [False, False] Translation: X:19.23, Y:0.09, Z:-2.78 [[ 9.99901907e-01 1.20445858e-02 7.14869470e-03 1.92318933e+01] [-1.23566097e-02 9.98895210e-01 4.53395430e-02 8.57108809e-02] [-6.59470087e-03 -4.54234291e-02 9.98946056e-01 -2.78218111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36719347 meters Centerline goodness : 0.882676 Centerline is valid? [False, False] Translation: X:19.24, Y:0.08, Z:-2.78 [[ 9.99845478e-01 1.39808259e-02 1.06563420e-02 1.92419903e+01] [-1.43628673e-02 9.99224570e-01 3.66601573e-02 8.36492187e-02] [-1.01355395e-02 -3.68075481e-02 9.99270972e-01 -2.78399216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.39719347 meters Centerline goodness : 0.880153 Centerline is valid? [False, False] Translation: X:19.24, Y:0.08, Z:-2.79 [[ 9.99805616e-01 1.69339777e-02 1.00980464e-02 1.92443574e+01] [-1.73309063e-02 9.99024789e-01 4.06092361e-02 7.59458111e-02] [-9.40052281e-03 -4.07763506e-02 9.99124076e-01 -2.78549671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42719347 meters Centerline goodness : 0.880491 Centerline is valid? [False, False] Translation: X:19.25, Y:0.07, Z:-2.79 [[ 9.99829546e-01 1.58473345e-02 9.47313300e-03 1.92467383e+01] [-1.62116434e-02 9.99079945e-01 3.97044935e-02 7.30107699e-02] [-8.83520680e-03 -3.98513008e-02 9.99166559e-01 -2.78688646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.45719347 meters Centerline goodness : 0.877255 Centerline is valid? [False, False] Translation: X:19.25, Y:0.07, Z:-2.79 [[ 9.99867565e-01 1.36670940e-02 8.83535321e-03 1.92485093e+01] [-1.39934326e-02 9.99179974e-01 3.79942677e-02 6.88681028e-02] [-8.30883676e-03 -3.81128729e-02 9.99238896e-01 -2.78747014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48719347 meters Centerline goodness : 0.877560 Centerline is valid? [False, False] Translation: X:19.27, Y:0.06, Z:-2.79 [[ 9.99926534e-01 9.06304522e-03 8.04903589e-03 1.92710088e+01] [-9.35901649e-03 9.99251745e-01 3.75281191e-02 5.62031874e-02] [-7.70289411e-03 -3.76006931e-02 9.99263155e-01 -2.79046290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.51719347 meters Centerline goodness : 0.877560 Centerline is valid? [False, False] Translation: X:19.27, Y:0.06, Z:-2.79 [[ 9.99926534e-01 9.06304522e-03 8.04903589e-03 1.92710088e+01] [-9.35901649e-03 9.99251745e-01 3.75281191e-02 5.62031874e-02] [-7.70289411e-03 -3.76006931e-02 9.99263155e-01 -2.79046290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54719347 meters Centerline goodness : 0.877993 Centerline is valid? [False, False] Translation: X:19.29, Y:0.05, Z:-2.79 [[ 9.99922891e-01 8.04110882e-03 9.46319955e-03 1.92914036e+01] [-8.42163743e-03 9.99128433e-01 4.08833818e-02 4.72309387e-02] [-9.12620402e-03 -4.09599249e-02 9.99119110e-01 -2.79307117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.57719347 meters Centerline goodness : 0.876771 Centerline is valid? [False, False] Translation: X:19.32, Y:0.04, Z:-2.79 [[ 9.99950982e-01 6.73796950e-03 7.25495343e-03 1.93181123e+01] [-6.97388519e-03 9.99431048e-01 3.29991668e-02 4.23565977e-02] [-7.02847833e-03 -3.30481445e-02 9.99429047e-01 -2.79083968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.60719347 meters Centerline goodness : 0.875095 Centerline is valid? [False, False] Translation: X:19.32, Y:0.04, Z:-2.79 [[ 9.99966792e-01 3.86761737e-03 7.17331828e-03 1.93184110e+01] [-4.08951377e-03 9.99505378e-01 3.11813301e-02 3.74558540e-02] [-7.04917275e-03 -3.12096300e-02 9.99488003e-01 -2.79059872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.63719347 meters Centerline goodness : 0.877767 Centerline is valid? [False, False] Translation: X:19.32, Y:0.03, Z:-2.79 [[ 9.99966341e-01 4.08607455e-03 7.11482027e-03 1.93186682e+01] [-4.31958364e-03 9.99442044e-01 3.31200980e-02 3.16587970e-02] [-6.97551933e-03 -3.31497163e-02 9.99426055e-01 -2.79004251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.66719347 meters Centerline goodness : 0.879173 Centerline is valid? [False, False] Translation: X:19.32, Y:0.02, Z:-2.79 [[ 9.99971493e-01 2.65080154e-03 7.07013803e-03 1.93190145e+01] [-2.88694753e-03 9.99431119e-01 3.36021277e-02 2.07233803e-02] [-6.97704339e-03 -3.36215809e-02 9.99410281e-01 -2.78978210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.69719347 meters Centerline goodness : 0.879709 Centerline is valid? [False, False] Translation: X:19.31, Y:0.02, Z:-2.79 [[ 9.99948767e-01 3.74382790e-03 9.40462837e-03 1.93098535e+01] [-3.99163331e-03 9.99641633e-01 2.64702198e-02 1.53664780e-02] [-9.30215812e-03 -2.65064035e-02 9.99605362e-01 -2.79186325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.72719347 meters Centerline goodness : 0.880190 Centerline is valid? [False, False] Translation: X:19.31, Y:0.01, Z:-2.79 [[ 9.99959843e-01 2.62633888e-03 8.56823631e-03 1.93122813e+01] [-2.84681866e-03 9.99662494e-01 2.58223345e-02 9.26887026e-03] [-8.49752628e-03 -2.58456897e-02 9.99629828e-01 -2.79287268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.75719347 meters Centerline goodness : 0.880511 Centerline is valid? [False, False] Translation: X:19.31, Y:0.00, Z:-2.79 [[ 9.99963368e-01 8.72583039e-04 8.51479670e-03 1.93125988e+01] [-1.08277022e-03 9.99694035e-01 2.47116290e-02 3.23520652e-03] [-8.49062852e-03 -2.47199433e-02 9.99658358e-01 -2.79298112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.78719347 meters Centerline goodness : 0.882575 Centerline is valid? [False, False] Translation: X:19.31, Y:-0.01, Z:-2.79 [[ 9.99960987e-01 1.00568721e-03 8.77565835e-03 1.93128754e+01] [-1.23386763e-03 9.99660271e-01 2.60349624e-02 -9.47164916e-03] [-8.74649398e-03 -2.60447747e-02 9.99622513e-01 -2.79369334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.81719347 meters Centerline goodness : 0.882978 Centerline is valid? [False, False] Translation: X:19.31, Y:-0.01, Z:-2.79 [[ 9.99960776e-01 -9.24351528e-04 8.80864228e-03 1.93128586e+01] [ 7.07852027e-04 9.99698363e-01 2.45495776e-02 -1.34746116e-02] [-8.82867771e-03 -2.45423794e-02 9.99659805e-01 -2.79357868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.84719347 meters Centerline goodness : 0.881115 Centerline is valid? [False, False] Translation: X:19.31, Y:-0.02, Z:-2.79 [[ 9.99956264e-01 -2.91725299e-03 8.88591749e-03 1.93125692e+01] [ 2.71234735e-03 9.99732131e-01 2.29850013e-02 -1.71716773e-02] [-8.95059029e-03 -2.29598943e-02 9.99696319e-01 -2.79319957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.87719347 meters Centerline goodness : 0.882406 Centerline is valid? [False, False] Translation: X:19.31, Y:-0.02, Z:-2.79 [[ 9.99946094e-01 -4.95936781e-03 9.12220146e-03 1.93120145e+01] [ 4.76236036e-03 9.99757659e-01 2.14928728e-02 -2.18539659e-02] [-9.22658183e-03 -2.14482710e-02 9.99727384e-01 -2.79282391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.90719347 meters Centerline goodness : 0.884632 Centerline is valid? [False, False] Translation: X:19.31, Y:-0.03, Z:-2.79 [[ 9.99931120e-01 -7.35333749e-03 9.14784714e-03 1.93117978e+01] [ 7.17121197e-03 9.99778537e-01 1.97850908e-02 -2.70661501e-02] [-9.29130768e-03 -1.97181268e-02 9.99762405e-01 -2.79236784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.93719347 meters Centerline goodness : 0.886781 Centerline is valid? [False, False] Translation: X:19.31, Y:-0.04, Z:-2.79 [[ 9.99895148e-01 -1.12522438e-02 9.11480974e-03 1.93117457e+01] [ 1.10911899e-02 9.99784795e-01 1.75313993e-02 -4.00181378e-02] [-9.31011576e-03 -1.74284670e-02 9.99804766e-01 -2.79162388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96719346999998 meters Centerline goodness : 0.885341 Centerline is valid? [False, False] Translation: X:19.31, Y:-0.05, Z:-2.79 [[ 9.99855481e-01 -1.43806584e-02 9.06717628e-03 1.93117954e+01] [ 1.42389044e-02 9.99778335e-01 1.55091443e-02 -4.57023432e-02] [-9.28819812e-03 -1.53777963e-02 9.99838613e-01 -2.79112054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.99719346999998 meters Centerline goodness : 0.890459 Centerline is valid? [False, False] Translation: X:19.31, Y:-0.05, Z:-2.79 [[ 9.99805598e-01 -1.75445377e-02 8.99750980e-03 1.93118164e+01] [ 1.74224377e-02 9.99757427e-01 1.34738589e-02 -5.14489454e-02] [-9.23171988e-03 -1.33144810e-02 9.99868741e-01 -2.79049372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02719347 meters Centerline goodness : 0.891945 Centerline is valid? [False, False] Translation: X:19.31, Y:-0.06, Z:-2.79 [[ 9.99766186e-01 -1.98764759e-02 8.51460870e-03 1.93132532e+01] [ 1.97667955e-02 9.99722966e-01 1.27775279e-02 -6.44000938e-02] [-8.76622209e-03 -1.26062338e-02 9.99882111e-01 -2.79051174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.05719347 meters Centerline goodness : 0.894064 Centerline is valid? [False, False] Translation: X:19.31, Y:-0.07, Z:-2.79 [[ 9.99725062e-01 -2.17733337e-02 8.70187035e-03 1.93131118e+01] [ 2.16731386e-02 9.99699572e-01 1.14472685e-02 -6.92654507e-02] [-8.94850127e-03 -1.12555243e-02 9.99896613e-01 -2.79043101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08719347 meters Centerline goodness : 0.894099 Centerline is valid? [False, False] Translation: X:19.31, Y:-0.07, Z:-2.79 [[ 9.99840614e-01 -1.76525151e-02 2.67109545e-03 1.93128924e+01] [ 1.76503846e-02 9.99843884e-01 8.19110079e-04 -7.33680647e-02] [-2.68513781e-03 -7.71833662e-04 9.99996097e-01 -2.78944499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.11719347 meters Centerline goodness : 0.893786 Centerline is valid? [False, False] Translation: X:19.31, Y:-0.08, Z:-2.79 [[ 9.99862237e-01 -1.63837128e-02 2.66103196e-03 1.93132527e+01] [ 1.63759832e-02 9.99861696e-01 2.90101157e-03 -7.88476914e-02] [-2.70819327e-03 -2.85703490e-03 9.99992251e-01 -2.78974267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14719347 meters Centerline goodness : 0.893314 Centerline is valid? [False, False] Translation: X:19.32, Y:-0.09, Z:-2.79 [[ 9.99951723e-01 -9.61586936e-03 -2.02141595e-03 1.93219595e+01] [ 9.62664590e-03 9.99939131e-01 5.39082543e-03 -9.28006239e-02] [ 1.96945544e-03 -5.41002464e-03 9.99983426e-01 -2.78760634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.17719347 meters Centerline goodness : 0.894591 Centerline is valid? [False, False] Translation: X:19.32, Y:-0.10, Z:-2.79 [[ 9.99939229e-01 -1.09048778e-02 -1.61918406e-03 1.93205771e+01] [ 1.09124758e-02 9.99929126e-01 4.76024621e-03 -9.86134195e-02] [ 1.56715940e-03 -4.77762623e-03 9.99987359e-01 -2.78659742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20719347 meters Centerline goodness : 0.891353 Centerline is valid? [False, False] Translation: X:19.32, Y:-0.10, Z:-2.79 [[ 9.99916986e-01 -1.28101859e-02 -1.38566745e-03 1.93197843e+01] [ 1.28154125e-02 9.99910539e-01 3.83122625e-03 -1.04842296e-01] [ 1.33646476e-03 -3.84866611e-03 9.99991701e-01 -2.78581244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.23719347 meters Centerline goodness : 0.895906 Centerline is valid? [False, False] Translation: X:19.32, Y:-0.11, Z:-2.79 [[ 9.99887705e-01 -1.49193431e-02 -1.41097859e-03 1.93200386e+01] [ 1.49237160e-02 9.99883701e-01 3.14117343e-03 -1.12317058e-01] [ 1.36395025e-03 -3.16187774e-03 9.99994071e-01 -2.78552176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26719347 meters Centerline goodness : 0.894969 Centerline is valid? [False, False] Translation: X:19.32, Y:-0.12, Z:-2.79 [[ 9.99849332e-01 -1.72856213e-02 -1.58740264e-03 1.93206934e+01] [ 1.72895128e-02 9.99847471e-01 2.47137026e-03 -1.20379353e-01] [ 1.54444135e-03 -2.49844332e-03 9.99995686e-01 -2.78523381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.29719347 meters Centerline goodness : 0.898819 Centerline is valid? [False, False] Translation: X:19.32, Y:-0.14, Z:-2.78 [[ 9.99733405e-01 -2.30319802e-02 -1.62712005e-03 1.93212512e+01] [ 2.30374050e-02 9.99728830e-01 3.39785639e-03 -1.38490466e-01] [ 1.54841946e-03 -3.43443516e-03 9.99992904e-01 -2.78226999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.32719347 meters Centerline goodness : 0.897576 Centerline is valid? [False, False] Translation: X:19.32, Y:-0.15, Z:-2.78 [[ 9.99642166e-01 -2.66731086e-02 -2.02105766e-03 1.93226491e+01] [ 2.66758382e-02 9.99643244e-01 1.33590578e-03 -1.46910256e-01] [ 1.98470387e-03 -1.38934115e-03 9.99997065e-01 -2.78229050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.35719347 meters Centerline goodness : 0.900322 Centerline is valid? [False, False] Translation: X:19.32, Y:-0.16, Z:-2.78 [[ 9.99555016e-01 -2.97340871e-02 -2.37775586e-03 1.93233361e+01] [ 2.97343770e-02 9.99557832e-01 8.66797773e-05 -1.55944227e-01] [ 2.37412715e-03 -1.57342296e-04 9.99997169e-01 -2.78136789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.38719347 meters Centerline goodness : 0.901979 Centerline is valid? [False, False] Translation: X:19.32, Y:-0.16, Z:-2.78 [[ 9.99464283e-01 -3.26281835e-02 -2.55914423e-03 1.93240450e+01] [ 3.26252710e-02 9.99466967e-01 -1.17170272e-03 -1.64000474e-01] [ 2.59601065e-03 1.08758224e-03 9.99996039e-01 -2.78097051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.41719347 meters Centerline goodness : 0.901848 Centerline is valid? [False, False] Translation: X:19.33, Y:-0.18, Z:-2.78 [[ 9.99326176e-01 -3.65592401e-02 -3.25825556e-03 1.93273893e+01] [ 3.65516714e-02 9.99328994e-01 -2.35299387e-03 -1.77530776e-01] [ 3.34209292e-03 2.23231368e-03 9.99991924e-01 -2.78244097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.44719347 meters Centerline goodness : 0.902332 Centerline is valid? [False, False] Translation: X:19.33, Y:-0.18, Z:-2.78 [[ 9.99307924e-01 -3.69886878e-02 -3.93833147e-03 1.93304191e+01] [ 3.69837594e-02 9.99314999e-01 -1.31696958e-03 -1.83955084e-01] [ 3.98434669e-03 1.17040384e-03 9.99991378e-01 -2.78411491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.47719347 meters Centerline goodness : 0.903663 Centerline is valid? [False, False] Translation: X:19.33, Y:-0.19, Z:-2.79 [[ 9.99235401e-01 -3.88241497e-02 -4.61497997e-03 1.93333991e+01] [ 3.88148317e-02 9.99244231e-01 -2.09179900e-03 -1.89819622e-01] [ 4.69270443e-03 1.91106994e-03 9.99987163e-01 -2.78570492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.50719347 meters Centerline goodness : 0.906475 Centerline is valid? [False, False] Translation: X:19.34, Y:-0.20, Z:-2.79 [[ 9.99125939e-01 -4.14959838e-02 -5.04392486e-03 1.93355417e+01] [ 4.14775118e-02 9.99132537e-01 -3.71330250e-03 -1.95451744e-01] [ 5.19363659e-03 3.50084740e-03 9.99980385e-01 -2.78675868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.53719347 meters Centerline goodness : 0.904653 Centerline is valid? [False, False] Translation: X:19.34, Y:-0.21, Z:-2.79 [[ 9.99036340e-01 -4.36230215e-02 -4.83976607e-03 1.93351215e+01] [ 4.36067195e-02 9.99042906e-01 -3.42429310e-03 -2.07311587e-01] [ 4.98451197e-03 3.20994693e-03 9.99982425e-01 -2.78521767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.56719347 meters Centerline goodness : 0.906251 Centerline is valid? [False, False] Translation: X:19.34, Y:-0.21, Z:-2.79 [[ 9.98951174e-01 -4.54171529e-02 -5.81677719e-03 1.93378196e+01] [ 4.53911389e-02 9.98959025e-01 -4.52885389e-03 -2.11844730e-01] [ 6.01640972e-03 4.26007377e-03 9.99972827e-01 -2.78589930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.59719347 meters Centerline goodness : 0.906922 Centerline is valid? [False, False] Translation: X:19.34, Y:-0.22, Z:-2.79 [[ 9.98902267e-01 -4.63768288e-02 -6.59177129e-03 1.93406964e+01] [ 4.63476821e-02 9.98915198e-01 -4.50779408e-03 -2.16008601e-01] [ 6.79367772e-03 4.19733240e-03 9.99968114e-01 -2.78712036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.62719347 meters Centerline goodness : 0.910773 Centerline is valid? [False, False] Translation: X:19.34, Y:-0.22, Z:-2.79 [[ 9.98725972e-01 -4.99265186e-02 -7.33313317e-03 1.93445847e+01] [ 4.98770276e-02 9.98732329e-01 -6.78362606e-03 -2.22157567e-01] [ 7.66252000e-03 6.40922864e-03 9.99950103e-01 -2.78940478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.65719347 meters Centerline goodness : 0.909482 Centerline is valid? [False, False] Translation: X:19.35, Y:-0.23, Z:-2.79 [[ 9.98717895e-01 -5.00361874e-02 -7.67758969e-03 1.93457179e+01] [ 4.99909398e-02 9.98731790e-01 -5.97646022e-03 -2.25241828e-01] [ 7.96689217e-03 5.58498785e-03 9.99952667e-01 -2.78969581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.68719347 meters Centerline goodness : 0.910386 Centerline is valid? [False, False] Translation: X:19.37, Y:-0.23, Z:-2.79 [[ 9.98770021e-01 -4.91023837e-02 -6.88483528e-03 1.93653798e+01] [ 4.90412132e-02 9.98758087e-01 -8.78877229e-03 -2.26368156e-01] [ 7.30783459e-03 8.44032161e-03 9.99937676e-01 -2.79063748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.71719346999998 meters Centerline goodness : 0.912800 Centerline is valid? [False, False] Translation: X:19.37, Y:-0.23, Z:-2.79 [[ 9.98763644e-01 -4.91579009e-02 -7.39488126e-03 1.93664191e+01] [ 4.90979269e-02 9.98761252e-01 -8.08426906e-03 -2.28497627e-01] [ 7.78312656e-03 7.71120069e-03 9.99939978e-01 -2.79037791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74719346999998 meters Centerline goodness : 0.909899 Centerline is valid? [False, False] Translation: X:19.37, Y:-0.23, Z:-2.79 [[ 9.98754603e-01 -4.92580481e-02 -7.93023469e-03 1.93675702e+01] [ 4.91976312e-02 9.98759831e-01 -7.64153393e-03 -2.30008165e-01] [ 8.29680690e-03 7.24186843e-03 9.99939357e-01 -2.79028242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.77719347 meters Centerline goodness : 0.914741 Centerline is valid? [False, False] Translation: X:19.37, Y:-0.23, Z:-2.79 [[ 9.98748704e-01 -4.92541042e-02 -8.66365334e-03 1.93693952e+01] [ 4.91921957e-02 9.98763239e-01 -7.21946181e-03 -2.32425007e-01] [ 9.00852660e-03 6.78424400e-03 9.99936408e-01 -2.79077446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80719347 meters Centerline goodness : 0.915380 Centerline is valid? [False, False] Translation: X:19.37, Y:-0.23, Z:-2.79 [[ 9.98744844e-01 -4.92327018e-02 -9.21288356e-03 1.93707342e+01] [ 4.91692645e-02 9.98765999e-01 -6.99012538e-03 -2.33157945e-01] [ 9.54565762e-03 6.52836098e-03 9.99933128e-01 -2.79113854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.83719347 meters Centerline goodness : 0.912794 Centerline is valid? [False, False] Translation: X:19.37, Y:-0.23, Z:-2.79 [[ 9.98709354e-01 -4.98047162e-02 -9.95575546e-03 1.93730116e+01] [ 4.97311587e-02 9.98734447e-01 -7.50443638e-03 -2.32886342e-01] [ 1.03169122e-02 6.99963955e-03 9.99922280e-01 -2.79225818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86719347 meters Centerline goodness : 0.911229 Centerline is valid? [False, False] Translation: X:19.39, Y:-0.23, Z:-2.79 [[ 9.98779950e-01 -4.80661224e-02 -1.13251773e-02 1.93937623e+01] [ 4.79406390e-02 9.98788478e-01 -1.11027185e-02 -2.31580882e-01] [ 1.18451212e-02 1.05462364e-02 9.99874227e-01 -2.79373281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.89719347 meters Centerline goodness : 0.910689 Centerline is valid? [False, False] Translation: X:19.40, Y:-0.23, Z:-2.79 [[ 9.98721560e-01 -4.91520382e-02 -1.18035079e-02 1.93950207e+01] [ 4.90162611e-02 9.98731433e-01 -1.15295279e-02 -2.31021712e-01] [ 1.23552341e-02 1.09362242e-02 9.99863864e-01 -2.79375947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92719347 meters Centerline goodness : 0.913761 Centerline is valid? [False, False] Translation: X:19.41, Y:-0.23, Z:-2.79 [[ 9.98778800e-01 -4.87455497e-02 -8.04865266e-03 1.94117909e+01] [ 4.86290949e-02 9.98717648e-01 -1.40808341e-02 -2.30979461e-01] [ 8.72470945e-03 1.36722399e-02 9.99868466e-01 -2.79312131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.95719347 meters Centerline goodness : 0.914280 Centerline is valid? [False, False] Translation: X:19.41, Y:-0.23, Z:-2.79 [[ 9.98747586e-01 -4.93150958e-02 -8.44282971e-03 1.94120467e+01] [ 4.91975484e-02 9.98696386e-01 -1.36062441e-02 -2.32788104e-01] [ 9.10281675e-03 1.31738369e-02 9.99871786e-01 -2.79177630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98719347 meters Centerline goodness : 0.913755 Centerline is valid? [False, False] Translation: X:19.41, Y:-0.23, Z:-2.79 [[ 9.98699332e-01 -5.02239179e-02 -8.78649320e-03 1.94125259e+01] [ 5.01031088e-02 9.98653238e-01 -1.34680448e-02 -2.34227621e-01] [ 9.45107787e-03 1.30102967e-02 9.99870696e-01 -2.79071431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.01719347 meters Centerline goodness : 0.914188 Centerline is valid? [False, False] Translation: X:19.43, Y:-0.23, Z:-2.79 [[ 9.98375137e-01 -5.67148273e-02 -5.52396418e-03 1.94307381e+01] [ 5.65621151e-02 9.98093325e-01 -2.47071043e-02 -2.29620761e-01] [ 6.91469093e-03 2.43545115e-02 9.99679471e-01 -2.79188000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04719347 meters Centerline goodness : 0.914004 Centerline is valid? [False, False] Translation: X:19.43, Y:-0.23, Z:-2.79 [[ 9.98267235e-01 -5.85102230e-02 -6.25143435e-03 1.94331602e+01] [ 5.83266403e-02 9.97949866e-01 -2.63451862e-02 -2.27564658e-01] [ 7.78008079e-03 2.59349110e-02 9.99633358e-01 -2.79279549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.07719347 meters Centerline goodness : 0.913233 Centerline is valid? [False, False] Translation: X:19.44, Y:-0.23, Z:-2.79 [[ 9.98353647e-01 -5.69394844e-02 -6.92029517e-03 1.94354638e+01] [ 5.67572408e-02 9.98095471e-01 -2.41670585e-02 -2.26358462e-01] [ 8.28317512e-03 2.37344941e-02 9.99683981e-01 -2.79387905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.10719347 meters Centerline goodness : 0.909512 Centerline is valid? [False, False] Translation: X:19.46, Y:-0.22, Z:-2.80 [[ 9.98481399e-01 -5.45375745e-02 -7.78126949e-03 1.94579802e+01] [ 5.43088083e-02 9.98156899e-01 -2.70805780e-02 -2.16645946e-01] [ 9.24383686e-03 2.66168619e-02 9.99602968e-01 -2.79629591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.13719347 meters Centerline goodness : 0.911528 Centerline is valid? [False, False] Translation: X:19.46, Y:-0.21, Z:-2.80 [[ 9.98625205e-01 -5.17176047e-02 -8.54336333e-03 1.94595860e+01] [ 5.14939997e-02 9.98370410e-01 -2.45945598e-02 -2.12779237e-01] [ 9.80141287e-03 2.41208154e-02 9.99661002e-01 -2.79682277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.16719347 meters Centerline goodness : 0.908828 Centerline is valid? [False, False] Translation: X:19.48, Y:-0.21, Z:-2.80 [[ 9.98848166e-01 -4.72523432e-02 -8.34004713e-03 1.94797607e+01] [ 4.70277405e-02 9.98572216e-01 -2.53361489e-02 -2.08328163e-01] [ 9.52533175e-03 2.49147523e-02 9.99644198e-01 -2.79812068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.19719347 meters Centerline goodness : 0.906577 Centerline is valid? [False, False] Translation: X:19.50, Y:-0.20, Z:-2.80 [[ 9.99042951e-01 -4.30407650e-02 -7.78942581e-03 1.94999010e+01] [ 4.28139476e-02 9.98711167e-01 -2.72574826e-02 -2.03038218e-01] [ 8.95256944e-03 2.68978998e-02 9.99598096e-01 -2.80011768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.22719347 meters Centerline goodness : 0.908299 Centerline is valid? [False, False] Translation: X:19.52, Y:-0.19, Z:-2.80 [[ 9.99408155e-01 -3.34617493e-02 -7.97817287e-03 1.95200184e+01] [ 3.32411577e-02 9.99100175e-01 -2.63413200e-02 -1.91873792e-01] [ 8.85242056e-03 2.60605263e-02 9.99621170e-01 -2.80308026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.25719347 meters Centerline goodness : 0.907630 Centerline is valid? [False, False] Translation: X:19.54, Y:-0.19, Z:-2.81 [[ 9.99590499e-01 -2.76044518e-02 -7.53853618e-03 1.95403278e+01] [ 2.73910674e-02 9.99258014e-01 -2.70767408e-02 -1.85804763e-01] [ 8.28038128e-03 2.68591643e-02 9.99604932e-01 -2.80514993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.28719347 meters Centerline goodness : 0.904814 Centerline is valid? [False, False] Translation: X:19.56, Y:-0.18, Z:-2.81 [[ 9.99743267e-01 -2.19246626e-02 -5.71919630e-03 1.95592696e+01] [ 2.17582406e-02 9.99379535e-01 -2.76969910e-02 -1.80386724e-01] [ 6.32289492e-03 2.75654406e-02 9.99600004e-01 -2.80699027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.31719347 meters Centerline goodness : 0.907230 Centerline is valid? [False, False] Translation: X:19.58, Y:-0.18, Z:-2.81 [[ 9.99865183e-01 -1.61604011e-02 -2.90804172e-03 1.95771266e+01] [ 1.60741953e-02 9.99490903e-01 -2.75600136e-02 -1.76051400e-01] [ 3.35194212e-03 2.75095536e-02 9.99615921e-01 -2.80798179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.34719347 meters Centerline goodness : 0.902619 Centerline is valid? [False, False] Translation: X:19.60, Y:-0.17, Z:-2.81 [[ 9.99943738e-01 -1.06072709e-02 -7.74167637e-05 1.95953446e+01] [ 1.06011967e-02 9.99570522e-01 -2.73200534e-02 -1.71588307e-01] [ 3.67174723e-04 2.73176956e-02 9.99626735e-01 -2.80903007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.37719347 meters Centerline goodness : 0.906050 Centerline is valid? [False, False] Translation: X:19.61, Y:-0.16, Z:-2.81 [[ 9.99984278e-01 -4.68674754e-03 3.07869735e-03 1.96132715e+01] [ 4.77205599e-03 9.99587730e-01 -2.83125058e-02 -1.62106195e-01] [-2.94473452e-03 2.83267524e-02 9.99594380e-01 -2.81100552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.40719347 meters Centerline goodness : 0.903663 Centerline is valid? [False, False] Translation: X:19.63, Y:-0.16, Z:-2.81 [[ 9.99978229e-01 -1.41117122e-03 6.44600473e-03 1.96306260e+01] [ 1.60320229e-03 9.99552107e-01 -2.98833507e-02 -1.59481030e-01] [-6.40094708e-03 2.98930343e-02 9.99532608e-01 -2.81157016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.43719347 meters Centerline goodness : 0.901493 Centerline is valid? [False, False] Translation: X:19.65, Y:-0.16, Z:-2.81 [[ 9.99944796e-01 2.36149684e-03 1.02385199e-02 1.96466732e+01] [-2.03752316e-03 9.99500464e-01 -3.15383974e-02 -1.55180159e-01] [-1.03078832e-02 3.15157951e-02 9.99450100e-01 -2.81132168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46719346999998 meters Centerline goodness : 0.901493 Centerline is valid? [False, False] Translation: X:19.65, Y:-0.16, Z:-2.81 [[ 9.99944796e-01 2.36149684e-03 1.02385199e-02 1.96466732e+01] [-2.03752316e-03 9.99500464e-01 -3.15383974e-02 -1.55180159e-01] [-1.03078832e-02 3.15157951e-02 9.99450100e-01 -2.81132168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.49719346999998 meters Centerline goodness : 0.900659 Centerline is valid? [False, False] Translation: X:19.65, Y:-0.15, Z:-2.81 [[ 9.99936692e-01 5.68819277e-03 9.70853290e-03 1.96474488e+01] [-5.41546940e-03 9.99596331e-01 -2.78899057e-02 -1.54444753e-01] [-9.86325703e-03 2.78355638e-02 9.99563854e-01 -2.81063601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52719347 meters Centerline goodness : 0.903956 Centerline is valid? [False, False] Translation: X:19.65, Y:-0.15, Z:-2.81 [[ 9.99920588e-01 8.58443380e-03 9.22632889e-03 1.96489138e+01] [-8.35288316e-03 9.99656323e-01 -2.48488520e-02 -1.52894705e-01] [-9.43647134e-03 2.47698123e-02 9.99648643e-01 -2.81105786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.55719347 meters Centerline goodness : 0.902897 Centerline is valid? [False, False] Translation: X:19.65, Y:-0.15, Z:-2.81 [[ 9.99904754e-01 1.09753727e-02 8.36808963e-03 1.96516526e+01] [-1.07865120e-02 9.99693362e-01 -2.22897486e-02 -1.51228356e-01] [-8.61016195e-03 2.21973631e-02 9.99716531e-01 -2.81223585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58719347 meters Centerline goodness : 0.902625 Centerline is valid? [False, False] Translation: X:19.67, Y:-0.15, Z:-2.82 [[ 9.99888573e-01 1.12263497e-02 9.83926662e-03 1.96713071e+01] [-1.09446084e-02 9.99541393e-01 -2.82350633e-02 -1.47732872e-01] [-1.01517310e-02 2.81242302e-02 9.99552885e-01 -2.81515316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.61719347 meters Centerline goodness : 0.902446 Centerline is valid? [False, False] Translation: X:19.67, Y:-0.15, Z:-2.82 [[ 9.99865816e-01 1.36180896e-02 9.10484163e-03 1.96739192e+01] [-1.33805078e-02 9.99581058e-01 -2.56645914e-02 -1.46877094e-01] [-9.45052993e-03 2.55393202e-02 9.99629147e-01 -2.81646685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64719347 meters Centerline goodness : 0.899876 Centerline is valid? [False, False] Translation: X:19.69, Y:-0.14, Z:-2.82 [[ 9.99863391e-01 1.26846079e-02 1.05971952e-02 1.96934858e+01] [-1.23392187e-02 9.99410236e-01 -3.20456504e-02 -1.44824011e-01] [-1.09974319e-02 3.19105115e-02 9.99430226e-01 -2.81854835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.67719347 meters Centerline goodness : 0.899158 Centerline is valid? [False, False] Translation: X:19.69, Y:-0.15, Z:-2.82 [[ 9.99871305e-01 1.24329366e-02 1.01388007e-02 1.96945573e+01] [-1.21024434e-02 9.99413588e-01 -3.20313916e-02 -1.45564867e-01] [-1.05310994e-02 3.19045651e-02 9.99435438e-01 -2.81875223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70719347 meters Centerline goodness : 0.902663 Centerline is valid? [False, False] Translation: X:19.70, Y:-0.15, Z:-2.82 [[ 9.99880763e-01 1.20600055e-02 9.64452184e-03 1.96955769e+01] [-1.17454356e-02 9.99417777e-01 -3.20336119e-02 -1.46281786e-01] [-1.00252321e-02 3.19165132e-02 9.99440259e-01 -2.81872691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.73719347 meters Centerline goodness : 0.901090 Centerline is valid? [False, False] Translation: X:19.70, Y:-0.15, Z:-2.82 [[ 9.99890977e-01 1.15555074e-02 9.19258842e-03 1.96963813e+01] [-1.12551863e-02 9.99422031e-01 -3.20768707e-02 -1.46543871e-01] [-9.55793990e-03 3.19699093e-02 9.99443130e-01 -2.81851357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76719347 meters Centerline goodness : 0.900612 Centerline is valid? [False, False] Translation: X:19.70, Y:-0.15, Z:-2.82 [[ 9.99904827e-01 1.08397363e-02 8.53441578e-03 1.96981540e+01] [-1.05590225e-02 9.99423182e-01 -3.22770906e-02 -1.47273688e-01] [-8.87936812e-03 3.21839036e-02 9.99442521e-01 -2.81915096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.79719347 meters Centerline goodness : 0.900771 Centerline is valid? [False, False] Translation: X:19.70, Y:-0.15, Z:-2.82 [[ 9.99925569e-01 9.49827222e-03 7.65765348e-03 1.97007920e+01] [-9.24165149e-03 9.99416647e-01 -3.28779246e-02 -1.48766119e-01] [-7.96546984e-03 3.28047080e-02 9.99430039e-01 -2.82031729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.82719347 meters Centerline goodness : 0.899825 Centerline is valid? [False, False] Translation: X:19.70, Y:-0.15, Z:-2.82 [[ 9.99941365e-01 8.38601073e-03 6.85132114e-03 1.97029297e+01] [-8.15573637e-03 9.99422943e-01 -3.29736938e-02 -1.51335484e-01] [-7.12388529e-03 3.29158828e-02 9.99432737e-01 -2.82098586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.85719347 meters Centerline goodness : 0.902901 Centerline is valid? [False, False] Translation: X:19.70, Y:-0.15, Z:-2.82 [[ 9.99953351e-01 7.24391718e-03 6.38923314e-03 1.97044433e+01] [-7.02899214e-03 9.99429220e-01 -3.30428159e-02 -1.54080226e-01] [-6.62494572e-03 3.29963646e-02 9.99433515e-01 -2.82160148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88719347 meters Centerline goodness : 0.903367 Centerline is valid? [False, False] Translation: X:19.70, Y:-0.16, Z:-2.82 [[ 9.99952964e-01 -1.26600036e-03 9.61596938e-03 1.97018570e+01] [ 1.48368088e-03 9.99742035e-01 -2.26641031e-02 -1.60492799e-01] [-9.58479603e-03 2.26773041e-02 9.99696890e-01 -2.82095808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.91719347 meters Centerline goodness : 0.902982 Centerline is valid? [False, False] Translation: X:19.70, Y:-0.16, Z:-2.82 [[ 9.99958373e-01 -1.99699216e-03 8.90306458e-03 1.97035045e+01] [ 2.19768538e-03 9.99742408e-01 -2.25895412e-02 -1.62054983e-01] [-8.85566009e-03 2.26081670e-02 9.99705181e-01 -2.82122603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.94719347 meters Centerline goodness : 0.902592 Centerline is valid? [False, False] Translation: X:19.70, Y:-0.16, Z:-2.82 [[ 9.99961111e-01 -2.26169876e-03 8.52416169e-03 1.97044635e+01] [ 2.45233054e-03 9.99745632e-01 -2.24200012e-02 -1.62813529e-01] [-8.47128613e-03 2.24400333e-02 9.99712300e-01 -2.82142799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.97719347 meters Centerline goodness : 0.902182 Centerline is valid? [False, False] Translation: X:19.71, Y:-0.16, Z:-2.82 [[ 9.99969896e-01 2.86569278e-04 7.75409317e-03 1.97066633e+01] [-1.37811743e-04 9.99816073e-01 -1.91781259e-02 -1.63975786e-01] [-7.75816285e-03 1.91764800e-02 9.99786014e-01 -2.82212892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.00719347 meters Centerline goodness : 0.903581 Centerline is valid? [False, False] Translation: X:19.73, Y:-0.16, Z:-2.82 [[ 9.99961049e-01 3.59117840e-03 8.06249812e-03 1.97272645e+01] [-3.43738178e-03 9.99813403e-01 -1.90090471e-02 -1.64808677e-01] [-8.12925856e-03 1.89805928e-02 9.99786803e-01 -2.82321442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.03719347 meters Centerline goodness : 0.905127 Centerline is valid? [False, False] Translation: X:19.73, Y:-0.16, Z:-2.82 [[ 9.99959525e-01 5.42304428e-03 7.17902630e-03 1.97302071e+01] [-5.29959736e-03 9.99839666e-01 -1.71042586e-02 -1.64740210e-01] [-7.27063241e-03 1.70655204e-02 9.99827938e-01 -2.82468547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.06719347 meters Centerline goodness : 0.902198 Centerline is valid? [False, False] Translation: X:19.73, Y:-0.16, Z:-2.83 [[ 9.99945688e-01 8.17251356e-03 6.46763018e-03 1.97326349e+01] [-8.07974875e-03 9.99865941e-01 -1.42413888e-02 -1.64159128e-01] [-6.58315108e-03 1.41883585e-02 9.99877669e-01 -2.82584018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.09719347 meters Centerline goodness : 0.902330 Centerline is valid? [False, False] Translation: X:19.73, Y:-0.16, Z:-2.83 [[ 9.99908501e-01 1.20764087e-02 6.09514452e-03 1.97338054e+01] [-1.20062892e-02 9.99862792e-01 -1.14125513e-02 -1.60774400e-01] [-6.23213085e-03 1.13383269e-02 9.99916298e-01 -2.82640798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.12719347 meters Centerline goodness : 0.901694 Centerline is valid? [False, False] Translation: X:19.75, Y:-0.16, Z:-2.83 [[ 9.99872370e-01 1.32517932e-02 8.92379025e-03 1.97514701e+01] [-1.30949951e-02 9.99762752e-01 -1.74057729e-02 -1.57146448e-01] [-9.15233080e-03 1.72866944e-02 9.99808684e-01 -2.82938434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.15719347 meters Centerline goodness : 0.905161 Centerline is valid? [False, False] Translation: X:19.75, Y:-0.16, Z:-2.83 [[ 9.99852979e-01 1.50047576e-02 8.29925953e-03 1.97539133e+01] [-1.48748871e-02 9.99769297e-01 -1.54948509e-02 -1.56617236e-01] [-8.52984135e-03 1.53691223e-02 9.99845504e-01 -2.83066263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.18719347 meters Centerline goodness : 0.904396 Centerline is valid? [False, False] Translation: X:19.76, Y:-0.16, Z:-2.83 [[ 9.99833219e-01 1.65778414e-02 7.66218580e-03 1.97563183e+01] [-1.64727422e-02 9.99772063e-01 -1.35820117e-02 -1.56330175e-01] [-7.88559974e-03 1.34535293e-02 9.99878403e-01 -2.83183130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.21719346999998 meters Centerline goodness : 0.904970 Centerline is valid? [False, False] Translation: X:19.76, Y:-0.16, Z:-2.83 [[ 9.99879368e-01 1.38007875e-02 7.12660374e-03 1.97584669e+01] [-1.36867068e-02 9.99781244e-01 -1.58157761e-02 -1.55444953e-01] [-7.34331491e-03 1.57163285e-02 9.99849525e-01 -2.83299461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24719346999998 meters Centerline goodness : 0.904964 Centerline is valid? [False, False] Translation: X:19.76, Y:-0.15, Z:-2.83 [[ 9.99934205e-01 9.25894127e-03 6.77180216e-03 1.97593287e+01] [-9.12010658e-03 9.99753286e-01 -2.02531663e-02 -1.54894139e-01] [-6.95765434e-03 2.01900742e-02 9.99771950e-01 -2.83331187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.27719347 meters Centerline goodness : 0.907252 Centerline is valid? [False, False] Translation: X:19.76, Y:-0.16, Z:-2.83 [[ 9.99978133e-01 2.37227278e-03 6.17298603e-03 1.97615438e+01] [-2.21083412e-03 9.99658740e-01 -2.60291288e-02 -1.55573702e-01] [-6.23262763e-03 2.60149122e-02 9.99642125e-01 -2.83431079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30719347 meters Centerline goodness : 0.905026 Centerline is valid? [False, False] Translation: X:19.76, Y:-0.16, Z:-2.84 [[ 9.99985342e-01 2.24057918e-04 5.40972648e-03 1.97642426e+01] [-7.57036594e-05 9.99624320e-01 -2.74082607e-02 -1.56278928e-01] [-5.41383520e-03 2.74074495e-02 9.99609685e-01 -2.83567731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.33719347 meters Centerline goodness : 0.908146 Centerline is valid? [False, False] Translation: X:19.77, Y:-0.16, Z:-2.84 [[ 9.99987520e-01 -1.76426868e-03 4.67402528e-03 1.97669456e+01] [ 1.89816874e-03 9.99583395e-01 -2.87998821e-02 -1.56790155e-01] [-4.62126732e-03 2.88083948e-02 9.99574270e-01 -2.83714940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36719347 meters Centerline goodness : 0.909037 Centerline is valid? [False, False] Translation: X:19.77, Y:-0.16, Z:-2.84 [[ 9.99987554e-01 -2.59761980e-03 4.25962088e-03 1.97683798e+01] [ 2.72112430e-03 9.99568439e-01 -2.92494739e-02 -1.56857319e-01] [-4.18180358e-03 2.92607008e-02 9.99563066e-01 -2.83786892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.39719347 meters Centerline goodness : 0.910478 Centerline is valid? [False, False] Translation: X:19.77, Y:-0.15, Z:-2.84 [[ 9.99985658e-01 -3.72380598e-03 3.84917091e-03 1.97699172e+01] [ 3.84054512e-03 9.99518818e-01 -3.07795872e-02 -1.53180680e-01] [-3.73270154e-03 3.07939287e-02 9.99518785e-01 -2.83877904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42719347 meters Centerline goodness : 0.907942 Centerline is valid? [False, False] Translation: X:19.77, Y:-0.15, Z:-2.84 [[ 9.99993990e-01 -5.62837090e-04 3.42110952e-03 1.97708642e+01] [ 6.55704259e-04 9.99629657e-01 -2.72051128e-02 -1.52681884e-01] [-3.40453049e-03 2.72071925e-02 9.99624018e-01 -2.83872515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.45719347 meters Centerline goodness : 0.908181 Centerline is valid? [False, False] Translation: X:19.77, Y:-0.15, Z:-2.84 [[ 9.99994570e-01 1.90320289e-03 2.69042567e-03 1.97729899e+01] [-1.83665066e-03 9.99697495e-01 -2.45264069e-02 -1.51343500e-01] [-2.73629053e-03 2.45213323e-02 9.99695562e-01 -2.83946583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48719347 meters Centerline goodness : 0.909138 Centerline is valid? [False, False] Translation: X:19.78, Y:-0.15, Z:-2.84 [[ 9.99988945e-01 4.28637412e-03 1.93335717e-03 1.97752429e+01] [-4.24258294e-03 9.99746486e-01 -2.21125356e-02 -1.49316052e-01] [-2.02764963e-03 2.21040887e-02 9.99753619e-01 -2.84026744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.51719347 meters Centerline goodness : 0.912103 Centerline is valid? [False, False] Translation: X:19.78, Y:-0.15, Z:-2.84 [[ 9.99978673e-01 6.42568781e-03 1.16818507e-03 1.97777446e+01] [-6.40116363e-03 9.99781335e-01 -1.99074784e-02 -1.47022733e-01] [-1.29584887e-03 1.98995761e-02 9.99801144e-01 -2.84136045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54719347 meters Centerline goodness : 0.908952 Centerline is valid? [False, False] Translation: X:19.78, Y:-0.14, Z:-2.84 [[ 9.99971026e-01 7.61203611e-03 -6.02074529e-05 1.97816595e+01] [-7.61177360e-03 9.99783281e-01 -1.93765860e-02 -1.39965064e-01] [-8.73008673e-05 1.93764828e-02 9.99812255e-01 -2.84326190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.57719347 meters Centerline goodness : 0.906979 Centerline is valid? [False, False] Translation: X:19.79, Y:-0.14, Z:-2.85 [[ 9.99957168e-01 9.19913342e-03 -1.01921755e-03 1.97852345e+01] [-9.21574289e-03 9.99800738e-01 -1.77074766e-02 -1.36989329e-01] [ 8.56121016e-04 1.77161110e-02 9.99842691e-01 -2.84522875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.60719347 meters Centerline goodness : 0.907297 Centerline is valid? [False, False] Translation: X:19.79, Y:-0.13, Z:-2.85 [[ 9.99936574e-01 1.11161006e-02 -1.81089712e-03 1.97880476e+01] [-1.11432094e-02 9.99814353e-01 -1.57190731e-02 -1.34597422e-01] [ 1.63582613e-03 1.57382553e-02 9.99874808e-01 -2.84660585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.63719347 meters Centerline goodness : 0.909254 Centerline is valid? [False, False] Translation: X:19.79, Y:-0.13, Z:-2.85 [[ 9.99918323e-01 1.25203851e-02 -2.56651731e-03 1.97909047e+01] [-1.25560034e-02 9.99817958e-01 -1.43665325e-02 -1.32367593e-01] [ 2.38617558e-03 1.43975843e-02 9.99893502e-01 -2.84809687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.66719347 meters Centerline goodness : 0.904569 Centerline is valid? [False, False] Translation: X:19.80, Y:-0.12, Z:-2.85 [[ 9.99879087e-01 1.53130056e-02 2.70628937e-03 1.98046378e+01] [-1.52575269e-02 9.99694363e-01 -1.94522333e-02 -1.24233866e-01] [-3.00333439e-03 1.94085900e-02 9.99807125e-01 -2.85039722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.69719347 meters Centerline goodness : 0.905830 Centerline is valid? [False, False] Translation: X:19.81, Y:-0.12, Z:-2.85 [[ 9.99827585e-01 1.84117272e-02 2.41021045e-03 1.98057088e+01] [-1.83679035e-02 9.99685197e-01 -1.70917041e-02 -1.19572895e-01] [-2.72413950e-03 1.70444867e-02 9.99851021e-01 -2.85066590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.72719347 meters Centerline goodness : 0.903821 Centerline is valid? [False, False] Translation: X:19.81, Y:-0.12, Z:-2.85 [[ 9.99719294e-01 2.36266071e-02 1.76552145e-03 1.98084468e+01] [-2.36038281e-02 9.99649753e-01 -1.19678815e-02 -1.15649126e-01] [-2.04766352e-03 1.19228490e-02 9.99926824e-01 -2.85186102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.75719347 meters Centerline goodness : 0.902705 Centerline is valid? [False, False] Translation: X:19.81, Y:-0.11, Z:-2.85 [[ 9.99639618e-01 2.68052417e-02 1.45381679e-03 1.98094953e+01] [-2.67900938e-02 9.99595043e-01 -9.59382610e-03 -1.11082298e-01] [-1.71039289e-03 9.55142077e-03 9.99952921e-01 -2.85198603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.78719347 meters Centerline goodness : 0.899351 Centerline is valid? [False, False] Translation: X:19.81, Y:-0.10, Z:-2.85 [[ 9.99551810e-01 2.99138360e-02 1.15827261e-03 1.98098174e+01] [-2.99010568e-02 9.99504708e-01 -9.81154063e-03 -1.02860930e-01] [-1.45119974e-03 9.77250962e-03 9.99951195e-01 -2.84995110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.81719347 meters Centerline goodness : 0.898105 Centerline is valid? [False, False] Translation: X:19.81, Y:-0.10, Z:-2.85 [[ 9.99559057e-01 2.96899398e-02 4.46841170e-04 1.98111144e+01] [-2.96823957e-02 9.99486603e-01 -1.20617205e-02 -9.83266711e-02] [-8.04723520e-04 1.20431387e-02 9.99927155e-01 -2.84906047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.84719347 meters Centerline goodness : 0.897341 Centerline is valid? [False, False] Translation: X:19.81, Y:-0.10, Z:-2.85 [[ 9.99463733e-01 3.27396460e-02 6.01830470e-04 1.98108269e+01] [-3.27327132e-02 9.99421601e-01 -9.22132959e-03 -9.65327628e-02] [-9.03385438e-04 9.19668495e-03 9.99957302e-01 -2.84848014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.87719347 meters Centerline goodness : 0.897258 Centerline is valid? [False, False] Translation: X:19.81, Y:-0.09, Z:-2.85 [[ 9.99480572e-01 3.22265540e-02 -1.86570238e-04 1.98125958e+01] [-3.22266351e-02 9.99418695e-01 -1.11227749e-02 -9.26244879e-02] [-1.71986922e-04 1.11230100e-02 9.99938123e-01 -2.84832833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.90719347 meters Centerline goodness : 0.892556 Centerline is valid? [False, False] Translation: X:19.81, Y:-0.09, Z:-2.85 [[ 9.99510562e-01 3.12829908e-02 -1.04104746e-04 1.98124449e+01] [-3.12814023e-02 9.99413423e-01 -1.39385806e-02 -8.54243695e-02] [-3.31996809e-04 1.39350151e-02 9.99902848e-01 -2.84742120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.93719347 meters Centerline goodness : 0.890563 Centerline is valid? [False, False] Translation: X:19.81, Y:-0.08, Z:-2.85 [[ 9.99545842e-01 3.01284615e-02 -6.21486398e-04 1.98136872e+01] [-3.01345823e-02 9.99413923e-01 -1.62393564e-02 -8.08273271e-02] [ 1.31855334e-04 1.62507094e-02 9.99867940e-01 -2.84718607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96719346999998 meters Centerline goodness : 0.891760 Centerline is valid? [False, False] Translation: X:19.82, Y:-0.08, Z:-2.85 [[ 9.99506538e-01 3.13945784e-02 -1.02994531e-03 1.98152430e+01] [-3.14065685e-02 9.99392397e-01 -1.51150518e-02 -7.76570528e-02] [ 5.54788831e-04 1.51399401e-02 9.99885231e-01 -2.84768668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.99719346999998 meters Centerline goodness : 0.891174 Centerline is valid? [False, False] Translation: X:19.82, Y:-0.07, Z:-2.85 [[ 9.99404378e-01 3.44939513e-02 -1.02769320e-03 1.98156672e+01] [-3.45047059e-02 9.99313012e-01 -1.35251686e-02 -7.22335241e-02] [ 5.60450683e-04 1.35525729e-02 9.99908003e-01 -2.84719074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02719347 meters Centerline goodness : 0.888987 Centerline is valid? [False, False] Translation: X:19.82, Y:-0.07, Z:-2.85 [[ 9.99400427e-01 3.45776399e-02 -1.78126608e-03 1.98172211e+01] [-3.46006659e-02 9.99286750e-01 -1.51256564e-02 -6.82967191e-02] [ 1.25698609e-03 1.51782205e-02 9.99884014e-01 -2.84674750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.05719347 meters Centerline goodness : 0.889787 Centerline is valid? [False, False] Translation: X:19.82, Y:-0.07, Z:-2.85 [[ 9.99273458e-01 3.80572626e-02 -2.04940285e-03 1.98181883e+01] [-3.80797730e-02 9.99198060e-01 -1.23760717e-02 -6.61024084e-02] [ 1.57675994e-03 1.24451208e-02 9.99921313e-01 -2.84662262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08719347 meters Centerline goodness : 0.887863 Centerline is valid? [False, False] Translation: X:19.82, Y:-0.06, Z:-2.85 [[ 9.99257094e-01 3.84298820e-02 -2.89900999e-03 1.98197329e+01] [-3.84672411e-02 9.99159344e-01 -1.41730925e-02 -6.16320403e-02] [ 2.35190265e-03 1.42740802e-02 9.99895354e-01 -2.84579495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.11719347 meters Centerline goodness : 0.886211 Centerline is valid? [False, False] Translation: X:19.82, Y:-0.06, Z:-2.85 [[ 9.99112962e-01 4.19785113e-02 -3.33084065e-03 1.98212130e+01] [-4.20134592e-02 9.99053971e-01 -1.12263772e-02 -5.97099010e-02] [ 2.85642298e-03 1.13563591e-02 9.99931435e-01 -2.84604663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14719347 meters Centerline goodness : 0.885946 Centerline is valid? [False, False] Translation: X:19.83, Y:-0.06, Z:-2.85 [[ 9.98979392e-01 4.49266298e-02 -4.66602970e-03 1.98251971e+01] [-4.49686546e-02 9.98944828e-01 -9.33014540e-03 -5.64203612e-02] [ 4.24193425e-03 9.53044806e-03 9.99945587e-01 -2.84750063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.17719347 meters Centerline goodness : 0.886080 Centerline is valid? [False, False] Translation: X:19.83, Y:-0.06, Z:-2.85 [[ 9.98979883e-01 4.48830196e-02 -4.97077737e-03 1.98262872e+01] [-4.49278585e-02 9.98946856e-01 -9.30951137e-03 -5.61937621e-02] [ 4.54770344e-03 9.52334096e-03 9.99944311e-01 -2.84827481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20719347 meters Centerline goodness : 0.882414 Centerline is valid? [False, False] Translation: X:19.83, Y:-0.06, Z:-2.85 [[ 9.99173340e-01 4.02923308e-02 -5.40040494e-03 1.98268193e+01] [-4.03636346e-02 9.99089506e-01 -1.38179921e-02 -5.55336203e-02] [ 4.83872879e-03 1.40245493e-02 9.99889943e-01 -2.84824664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.23719347 meters Centerline goodness : 0.883654 Centerline is valid? [False, False] Translation: X:19.83, Y:-0.06, Z:-2.85 [[ 9.99202291e-01 3.95571480e-02 -5.47852697e-03 1.98268323e+01] [-3.96299284e-02 9.99117979e-01 -1.38828494e-02 -5.64000669e-02] [ 4.92452887e-03 1.40888886e-02 9.99888620e-01 -2.84813520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26719347 meters Centerline goodness : 0.884971 Centerline is valid? [False, False] Translation: X:19.83, Y:-0.06, Z:-2.85 [[ 9.99228681e-01 3.88674093e-02 -5.60072288e-03 1.98269658e+01] [-3.89424581e-02 9.99143663e-01 -1.39795077e-02 -5.68987527e-02] [ 5.05257952e-03 1.41868310e-02 9.99886596e-01 -2.84808486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.29719347 meters Centerline goodness : 0.883082 Centerline is valid? [False, False] Translation: X:19.83, Y:-0.06, Z:-2.85 [[ 9.99242064e-01 3.84746284e-02 -5.91608547e-03 1.98275606e+01] [-3.85541185e-02 9.99158899e-01 -1.39669340e-02 -5.75746987e-02] [ 5.37373685e-03 1.41844374e-02 9.99884956e-01 -2.84816316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.32719347 meters Centerline goodness : 0.883082 Centerline is valid? [False, False] Translation: X:19.83, Y:-0.06, Z:-2.85 [[ 9.99242064e-01 3.84746284e-02 -5.91608547e-03 1.98275606e+01] [-3.85541185e-02 9.99158899e-01 -1.39669340e-02 -5.75746987e-02] [ 5.37373685e-03 1.41844374e-02 9.99884956e-01 -2.84816316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.35719347 meters Centerline goodness : 0.885430 Centerline is valid? [False, False] Translation: X:19.83, Y:-0.06, Z:-2.85 [[ 9.99243598e-01 3.83858218e-02 -6.22581789e-03 1.98282484e+01] [-3.84693206e-02 9.99163133e-01 -1.38976705e-02 -5.77086529e-02] [ 5.68713421e-03 1.41266613e-02 9.99884040e-01 -2.84834621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.38719347 meters Centerline goodness : 0.883531 Centerline is valid? [False, False] Translation: X:19.83, Y:-0.06, Z:-2.85 [[ 9.99238326e-01 3.84313864e-02 -6.76725652e-03 1.98289037e+01] [-3.85254156e-02 9.99154425e-01 -1.43606199e-02 -5.67127081e-02] [ 6.20963576e-03 1.46103931e-02 9.99873980e-01 -2.84758435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.41719347 meters Centerline goodness : 0.885224 Centerline is valid? [False, False] Translation: X:19.83, Y:-0.06, Z:-2.85 [[ 9.99224654e-01 3.86783757e-02 -7.35349844e-03 1.98294232e+01] [-3.87841652e-02 9.99137506e-01 -1.48335110e-02 -5.53799696e-02] [ 6.77341997e-03 1.51072092e-02 9.99862937e-01 -2.84639206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.44719347 meters Centerline goodness : 0.885635 Centerline is valid? [False, False] Translation: X:19.83, Y:-0.05, Z:-2.85 [[ 9.99213475e-01 3.88348138e-02 -8.01799397e-03 1.98304380e+01] [-3.89551711e-02 9.99121602e-01 -1.54440800e-02 -5.38720038e-02] [ 7.41118301e-03 1.57442752e-02 9.99848585e-01 -2.84574225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.47719347 meters Centerline goodness : 0.883099 Centerline is valid? [False, False] Translation: X:19.83, Y:-0.05, Z:-2.85 [[ 9.99074330e-01 4.22556231e-02 -8.05893164e-03 1.98311669e+01] [-4.23536273e-02 9.99025671e-01 -1.24048251e-02 -5.21800038e-02] [ 7.52690597e-03 1.27346673e-02 9.99890581e-01 -2.84601401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.50719347 meters Centerline goodness : 0.883663 Centerline is valid? [False, False] Translation: X:19.83, Y:-0.05, Z:-2.85 [[ 9.99083824e-01 4.19302697e-02 -8.56529969e-03 1.98326954e+01] [-4.20437649e-02 9.99024146e-01 -1.35305857e-02 -4.94449958e-02] [ 7.98960010e-03 1.38783068e-02 9.99871771e-01 -2.84649077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.53719347 meters Centerline goodness : 0.881022 Centerline is valid? [False, False] Translation: X:19.84, Y:-0.05, Z:-2.85 [[ 9.98981472e-01 4.41747499e-02 -9.19841257e-03 1.98350196e+01] [-4.42737722e-02 9.98960460e-01 -1.08550956e-02 -4.91514066e-02] [ 8.70932931e-03 1.12512878e-02 9.99898773e-01 -2.84771331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.56719347 meters Centerline goodness : 0.882374 Centerline is valid? [False, False] Translation: X:19.84, Y:-0.05, Z:-2.85 [[ 9.98991247e-01 4.38531698e-02 -9.66371136e-03 1.98361991e+01] [-4.39634362e-02 9.98966839e-01 -1.15096152e-02 -4.77701285e-02] [ 9.14899408e-03 1.19228548e-02 9.99887064e-01 -2.84798365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.59719347 meters Centerline goodness : 0.881709 Centerline is valid? [False, False] Translation: X:19.84, Y:-0.05, Z:-2.85 [[ 9.99014314e-01 4.32510664e-02 -9.98725889e-03 1.98367571e+01] [-4.33698449e-02 9.98987022e-01 -1.19994654e-02 -4.78325772e-02] [ 9.45815234e-03 1.24207836e-02 9.99878126e-01 -2.84782184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.62719347 meters Centerline goodness : 0.882239 Centerline is valid? [False, False] Translation: X:19.83, Y:-0.05, Z:-2.85 [[ 9.99150620e-01 4.00740264e-02 -9.59741572e-03 1.98341489e+01] [-4.02199389e-02 9.99070216e-01 -1.55261218e-02 -4.74693805e-02] [ 8.96629798e-03 1.58989417e-02 9.99833401e-01 -2.84538577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.65719347 meters Centerline goodness : 0.882492 Centerline is valid? [False, False] Translation: X:19.83, Y:-0.05, Z:-2.85 [[ 9.99174857e-01 3.94047018e-02 -9.84253848e-03 1.98348699e+01] [-3.95559559e-02 9.99094370e-01 -1.56769331e-02 -4.81495780e-02] [ 9.21587991e-03 1.60533284e-02 9.99828664e-01 -2.84590603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.68719347 meters Centerline goodness : 0.880923 Centerline is valid? [False, False] Translation: X:19.84, Y:-0.05, Z:-2.85 [[ 9.99366875e-01 3.28590308e-02 -1.36430916e-02 1.98357684e+01] [-3.29517279e-02 9.99434980e-01 -6.62610520e-03 -4.94104832e-02] [ 1.34176556e-02 7.07147349e-03 9.99884974e-01 -2.84613043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.71719346999998 meters Centerline goodness : 0.879471 Centerline is valid? [False, False] Translation: X:19.84, Y:-0.05, Z:-2.85 [[ 9.99381190e-01 3.19886626e-02 -1.46274539e-02 1.98389004e+01] [-3.20931068e-02 9.99460635e-01 -6.96212851e-03 -4.94422451e-02] [ 1.43968552e-02 7.42726071e-03 9.99868775e-01 -2.84828609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74719346999998 meters Centerline goodness : 0.881586 Centerline is valid? [False, False] Translation: X:19.84, Y:-0.05, Z:-2.85 [[ 9.99385540e-01 3.16575168e-02 -1.50447268e-02 1.98398000e+01] [-3.17704342e-02 9.99468339e-01 -7.32660911e-03 -4.92834792e-02] [ 1.48047858e-02 7.80008470e-03 9.99859979e-01 -2.84834668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.77719347 meters Centerline goodness : 0.879722 Centerline is valid? [False, False] Translation: X:19.84, Y:-0.05, Z:-2.85 [[ 9.99383550e-01 3.15328326e-02 -1.54337418e-02 1.98402454e+01] [-3.16470453e-02 9.99473082e-01 -7.21270698e-03 -5.02184389e-02] [ 1.51981724e-02 7.69669304e-03 9.99854878e-01 -2.84793501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80719347 meters Centerline goodness : 0.881279 Centerline is valid? [False, False] Translation: X:19.84, Y:-0.05, Z:-2.85 [[ 9.99381544e-01 3.15115589e-02 -1.56061517e-02 1.98400686e+01] [-3.16230124e-02 9.99475724e-01 -6.94705601e-03 -5.18921865e-02] [ 1.53790572e-02 7.43627308e-03 9.99854083e-01 -2.84722394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.83719347 meters Centerline goodness : 0.878175 Centerline is valid? [False, False] Translation: X:19.84, Y:-0.05, Z:-2.85 [[ 9.99367389e-01 3.17356435e-02 -1.60521053e-02 1.98401574e+01] [-3.18447299e-02 9.99471127e-01 -6.58637783e-03 -5.33232437e-02] [ 1.58345929e-02 7.09338618e-03 9.99849463e-01 -2.84608817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86719347 meters Centerline goodness : 0.878884 Centerline is valid? [False, False] Translation: X:19.84, Y:-0.05, Z:-2.84 [[ 9.99334259e-01 3.25836428e-02 -1.64117362e-02 1.98399087e+01] [-3.26941865e-02 9.99444182e-01 -6.51292755e-03 -5.35219929e-02] [ 1.61903993e-02 7.04515999e-03 9.99844106e-01 -2.84445069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.89719347 meters Centerline goodness : 0.877775 Centerline is valid? [False, False] Translation: X:19.84, Y:-0.05, Z:-2.84 [[ 9.99314753e-01 3.29385528e-02 -1.68841987e-02 1.98409606e+01] [-3.30526234e-02 9.99432332e-01 -6.52205051e-03 -5.31281760e-02] [ 1.66597872e-02 7.07564835e-03 9.99836180e-01 -2.84450826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92719347 meters Centerline goodness : 0.879712 Centerline is valid? [False, False] Translation: X:19.84, Y:-0.05, Z:-2.84 [[ 9.99300902e-01 3.32688036e-02 -1.70555912e-02 1.98412337e+01] [-3.33862601e-02 9.99420408e-01 -6.64876238e-03 -5.16639500e-02] [ 1.68245095e-02 7.21353665e-03 9.99832436e-01 -2.84418274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.95719347 meters Centerline goodness : 0.876913 Centerline is valid? [False, False] Translation: X:19.84, Y:-0.05, Z:-2.84 [[ 9.99294677e-01 3.32523937e-02 -1.74478549e-02 1.98421672e+01] [-3.33839240e-02 9.99415926e-01 -7.30208148e-03 -4.95066282e-02] [ 1.71948524e-02 7.87940901e-03 9.99821110e-01 -2.84415041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98719347 meters Centerline goodness : 0.876822 Centerline is valid? [False, False] Translation: X:19.84, Y:-0.05, Z:-2.84 [[ 9.99268488e-01 3.36887799e-02 -1.80984761e-02 1.98436889e+01] [-3.38211586e-02 9.99402974e-01 -7.05866963e-03 -4.95621117e-02] [ 1.78498729e-02 7.66561756e-03 9.99811292e-01 -2.84453278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.01719347 meters Centerline goodness : 0.876973 Centerline is valid? [False, False] Translation: X:19.85, Y:-0.05, Z:-2.85 [[ 9.99270451e-01 3.30111551e-02 -1.92049099e-02 1.98469206e+01] [-3.31500105e-02 9.99426172e-01 -6.95726386e-03 -5.22707935e-02] [ 1.89642223e-02 7.58883116e-03 9.99791362e-01 -2.84642241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04719347 meters Centerline goodness : 0.876614 Centerline is valid? [False, False] Translation: X:19.85, Y:-0.06, Z:-2.85 [[ 9.99260485e-01 3.28602709e-02 -1.99671286e-02 1.98490398e+01] [-3.29852964e-02 9.99438038e-01 -5.96473498e-03 -5.61972727e-02] [ 1.97599050e-02 6.61894562e-03 9.99782844e-01 -2.84786557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.07719347 meters Centerline goodness : 0.876975 Centerline is valid? [False, False] Translation: X:19.85, Y:-0.06, Z:-2.85 [[ 9.99255164e-01 3.28805543e-02 -2.01986897e-02 1.98500992e+01] [-3.29888097e-02 9.99442964e-01 -5.04981902e-03 -5.85437513e-02] [ 2.00213974e-02 5.71238846e-03 9.99783233e-01 -2.84913114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.10719347 meters Centerline goodness : 0.875169 Centerline is valid? [False, False] Translation: X:19.85, Y:-0.06, Z:-2.85 [[ 9.99265954e-01 3.23677439e-02 -2.04910453e-02 1.98508906e+01] [-3.25032001e-02 9.99451698e-01 -6.31224952e-03 -5.57572329e-02] [ 2.02754967e-02 6.97364058e-03 9.99770110e-01 -2.84908327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.13719347 meters Centerline goodness : 0.877874 Centerline is valid? [False, False] Translation: X:19.85, Y:-0.05, Z:-2.85 [[ 9.99152259e-01 3.56547035e-02 -2.05792280e-02 1.98511527e+01] [-3.57228791e-02 9.99357366e-01 -2.95466775e-03 -5.49298364e-02] [ 2.04606553e-02 3.68731224e-03 9.99783859e-01 -2.84868001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.16719347 meters Centerline goodness : 0.876016 Centerline is valid? [False, False] Translation: X:19.85, Y:-0.05, Z:-2.85 [[ 9.99134279e-01 3.59346180e-02 -2.09617651e-02 1.98514996e+01] [-3.60265026e-02 9.99342740e-01 -4.02227798e-03 -5.23614826e-02] [ 2.08034488e-02 4.77397490e-03 9.99772187e-01 -2.84753603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.19719347 meters Centerline goodness : 0.874982 Centerline is valid? [False, False] Translation: X:19.85, Y:-0.05, Z:-2.85 [[ 9.99114617e-01 3.61973775e-02 -2.14413708e-02 1.98519456e+01] [-3.63130695e-02 9.99327799e-01 -5.03106404e-03 -5.00374864e-02] [ 2.12448465e-02 5.80521161e-03 9.99757449e-01 -2.84634428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.22719347 meters Centerline goodness : 0.874805 Centerline is valid? [False, False] Translation: X:19.85, Y:-0.05, Z:-2.84 [[ 9.98943462e-01 4.06226723e-02 -2.14885692e-02 1.98511200e+01] [-4.06702475e-02 9.99171035e-01 -1.78142789e-03 -4.88240064e-02] [ 2.13983895e-02 2.65349117e-03 9.99767507e-01 -2.84417589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.25719347 meters Centerline goodness : 0.875042 Centerline is valid? [False, False] Translation: X:19.85, Y:-0.05, Z:-2.84 [[ 9.98923694e-01 4.08413666e-02 -2.19871914e-02 1.98521697e+01] [-4.09030191e-02 9.99160331e-01 -2.36144864e-03 -4.73355557e-02] [ 2.18722847e-02 3.25824951e-03 9.99755464e-01 -2.84402325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.28719347 meters Centerline goodness : 0.874179 Centerline is valid? [False, False] Translation: X:19.85, Y:-0.05, Z:-2.84 [[ 9.98902935e-01 4.10601284e-02 -2.25164779e-02 1.98534698e+01] [-4.11345819e-02 9.99149541e-01 -2.85329486e-03 -4.59733244e-02] [ 2.23801719e-02 3.77637051e-03 9.99742400e-01 -2.84414985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.31719347 meters Centerline goodness : 0.875793 Centerline is valid? [False, False] Translation: X:19.85, Y:-0.05, Z:-2.84 [[ 9.98892852e-01 4.11862418e-02 -2.27324451e-02 1.98540892e+01] [-4.12653017e-02 9.99143662e-01 -3.01957667e-03 -4.55473617e-02] [ 2.25886135e-02 3.95429476e-03 9.99737024e-01 -2.84431510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.34719347 meters Centerline goodness : 0.874789 Centerline is valid? [False, False] Translation: X:19.86, Y:-0.05, Z:-2.85 [[ 9.98869306e-01 4.13534179e-02 -2.34521906e-02 1.98562401e+01] [-4.14083421e-02 9.99140574e-01 -1.86098954e-03 -4.87478052e-02] [ 2.33550769e-02 2.83000166e-03 9.99723227e-01 -2.84598665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.37719347 meters Centerline goodness : 0.873421 Centerline is valid? [False, False] Translation: X:19.86, Y:-0.05, Z:-2.85 [[ 9.99007822e-01 3.74872970e-02 -2.40431857e-02 1.98574331e+01] [-3.76362574e-02 9.99274829e-01 -5.77307658e-03 -4.91907201e-02] [ 2.38093332e-02 6.67224418e-03 9.99694252e-01 -2.84654662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.40719347 meters Centerline goodness : 0.875153 Centerline is valid? [False, False] Translation: X:19.86, Y:-0.05, Z:-2.85 [[ 9.99028313e-01 3.67675763e-02 -2.43017708e-02 1.98579586e+01] [-3.69026971e-02 9.99305670e-01 -5.13508946e-03 -5.21820231e-02] [ 2.40960926e-02 6.02690065e-03 9.99691480e-01 -2.84698680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.43719347 meters Centerline goodness : 0.877076 Centerline is valid? [False, False] Translation: X:19.86, Y:-0.06, Z:-2.85 [[ 9.99194524e-01 3.23995341e-02 -2.36764508e-02 1.98553559e+01] [-3.25773209e-02 9.99443556e-01 -7.16218194e-03 -5.73716464e-02] [ 2.34312248e-02 7.92772831e-03 9.99694018e-01 -2.84542114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46719346999998 meters Centerline goodness : 0.875603 Centerline is valid? [False, False] Translation: X:19.86, Y:-0.06, Z:-2.84 [[ 9.99299459e-01 2.87500484e-02 -2.39588216e-02 1.98551342e+01] [-2.90016961e-02 9.99527086e-01 -1.02228384e-02 -5.94412829e-02] [ 2.36535840e-02 1.09105234e-02 9.99660677e-01 -2.84485615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.49719346999998 meters Centerline goodness : 0.876921 Centerline is valid? [False, False] Translation: X:19.86, Y:-0.06, Z:-2.85 [[ 9.99302686e-01 2.82821281e-02 -2.43775244e-02 1.98559066e+01] [-2.85182272e-02 9.99549145e-01 -9.39242389e-03 -6.27851453e-02] [ 2.41008960e-02 1.00810782e-02 9.99658701e-01 -2.84518153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52719347 meters Centerline goodness : 0.878760 Centerline is valid? [False, False] Translation: X:19.86, Y:-0.06, Z:-2.85 [[ 9.99294261e-01 2.84916235e-02 -2.44787139e-02 1.98559384e+01] [-2.87046757e-02 9.99552669e-01 -8.39665513e-03 -6.49568540e-02] [ 2.42285295e-02 9.09338282e-03 9.99665088e-01 -2.84513757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.55719347 meters Centerline goodness : 0.877361 Centerline is valid? [False, False] Translation: X:19.86, Y:-0.07, Z:-2.84 [[ 9.99298379e-01 2.82719927e-02 -2.45651117e-02 1.98555809e+01] [-2.84757359e-02 9.99562598e-01 -7.98409665e-03 -6.66365516e-02] [ 2.43286405e-02 8.67800447e-03 9.99666349e-01 -2.84438954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58719347 meters Centerline goodness : 0.877287 Centerline is valid? [False, False] Translation: X:19.86, Y:-0.07, Z:-2.84 [[ 9.99306470e-01 2.79417794e-02 -2.46137244e-02 1.98551167e+01] [-2.81416511e-02 9.99573422e-01 -7.81165754e-03 -6.82088334e-02] [ 2.43849531e-02 8.49891077e-03 9.99666516e-01 -2.84366603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.61719347 meters Centerline goodness : 0.875974 Centerline is valid? [False, False] Translation: X:19.86, Y:-0.07, Z:-2.84 [[ 9.99310871e-01 2.75709833e-02 -2.48520357e-02 1.98557289e+01] [-2.77686303e-02 9.99585156e-01 -7.64317748e-03 -6.97062356e-02] [ 2.46309961e-02 8.32801734e-03 9.99661922e-01 -2.84392246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64719347 meters Centerline goodness : 0.875008 Centerline is valid? [False, False] Translation: X:19.86, Y:-0.07, Z:-2.84 [[ 9.99313084e-01 2.74285894e-02 -2.49205251e-02 1.98564762e+01] [-2.76191658e-02 9.99591602e-01 -7.33556164e-03 -7.06397484e-02] [ 2.47091435e-02 8.01880684e-03 9.99662522e-01 -2.84490795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.67719347 meters Centerline goodness : 0.874146 Centerline is valid? [False, False] Translation: X:19.86, Y:-0.07, Z:-2.85 [[ 9.99310237e-01 2.72704317e-02 -2.52066279e-02 1.98577147e+01] [-2.74655687e-02 9.99595152e-01 -7.42791348e-03 -7.03421097e-02] [ 2.49938607e-02 8.11510435e-03 9.99654666e-01 -2.84585511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70719347 meters Centerline goodness : 0.873841 Centerline is valid? [False, False] Translation: X:19.86, Y:-0.07, Z:-2.85 [[ 9.99312507e-01 2.65920242e-02 -2.58336697e-02 1.98596985e+01] [-2.68212061e-02 9.99603547e-01 -8.56576062e-03 -6.79275046e-02] [ 2.55956469e-02 9.25276189e-03 9.99629556e-01 -2.84668676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.73719347 meters Centerline goodness : 0.873087 Centerline is valid? [False, False] Translation: X:19.86, Y:-0.07, Z:-2.85 [[ 9.99307545e-01 2.66140687e-02 -2.60023440e-02 1.98601517e+01] [-2.68453124e-02 9.99602735e-01 -8.58489295e-03 -6.77223276e-02] [ 2.57635353e-02 9.27698935e-03 9.99625019e-01 -2.84675706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76719347 meters Centerline goodness : 0.873006 Centerline is valid? [False, False] Translation: X:19.86, Y:-0.07, Z:-2.85 [[ 9.99294762e-01 2.68701240e-02 -2.62292618e-02 1.98603008e+01] [-2.70948488e-02 9.99598821e-01 -8.25018277e-03 -6.86281528e-02] [ 2.59970557e-02 8.95504231e-03 9.99621909e-01 -2.84632887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.79719347 meters Centerline goodness : 0.871371 Centerline is valid? [False, False] Translation: X:19.86, Y:-0.07, Z:-2.85 [[ 9.99284080e-01 2.67918046e-02 -2.67119128e-02 1.98614528e+01] [-2.70256737e-02 9.99599169e-01 -8.43293716e-03 -6.90100705e-02] [ 2.64752723e-02 9.14880730e-03 9.99607603e-01 -2.84653051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.82719347 meters Centerline goodness : 0.873843 Centerline is valid? [False, False] Translation: X:19.86, Y:-0.07, Z:-2.85 [[ 9.99178469e-01 2.97246049e-02 -2.75469705e-02 1.98649716e+01] [-2.98875586e-02 9.99538010e-01 -5.52265868e-03 -6.92247261e-02] [ 2.73700852e-02 6.34143333e-03 9.99605254e-01 -2.84882247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.85719347 meters Centerline goodness : 0.874362 Centerline is valid? [False, False] Translation: X:19.87, Y:-0.07, Z:-2.85 [[ 9.99141311e-01 3.05129313e-02 -2.80285914e-02 1.98666029e+01] [-3.06776181e-02 9.99514394e-01 -5.46447580e-03 -6.74070084e-02] [ 2.78482434e-02 6.31963394e-03 9.99592186e-01 -2.84946773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.88719347 meters Centerline goodness : 0.871642 Centerline is valid? [False, False] Translation: X:19.87, Y:-0.07, Z:-2.85 [[ 9.99111056e-01 3.08905970e-02 -2.86857050e-02 1.98683339e+01] [-3.10738064e-02 9.99499305e-01 -5.96301460e-03 -6.57007687e-02] [ 2.84871412e-02 6.84908785e-03 9.99570694e-01 -2.84975076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.91719347 meters Centerline goodness : 0.872115 Centerline is valid? [False, False] Translation: X:19.87, Y:-0.07, Z:-2.85 [[ 9.99084529e-01 3.14326972e-02 -2.90187716e-02 1.98686187e+01] [-3.16168090e-02 9.99482605e-01 -5.90757917e-03 -6.54677749e-02] [ 2.88180662e-02 6.81965191e-03 9.99561410e-01 -2.84896946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.94719347 meters Centerline goodness : 0.874308 Centerline is valid? [False, False] Translation: X:19.87, Y:-0.07, Z:-2.85 [[ 9.99049002e-01 3.24413346e-02 -2.91316089e-02 1.98672712e+01] [-3.25930198e-02 9.99457433e-01 -4.74710922e-03 -6.83842175e-02] [ 2.89618005e-02 5.69208183e-03 9.99564312e-01 -2.84654166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.97719347 meters Centerline goodness : 0.875202 Centerline is valid? [False, False] Translation: X:19.87, Y:-0.07, Z:-2.85 [[ 9.99130906e-01 2.91672625e-02 -2.97775719e-02 1.98680917e+01] [-2.94439112e-02 9.99526859e-01 -8.89459329e-03 -6.74157404e-02] [ 2.95040520e-02 9.76363124e-03 9.99516975e-01 -2.84594087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.00719347 meters Centerline goodness : 0.876044 Centerline is valid? [False, False] Translation: X:19.87, Y:-0.07, Z:-2.85 [[ 9.99125148e-01 2.91389913e-02 -2.99976369e-02 1.98686632e+01] [-2.93901498e-02 9.99536274e-01 -7.96592390e-03 -6.95248950e-02] [ 2.97516073e-02 8.84058994e-03 9.99518227e-01 -2.84641162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.03719347 meters Centerline goodness : 0.878340 Centerline is valid? [False, False] Translation: X:19.87, Y:-0.07, Z:-2.85 [[ 9.99249260e-01 2.46143487e-02 -2.99173998e-02 1.98681339e+01] [-2.49562000e-02 9.99626839e-01 -1.11072775e-02 -7.15515561e-02] [ 2.96328374e-02 1.18455635e-02 9.99490659e-01 -2.84640808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.06719347 meters Centerline goodness : 0.879543 Centerline is valid? [False, False] Translation: X:19.87, Y:-0.08, Z:-2.85 [[ 9.99459900e-01 1.96884262e-02 -2.63111105e-02 1.98743657e+01] [-1.97744844e-02 9.99799921e-01 -3.01459135e-03 -7.51623907e-02] [ 2.62464936e-02 3.53325181e-03 9.99649257e-01 -2.84671934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.09719347 meters Centerline goodness : 0.880560 Centerline is valid? [False, False] Translation: X:19.88, Y:-0.08, Z:-2.85 [[ 9.99465936e-01 1.86607988e-02 -2.68256864e-02 1.98751927e+01] [-1.87533920e-02 9.99819005e-01 -3.20421141e-03 -7.68280875e-02] [ 2.67610379e-02 3.70557277e-03 9.99634991e-01 -2.84629680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.12719347 meters Centerline goodness : 0.881498 Centerline is valid? [False, False] Translation: X:19.88, Y:-0.08, Z:-2.85 [[ 9.99692616e-01 1.43873769e-02 -2.01909979e-02 1.98842903e+01] [-1.43345874e-02 9.99893454e-01 2.75681157e-03 -7.88589329e-02] [ 2.02285099e-02 -2.46653454e-03 9.99792340e-01 -2.84974556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.15719347 meters Centerline goodness : 0.884071 Centerline is valid? [False, False] Translation: X:19.88, Y:-0.08, Z:-2.85 [[ 9.99746400e-01 9.89068506e-03 -2.02314184e-02 1.98834035e+01] [-9.93988673e-03 9.99947877e-01 -2.33282959e-03 -7.57095720e-02] [ 2.02072906e-02 2.53333599e-03 9.99792602e-01 -2.84842392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.18719347 meters Centerline goodness : 0.885300 Centerline is valid? [False, False] Translation: X:19.90, Y:-0.07, Z:-2.85 [[ 9.99854553e-01 9.01702751e-03 -1.44764148e-02 1.98964839e+01] [-9.18485254e-03 9.99890896e-01 -1.15686729e-02 -7.28000994e-02] [ 1.43705204e-02 1.16999540e-02 9.99828285e-01 -2.85238326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.21719346999998 meters Centerline goodness : 0.886150 Centerline is valid? [False, False] Translation: X:19.90, Y:-0.07, Z:-2.85 [[ 9.99856616e-01 8.37074672e-03 -1.47200178e-02 1.98971721e+01] [-8.55496798e-03 9.99885313e-01 -1.24969018e-02 -7.09784366e-02] [ 1.46137212e-02 1.26210393e-02 9.99813557e-01 -2.85251220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24719346999998 meters Centerline goodness : 0.886150 Centerline is valid? [False, False] Translation: X:19.90, Y:-0.07, Z:-2.85 [[ 9.99856616e-01 8.37074672e-03 -1.47200178e-02 1.98971721e+01] [-8.55496798e-03 9.99885313e-01 -1.24969018e-02 -7.09784366e-02] [ 1.46137212e-02 1.26210393e-02 9.99813557e-01 -2.85251220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.27719347 meters Centerline goodness : 0.887970 Centerline is valid? [False, False] Translation: X:19.91, Y:-0.07, Z:-2.86 [[ 9.99914610e-01 9.57347052e-03 -8.89506275e-03 1.99099706e+01] [-9.74307086e-03 9.99767743e-01 -1.92232350e-02 -6.75974771e-02] [ 8.70896373e-03 1.93082588e-02 9.99775647e-01 -2.85628579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30719347 meters Centerline goodness : 0.888837 Centerline is valid? [False, False] Translation: X:19.91, Y:-0.07, Z:-2.86 [[ 9.99885593e-01 1.19444298e-02 -9.28070475e-03 1.99116102e+01] [-1.20987080e-02 9.99786521e-01 -1.67491527e-02 -6.60520220e-02] [ 9.07866443e-03 1.68595210e-02 9.99816650e-01 -2.85704827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.33719347 meters Centerline goodness : 0.890047 Centerline is valid? [False, False] Translation: X:19.93, Y:-0.06, Z:-2.86 [[ 9.99895204e-01 1.27755324e-02 -6.80931309e-03 1.99304240e+01] [-1.29216490e-02 9.99677431e-01 -2.18646764e-02 -5.99443058e-02] [ 6.52778374e-03 2.19503727e-02 9.99737750e-01 -2.85959083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36719347 meters Centerline goodness : 0.890389 Centerline is valid? [False, False] Translation: X:19.93, Y:-0.06, Z:-2.86 [[ 9.99861214e-01 1.48974037e-02 -7.45782895e-03 1.99336330e+01] [-1.50439965e-02 9.99686750e-01 -2.00019995e-02 -5.79134302e-02] [ 7.15751492e-03 2.01114190e-02 9.99772124e-01 -2.86180343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.39719347 meters Centerline goodness : 0.890050 Centerline is valid? [False, False] Translation: X:19.94, Y:-0.06, Z:-2.86 [[ 9.99808424e-01 1.78937702e-02 -7.93276413e-03 1.99361103e+01] [-1.80297716e-02 9.99685725e-01 -1.74177421e-02 -5.54794054e-02] [ 7.61860199e-03 1.75574312e-02 9.99816830e-01 -2.86350777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42719347 meters Centerline goodness : 0.890507 Centerline is valid? [False, False] Translation: X:19.94, Y:-0.05, Z:-2.86 [[ 9.99742034e-01 2.09923949e-02 -8.67089742e-03 1.99389034e+01] [-2.11230072e-02 9.99660465e-01 -1.52568958e-02 -5.23497401e-02] [ 8.34767456e-03 1.54361154e-02 9.99846009e-01 -2.86470553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.45719347 meters Centerline goodness : 0.890581 Centerline is valid? [False, False] Translation: X:19.94, Y:-0.05, Z:-2.86 [[ 9.99651895e-01 2.47885805e-02 -9.03406589e-03 1.99401237e+01] [-2.48986534e-02 9.99614524e-01 -1.22824956e-02 -5.01031305e-02] [ 8.72611785e-03 1.25031561e-02 9.99883756e-01 -2.86484345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48719347 meters Centerline goodness : 0.888742 Centerline is valid? [False, False] Translation: X:19.94, Y:-0.05, Z:-2.86 [[ 9.99504574e-01 2.99582426e-02 -9.64940295e-03 1.99417077e+01] [-3.00517567e-02 9.99501310e-01 -9.69651306e-03 -4.57926271e-02] [ 9.35410040e-03 9.98169066e-03 9.99906429e-01 -2.86411574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.51719347 meters Centerline goodness : 0.890035 Centerline is valid? [False, False] Translation: X:19.94, Y:-0.04, Z:-2.86 [[ 9.99471765e-01 3.08650327e-02 -1.01755008e-02 1.99430044e+01] [-3.09707634e-02 9.99466160e-01 -1.04022271e-02 -4.33480614e-02] [ 9.84900368e-03 1.07118754e-02 9.99894121e-01 -2.86388862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54719347 meters Centerline goodness : 0.899887 Centerline is valid? [False, False] Translation: X:19.95, Y:-0.04, Z:-2.86 [[ 9.99302276e-01 3.58074121e-02 -1.06202840e-02 1.99450762e+01] [-3.58810610e-02 9.99332747e-01 -6.82716580e-03 -4.20490094e-02] [ 1.03687345e-02 7.20346938e-03 9.99920297e-01 -2.86450438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.57719347 meters Centerline goodness : 0.902388 Centerline is valid? [False, False] Translation: X:19.95, Y:-0.04, Z:-2.86 [[ 9.99294508e-01 3.59649066e-02 -1.08171803e-02 1.99455980e+01] [-3.60437181e-02 9.99324412e-01 -7.18120567e-03 -4.09983189e-02] [ 1.05516010e-02 7.56603078e-03 9.99915706e-01 -2.86431472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.60719347 meters Centerline goodness : 0.908570 Centerline is valid? [False, False] Translation: X:19.95, Y:-0.04, Z:-2.86 [[ 9.99296697e-01 3.58696620e-02 -1.09305865e-02 1.99455791e+01] [-3.59492546e-02 9.99327865e-01 -7.17424151e-03 -4.10472210e-02] [ 1.06659020e-02 7.56214229e-03 9.99914523e-01 -2.86360249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.63719347 meters Centerline goodness : 0.915553 Centerline is valid? [False, False] Translation: X:19.95, Y:-0.04, Z:-2.86 [[ 9.99425766e-01 3.19477096e-02 -1.12907560e-02 1.99456266e+01] [-3.20767859e-02 9.99419912e-01 -1.14420353e-02 -3.98104331e-02] [ 1.09186595e-02 1.17976361e-02 9.99870791e-01 -2.86243687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.66719347 meters Centerline goodness : 0.927353 Centerline is valid? [False, False] Translation: X:19.94, Y:-0.04, Z:-2.86 [[ 9.99574036e-01 2.71438890e-02 -1.07217520e-02 1.99442429e+01] [-2.72930912e-02 9.99529101e-01 -1.40236784e-02 -4.38791781e-02] [ 1.03360460e-02 1.43103346e-02 9.99844178e-01 -2.86188285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.69719347 meters Centerline goodness : 0.932510 Centerline is valid? [False, False] Translation: X:19.95, Y:-0.05, Z:-2.86 [[ 9.99669491e-01 2.32405044e-02 -1.09903299e-02 1.99455032e+01] [-2.34207620e-02 9.99588408e-01 -1.65675164e-02 -4.68533456e-02] [ 1.06007689e-02 1.68194426e-02 9.99802345e-01 -2.86335636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.72719347 meters Centerline goodness : 0.936230 Centerline is valid? [False, False] Translation: X:19.95, Y:-0.05, Z:-2.87 [[ 9.99751653e-01 1.93603998e-02 -1.10366504e-02 1.99468688e+01] [-1.95645250e-02 9.99633750e-01 -1.86974438e-02 -5.06665547e-02] [ 1.06706182e-02 1.89087272e-02 9.99764271e-01 -2.86562396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.75719347 meters Centerline goodness : 0.940816 Centerline is valid? [False, False] Translation: X:19.95, Y:-0.05, Z:-2.87 [[ 9.99825926e-01 1.50282645e-02 -1.10575403e-02 1.99482141e+01] [-1.52610357e-02 9.99657144e-01 -2.12766299e-02 -5.37367431e-02] [ 1.07339984e-02 2.14416758e-02 9.99712477e-01 -2.86785668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.78719347 meters Centerline goodness : 0.892846 Centerline is valid? [False, False] Translation: X:19.95, Y:-0.06, Z:-2.87 [[ 9.99979564e-01 3.39774082e-03 -5.41551195e-03 1.99530199e+01] [-3.48019802e-03 9.99877043e-01 -1.52901263e-02 -5.99998485e-02] [ 5.36289418e-03 1.53086609e-02 9.99868433e-01 -2.87262099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.81719347 meters Centerline goodness : 0.887407 Centerline is valid? [False, False] Translation: X:19.96, Y:-0.06, Z:-2.88 [[ 9.99999673e-01 -3.03460511e-04 7.49374218e-04 1.99631206e+01] [ 3.10502065e-04 9.99955635e-01 -9.41440909e-03 -6.33554861e-02] [-7.46484071e-04 9.41463870e-03 9.99955403e-01 -2.87583864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.84719347 meters Centerline goodness : 0.877610 Centerline is valid? [False, False] Translation: X:19.96, Y:-0.07, Z:-2.88 [[ 9.99999385e-01 -8.23077431e-04 7.43096695e-04 1.99633418e+01] [ 8.29881067e-04 9.99957313e-01 -9.20238371e-03 -6.51926825e-02] [-7.35490700e-04 9.20299474e-03 9.99957381e-01 -2.87548078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.87719347 meters Centerline goodness : 0.882032 Centerline is valid? [False, False] Translation: X:19.98, Y:-0.07, Z:-2.88 [[ 9.99991523e-01 -1.60535407e-03 3.79165273e-03 1.99814067e+01] [ 1.64476455e-03 9.99944422e-01 -1.04138638e-02 -6.66488706e-02] [-3.77472406e-03 1.04200119e-02 9.99938586e-01 -2.87543422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.90719347 meters Centerline goodness : 0.875402 Centerline is valid? [False, False] Translation: X:19.98, Y:-0.07, Z:-2.88 [[ 9.99990495e-01 -2.15938903e-03 3.78773732e-03 1.99818527e+01] [ 2.20051496e-03 9.99938310e-01 -1.08872965e-02 -6.61565046e-02] [-3.76399375e-03 1.08955280e-02 9.99933558e-01 -2.87535354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.93719347 meters Centerline goodness : 0.877590 Centerline is valid? [False, False] Translation: X:20.00, Y:-0.06, Z:-2.88 [[ 9.99979568e-01 -2.85190560e-03 5.72100663e-03 2.00017674e+01] [ 2.92621800e-03 9.99910911e-01 -1.30233528e-02 -6.28128882e-02] [-5.68335558e-03 1.30398276e-02 9.99898826e-01 -2.87587252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96719346999998 meters Centerline goodness : 0.882623 Centerline is valid? [False, False] Translation: X:20.00, Y:-0.06, Z:-2.88 [[ 9.99985338e-01 -1.19678486e-03 5.28127571e-03 2.00042813e+01] [ 1.25461080e-03 9.99939155e-01 -1.09595420e-02 -6.15270907e-02] [-5.26783816e-03 1.09660072e-02 9.99925996e-01 -2.87738476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.99719346999998 meters Centerline goodness : 0.885724 Centerline is valid? [False, False] Translation: X:20.01, Y:-0.06, Z:-2.88 [[ 9.99989212e-01 -1.93588120e-04 4.64093777e-03 2.00073783e+01] [ 2.39229392e-04 9.99951597e-01 -9.83595626e-03 -5.95430780e-02] [-4.63880902e-03 9.83696040e-03 9.99940856e-01 -2.87913085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02719347 meters Centerline goodness : 0.572858 Centerline is valid? [False, False] Translation: X:20.03, Y:-0.05, Z:-2.88 [[ 9.99991952e-01 -2.02766635e-04 4.00680686e-03 2.00304558e+01] [ 2.52830914e-04 9.99921862e-01 -1.24982535e-02 -5.43999492e-02] [-4.00395954e-03 1.24991660e-02 9.99913866e-01 -2.88192101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.05719347 meters Centerline goodness : 0.293876 Centerline is valid? [False, False] Translation: X:20.05, Y:-0.05, Z:-2.88 [[ 9.99997753e-01 9.69284039e-04 1.88528266e-03 2.00528842e+01] [-9.45932026e-04 9.99923311e-01 -1.23481773e-02 -5.28738603e-02] [-1.89710697e-03 1.23463662e-02 9.99921981e-01 -2.88350498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08719347 meters Centerline goodness : 0.190653 Centerline is valid? [False, False] Translation: X:20.06, Y:-0.05, Z:-2.89 [[ 9.99998511e-01 1.14717513e-03 1.28882181e-03 2.00569546e+01] [-1.13072246e-03 9.99918780e-01 -1.26946741e-02 -4.95354123e-02] [-1.30328014e-03 1.26931979e-02 9.99918589e-01 -2.88669054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.11719347 meters Centerline goodness : 0.198426 Centerline is valid? [False, False] Translation: X:20.06, Y:-0.05, Z:-2.89 [[ 9.99996594e-01 2.51000825e-03 7.15513087e-04 2.00603756e+01] [-2.50167045e-03 9.99931605e-01 -1.14248821e-02 -4.65948826e-02] [-7.44140697e-04 1.14230532e-02 9.99934478e-01 -2.88916295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14719347 meters Centerline goodness : 0.889467 Centerline is valid? [False, False] Translation: X:20.06, Y:-0.04, Z:-2.89 [[ 9.99996562e-01 2.62227618e-03 5.75318111e-06 2.00646564e+01] [-2.62203223e-03 9.99929027e-01 -1.16217617e-02 -4.34677815e-02] [-3.62282418e-05 1.16217067e-02 9.99932465e-01 -2.89236223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.17719347 meters Centerline goodness : 0.888597 Centerline is valid? [False, False] Translation: X:20.09, Y:-0.04, Z:-2.90 [[ 9.99997549e-01 2.20250887e-03 2.27134316e-04 2.00877481e+01] [-2.19923085e-03 9.99905870e-01 -1.35430554e-02 -3.75161137e-02] [-2.56941636e-04 1.35425227e-02 9.99908263e-01 -2.89554124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20719347 meters Centerline goodness : 0.892115 Centerline is valid? [False, False] Translation: X:20.09, Y:-0.03, Z:-2.90 [[ 9.99998926e-01 1.46519414e-03 -3.49076697e-05 2.00890649e+01] [-1.46554712e-03 9.99892881e-01 -1.45629206e-02 -3.43212035e-02] [ 1.35664246e-05 1.45629561e-02 9.99893954e-01 -2.89600394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.23719347 meters Centerline goodness : 0.894039 Centerline is valid? [False, False] Translation: X:20.09, Y:-0.03, Z:-2.90 [[ 9.99999871e-01 4.62239473e-04 -2.08267767e-04 2.00903653e+01] [-4.65494061e-04 9.99873356e-01 -1.59077370e-02 -3.07845775e-02] [ 2.00888207e-04 1.59078319e-02 9.99873442e-01 -2.89667555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26719347 meters Centerline goodness : 0.887579 Centerline is valid? [False, False] Translation: X:20.09, Y:-0.03, Z:-2.90 [[ 9.99999685e-01 -6.32876655e-04 -4.78615394e-04 2.00920484e+01] [ 6.24471269e-04 9.99849062e-01 -1.73627042e-02 -2.74458277e-02] [ 4.89531603e-04 1.73623999e-02 9.99849142e-01 -2.89759898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.29719347 meters Centerline goodness : 0.124651 Centerline is valid? [False, False] Translation: X:20.10, Y:-0.02, Z:-2.90 [[ 9.99986615e-01 -3.61674831e-03 -3.69995114e-03 2.01011500e+01] [ 3.55251847e-03 9.99845390e-01 -1.72213642e-02 -2.04025776e-02] [ 3.76166443e-03 1.72079896e-02 9.99844855e-01 -2.89795951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.32719347 meters Centerline goodness : 0.141790 Centerline is valid? [False, False] Translation: X:20.10, Y:-0.02, Z:-2.90 [[ 9.99992461e-01 -1.07783159e-03 -3.73051123e-03 2.01021100e+01] [ 1.02320079e-03 9.99892666e-01 -1.46153763e-02 -1.79439682e-02] [ 3.74586374e-03 1.46114491e-02 9.99886231e-01 -2.89841685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.35719347 meters Centerline goodness : 0.136896 Centerline is valid? [False, False] Translation: X:20.11, Y:-0.01, Z:-2.90 [[ 9.99989430e-01 -4.30402796e-03 -1.61695872e-03 2.01124735e+01] [ 4.28787084e-03 9.99942134e-01 -9.86629044e-03 -8.94468713e-03] [ 1.65932995e-03 9.85925284e-03 9.99950020e-01 -2.89905786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.38719347 meters Centerline goodness : 0.134438 Centerline is valid? [False, False] Translation: X:20.11, Y:-0.01, Z:-2.90 [[ 9.99993661e-01 -2.98272948e-03 -1.94448553e-03 2.01146473e+01] [ 2.96559669e-03 9.99957276e-01 -8.75509187e-03 -5.67428530e-03] [ 1.97051652e-03 8.74926981e-03 9.99959783e-01 -2.90024683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.41719347 meters Centerline goodness : 0.131782 Centerline is valid? [False, False] Translation: X:20.12, Y:-0.00, Z:-2.90 [[ 9.99994278e-01 -2.41498769e-03 -2.36879736e-03 2.01173273e+01] [ 2.39384823e-03 9.99957647e-01 -8.88673659e-03 -1.75611466e-03] [ 2.39015839e-03 8.88101521e-03 9.99957706e-01 -2.90190966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.44719347 meters SLAMing on 196.47719347 meters SLAMing on 196.50719347 meters Centerline goodness : 0.682380 Centerline is valid? [False, False] Translation: X:20.13, Y:0.02, Z:-2.90 [[ 9.99978545e-01 3.34136786e-03 -5.63423886e-03 2.01304074e+01] [-3.41412179e-03 9.99910277e-01 -1.29530310e-02 2.41267178e-02] [ 5.59045250e-03 1.29719891e-02 9.99900232e-01 -2.90369598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.53719347 meters Centerline goodness : 0.197821 Centerline is valid? [False, False] Translation: X:20.13, Y:0.03, Z:-2.91 [[ 9.99952284e-01 7.66642396e-03 -6.05440157e-03 2.01337244e+01] [-7.72446401e-03 9.99923873e-01 -9.62194086e-03 2.84284631e-02] [ 5.98017478e-03 9.66824875e-03 9.99935379e-01 -2.90598715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.56719347 meters Centerline goodness : 0.910332 Centerline is valid? [False, False] Translation: X:20.13, Y:0.03, Z:-2.91 [[ 9.99918119e-01 1.13047463e-02 -5.99648590e-03 2.01340692e+01] [-1.13485303e-02 9.99908821e-01 -7.31854000e-03 3.38866557e-02] [ 5.91320490e-03 7.38599206e-03 9.99955240e-01 -2.90586876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.59719347 meters Centerline goodness : 0.884796 Centerline is valid? [False, False] Translation: X:20.13, Y:0.04, Z:-2.91 [[ 9.99877470e-01 1.45265871e-02 -5.83300013e-03 2.01339690e+01] [-1.45576014e-02 9.99879932e-01 -5.31024921e-03 3.96752529e-02] [ 5.75515997e-03 5.39451304e-03 9.99968888e-01 -2.90537307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.62719347 meters Centerline goodness : 0.880931 Centerline is valid? [False, False] Translation: X:20.13, Y:0.05, Z:-2.90 [[ 9.99777900e-01 2.03107254e-02 -5.62365485e-03 2.01335447e+01] [-2.03193934e-02 9.99792432e-01 -1.48852054e-03 4.91401144e-02] [ 5.59225462e-03 1.60245919e-03 9.99983079e-01 -2.90381353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.65719347 meters SLAMing on 196.68719347 meters SLAMing on 196.71719346999998 meters SLAMing on 196.74719346999998 meters Centerline goodness : 0.736822 Centerline is valid? [False, False] Translation: X:20.14, Y:0.07, Z:-2.90 [[ 9.99649142e-01 2.58216692e-02 -5.90204755e-03 2.01373347e+01] [-2.58316105e-02 9.99665005e-01 -1.61439838e-03 6.63134856e-02] [ 5.85838393e-03 1.76629135e-03 9.99981280e-01 -2.90343361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.77719347 meters Centerline goodness : 0.851506 Centerline is valid? [False, False] Translation: X:20.14, Y:0.07, Z:-2.90 [[ 9.99649492e-01 2.57805310e-02 -6.02144190e-03 2.01380506e+01] [-2.57932868e-02 9.99665195e-01 -2.05042192e-03 6.81788213e-02] [ 5.96656492e-03 2.20501600e-03 9.99979769e-01 -2.90355969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80719347 meters Centerline goodness : 0.711071 Centerline is valid? [False, False] Translation: X:20.14, Y:0.07, Z:-2.90 [[ 9.99651448e-01 2.57082517e-02 -6.00566667e-03 2.01385537e+01] [-2.57236223e-02 9.99665976e-01 -2.49628006e-03 6.94326352e-02] [ 5.93948564e-03 2.64989747e-03 9.99978850e-01 -2.90380364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.83719347 meters Centerline goodness : 0.723822 Centerline is valid? [False, False] Translation: X:20.14, Y:0.07, Z:-2.90 [[ 9.99640054e-01 2.61669789e-02 -5.92048200e-03 2.01392997e+01] [-2.61826513e-02 9.99653833e-01 -2.58530581e-03 7.03378896e-02] [ 5.85078288e-03 2.73938916e-03 9.99979132e-01 -2.90429251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86719347 meters Centerline goodness : 0.878869 Centerline is valid? [False, False] Translation: X:20.14, Y:0.07, Z:-2.90 [[ 9.99474852e-01 3.19219058e-02 -5.56893145e-03 2.01398433e+01] [-3.19113466e-02 9.99488752e-01 1.97477977e-03 7.14034482e-02] [ 5.62912308e-03 -1.79603061e-03 9.99982543e-01 -2.90413588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.89719347 meters Centerline goodness : 0.783314 Centerline is valid? [False, False] Translation: X:20.14, Y:0.07, Z:-2.90 [[ 9.99316284e-01 3.65844581e-02 -5.34250713e-03 2.01402398e+01] [-3.65523516e-02 9.99313796e-01 5.98848428e-03 7.27014785e-02] [ 5.55792654e-03 -5.78910866e-03 9.99967797e-01 -2.90401842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92719347 meters Centerline goodness : 0.855437 Centerline is valid? [False, False] Translation: X:20.14, Y:0.07, Z:-2.90 [[ 9.99136005e-01 4.12227393e-02 -5.28488156e-03 2.01411510e+01] [-4.11687476e-02 9.99102688e-01 9.94755259e-03 7.43216220e-02] [ 5.69020473e-03 -9.72138600e-03 9.99936556e-01 -2.90436773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.95719347 meters Centerline goodness : 0.193180 Centerline is valid? [False, False] Translation: X:20.15, Y:0.08, Z:-2.91 [[ 9.98747279e-01 5.00289474e-02 9.88550452e-04 2.01523899e+01] [-5.00362058e-02 9.98700092e-01 9.72133293e-03 7.63201115e-02] [-5.00917374e-04 -9.75861812e-03 9.99952258e-01 -2.90781870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98719347 meters Centerline goodness : 0.786135 Centerline is valid? [False, False] Translation: X:20.15, Y:0.08, Z:-2.91 [[ 9.98713632e-01 5.06971145e-02 9.40612548e-04 2.01527743e+01] [-5.07041139e-02 9.98660841e-01 1.02770440e-02 7.50139469e-02] [-4.18336442e-04 -1.03115168e-02 9.99946747e-01 -2.90786645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.01719347 meters Centerline goodness : 0.808698 Centerline is valid? [False, False] Translation: X:20.15, Y:0.07, Z:-2.91 [[ 9.98841276e-01 4.81223793e-02 5.84265335e-04 2.01538659e+01] [-4.81253583e-02 9.98814852e-01 7.26923145e-03 7.34934209e-02] [-2.33760181e-04 -7.28892639e-03 9.99973408e-01 -2.90854044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04719347 meters Centerline goodness : 0.810306 Centerline is valid? [False, False] Translation: X:20.16, Y:0.07, Z:-2.91 [[ 9.98875318e-01 4.74141184e-02 -2.85314494e-05 2.01570273e+01] [-4.74128292e-02 9.98852250e-01 6.79748135e-03 6.99363695e-02] [ 3.50795288e-04 -6.78848359e-03 9.99976896e-01 -2.91110459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.07719347 meters Centerline goodness : 0.824184 Centerline is valid? [False, False] Translation: X:20.18, Y:0.06, Z:-2.91 [[ 9.98865409e-01 4.76070571e-02 1.20944642e-03 2.01762353e+01] [-4.76182608e-02 9.98791616e-01 1.21576447e-02 5.99286227e-02] [-6.29195257e-04 -1.22014425e-02 9.99925362e-01 -2.91442716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.10719347 meters Centerline goodness : 0.880525 Centerline is valid? [False, False] Translation: X:20.18, Y:0.06, Z:-2.92 [[ 9.98942391e-01 4.59778661e-02 3.68504942e-04 2.01789750e+01] [-4.59791640e-02 9.98884072e-01 1.07947664e-02 5.66855962e-02] [ 1.28226608e-04 -1.08002933e-02 9.99941667e-01 -2.91603045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.13719347 meters Centerline goodness : 0.880525 Centerline is valid? [False, False] Translation: X:20.18, Y:0.06, Z:-2.92 [[ 9.98942391e-01 4.59778661e-02 3.68504942e-04 2.01789750e+01] [-4.59791640e-02 9.98884072e-01 1.07947664e-02 5.66855962e-02] [ 1.28226608e-04 -1.08002933e-02 9.99941667e-01 -2.91603045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.16719347 meters Centerline goodness : 0.871581 Centerline is valid? [False, False] Translation: X:20.18, Y:0.05, Z:-2.92 [[ 9.99062026e-01 4.33017749e-02 -1.55214155e-04 2.01801646e+01] [-4.32989052e-02 9.99026201e-01 8.47672476e-03 5.32669564e-02] [ 5.22120236e-04 -8.46205321e-03 9.99964060e-01 -2.91653454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.19719347 meters Centerline goodness : 0.896348 Centerline is valid? [False, False] Translation: X:20.18, Y:0.05, Z:-2.92 [[ 9.99118644e-01 4.19623084e-02 -1.04891993e-03 2.01829977e+01] [-4.19528175e-02 9.99088786e-01 7.84588946e-03 4.75815158e-02] [ 1.37719578e-03 -7.79496929e-03 9.99968670e-01 -2.91826374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.22719347 meters Centerline goodness : 0.161168 Centerline is valid? [False, False] Translation: X:20.19, Y:0.04, Z:-2.92 [[ 9.99186391e-01 4.02811190e-02 -1.99701565e-03 2.01857481e+01] [-4.02663666e-02 9.99164835e-01 6.94643406e-03 4.15009975e-02] [ 2.27515795e-03 -6.86036981e-03 9.99973879e-01 -2.91987190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.25719347 meters Centerline goodness : 0.906134 Centerline is valid? [False, False] Translation: X:20.20, Y:0.03, Z:-2.92 [[ 9.99203506e-01 3.98983994e-02 6.86668178e-04 2.02031232e+01] [-3.99040408e-02 9.99111825e-01 1.35361617e-02 2.57697690e-02] [-1.45987110e-04 -1.35527811e-02 9.99908146e-01 -2.92319006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.28719347 meters Centerline goodness : 0.907256 Centerline is valid? [False, False] Translation: X:20.21, Y:0.02, Z:-2.92 [[ 9.99364307e-01 3.56190563e-02 1.50484739e-03 2.02114121e+01] [-3.56427832e-02 9.99145048e-01 2.09467128e-02 1.85437320e-02] [-7.57458681e-04 -2.09870341e-02 9.99779461e-01 -2.92148354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.31719347 meters Centerline goodness : 0.903459 Centerline is valid? [False, False] Translation: X:20.23, Y:-0.01, Z:-2.91 [[ 9.99579879e-01 2.77475379e-02 8.37497215e-03 2.02311849e+01] [-2.82779250e-02 9.97018973e-01 7.17880651e-02 -9.83469275e-03] [-6.35806407e-03 -7.19947323e-02 9.97384747e-01 -2.91030348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.34719347 meters Centerline goodness : 0.133559 Centerline is valid? [False, False] Translation: X:20.24, Y:-0.01, Z:-2.91 [[ 9.99652281e-01 2.54086402e-02 7.05114802e-03 2.02394928e+01] [-2.57889563e-02 9.97837590e-01 6.04572090e-02 -1.49841690e-02] [-5.49976507e-03 -6.06180287e-02 9.98145885e-01 -2.90766254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.37719347 meters Centerline goodness : 0.899342 Centerline is valid? [False, False] Translation: X:20.24, Y:-0.02, Z:-2.91 [[ 9.99732450e-01 2.21700445e-02 6.59682898e-03 2.02404272e+01] [-2.25195409e-02 9.98020545e-01 5.87184998e-02 -2.10790190e-02] [-5.28197910e-03 -5.88513472e-02 9.98252783e-01 -2.90734218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.40719347 meters Centerline goodness : 0.894121 Centerline is valid? [False, False] Translation: X:20.24, Y:-0.03, Z:-2.91 [[ 9.99843724e-01 1.66175823e-02 6.03192520e-03 2.02422554e+01] [-1.69183942e-02 9.98407358e-01 5.38192760e-02 -2.61287851e-02] [-5.12797226e-03 -5.39129159e-02 9.98532474e-01 -2.90836442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.43719347 meters Centerline goodness : 0.896683 Centerline is valid? [False, False] Translation: X:20.24, Y:-0.03, Z:-2.91 [[ 9.99925604e-01 1.10013804e-02 5.26839857e-03 2.02445839e+01] [-1.12466214e-02 9.98733750e-01 4.90347764e-02 -3.15939788e-02] [-4.72227724e-03 -4.90903801e-02 9.98783177e-01 -2.90949449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46719346999998 meters Centerline goodness : 0.881780 Centerline is valid? [False, False] Translation: X:20.24, Y:-0.04, Z:-2.91 [[ 9.99985520e-01 -6.25860662e-04 5.34484216e-03 2.02440233e+01] [ 4.12921828e-04 9.99209626e-01 3.97486291e-02 -4.34217576e-02] [-5.36549484e-03 -3.97458466e-02 9.99195416e-01 -2.90881009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.49719346999998 meters Centerline goodness : 0.865885 Centerline is valid? [False, False] Translation: X:20.25, Y:-0.05, Z:-2.91 [[ 9.99967032e-01 -6.62000718e-03 4.70214591e-03 2.02463437e+01] [ 6.45364199e-03 9.99381933e-01 3.45557852e-02 -4.86596749e-02] [-4.92799922e-03 -3.45243000e-02 9.99391709e-01 -2.90997477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52719347 meters Centerline goodness : 0.868663 Centerline is valid? [False, False] Translation: X:20.25, Y:-0.05, Z:-2.91 [[ 9.99917292e-01 -1.22384519e-02 3.95340111e-03 2.02493024e+01] [ 1.21164620e-02 9.99490373e-01 2.95327992e-02 -5.30414617e-02] [-4.31282209e-03 -2.94824554e-02 9.99555994e-01 -2.91167000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.55719347 meters Centerline goodness : 0.868169 Centerline is valid? [False, False] Translation: X:20.25, Y:-0.06, Z:-2.91 [[ 9.99866609e-01 -1.59226064e-02 3.63800863e-03 2.02506076e+01] [ 1.58201005e-02 9.99519540e-01 2.66535767e-02 -5.68364973e-02] [-4.06065512e-03 -2.65924677e-02 9.99638110e-01 -2.91237309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58719347 meters Centerline goodness : 0.870053 Centerline is valid? [False, False] Translation: X:20.25, Y:-0.06, Z:-2.91 [[ 9.99776069e-01 -2.09720194e-02 2.82600556e-03 2.02540190e+01] [ 2.09031613e-02 9.99527875e-01 2.25185439e-02 -6.19884115e-02] [-3.29693067e-03 -2.24544288e-02 9.99742431e-01 -2.91438834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.61719347 meters Centerline goodness : 0.867217 Centerline is valid? [False, False] Translation: X:20.26, Y:-0.06, Z:-2.92 [[ 9.99720517e-01 -2.35298658e-02 2.28744430e-03 2.02561879e+01] [ 2.34789633e-02 9.99520459e-01 2.01888780e-02 -6.40932274e-02] [-2.76138897e-03 -2.01295287e-02 9.99793567e-01 -2.91569017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64719347 meters Centerline goodness : 0.865435 Centerline is valid? [False, False] Translation: X:20.26, Y:-0.07, Z:-2.92 [[ 9.99654028e-01 -2.62452113e-02 1.73575686e-03 2.02581841e+01] [ 2.62106356e-02 9.99501407e-01 1.76051096e-02 -6.61396269e-02] [-2.19694124e-03 -1.75535235e-02 9.99843511e-01 -2.91677738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.67719347 meters Centerline goodness : 0.866896 Centerline is valid? [False, False] Translation: X:20.26, Y:-0.07, Z:-2.92 [[ 9.99580875e-01 -2.89310160e-02 1.03459571e-03 2.02605681e+01] [ 2.89123731e-02 9.99470508e-01 1.49257284e-02 -6.80666242e-02] [-1.46586438e-03 -1.48895600e-02 9.99888070e-01 -2.91806738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70719347 meters Centerline goodness : 0.864043 Centerline is valid? [False, False] Translation: X:20.26, Y:-0.07, Z:-2.92 [[ 9.99532777e-01 -3.05596603e-02 5.79079698e-04 2.02630938e+01] [ 3.05492737e-02 9.99444899e-01 1.32904350e-02 -6.87630441e-02] [-9.84909430e-04 -1.32665349e-02 9.99911511e-01 -2.92002866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.73719347 meters Centerline goodness : 0.864805 Centerline is valid? [False, False] Translation: X:20.28, Y:-0.07, Z:-2.92 [[ 9.99703649e-01 -2.43381294e-02 -5.19900708e-04 2.02817956e+01] [ 2.43393746e-02 9.99700525e-01 2.54057218e-03 -6.67349542e-02] [ 4.57912236e-04 -2.55247333e-03 9.99996638e-01 -2.92063597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76719347 meters Centerline goodness : 0.863441 Centerline is valid? [False, False] Translation: X:20.28, Y:-0.07, Z:-2.92 [[ 9.99760775e-01 -2.18423326e-02 -1.14211747e-03 2.02842632e+01] [ 2.18476437e-02 9.99749473e-01 4.86532804e-03 -6.57388591e-02] [ 1.03556122e-03 -4.88911671e-03 9.99987512e-01 -2.92233670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.79719347 meters Centerline goodness : 0.861413 Centerline is valid? [False, False] Translation: X:20.31, Y:-0.06, Z:-2.93 [[ 9.99894619e-01 -1.43628691e-02 -2.11172192e-03 2.03075880e+01] [ 1.43505493e-02 9.99880563e-01 -5.73779189e-03 -6.25181699e-02] [ 2.19388086e-03 5.70688286e-03 9.99981309e-01 -2.92514955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.82719347 meters Centerline goodness : 0.863033 Centerline is valid? [False, False] Translation: X:20.31, Y:-0.06, Z:-2.93 [[ 9.99908425e-01 -1.32131942e-02 -2.92442378e-03 2.03105828e+01] [ 1.31985554e-02 9.99900545e-01 -4.96963238e-03 -6.12934703e-02] [ 2.98979765e-03 4.93057912e-03 9.99983375e-01 -2.92705815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.85719347 meters Centerline goodness : 0.861856 Centerline is valid? [False, False] Translation: X:20.32, Y:-0.06, Z:-2.93 [[ 9.99952849e-01 -9.59669962e-03 1.48437951e-03 2.03225309e+01] [ 9.61256580e-03 9.99892422e-01 -1.10789251e-02 -5.93671908e-02] [-1.37789871e-03 1.10926714e-02 9.99937525e-01 -2.93101646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.88719347 meters Centerline goodness : 0.862894 Centerline is valid? [False, False] Translation: X:20.33, Y:-0.06, Z:-2.93 [[ 9.99955204e-01 -6.93154991e-03 6.44547227e-03 2.03324825e+01] [ 7.05026294e-03 9.99802492e-01 -1.85814533e-02 -5.76414573e-02] [-6.31540097e-03 1.86260632e-02 9.99806574e-01 -2.93377343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.91719347 meters Centerline goodness : 0.863102 Centerline is valid? [False, False] Translation: X:20.33, Y:-0.06, Z:-2.93 [[ 9.99955272e-01 -6.93138988e-03 6.43503076e-03 2.03322717e+01] [ 7.05060981e-03 9.99800416e-01 -1.86926795e-02 -5.71048967e-02] [-6.30418019e-03 1.87372143e-02 9.99804568e-01 -2.93322257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.94719347 meters Centerline goodness : 0.859767 Centerline is valid? [False, False] Translation: X:20.35, Y:-0.06, Z:-2.93 [[ 9.99969736e-01 -5.33366954e-03 5.66390266e-03 2.03529073e+01] [ 5.43406304e-03 9.99825727e-01 -1.78602216e-02 -5.75860226e-02] [-5.56765507e-03 1.78904591e-02 9.99824451e-01 -2.93387355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.97719347 meters Centerline goodness : 0.861088 Centerline is valid? [False, False] Translation: X:20.36, Y:-0.06, Z:-2.94 [[ 9.99981245e-01 -3.67944602e-03 4.89609998e-03 2.03560118e+01] [ 3.75875092e-03 9.99860274e-01 -1.62881707e-02 -5.73367068e-02] [-4.83548442e-03 1.63062684e-02 9.99855351e-01 -2.93604782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.00719347 meters Centerline goodness : 0.857547 Centerline is valid? [False, False] Translation: X:20.36, Y:-0.06, Z:-2.94 [[ 9.99989320e-01 -1.71881017e-03 4.29009907e-03 2.03589591e+01] [ 1.78025783e-03 9.99895296e-01 -1.43606501e-02 -5.66834978e-02] [-4.26496664e-03 1.43681342e-02 9.99887677e-01 -2.93836772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.03719347 meters Centerline goodness : 0.855858 Centerline is valid? [False, False] Translation: X:20.38, Y:-0.05, Z:-2.94 [[ 9.99993934e-01 1.13720290e-03 3.29213126e-03 2.03809837e+01] [-1.08834483e-03 9.99889811e-01 -1.48048056e-02 -5.42907966e-02] [-3.30860457e-03 1.48011328e-02 9.99884983e-01 -2.94061868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.06719347 meters Centerline goodness : 0.857107 Centerline is valid? [False, False] Translation: X:20.40, Y:-0.05, Z:-2.94 [[ 9.99987243e-01 1.49380038e-03 4.82525218e-03 2.03989415e+01] [-1.40733548e-03 9.99839271e-01 -1.78732129e-02 -5.27242971e-02] [-4.85117564e-03 1.78661942e-02 9.99828618e-01 -2.94097017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.09719347 meters Centerline goodness : 0.858657 Centerline is valid? [False, False] Translation: X:20.42, Y:-0.05, Z:-2.94 [[ 9.99974761e-01 4.94700211e-04 7.08743808e-03 2.04158388e+01] [-3.27740683e-04 9.99722867e-01 -2.35389290e-02 -4.97168060e-02] [-7.09711863e-03 2.35360121e-02 9.99697798e-01 -2.94127603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.12719347 meters Centerline goodness : 0.856934 Centerline is valid? [False, False] Translation: X:20.42, Y:-0.05, Z:-2.94 [[ 9.99977208e-01 1.87959206e-03 6.48459916e-03 2.04183103e+01] [-1.73400931e-03 9.99747953e-01 -2.23835776e-02 -4.92074419e-02] [-6.52503673e-03 2.23718231e-02 9.99728426e-01 -2.94292496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.15719347 meters Centerline goodness : 0.854386 Centerline is valid? [False, False] Translation: X:20.42, Y:-0.05, Z:-2.94 [[ 9.99978834e-01 2.05296529e-03 6.17383449e-03 2.04195302e+01] [-1.91218069e-03 9.99739959e-01 -2.27235145e-02 -4.85937117e-02] [-6.21887963e-03 2.27112280e-02 9.99722724e-01 -2.94350193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.18719347 meters Centerline goodness : 0.852993 Centerline is valid? [False, False] Translation: X:20.44, Y:-0.05, Z:-2.94 [[ 9.99998515e-01 1.56630245e-03 7.19433686e-04 2.04396884e+01] [-1.54882636e-03 9.99718355e-01 -2.36814745e-02 -4.87968283e-02] [-7.56323412e-04 2.36803250e-02 9.99719296e-01 -2.94265491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.21719346999998 meters Centerline goodness : 0.852641 Centerline is valid? [False, False] Translation: X:20.45, Y:-0.05, Z:-2.94 [[ 9.99998441e-01 1.34876030e-03 1.13931439e-03 2.04503721e+01] [-1.30776568e-03 9.99377775e-01 -3.52470180e-02 -4.71637968e-02] [-1.18614526e-03 3.52454732e-02 9.99377981e-01 -2.94340791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24719346999998 meters Centerline goodness : 0.851450 Centerline is valid? [False, False] Translation: X:20.45, Y:-0.05, Z:-2.94 [[ 9.99994222e-01 -3.25545662e-03 9.78908166e-04 2.04512681e+01] [ 3.29172199e-03 9.99207727e-01 -3.96621103e-02 -4.67567427e-02] [-8.49014324e-04 3.96651034e-02 9.99212669e-01 -2.94424851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.27719347 meters Centerline goodness : 0.848501 Centerline is valid? [False, False] Translation: X:20.45, Y:-0.05, Z:-2.95 [[ 9.99986293e-01 -5.22348060e-03 3.59959752e-04 2.04535438e+01] [ 5.23381930e-03 9.99153174e-01 -4.08110549e-02 -4.78760893e-02] [-1.46479175e-04 4.08123795e-02 9.99166817e-01 -2.94568614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30719347 meters Centerline goodness : 0.848879 Centerline is valid? [False, False] Translation: X:20.46, Y:-0.05, Z:-2.95 [[ 9.99949663e-01 -8.95620258e-03 4.52295502e-03 2.04630609e+01] [ 9.10203614e-03 9.99403170e-01 -3.33235072e-02 -5.12347169e-02] [-4.22180351e-03 3.33629979e-02 9.99434383e-01 -2.94780275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.33719347 meters Centerline goodness : 0.850424 Centerline is valid? [False, False] Translation: X:20.46, Y:-0.05, Z:-2.95 [[ 9.99903369e-01 -1.32174727e-02 4.30721181e-03 2.04639007e+01] [ 1.33687953e-02 9.99217113e-01 -3.72348886e-02 -5.20330172e-02] [-3.81168863e-03 3.72888728e-02 9.99297259e-01 -2.94829892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36719347 meters Centerline goodness : 0.849793 Centerline is valid? [False, False] Translation: X:20.47, Y:-0.05, Z:-2.95 [[ 9.99863877e-01 -1.60368873e-02 3.87881655e-03 2.04663889e+01] [ 1.61780783e-02 9.99083813e-01 -3.96207503e-02 -5.28084456e-02] [-3.23986932e-03 3.96781088e-02 9.99207261e-01 -2.95027335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.39719347 meters Centerline goodness : 0.847009 Centerline is valid? [False, False] Translation: X:20.47, Y:-0.05, Z:-2.95 [[ 9.99825375e-01 -1.83807634e-02 3.37151869e-03 2.04693364e+01] [ 1.85043764e-02 9.98975892e-01 -4.12886901e-02 -5.22113065e-02] [-2.60914825e-03 4.13438679e-02 9.99141570e-01 -2.95280118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42719347 meters Centerline goodness : 0.846096 Centerline is valid? [False, False] Translation: X:20.48, Y:-0.05, Z:-2.96 [[ 9.99805616e-01 -1.77012788e-02 8.68303454e-03 2.04795602e+01] [ 1.79586051e-02 9.99373070e-01 -3.05115523e-02 -5.44088651e-02] [-8.13749739e-03 3.06615565e-02 9.99496698e-01 -2.95629581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.45719347 meters Centerline goodness : 0.848784 Centerline is valid? [False, False] Translation: X:20.48, Y:-0.06, Z:-2.96 [[ 9.99869877e-01 -1.37443745e-02 8.44516850e-03 2.04799790e+01] [ 1.39614303e-02 9.99559112e-01 -2.62041903e-02 -5.55106273e-02] [-8.08128492e-03 2.63186872e-02 9.99620938e-01 -2.95642044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48719347 meters Centerline goodness : 0.846943 Centerline is valid? [False, False] Translation: X:20.50, Y:-0.06, Z:-2.96 [[ 9.99918644e-01 -1.01064231e-02 7.78243580e-03 2.05011849e+01] [ 1.02893315e-02 9.99663007e-01 -2.38327866e-02 -5.58533286e-02] [-7.53894895e-03 2.39109237e-02 9.99685667e-01 -2.95776006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.51719347 meters Centerline goodness : 0.847882 Centerline is valid? [False, False] Translation: X:20.50, Y:-0.05, Z:-2.96 [[ 9.99959997e-01 -5.02130979e-03 7.40210569e-03 2.05014652e+01] [ 5.17073277e-03 9.99780409e-01 -2.03075699e-02 -5.23974100e-02] [-7.29850965e-03 2.03450319e-02 9.99766378e-01 -2.95692896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54719347 meters Centerline goodness : 0.847870 Centerline is valid? [False, False] Translation: X:20.53, Y:-0.05, Z:-2.95 [[ 9.99982732e-01 6.76767982e-04 5.83756702e-03 2.05275914e+01] [-5.29033219e-04 9.99680469e-01 -2.52721123e-02 -4.99696391e-02] [-5.85280509e-03 2.52685876e-02 9.99663565e-01 -2.95466939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.57719347 meters Centerline goodness : 0.850210 Centerline is valid? [False, False] Translation: X:20.53, Y:-0.05, Z:-2.95 [[ 9.99973242e-01 4.56422142e-03 5.71700199e-03 2.05275282e+01] [-4.43927521e-03 9.99755095e-01 -2.16804537e-02 -4.88628077e-02] [-5.81455626e-03 2.16544942e-02 9.99748605e-01 -2.95399003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.60719347 meters Centerline goodness : 0.850556 Centerline is valid? [False, False] Translation: X:20.54, Y:-0.05, Z:-2.95 [[ 9.99944253e-01 5.49720443e-03 9.01509860e-03 2.05443706e+01] [-5.27107614e-03 9.99675600e-01 -2.49180695e-02 -4.53294358e-02] [-9.14915382e-03 2.48691611e-02 9.99648847e-01 -2.95455627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.63719347 meters Centerline goodness : 0.853351 Centerline is valid? [False, False] Translation: X:20.55, Y:-0.04, Z:-2.95 [[ 9.99889591e-01 9.86138193e-03 1.11156709e-02 2.05522876e+01] [-9.49279948e-03 9.99418900e-01 -3.27375740e-02 -4.18979984e-02] [-1.14320493e-02 3.26284407e-02 9.99402168e-01 -2.95380281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.66719347 meters Centerline goodness : 0.853248 Centerline is valid? [False, False] Translation: X:20.55, Y:-0.04, Z:-2.95 [[ 9.99889801e-01 9.93489802e-03 1.10310399e-02 2.05520574e+01] [-9.56830154e-03 9.99416040e-01 -3.28028295e-02 -4.15161596e-02] [-1.13504910e-02 3.26936663e-02 9.99400966e-01 -2.95319145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.69719347 meters Centerline goodness : 0.852146 Centerline is valid? [False, False] Translation: X:20.55, Y:-0.04, Z:-2.95 [[ 9.99891667e-01 9.76006483e-03 1.10179891e-02 2.05519999e+01] [-9.39600560e-03 9.99423529e-01 -3.26239879e-02 -4.22461311e-02] [-1.13300497e-02 3.25169285e-02 9.99406964e-01 -2.95315478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.72719347 meters Centerline goodness : 0.851896 Centerline is valid? [False, False] Translation: X:20.56, Y:-0.04, Z:-2.95 [[ 9.99950602e-01 7.01266977e-03 7.04391620e-03 2.05603429e+01] [-6.81193522e-03 9.99581110e-01 -2.81283169e-02 -4.35379950e-02] [-7.23822017e-03 2.80789447e-02 9.99579502e-01 -2.95093074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.75719347 meters Centerline goodness : 0.851663 Centerline is valid? [False, False] Translation: X:20.56, Y:-0.04, Z:-2.95 [[ 9.99956471e-01 6.35933300e-03 6.82745864e-03 2.05614624e+01] [-6.16044388e-03 9.99567164e-01 -2.87668868e-02 -4.23891112e-02] [-7.00744168e-03 2.87235745e-02 9.99562830e-01 -2.95193258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.78719347 meters Centerline goodness : 0.850845 Centerline is valid? [False, False] Translation: X:20.57, Y:-0.04, Z:-2.96 [[ 9.99962355e-01 6.14153293e-03 6.12950358e-03 2.05653067e+01] [-5.96190193e-03 9.99564352e-01 -2.89060747e-02 -4.16173873e-02] [-6.30436088e-03 2.88684430e-02 9.99563339e-01 -2.95512882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.81719347 meters Centerline goodness : 0.849746 Centerline is valid? [False, False] Translation: X:20.57, Y:-0.04, Z:-2.96 [[ 9.99971644e-01 5.01301935e-03 5.61969541e-03 2.05677828e+01] [-4.84175875e-03 9.99535610e-01 -3.00852422e-02 -4.08397729e-02] [-5.76790358e-03 3.00571799e-02 9.99531539e-01 -2.95707480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.84719347 meters Centerline goodness : 0.848964 Centerline is valid? [False, False] Translation: X:20.57, Y:-0.04, Z:-2.96 [[ 9.99981299e-01 3.74494482e-03 4.83498915e-03 2.05710063e+01] [-3.59149640e-03 9.99501548e-01 -3.13648908e-02 -4.17350931e-02] [-4.95003892e-03 3.13469394e-02 9.99496306e-01 -2.95940873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.87719347 meters Centerline goodness : 0.849473 Centerline is valid? [False, False] Translation: X:20.57, Y:-0.04, Z:-2.96 [[ 9.99977713e-01 5.27636093e-03 4.09064592e-03 2.05739582e+01] [-5.15189753e-03 9.99540753e-01 -2.98620470e-02 -4.16980792e-02] [-4.24633024e-03 2.98403069e-02 9.99545659e-01 -2.96140321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.90719347 meters Centerline goodness : 0.849839 Centerline is valid? [False, False] Translation: X:20.60, Y:-0.04, Z:-2.96 [[ 9.99971800e-01 7.09125018e-03 2.47272117e-03 2.05966282e+01] [-7.01510066e-03 9.99538608e-01 -2.95526661e-02 -4.02699740e-02] [-2.68114563e-03 2.95344863e-02 9.99560166e-01 -2.96407691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.93719347 meters Centerline goodness : 0.848012 Centerline is valid? [False, False] Translation: X:20.60, Y:-0.04, Z:-2.97 [[ 9.99961173e-01 8.62822420e-03 1.79082627e-03 2.05996648e+01] [-8.57455090e-03 9.99568899e-01 -2.80801084e-02 -3.90355016e-02] [-2.03233572e-03 2.80636625e-02 9.99604072e-01 -2.96614854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96719346999998 meters Centerline goodness : 0.846903 Centerline is valid? [False, False] Translation: X:20.59, Y:-0.04, Z:-2.97 [[ 9.99973770e-01 7.22146182e-03 5.56821976e-04 2.05919071e+01] [-7.21028196e-03 9.99812291e-01 -1.79832026e-02 -4.15050526e-02] [-6.86582466e-04 1.79787160e-02 9.99838134e-01 -2.96723103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.99719346999998 meters Centerline goodness : 0.847441 Centerline is valid? [False, False] Translation: X:20.59, Y:-0.04, Z:-2.97 [[ 9.99975902e-01 6.93579941e-03 2.99292271e-04 2.05922896e+01] [-6.92942876e-03 9.99819872e-01 -1.76693583e-02 -4.33539237e-02] [-4.21789485e-04 1.76668586e-02 9.99843840e-01 -2.96713997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02719347 meters Centerline goodness : 0.848551 Centerline is valid? [False, False] Translation: X:20.60, Y:-0.05, Z:-2.97 [[ 9.99985139e-01 3.10983927e-03 4.47784376e-03 2.06010501e+01] [-3.06039888e-03 9.99934749e-01 -1.10059550e-02 -4.55103572e-02] [-4.51177833e-03 1.09920875e-02 9.99929406e-01 -2.96843713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.05719347 meters Centerline goodness : 0.848551 Centerline is valid? [False, False] Translation: X:20.60, Y:-0.05, Z:-2.97 [[ 9.99985139e-01 3.10983927e-03 4.47784376e-03 2.06010501e+01] [-3.06039888e-03 9.99934749e-01 -1.10059550e-02 -4.55103572e-02] [-4.51177833e-03 1.09920875e-02 9.99929406e-01 -2.96843713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08719347 meters Centerline goodness : 0.848892 Centerline is valid? [False, False] Translation: X:20.60, Y:-0.05, Z:-2.97 [[ 9.99990772e-01 -1.00193231e-03 4.17759562e-03 2.06015017e+01] [ 1.06336558e-03 9.99890954e-01 -1.47292179e-02 -4.61528943e-02] [-4.16238239e-03 1.47335242e-02 9.99882792e-01 -2.96826610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.11719347 meters Centerline goodness : 0.848921 Centerline is valid? [False, False] Translation: X:20.60, Y:-0.05, Z:-2.97 [[ 9.99992260e-01 -1.30621373e-03 3.71120089e-03 2.06026212e+01] [ 1.35925810e-03 9.99896444e-01 -1.43266632e-02 -4.82766741e-02] [-3.69210289e-03 1.43315967e-02 9.99890481e-01 -2.96867896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14719347 meters Centerline goodness : 0.847584 Centerline is valid? [False, False] Translation: X:20.61, Y:-0.05, Z:-2.97 [[ 9.99992054e-01 -2.58864740e-03 3.03148676e-03 2.06052311e+01] [ 2.63439137e-03 9.99881244e-01 -1.51841199e-02 -4.93433051e-02] [-2.99182042e-03 1.51919854e-02 9.99880119e-01 -2.97037306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.17719347 meters Centerline goodness : 0.847370 Centerline is valid? [False, False] Translation: X:20.61, Y:-0.05, Z:-2.97 [[ 9.99992692e-01 -2.66108220e-03 2.74500416e-03 2.06060156e+01] [ 2.70148976e-03 9.99886480e-01 -1.48232566e-02 -5.08214203e-02] [-2.70524664e-03 1.48305639e-02 9.99886362e-01 -2.97073984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20719347 meters Centerline goodness : 0.852151 Centerline is valid? [False, False] Translation: X:20.61, Y:-0.05, Z:-2.97 [[ 9.99993292e-01 -2.52228038e-03 2.65612326e-03 2.06054395e+01] [ 2.56051360e-03 9.99891726e-01 -1.44907223e-02 -5.11007135e-02] [-2.61928601e-03 1.44974262e-02 9.99891476e-01 -2.96963312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.23719347 meters Centerline goodness : 0.852474 Centerline is valid? [False, False] Translation: X:20.62, Y:-0.05, Z:-2.97 [[ 9.99985615e-01 -5.33945071e-04 5.33706758e-03 2.06235450e+01] [ 6.05496959e-04 9.99909845e-01 -1.34139795e-02 -5.15015808e-02] [-5.32942409e-03 1.34170181e-02 9.99895785e-01 -2.96954836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26719347 meters Centerline goodness : 0.854382 Centerline is valid? [False, False] Translation: X:20.62, Y:-0.05, Z:-2.97 [[ 9.99982230e-01 3.07368136e-03 5.10807448e-03 2.06234336e+01] [-3.02486385e-03 9.99949944e-01 -9.53733138e-03 -5.17040650e-02] [-5.13713351e-03 9.52171067e-03 9.99941472e-01 -2.96870746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.29719347 meters Centerline goodness : 0.858700 Centerline is valid? [False, False] Translation: X:20.63, Y:-0.05, Z:-2.97 [[ 9.99978477e-01 4.81565215e-03 4.45584728e-03 2.06252026e+01] [-4.77907709e-03 9.99955099e-01 -8.18288531e-03 -5.05315490e-02] [-4.49505314e-03 8.16141436e-03 9.99956592e-01 -2.96925465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.32719347 meters Centerline goodness : 0.859492 Centerline is valid? [False, False] Translation: X:20.63, Y:-0.05, Z:-2.97 [[ 9.99950856e-01 8.92082797e-03 4.32478915e-03 2.06254756e+01] [-8.89888791e-03 9.99947571e-01 -5.06606889e-03 -4.74157778e-02] [-4.36975594e-03 5.02733411e-03 9.99977815e-01 -2.96900081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.35719347 meters Centerline goodness : 0.859047 Centerline is valid? [False, False] Translation: X:20.64, Y:-0.04, Z:-2.97 [[ 9.99878289e-01 1.26170393e-02 9.17697119e-03 2.06378237e+01] [-1.25107565e-02 9.99855050e-01 -1.15481152e-02 -4.45361904e-02] [-9.32134401e-03 1.14318989e-02 9.99891206e-01 -2.97370304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.38719347 meters Centerline goodness : 0.858118 Centerline is valid? [False, False] Translation: X:20.64, Y:-0.04, Z:-2.97 [[ 9.99873117e-01 1.30594108e-02 9.12148975e-03 2.06381887e+01] [-1.29473753e-02 9.99841317e-01 -1.22354928e-02 -4.19559741e-02] [-9.27983065e-03 1.21158410e-02 9.99883539e-01 -2.97380610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.41719347 meters Centerline goodness : 0.860448 Centerline is valid? [False, False] Translation: X:20.64, Y:-0.04, Z:-2.97 [[ 9.99863806e-01 1.38199828e-02 9.02097706e-03 2.06386061e+01] [-1.37059417e-02 9.99826887e-01 -1.25834843e-02 -3.96931415e-02] [-9.19331895e-03 1.24581295e-02 9.99880132e-01 -2.97380307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.44719347 meters Centerline goodness : 0.863021 Centerline is valid? [False, False] Translation: X:20.64, Y:-0.04, Z:-2.97 [[ 9.99786421e-01 1.85640632e-02 9.08232440e-03 2.06389764e+01] [-1.84818894e-02 9.99788241e-01 -9.04944453e-03 -3.70802391e-02] [-9.24839560e-03 8.87965324e-03 9.99917806e-01 -2.97398568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.47719347 meters Centerline goodness : 0.860382 Centerline is valid? [False, False] Translation: X:20.64, Y:-0.04, Z:-2.97 [[ 9.99701882e-01 2.26838568e-02 9.03268995e-03 2.06394762e+01] [-2.26410477e-02 9.99732070e-01 -4.81374796e-03 -3.76047071e-02] [-9.13946419e-03 4.60780333e-03 9.99947618e-01 -2.97438147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.50719347 meters Centerline goodness : 0.859187 Centerline is valid? [False, False] Translation: X:20.64, Y:-0.04, Z:-2.98 [[ 9.99666265e-01 2.44121387e-02 8.45018693e-03 2.06422022e+01] [-2.43851346e-02 9.99697244e-01 -3.28410842e-03 -3.82885414e-02] [-8.52780070e-03 3.07695345e-03 9.99958904e-01 -2.97655935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.53719347 meters Centerline goodness : 0.858222 Centerline is valid? [False, False] Translation: X:20.65, Y:-0.04, Z:-2.98 [[ 9.99632676e-01 2.60422936e-02 7.50416046e-03 2.06468855e+01] [-2.60314127e-02 9.99659933e-01 -1.54404000e-03 -4.13691083e-02] [-7.54181889e-03 1.34812894e-03 9.99970651e-01 -2.98043624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.56719347 meters Centerline goodness : 0.857343 Centerline is valid? [False, False] Translation: X:20.65, Y:-0.04, Z:-2.98 [[ 9.99624703e-01 2.63827737e-02 7.37580229e-03 2.06477532e+01] [-2.63767478e-02 9.99651656e-01 -9.13083048e-04 -4.30530967e-02] [-7.39732264e-03 7.18190693e-04 9.99972382e-01 -2.98135986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.59719347 meters Centerline goodness : 0.857636 Centerline is valid? [False, False] Translation: X:20.65, Y:-0.04, Z:-2.98 [[ 9.99698602e-01 2.34635005e-02 7.22276845e-03 2.06481506e+01] [-2.34323851e-02 9.99715904e-01 -4.36287809e-03 -4.27649399e-02] [-7.32308488e-03 4.19231644e-03 9.99964398e-01 -2.98171782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.62719347 meters Centerline goodness : 0.857808 Centerline is valid? [False, False] Translation: X:20.65, Y:-0.05, Z:-2.98 [[ 9.99689649e-01 2.39039206e-02 7.01489481e-03 2.06485613e+01] [-2.38809411e-02 9.99709225e-01 -3.34150324e-03 -4.55213050e-02] [-7.09273008e-03 3.17294391e-03 9.99969812e-01 -2.98184239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.65719347 meters Centerline goodness : 0.856526 Centerline is valid? [False, False] Translation: X:20.65, Y:-0.05, Z:-2.98 [[ 9.99710050e-01 2.32305914e-02 6.33687128e-03 2.06509084e+01] [-2.32093481e-02 9.99724826e-01 -3.40554327e-03 -4.89756263e-02] [-6.41424032e-03 3.25748118e-03 9.99974123e-01 -2.98339503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.68719347 meters Centerline goodness : 0.858580 Centerline is valid? [False, False] Translation: X:20.65, Y:-0.06, Z:-2.98 [[ 9.99765218e-01 2.07950421e-02 6.08887551e-03 2.06508011e+01] [-2.07684094e-02 9.99774609e-01 -4.40504802e-03 -5.87553875e-02] [-6.17910629e-03 4.27755753e-03 9.99971760e-01 -2.98317241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.71719346999998 meters Centerline goodness : 0.859662 Centerline is valid? [False, False] Translation: X:20.64, Y:-0.06, Z:-2.98 [[ 9.99858580e-01 1.68169590e-02 -9.99819467e-05 2.06400117e+01] [-1.68169097e-02 9.99858473e-01 4.74935736e-04 -6.39861728e-02] [ 1.07954771e-04 -4.73187183e-04 9.99999882e-01 -2.97874584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74719346999998 meters Centerline goodness : 0.861320 Centerline is valid? [False, False] Translation: X:20.64, Y:-0.07, Z:-2.98 [[ 9.99907765e-01 1.35768841e-02 -3.60369805e-04 2.06404878e+01] [-1.35776440e-02 9.99905405e-01 -2.19745636e-03 -6.63712416e-02] [ 3.30501105e-04 2.20214665e-03 9.99997521e-01 -2.97906086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.77719347 meters Centerline goodness : 0.861070 Centerline is valid? [False, False] Translation: X:20.64, Y:-0.07, Z:-2.98 [[ 9.99940890e-01 1.08707828e-02 -2.07684580e-04 2.06395306e+01] [-1.08712895e-02 9.99937478e-01 -2.61820755e-03 -7.49764082e-02] [ 1.79209629e-04 2.62031059e-03 9.99996551e-01 -2.97790886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80719347 meters Centerline goodness : 0.861587 Centerline is valid? [False, False] Translation: X:20.64, Y:-0.08, Z:-2.98 [[ 9.99971810e-01 7.50156784e-03 -3.26076124e-04 2.06394973e+01] [-7.50318435e-03 9.99957929e-01 -5.27666895e-03 -7.87058971e-02] [ 2.86479115e-04 5.27896681e-03 9.99986025e-01 -2.97761819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.83719347 meters Centerline goodness : 0.860250 Centerline is valid? [False, False] Translation: X:20.64, Y:-0.08, Z:-2.98 [[ 9.99992012e-01 3.96253707e-03 -5.23334053e-04 2.06397646e+01] [-3.96656703e-03 9.99960625e-01 -7.93814836e-03 -8.29590884e-02] [ 4.91858240e-04 7.94016079e-03 9.99968355e-01 -2.97751259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86719347 meters Centerline goodness : 0.860139 Centerline is valid? [False, False] Translation: X:20.64, Y:-0.09, Z:-2.98 [[ 9.99998419e-01 -1.64719306e-03 -6.69216176e-04 2.06405752e+01] [ 1.63919200e-03 9.99929205e-01 -1.17854935e-02 -9.44459108e-02] [ 6.88581782e-04 1.17843779e-02 9.99930325e-01 -2.97819724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.89719347 meters Centerline goodness : 0.860021 Centerline is valid? [False, False] Translation: X:20.65, Y:-0.10, Z:-2.98 [[ 9.99979060e-01 -5.38370939e-03 3.59092255e-03 2.06522020e+01] [ 5.40579136e-03 9.99966364e-01 -6.16829127e-03 -1.00727439e-01] [-3.55759348e-03 6.18757389e-03 9.99974528e-01 -2.98208677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92719347 meters Centerline goodness : 0.861482 Centerline is valid? [False, False] Translation: X:20.65, Y:-0.11, Z:-2.98 [[ 9.99968806e-01 -7.22994080e-03 3.18035246e-03 2.06539991e+01] [ 7.25295734e-03 9.99947152e-01 -7.28610416e-03 -1.05126430e-01] [-3.12750628e-03 7.30894384e-03 9.99968399e-01 -2.98329250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.95719347 meters Centerline goodness : 0.862488 Centerline is valid? [False, False] Translation: X:20.65, Y:-0.11, Z:-2.98 [[ 9.99971034e-01 -7.00034998e-03 2.98780150e-03 2.06542739e+01] [ 7.01803437e-03 9.99957671e-01 -5.94999950e-03 -1.09316805e-01] [-2.94602295e-03 5.97079565e-03 9.99977835e-01 -2.98307778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98719347 meters Centerline goodness : 0.864756 Centerline is valid? [False, False] Translation: X:20.65, Y:-0.11, Z:-2.98 [[ 9.99978722e-01 -5.77856695e-03 3.02700445e-03 2.06531495e+01] [ 5.78922657e-03 9.99977031e-01 -3.52466488e-03 -1.14888654e-01] [-3.00656741e-03 3.54211390e-03 9.99989207e-01 -2.98140150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.01719347 meters Centerline goodness : 0.865238 Centerline is valid? [False, False] Translation: X:20.65, Y:-0.12, Z:-2.98 [[ 9.99983075e-01 -5.03519003e-03 2.91488074e-03 2.06529567e+01] [ 5.04218966e-03 9.99984410e-01 -2.39899602e-03 -1.17407274e-01] [-2.90275589e-03 2.41365280e-03 9.99992874e-01 -2.98080820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04719347 meters Centerline goodness : 0.864863 Centerline is valid? [False, False] Translation: X:20.65, Y:-0.12, Z:-2.98 [[ 9.99986768e-01 -4.32899256e-03 2.77932221e-03 2.06529348e+01] [ 4.33248630e-03 9.99989831e-01 -1.25225994e-03 -1.20580534e-01] [-2.77387292e-03 1.26428475e-03 9.99995354e-01 -2.98029219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.07719347 meters Centerline goodness : 0.864366 Centerline is valid? [False, False] Translation: X:20.67, Y:-0.12, Z:-2.98 [[ 9.99998393e-01 1.87616865e-04 1.78311829e-03 2.06695715e+01] [-1.63028313e-04 9.99905041e-01 -1.37797914e-02 -1.23613458e-01] [-1.78553429e-03 1.37794786e-02 9.99903464e-01 -2.97942973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.10719347 meters Centerline goodness : 0.865352 Centerline is valid? [False, False] Translation: X:20.69, Y:-0.13, Z:-2.98 [[ 9.99992521e-01 1.89673489e-03 3.37037487e-03 2.06882006e+01] [-1.85296010e-03 9.99914505e-01 -1.29441041e-02 -1.28713127e-01] [-3.39463826e-03 1.29377622e-02 9.99910541e-01 -2.97978573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.13719347 meters Centerline goodness : 0.865765 Centerline is valid? [False, False] Translation: X:20.69, Y:-0.14, Z:-2.98 [[ 9.99990682e-01 2.64546837e-03 3.41149752e-03 2.06885824e+01] [-2.60897806e-03 9.99939812e-01 -1.06567269e-02 -1.35477194e-01] [-3.43948422e-03 1.06477271e-02 9.99937396e-01 -2.98033183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.16719347 meters Centerline goodness : 0.866196 Centerline is valid? [False, False] Translation: X:20.69, Y:-0.14, Z:-2.98 [[ 9.99993628e-01 2.02337625e-03 2.94094023e-03 2.06904663e+01] [-1.99201010e-03 9.99941522e-01 -1.06294285e-02 -1.37350568e-01] [-2.96227558e-03 1.06235024e-02 9.99939181e-01 -2.98163860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.19719347 meters Centerline goodness : 0.865318 Centerline is valid? [False, False] Translation: X:20.69, Y:-0.14, Z:-2.98 [[ 9.99996596e-01 1.07276253e-03 2.37839610e-03 2.06927899e+01] [-1.04706341e-03 9.99941343e-01 -1.07802763e-02 -1.40087649e-01] [-2.38982127e-03 1.07777493e-02 9.99939063e-01 -2.98323402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.22719347 meters Centerline goodness : 0.863910 Centerline is valid? [False, False] Translation: X:20.69, Y:-0.15, Z:-2.98 [[ 9.99986367e-01 -4.86758028e-03 1.88994816e-03 2.06947396e+01] [ 4.89608998e-03 9.99869652e-01 -1.53853112e-02 -1.47538241e-01] [-1.81481258e-03 1.53943548e-02 9.99879853e-01 -2.98455633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.25719347 meters Centerline goodness : 0.862316 Centerline is valid? [False, False] Translation: X:20.70, Y:-0.15, Z:-2.98 [[ 9.99961050e-01 -8.66834380e-03 1.66066631e-03 2.06954498e+01] [ 8.69747171e-03 9.99792528e-01 -1.84188583e-02 -1.50925785e-01] [-1.50066077e-03 1.84325845e-02 9.99828979e-01 -2.98489317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.28719347 meters Centerline goodness : 0.863773 Centerline is valid? [False, False] Translation: X:20.70, Y:-0.15, Z:-2.99 [[ 9.99919338e-01 -1.26124619e-02 1.49794481e-03 2.06959834e+01] [ 1.26419027e-02 9.99686478e-01 -2.16131506e-02 -1.53803373e-01] [-1.22488013e-03 2.16303441e-02 9.99765286e-01 -2.98508729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.31719347 meters Centerline goodness : 0.862196 Centerline is valid? [False, False] Translation: X:20.70, Y:-0.16, Z:-2.99 [[ 9.99750593e-01 -2.21678296e-02 2.70922256e-03 2.06956134e+01] [ 2.21987298e-02 9.99681988e-01 -1.19640446e-02 -1.60869502e-01] [-2.44314410e-03 1.20212020e-02 9.99924758e-01 -2.98505284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.34719347 meters Centerline goodness : 0.862737 Centerline is valid? [False, False] Translation: X:20.70, Y:-0.16, Z:-2.99 [[ 9.99739274e-01 -2.26872812e-02 2.58271471e-03 2.06959882e+01] [ 2.27155144e-02 9.99676003e-01 -1.14845679e-02 -1.63114407e-01] [-2.32132430e-03 1.15402413e-02 9.99930715e-01 -2.98502548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.37719347 meters Centerline goodness : 0.862707 Centerline is valid? [False, False] Translation: X:20.70, Y:-0.16, Z:-2.98 [[ 9.99727831e-01 -2.32152760e-02 2.30543829e-03 2.06965325e+01] [ 2.32398729e-02 9.99666203e-01 -1.12867235e-02 -1.64682224e-01] [-2.04264434e-03 1.13372297e-02 9.99933645e-01 -2.98491640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.40719347 meters Centerline goodness : 0.863536 Centerline is valid? [False, False] Translation: X:20.70, Y:-0.17, Z:-2.98 [[ 9.99721315e-01 -2.35131309e-02 2.10364810e-03 2.06969480e+01] [ 2.35350604e-02 9.99661497e-01 -1.10901936e-02 -1.65696064e-01] [-1.84217083e-03 1.11366124e-02 9.99936289e-01 -2.98484476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.43719346999998 meters Centerline goodness : 0.862134 Centerline is valid? [False, False] Translation: X:20.70, Y:-0.17, Z:-2.98 [[ 9.99708987e-01 -2.40593267e-02 1.75806845e-03 2.06977787e+01] [ 2.40778929e-02 9.99644651e-01 -1.14379178e-02 -1.65864494e-01] [-1.48225512e-03 1.14769198e-02 9.99933039e-01 -2.98496633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46719346999998 meters Centerline goodness : 0.860982 Centerline is valid? [False, False] Translation: X:20.70, Y:-0.16, Z:-2.99 [[ 9.99684657e-01 -2.50765591e-02 1.32383196e-03 2.06987943e+01] [ 2.50912318e-02 9.99606178e-01 -1.25666157e-02 -1.63696736e-01] [-1.00818312e-03 1.25958694e-02 9.99920161e-01 -2.98501287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.49719346999998 meters Centerline goodness : 0.860685 Centerline is valid? [False, False] Translation: X:20.70, Y:-0.16, Z:-2.99 [[ 9.99726353e-01 -2.33861282e-02 5.54755203e-04 2.07013928e+01] [ 2.33907178e-02 9.99669470e-01 -1.06689074e-02 -1.61964081e-01] [-3.05067403e-04 1.06789640e-02 9.99942932e-01 -2.98643982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52719347 meters Centerline goodness : 0.860414 Centerline is valid? [False, False] Translation: X:20.70, Y:-0.16, Z:-2.99 [[ 9.99795905e-01 -2.02009823e-02 2.61341226e-04 2.07018880e+01] [ 2.02023755e-02 9.99767717e-01 -7.50841955e-03 -1.60054830e-01] [-1.09603070e-04 7.51216683e-03 9.99971777e-01 -2.98640169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.55719347 meters Centerline goodness : 0.861160 Centerline is valid? [False, False] Translation: X:20.70, Y:-0.16, Z:-2.99 [[ 9.99838034e-01 -1.79887066e-02 -5.58480819e-04 2.07041630e+01] [ 1.79852927e-02 9.99822503e-01 -5.61169050e-03 -1.56872747e-01] [ 6.59328745e-04 5.60073716e-03 9.99984098e-01 -2.98739257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58719347 meters Centerline goodness : 0.858601 Centerline is valid? [False, False] Translation: X:20.72, Y:-0.15, Z:-2.99 [[ 9.99846270e-01 -1.74814570e-02 1.35460446e-03 2.07230061e+01] [ 1.74964064e-02 9.99775547e-01 -1.19470370e-02 -1.47593918e-01] [-1.14544881e-03 1.19689010e-02 9.99927714e-01 -2.98963973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.61719347 meters Centerline goodness : 0.860445 Centerline is valid? [False, False] Translation: X:20.72, Y:-0.15, Z:-2.99 [[ 9.99898073e-01 -1.42390107e-02 1.04581906e-03 2.07233097e+01] [ 1.42477482e-02 9.99859014e-01 -8.88564937e-03 -1.45325765e-01] [-9.19148756e-04 8.89964425e-03 9.99959975e-01 -2.98923306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64719347 meters Centerline goodness : 0.860293 Centerline is valid? [False, False] Translation: X:20.72, Y:-0.14, Z:-2.99 [[ 9.99930498e-01 -1.17738073e-02 6.13607054e-04 2.07244672e+01] [ 1.17776671e-02 9.99908057e-01 -6.72040520e-03 -1.41945367e-01] [-5.34425882e-04 6.72716498e-03 9.99977230e-01 -2.98951310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.67719347 meters Centerline goodness : 0.860321 Centerline is valid? [False, False] Translation: X:20.73, Y:-0.14, Z:-2.99 [[ 9.99958195e-01 -9.14255524e-03 1.50743383e-04 2.07252279e+01] [ 9.14312278e-03 9.99948808e-01 -4.33410447e-03 -1.38776423e-01] [-1.11110877e-04 4.33530155e-03 9.99990596e-01 -2.98924618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70719347 meters Centerline goodness : 0.862581 Centerline is valid? [False, False] Translation: X:20.73, Y:-0.13, Z:-2.99 [[ 9.99971949e-01 -7.48118263e-03 -3.63785480e-04 2.07253078e+01] [ 7.47968504e-03 9.99964197e-01 -3.95714148e-03 -1.30008132e-01] [ 3.93376554e-04 3.95430948e-03 9.99992104e-01 -2.98781949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.73719347 meters Centerline goodness : 0.863479 Centerline is valid? [False, False] Translation: X:20.74, Y:-0.13, Z:-2.99 [[ 9.99982744e-01 -3.69059967e-03 4.57079038e-03 2.07367025e+01] [ 3.73719379e-03 9.99940713e-01 -1.02276483e-02 -1.25490814e-01] [-4.53277323e-03 1.02445538e-02 9.99937250e-01 -2.99148290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76719347 meters Centerline goodness : 0.861963 Centerline is valid? [False, False] Translation: X:20.74, Y:-0.12, Z:-2.99 [[ 9.99990620e-01 -5.90342620e-04 4.29090670e-03 2.07372591e+01] [ 6.23317426e-04 9.99970256e-01 -7.68754016e-03 -1.22282932e-01] [-4.28624079e-03 7.69014265e-03 9.99961244e-01 -2.99133538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.79719347 meters Centerline goodness : 0.861546 Centerline is valid? [False, False] Translation: X:20.74, Y:-0.12, Z:-2.99 [[ 9.99987648e-01 2.69521557e-03 4.17620159e-03 2.07374029e+01] [-2.67361183e-03 9.99983061e-01 -5.17003654e-03 -1.18483393e-01] [-4.19006521e-03 5.15880714e-03 9.99977915e-01 -2.99097798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82719347 meters Centerline goodness : 0.864114 Centerline is valid? [False, False] Translation: X:20.75, Y:-0.11, Z:-2.99 [[ 9.99910336e-01 8.42135474e-03 1.04115677e-02 2.07474122e+01] [-8.31818600e-03 9.99916267e-01 -9.91295860e-03 -1.05890173e-01] [-1.04941765e-02 9.82546441e-03 9.99896661e-01 -2.99307586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.85719347 meters Centerline goodness : 0.864038 Centerline is valid? [False, False] Translation: X:20.76, Y:-0.10, Z:-3.00 [[ 9.99801075e-01 1.22230249e-02 1.57609569e-02 2.07590789e+01] [-1.19689885e-02 9.99798538e-01 -1.61129121e-02 -9.96498660e-02] [-1.59547302e-02 1.59210641e-02 9.99745951e-01 -2.99690018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.88719347 meters Centerline goodness : 0.867407 Centerline is valid? [False, False] Translation: X:20.76, Y:-0.10, Z:-3.00 [[ 9.99756267e-01 1.56339492e-02 1.55879895e-02 2.07596847e+01] [-1.54209489e-02 9.99787336e-01 -1.36922098e-02 -9.53846660e-02] [-1.57987378e-02 1.34484910e-02 9.99784746e-01 -2.99681292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.91719347 meters Centerline goodness : 0.864251 Centerline is valid? [False, False] Translation: X:20.77, Y:-0.09, Z:-3.00 [[ 9.99564377e-01 2.16270268e-02 2.00830149e-02 2.07730541e+01] [-2.12627499e-02 9.99608645e-01 -1.81783276e-02 -8.53781244e-02] [-2.04682985e-02 1.77433886e-02 9.99633043e-01 -3.00063070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.94719347 meters Centerline goodness : 0.864251 Centerline is valid? [False, False] Translation: X:20.77, Y:-0.09, Z:-3.00 [[ 9.99564377e-01 2.16270268e-02 2.00830149e-02 2.07730541e+01] [-2.12627499e-02 9.99608645e-01 -1.81783276e-02 -8.53781244e-02] [-2.04682985e-02 1.77433886e-02 9.99633043e-01 -3.00063070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.97719347 meters Centerline goodness : 0.865054 Centerline is valid? [False, False] Translation: X:20.77, Y:-0.08, Z:-3.00 [[ 9.99481525e-01 2.52851729e-02 1.99334430e-02 2.07737843e+01] [-2.49796322e-02 9.99568860e-01 -1.54308788e-02 -8.24552864e-02] [-2.03150213e-02 1.49249482e-02 9.99682222e-01 -3.00062703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.00719347 meters Centerline goodness : 0.865189 Centerline is valid? [False, False] Translation: X:20.77, Y:-0.08, Z:-3.00 [[ 9.99385000e-01 2.91104331e-02 1.95500340e-02 2.07748792e+01] [-2.88674502e-02 9.99503856e-01 -1.25981077e-02 -8.00289070e-02] [-1.99070707e-02 1.20260002e-02 9.99729505e-01 -3.00052985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.03719347 meters Centerline goodness : 0.865351 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.08, Z:-3.00 [[ 9.99270386e-01 3.29873128e-02 1.92492191e-02 2.07760764e+01] [-3.28139267e-02 9.99418627e-01 -9.25490653e-03 -7.85410733e-02] [-1.95433226e-02 8.61651156e-03 9.99771881e-01 -3.00091006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.06719347 meters Centerline goodness : 0.864865 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.08, Z:-3.00 [[ 9.99166149e-01 3.63264273e-02 1.86385979e-02 2.07785683e+01] [-3.62163047e-02 9.99324665e-01 -6.21232718e-03 -7.72367542e-02] [-1.88516822e-02 5.53212588e-03 9.99806986e-01 -3.00242493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.09719347 meters Centerline goodness : 0.866069 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.07, Z:-3.00 [[ 9.99132482e-01 3.76649570e-02 1.77660812e-02 2.07803219e+01] [-3.75491983e-02 9.99271609e-01 -6.80501760e-03 -7.42200243e-02] [-1.80094512e-02 6.13201203e-03 9.99819013e-01 -3.00211120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.12719347 meters Centerline goodness : 0.867451 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.07, Z:-3.00 [[ 9.99133225e-01 3.77869448e-02 1.74627104e-02 2.07806485e+01] [-3.76752310e-02 9.99267691e-01 -6.68269722e-03 -7.46181537e-02] [-1.77024410e-02 6.01899317e-03 9.99825182e-01 -3.00172218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.15719347 meters Centerline goodness : 0.867914 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.08, Z:-3.00 [[ 9.99205947e-01 3.56802378e-02 1.77312166e-02 2.07785488e+01] [-3.55335357e-02 9.99332157e-01 -8.52106170e-03 -7.70114743e-02] [-1.80234084e-02 7.88424271e-03 9.99806479e-01 -2.99971775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18719346999998 meters Centerline goodness : 0.869185 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.08, Z:-3.00 [[ 9.99215570e-01 3.54940052e-02 1.75618950e-02 2.07788928e+01] [-3.53603661e-02 9.99343697e-01 -7.86259012e-03 -7.92371193e-02] [-1.78294439e-02 7.23542743e-03 9.99814863e-01 -3.00001645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.21719346999998 meters Centerline goodness : 0.869046 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.08, Z:-3.00 [[ 9.99230046e-01 3.51415924e-02 1.74465813e-02 2.07794743e+01] [-3.50267583e-02 9.99362936e-01 -6.84464187e-03 -8.25701090e-02] [-1.76759983e-02 6.22827462e-03 9.99824368e-01 -3.00098106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24719346999998 meters Centerline goodness : 0.870386 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.09, Z:-3.00 [[ 9.99250094e-01 3.45136965e-02 1.75514527e-02 2.07794188e+01] [-3.44171395e-02 9.99390875e-01 -5.77407475e-03 -8.65512633e-02] [-1.77400464e-02 5.16567394e-03 9.99829289e-01 -3.00167835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.27719347 meters Centerline goodness : 0.871268 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.09, Z:-3.00 [[ 9.99399854e-01 2.96030160e-02 1.79886966e-02 2.07784607e+01] [-2.94687006e-02 9.99536149e-01 -7.68646751e-03 -9.34417958e-02] [-1.82078951e-02 7.15175099e-03 9.99808644e-01 -3.00231891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30719347 meters Centerline goodness : 0.871642 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.10, Z:-3.00 [[ 9.99506781e-01 2.56342535e-02 1.81405655e-02 2.07776959e+01] [-2.54428610e-02 9.99618972e-01 -1.07038564e-02 -9.60828063e-02] [-1.84080388e-02 1.02370292e-02 9.99778149e-01 -3.00212294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.33719347 meters Centerline goodness : 0.872388 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.10, Z:-3.00 [[ 9.99608242e-01 2.13295411e-02 1.81221664e-02 2.07772637e+01] [-2.10714708e-02 9.99675496e-01 -1.43141657e-02 -9.78142660e-02] [-1.84216003e-02 1.39266974e-02 9.99733310e-01 -3.00178995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36719347 meters Centerline goodness : 0.876003 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.10, Z:-3.00 [[ 9.99629009e-01 1.98271707e-02 1.86742414e-02 2.07753534e+01] [-1.95625765e-02 9.99707127e-01 -1.42466222e-02 -1.00509165e-01] [-1.89512425e-02 1.38760206e-02 9.99724115e-01 -3.00085801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.39719347 meters Centerline goodness : 0.874434 Centerline is valid? [False, False] Translation: X:20.77, Y:-0.10, Z:-3.00 [[ 9.99704696e-01 1.50687354e-02 1.90644725e-02 2.07743477e+01] [-1.47398542e-02 9.99742114e-01 -1.72754825e-02 -1.03515376e-01] [-1.93198757e-02 1.69893735e-02 9.99668997e-01 -3.00082663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42719347 meters Centerline goodness : 0.875690 Centerline is valid? [False, False] Translation: X:20.77, Y:-0.11, Z:-3.00 [[ 9.99712926e-01 1.41480245e-02 1.93364474e-02 2.07739058e+01] [-1.38298687e-02 9.99768388e-01 -1.64895438e-02 -1.06394943e-01] [-1.95652634e-02 1.62173896e-02 9.99677046e-01 -3.00141307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.45719347 meters Centerline goodness : 0.873549 Centerline is valid? [False, False] Translation: X:20.77, Y:-0.11, Z:-3.00 [[ 9.99724344e-01 1.32776296e-02 1.93633914e-02 2.07741965e+01] [-1.29622905e-02 9.99782780e-01 -1.63209046e-02 -1.08940999e-01] [-1.95758882e-02 1.60654117e-02 9.99679292e-01 -3.00183659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48719347 meters Centerline goodness : 0.875490 Centerline is valid? [False, False] Translation: X:20.77, Y:-0.11, Z:-3.00 [[ 9.99769686e-01 8.80378847e-03 1.95721366e-02 2.07737182e+01] [-8.39867045e-03 9.99750757e-01 -2.06854302e-02 -1.07924883e-01] [-1.97493685e-02 2.05162861e-02 9.99594440e-01 -3.00151692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.51719347 meters Centerline goodness : 0.877414 Centerline is valid? [False, False] Translation: X:20.77, Y:-0.11, Z:-3.00 [[ 9.99773794e-01 8.44385307e-03 1.95208328e-02 2.07737023e+01] [-8.03352416e-03 9.99747120e-01 -2.10037590e-02 -1.07035912e-01] [-1.96932490e-02 2.08421867e-02 9.99588805e-01 -3.00122633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54719347 meters Centerline goodness : 0.878180 Centerline is valid? [False, False] Translation: X:20.77, Y:-0.11, Z:-3.00 [[ 9.99777700e-01 8.12383183e-03 1.94564395e-02 2.07738995e+01] [-7.70640695e-03 9.99740563e-01 -2.14340543e-02 -1.05962050e-01] [-1.96255184e-02 2.12793503e-02 9.99580926e-01 -3.00124027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.57719347 meters Centerline goodness : 0.876309 Centerline is valid? [False, False] Translation: X:20.77, Y:-0.10, Z:-3.00 [[ 9.99784716e-01 7.86824321e-03 1.91993066e-02 2.07747259e+01] [-7.44617966e-03 9.99731195e-01 -2.19566038e-02 -1.04726006e-01] [-1.93669056e-02 2.18089154e-02 9.99574557e-01 -3.00165444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.60719347 meters Centerline goodness : 0.875631 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.10, Z:-3.00 [[ 9.99774415e-01 9.76164714e-03 1.88634268e-02 2.07767135e+01] [-9.37553347e-03 9.99746915e-01 -2.04500555e-02 -1.01152969e-01] [-1.90582790e-02 2.02685876e-02 9.99612908e-01 -3.00316916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.63719347 meters Centerline goodness : 0.877417 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.10, Z:-3.00 [[ 9.99761460e-01 1.16417907e-02 1.84794784e-02 2.07785615e+01] [-1.12951309e-02 9.99760325e-01 -1.87539870e-02 -9.78807053e-02] [-1.86933793e-02 1.85407853e-02 9.99653338e-01 -3.00440103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.66719347 meters Centerline goodness : 0.877469 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.09, Z:-3.00 [[ 9.99720203e-01 1.44436004e-02 1.87322897e-02 2.07783562e+01] [-1.41290045e-02 9.99758712e-01 -1.68193056e-02 -9.38737071e-02] [-1.89707011e-02 1.65499310e-02 9.99683056e-01 -3.00398494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.69719347 meters Centerline goodness : 0.875053 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.08, Z:-3.00 [[ 9.99692938e-01 1.63259611e-02 1.86411578e-02 2.07792063e+01] [-1.59985429e-02 9.99717449e-01 -1.75803411e-02 -8.34714127e-02] [-1.89229067e-02 1.72767115e-02 9.99671666e-01 -3.00333671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.72719347 meters Centerline goodness : 0.875083 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.08, Z:-3.00 [[ 9.99678922e-01 1.76278836e-02 1.82019366e-02 2.07812914e+01] [-1.73220482e-02 9.99708382e-01 -1.68254951e-02 -7.87055608e-02] [-1.84932264e-02 1.65047980e-02 9.99692749e-01 -3.00453753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.75719347 meters Centerline goodness : 0.874561 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.07, Z:-3.00 [[ 9.99633463e-01 1.95600996e-02 1.87174470e-02 2.07801278e+01] [-1.92719627e-02 9.99694859e-01 -1.54525445e-02 -7.47546765e-02] [-1.90139889e-02 1.50861586e-02 9.99705395e-01 -3.00369006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.78719347 meters Centerline goodness : 0.872869 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.07, Z:-3.00 [[ 9.99658905e-01 1.84686971e-02 1.84656944e-02 2.07808970e+01] [-1.81383692e-02 9.99675260e-01 -1.78989913e-02 -6.98117914e-02] [-1.87902689e-02 1.75579485e-02 9.99669267e-01 -3.00359614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.81719347 meters Centerline goodness : 0.872394 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.06, Z:-3.00 [[ 9.99691005e-01 1.62460820e-02 1.88138242e-02 2.07809304e+01] [-1.58290653e-02 9.99630310e-01 -2.21061838e-02 -6.15729946e-02] [-1.91660078e-02 2.18015478e-02 9.99578590e-01 -3.00368298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.84719347 meters Centerline goodness : 0.872684 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.06, Z:-3.00 [[ 9.99704300e-01 1.52921996e-02 1.89066278e-02 2.07812207e+01] [-1.48338303e-02 9.99598265e-01 -2.41509088e-02 -5.68249454e-02] [-1.92683529e-02 2.38633097e-02 9.99529526e-01 -3.00390668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.87719347 meters Centerline goodness : 0.872267 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.05, Z:-3.01 [[ 9.99702922e-01 1.57259941e-02 1.86215136e-02 2.07832792e+01] [-1.52786432e-02 9.99596956e-01 -2.39267160e-02 -5.15262173e-02] [-1.89902797e-02 2.36350964e-02 9.99540270e-01 -3.00551038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.90719347 meters Centerline goodness : 0.874820 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.05, Z:-3.01 [[ 9.99671086e-01 1.71216239e-02 1.90937281e-02 2.07827945e+01] [-1.66805831e-02 9.99595755e-01 -2.30235817e-02 -4.59257593e-02] [-1.94802106e-02 2.26975144e-02 9.99552572e-01 -3.00545236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.93719346999998 meters Centerline goodness : 0.872833 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.04, Z:-3.00 [[ 9.99643437e-01 1.81450258e-02 1.95897273e-02 2.07817554e+01] [-1.77055916e-02 9.99592809e-01 -2.23769757e-02 -4.08271846e-02] [-1.99877813e-02 2.20221492e-02 9.99557659e-01 -3.00472861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96719346999998 meters Centerline goodness : 0.872072 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.03, Z:-3.00 [[ 9.99639342e-01 1.75635878e-02 2.03151907e-02 2.07803488e+01] [-1.70648660e-02 9.99554969e-01 -2.44674085e-02 -3.00795526e-02] [-2.07358853e-02 2.41119081e-02 9.99494192e-01 -3.00355533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.99719346999998 meters Centerline goodness : 0.870756 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.02, Z:-3.00 [[ 9.99589551e-01 1.97490087e-02 2.07534399e-02 2.07796065e+01] [-1.92676625e-02 9.99546475e-01 -2.31430532e-02 -2.46183277e-02] [-2.12010801e-02 2.27336839e-02 9.99516730e-01 -3.00298646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02719347 meters Centerline goodness : 0.872703 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.02, Z:-3.00 [[ 9.99532906e-01 2.23682847e-02 2.08237892e-02 2.07796703e+01] [-2.19190750e-02 9.99527337e-01 -2.15558888e-02 -1.87735029e-02] [-2.12961148e-02 2.10893820e-02 9.99550756e-01 -3.00263467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.05719347 meters Centerline goodness : 0.871550 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.01, Z:-3.00 [[ 9.99422944e-01 2.70583974e-02 2.05334349e-02 2.07812003e+01] [-2.66670412e-02 9.99461889e-01 -1.90997823e-02 -5.51715245e-03] [-2.10391951e-02 1.85411947e-02 9.99606711e-01 -3.00270433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08719347 meters Centerline goodness : 0.870074 Centerline is valid? [False, False] Translation: X:20.78, Y:0.00, Z:-3.00 [[ 9.99344031e-01 2.98775002e-02 2.04656409e-02 2.07817458e+01] [-2.95170100e-02 9.99407629e-01 -1.76957002e-02 1.62615164e-03] [-2.09822209e-02 1.70800079e-02 9.99633943e-01 -3.00267485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.11719347 meters Centerline goodness : 0.868179 Centerline is valid? [False, False] Translation: X:20.78, Y:0.01, Z:-3.00 [[ 9.99255587e-01 3.26865557e-02 2.04905291e-02 2.07817163e+01] [-3.23504029e-02 9.99339927e-01 -1.65276051e-02 9.53503508e-03] [-2.10172343e-02 1.58524249e-02 9.99653428e-01 -3.00200206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14719347 meters Centerline goodness : 0.870966 Centerline is valid? [False, False] Translation: X:20.78, Y:0.02, Z:-3.00 [[ 9.99158548e-01 3.54968147e-02 2.05468334e-02 2.07818430e+01] [-3.51880387e-02 9.99265120e-01 -1.51993811e-02 1.71766928e-02] [-2.10712636e-02 1.44635888e-02 9.99673350e-01 -3.00149727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.17719347 meters Centerline goodness : 0.870996 Centerline is valid? [False, False] Translation: X:20.78, Y:0.03, Z:-3.00 [[ 9.99008711e-01 3.94726508e-02 2.05792283e-02 2.07820430e+01] [-3.91979250e-02 9.99139094e-01 -1.35865148e-02 3.15164449e-02] [-2.10978072e-02 1.27663836e-02 9.99695905e-01 -3.00031742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20719347 meters Centerline goodness : 0.867893 Centerline is valid? [False, False] Translation: X:20.78, Y:0.04, Z:-3.00 [[ 9.98910781e-01 4.18627818e-02 2.06096881e-02 2.07824676e+01] [-4.16206189e-02 9.99060915e-01 -1.20421132e-02 3.68565172e-02] [-2.10944502e-02 1.11712088e-02 9.99715074e-01 -3.00043270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.23719347 meters Centerline goodness : 0.869512 Centerline is valid? [False, False] Translation: X:20.78, Y:0.04, Z:-3.00 [[ 9.98846092e-01 4.35018054e-02 2.03489011e-02 2.07840204e+01] [-4.32810964e-02 9.99000557e-01 -1.11639364e-02 4.24962445e-02] [-2.08142149e-02 1.02703315e-02 9.99730608e-01 -3.00140853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26719347 meters Centerline goodness : 0.870007 Centerline is valid? [False, False] Translation: X:20.78, Y:0.05, Z:-3.00 [[ 9.98750115e-01 4.55776983e-02 2.05153931e-02 2.07844435e+01] [-4.53834569e-02 9.98921212e-01 -9.83635964e-03 4.81849281e-02] [-2.09415800e-02 8.89300586e-03 9.99741149e-01 -3.00177457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.29719347 meters Centerline goodness : 0.870260 Centerline is valid? [False, False] Translation: X:20.79, Y:0.05, Z:-3.00 [[ 9.98684170e-01 4.71535209e-02 2.01612129e-02 2.07862530e+01] [-4.69776470e-02 9.98854398e-01 -9.11003353e-03 5.49305911e-02] [-2.05676863e-02 8.15091992e-03 9.99755236e-01 -3.00278817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.32719347 meters Centerline goodness : 0.870409 Centerline is valid? [False, False] Translation: X:20.79, Y:0.07, Z:-3.00 [[ 9.98659059e-01 4.79734016e-02 1.94585863e-02 2.07895066e+01] [-4.77992770e-02 9.98813505e-01 -9.31724338e-03 6.85448756e-02] [-1.98824786e-02 8.37464315e-03 9.99767249e-01 -3.00424654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.35719347 meters Centerline goodness : 0.871086 Centerline is valid? [False, False] Translation: X:20.79, Y:0.07, Z:-3.01 [[ 9.98554630e-01 5.00628083e-02 1.95542041e-02 2.07903183e+01] [-4.99201943e-02 9.98723413e-01 -7.71484608e-03 7.32285641e-02] [-1.99154683e-02 6.72754560e-03 9.99779033e-01 -3.00503117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.38719347 meters Centerline goodness : 0.871403 Centerline is valid? [False, False] Translation: X:20.79, Y:0.08, Z:-3.01 [[ 9.98615421e-01 4.89896489e-02 1.91639089e-02 2.07917962e+01] [-4.88061750e-02 9.98758931e-01 -9.92753476e-03 7.92730285e-02] [-1.96264716e-02 8.97847221e-03 9.99767067e-01 -3.00578584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.41719347 meters Centerline goodness : 0.873256 Centerline is valid? [False, False] Translation: X:20.79, Y:0.09, Z:-3.01 [[ 9.98618736e-01 4.87456008e-02 1.96083500e-02 2.07916198e+01] [-4.85237788e-02 9.98754271e-01 -1.16339391e-02 9.13482520e-02] [-2.01510267e-02 1.06663983e-02 9.99740048e-01 -3.00578571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.44719347 meters Centerline goodness : 0.876165 Centerline is valid? [False, False] Translation: X:20.79, Y:0.10, Z:-3.01 [[ 9.98682652e-01 4.74972691e-02 1.94157117e-02 2.07917130e+01] [-4.72274261e-02 9.98784240e-01 -1.41283838e-02 9.81433449e-02] [-2.00631665e-02 1.31928177e-02 9.99711668e-01 -3.00502115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.47719347 meters Centerline goodness : 0.880857 Centerline is valid? [False, False] Translation: X:20.79, Y:0.10, Z:-3.00 [[ 9.98613382e-01 4.86293719e-02 2.01618017e-02 2.07892952e+01] [-4.83575327e-02 9.98735329e-01 -1.37583190e-02 1.04744702e-01] [-2.08053620e-02 1.27642665e-02 9.99702061e-01 -3.00289807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.50719347 meters Centerline goodness : 0.885038 Centerline is valid? [False, False] Translation: X:20.79, Y:0.12, Z:-3.00 [[ 9.98582713e-01 4.91451221e-02 2.04284847e-02 2.07885697e+01] [-4.88530695e-02 9.98699877e-01 -1.45579421e-02 1.19546110e-01] [-2.11173770e-02 1.35393151e-02 9.99685322e-01 -3.00153785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.53719347 meters Centerline goodness : 0.884592 Centerline is valid? [False, False] Translation: X:20.79, Y:0.13, Z:-3.00 [[ 9.98453545e-01 5.16984570e-02 2.04398853e-02 2.07893957e+01] [-5.14387920e-02 9.98591114e-01 -1.30321457e-02 1.25404896e-01] [-2.10848296e-02 1.19605890e-02 9.99706144e-01 -3.00182678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.56719347 meters Centerline goodness : 0.886342 Centerline is valid? [False, False] Translation: X:20.79, Y:0.13, Z:-3.00 [[ 9.98307841e-01 5.44792230e-02 2.03339300e-02 2.07906694e+01] [-5.42507170e-02 9.98459668e-01 -1.16254361e-02 1.31865996e-01] [-2.09359537e-02 1.05026337e-02 9.99725653e-01 -3.00235565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.59719347 meters Centerline goodness : 0.887302 Centerline is valid? [False, False] Translation: X:20.79, Y:0.14, Z:-3.00 [[ 9.98112999e-01 5.79479276e-02 2.03095615e-02 2.07918429e+01] [-5.77551782e-02 9.98281167e-01 -9.95248303e-03 1.39098041e-01] [-2.08513785e-02 8.76072034e-03 9.99744202e-01 -3.00279479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.62719347 meters Centerline goodness : 0.889582 Centerline is valid? [False, False] Translation: X:20.80, Y:0.15, Z:-3.00 [[ 9.97349573e-01 7.08160105e-02 1.67009665e-02 2.08001600e+01] [-7.07196023e-02 9.97476371e-01 -6.29497053e-03 1.54848486e-01] [-1.71046042e-02 5.09720046e-03 9.99840713e-01 -3.00359800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.65719347 meters Centerline goodness : 0.891945 Centerline is valid? [False, False] Translation: X:20.80, Y:0.16, Z:-3.00 [[ 9.96763345e-01 7.85727053e-02 1.70048082e-02 2.08012608e+01] [-7.85842068e-02 9.96907479e-01 8.18892280e-06 1.60948569e-01] [-1.69515771e-02 -1.34447178e-03 9.99855408e-01 -3.00387109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68719346999998 meters Centerline goodness : 0.893266 Centerline is valid? [False, False] Translation: X:20.80, Y:0.17, Z:-3.00 [[ 9.96135569e-01 8.61058119e-02 1.73123422e-02 2.08022490e+01] [-8.62249016e-02 9.96256075e-01 6.25295207e-03 1.66633364e-01] [-1.67091106e-02 -7.72154297e-03 9.99830577e-01 -3.00392733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.71719346999998 meters Centerline goodness : 0.892522 Centerline is valid? [False, False] Translation: X:20.80, Y:0.18, Z:-3.00 [[ 9.95019814e-01 9.80790137e-02 1.77785646e-02 2.08048489e+01] [-9.83597760e-02 9.95027525e-01 1.56709907e-02 1.75943891e-01] [-1.61531659e-02 -1.73416418e-02 9.99719132e-01 -3.00483208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74719346999998 meters Centerline goodness : 0.892305 Centerline is valid? [False, False] Translation: X:20.81, Y:0.18, Z:-3.01 [[ 9.94621990e-01 1.02019150e-01 1.78658748e-02 2.08057513e+01] [-1.02354319e-01 9.94567048e-01 1.89731306e-02 1.78449267e-01] [-1.58331877e-02 -2.06997424e-02 9.99660358e-01 -3.00519722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.77719347 meters Centerline goodness : 0.891238 Centerline is valid? [False, False] Translation: X:20.81, Y:0.18, Z:-3.01 [[ 9.94600766e-01 1.02306422e-01 1.73986040e-02 2.08070395e+01] [-1.02622009e-01 9.94551519e-01 1.83303112e-02 1.81011494e-01] [-1.54284995e-02 -2.00168213e-02 9.99680593e-01 -3.00562072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80719347 meters Centerline goodness : 0.891587 Centerline is valid? [False, False] Translation: X:20.81, Y:0.18, Z:-3.01 [[ 9.94597098e-01 1.02380378e-01 1.71718273e-02 2.08078129e+01] [-1.02687621e-01 9.94549320e-01 1.80804476e-02 1.81908406e-01] [-1.52271461e-02 -1.97460948e-02 9.99689065e-01 -3.00609479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.83719347 meters Centerline goodness : 0.887906 Centerline is valid? [False, False] Translation: X:20.81, Y:0.18, Z:-3.01 [[ 9.94985504e-01 9.86593583e-02 1.64370601e-02 2.08086886e+01] [-9.88863401e-02 9.95005525e-01 1.36197298e-02 1.83677876e-01] [-1.50112518e-02 -1.51768344e-02 9.99772137e-01 -3.00627660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86719347 meters Centerline goodness : 0.887906 Centerline is valid? [False, False] Translation: X:20.81, Y:0.18, Z:-3.01 [[ 9.94985504e-01 9.86593583e-02 1.64370601e-02 2.08086886e+01] [-9.88863401e-02 9.95005525e-01 1.36197298e-02 1.83677876e-01] [-1.50112518e-02 -1.51768344e-02 9.99772137e-01 -3.00627660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.89719347 meters Centerline goodness : 0.889876 Centerline is valid? [False, False] Translation: X:20.81, Y:0.18, Z:-3.01 [[ 9.95375123e-01 9.47202355e-02 1.60137787e-02 2.08087701e+01] [-9.48840022e-02 9.95440149e-01 9.79469319e-03 1.83102070e-01] [-1.50130026e-02 -1.12688454e-02 9.99823796e-01 -3.00623164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92719347 meters Centerline goodness : 0.888564 Centerline is valid? [False, False] Translation: X:20.81, Y:0.18, Z:-3.01 [[ 9.95730411e-01 9.10112433e-02 1.54240680e-02 2.08090813e+01] [-9.11134627e-02 9.95822091e-01 6.05800243e-03 1.82735850e-01] [-1.48082813e-02 -7.43747749e-03 9.99862690e-01 -3.00599349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.95719347 meters Centerline goodness : 0.888138 Centerline is valid? [False, False] Translation: X:20.81, Y:0.18, Z:-3.01 [[ 9.96082514e-01 8.71768444e-02 1.48264338e-02 2.08094288e+01] [-8.72206549e-02 9.96186285e-01 2.33316528e-03 1.82015063e-01] [-1.45664920e-02 -3.61719641e-03 9.99887360e-01 -3.00581665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98719347 meters Centerline goodness : 0.886099 Centerline is valid? [False, False] Translation: X:20.81, Y:0.18, Z:-3.01 [[ 9.96487035e-01 8.24941392e-02 1.44327922e-02 2.08093509e+01] [-8.24911305e-02 9.96591474e-01 -8.04672134e-04 1.77853278e-01] [-1.44499784e-02 -3.88731996e-04 9.99895518e-01 -3.00598414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.01719347 meters Centerline goodness : 0.882426 Centerline is valid? [False, False] Translation: X:20.81, Y:0.18, Z:-3.01 [[ 9.96801744e-01 7.86916920e-02 1.39248063e-02 2.08098675e+01] [-7.86386267e-02 9.96893832e-01 -4.31906301e-03 1.76423039e-01] [-1.42214278e-02 3.21022190e-03 9.99893717e-01 -3.00625073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04719347 meters Centerline goodness : 0.882000 Centerline is valid? [False, False] Translation: X:20.82, Y:0.17, Z:-3.01 [[ 9.96957334e-01 7.56436461e-02 1.88178925e-02 2.08168026e+01] [-7.57790812e-02 9.97102853e-01 6.59029296e-03 1.71002361e-01] [-1.82648605e-02 -7.99624350e-03 9.99801208e-01 -3.00782412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.07719347 meters Centerline goodness : 0.879542 Centerline is valid? [False, False] Translation: X:20.82, Y:0.17, Z:-3.01 [[ 9.97149006e-01 7.23651111e-02 2.13810692e-02 2.08243452e+01] [-7.27339727e-02 9.97206337e-01 1.70085601e-02 1.66797669e-01] [-2.00905114e-02 -1.85151989e-02 9.99626710e-01 -3.00781601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.10719347 meters Centerline goodness : 0.881281 Centerline is valid? [False, False] Translation: X:20.83, Y:0.16, Z:-3.01 [[ 0.99726356 0.06972954 0.02455982 20.8308526 ] [-0.07042259 0.99710762 0.02858414 0.16309268] [-0.02249562 -0.03023549 0.99928963 -3.00673028] [ 0. 0. 0. 1. ]] SLAMing on 203.13719347 meters Centerline goodness : 0.879673 Centerline is valid? [False, False] Translation: X:20.84, Y:0.16, Z:-3.00 [[ 9.97557131e-01 6.62575350e-02 2.21293703e-02 2.08377036e+01] [-6.70330368e-02 9.97087900e-01 3.63633232e-02 1.61067490e-01] [-1.96555832e-02 -3.77578913e-02 9.99093589e-01 -3.00270462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.16719347 meters Centerline goodness : 0.880742 Centerline is valid? [False, False] Translation: X:20.84, Y:0.16, Z:-3.00 [[ 9.97375666e-01 6.87151281e-02 2.28037929e-02 2.08359564e+01] [-6.95800372e-02 9.96790378e-01 3.95924237e-02 1.60312546e-01] [-2.00100029e-02 -4.10752087e-02 9.98955668e-01 -3.00133925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.19719347 meters Centerline goodness : 0.880814 Centerline is valid? [False, False] Translation: X:20.84, Y:0.16, Z:-3.00 [[ 9.97374172e-01 6.88822275e-02 2.23606530e-02 2.08371384e+01] [-6.97236496e-02 9.96790819e-01 3.93278019e-02 1.61635666e-01] [-1.95799070e-02 -4.07836002e-02 9.98976138e-01 -3.00176299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.22719347 meters Centerline goodness : 0.878767 Centerline is valid? [False, False] Translation: X:20.84, Y:0.16, Z:-3.00 [[ 9.97367353e-01 6.90932287e-02 2.20110870e-02 2.08381562e+01] [-6.99113067e-02 9.96795924e-01 3.88625138e-02 1.64068275e-01] [-1.92554252e-02 -4.02990264e-02 9.99002111e-01 -3.00192976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.25719347 meters Centerline goodness : 0.875981 Centerline is valid? [False, False] Translation: X:20.84, Y:0.17, Z:-3.00 [[ 9.96931597e-01 7.51922759e-02 2.17603627e-02 2.08411629e+01] [-7.60918668e-02 9.96130280e-01 4.39828768e-02 1.66620535e-01] [-1.83689836e-02 -4.55037063e-02 9.98795271e-01 -3.00402995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.28719347 meters Centerline goodness : 0.873387 Centerline is valid? [False, False] Translation: X:20.84, Y:0.17, Z:-3.01 [[ 9.96782837e-01 7.72703756e-02 2.12900211e-02 2.08437927e+01] [-7.81679750e-02 9.95916400e-01 4.51695906e-02 1.67746323e-01] [-1.77128099e-02 -4.66884705e-02 9.98752443e-01 -3.00580734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.31719347 meters Centerline goodness : 0.872773 Centerline is valid? [False, False] Translation: X:20.85, Y:0.17, Z:-3.01 [[ 9.96639638e-01 7.92181572e-02 2.08306219e-02 2.08463523e+01] [-8.01115720e-02 9.95711113e-01 4.62765168e-02 1.68258373e-01] [-1.70753413e-02 -4.77897848e-02 9.98711454e-01 -3.00765122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.34719347 meters Centerline goodness : 0.870827 Centerline is valid? [False, False] Translation: X:20.85, Y:0.17, Z:-3.01 [[ 9.96500526e-01 8.10910490e-02 2.02717390e-02 2.08487622e+01] [-8.19754625e-02 9.95503511e-01 4.74634927e-02 1.68316980e-01] [-1.63317230e-02 -4.89591806e-02 9.98667249e-01 -3.00905114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.37719347 meters Centerline goodness : 0.873696 Centerline is valid? [False, False] Translation: X:20.85, Y:0.17, Z:-3.01 [[ 9.96047696e-01 8.64990498e-02 2.01717917e-02 2.08496247e+01] [-8.74504251e-02 9.94791702e-01 5.23630954e-02 1.68279654e-01] [-1.55373730e-02 -5.39201723e-02 9.98424361e-01 -3.00873064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.40719347 meters Centerline goodness : 0.873459 Centerline is valid? [False, False] Translation: X:20.85, Y:0.17, Z:-3.01 [[ 9.95977390e-01 8.74232941e-02 1.96521388e-02 2.08506852e+01] [-8.83508461e-02 9.94693211e-01 5.27213874e-02 1.69258224e-01] [-1.49387716e-02 -5.42455929e-02 9.98415870e-01 -3.00859150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.43719346999998 meters Centerline goodness : 0.870800 Centerline is valid? [False, False] Translation: X:20.85, Y:0.17, Z:-3.01 [[ 9.95741473e-01 9.01577670e-02 1.92482473e-02 2.08529481e+01] [-9.10967030e-02 9.94305517e-01 5.52985520e-02 1.66382898e-01] [-1.41530445e-02 -5.68165136e-02 9.98284316e-01 -3.00997791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46719346999998 meters Centerline goodness : 0.869340 Centerline is valid? [False, False] Translation: X:20.85, Y:0.16, Z:-3.01 [[ 9.95955932e-01 8.79490205e-02 1.83508001e-02 2.08547660e+01] [-8.88055158e-02 9.94652070e-01 5.27336662e-02 1.64670266e-01] [-1.36147870e-02 -5.41500599e-02 9.98439987e-01 -3.01069624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.49719346999998 meters Centerline goodness : 0.868877 Centerline is valid? [False, False] Translation: X:20.86, Y:0.16, Z:-3.01 [[ 9.96232637e-01 8.48782314e-02 1.77825648e-02 2.08553740e+01] [-8.56662520e-02 9.95087959e-01 4.96109506e-02 1.62639075e-01] [-1.34843264e-02 -5.09474138e-02 9.98610301e-01 -3.01086113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52719347 meters Centerline goodness : 0.869658 Centerline is valid? [False, False] Translation: X:20.86, Y:0.16, Z:-3.01 [[ 9.96517332e-01 8.15852934e-02 1.72350245e-02 2.08558371e+01] [-8.23078199e-02 9.95522177e-01 4.64867459e-02 1.60417032e-01] [-1.33652143e-02 -4.77434253e-02 9.98770212e-01 -3.01083466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.55719347 meters Centerline goodness : 0.869806 Centerline is valid? [False, False] Translation: X:20.86, Y:0.16, Z:-3.01 [[ 9.96797992e-01 7.81819797e-02 1.67732478e-02 2.08559970e+01] [-7.88447673e-02 9.95942877e-01 4.33738241e-02 1.57869084e-01] [-1.33141453e-02 -4.45574236e-02 9.98918100e-01 -3.01060435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58719347 meters Centerline goodness : 0.913405 Centerline is valid? [False, False] Translation: X:20.86, Y:0.15, Z:-3.01 [[ 9.97289381e-01 7.17736906e-02 1.61996180e-02 2.08553114e+01] [-7.23436269e-02 9.96660428e-01 3.78733457e-02 1.50814445e-01] [-1.34272084e-02 -3.89426246e-02 9.99151231e-01 -3.00939302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.61719347 meters Centerline goodness : 0.912935 Centerline is valid? [False, False] Translation: X:20.86, Y:0.15, Z:-3.01 [[ 9.97771274e-01 6.49155515e-02 1.54420363e-02 2.08557353e+01] [-6.53656184e-02 9.97389454e-01 3.06857145e-02 1.49225720e-01] [-1.34097440e-02 -3.16267026e-02 9.99409791e-01 -3.00907929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64719347 meters Centerline goodness : 0.911646 Centerline is valid? [False, False] Translation: X:20.86, Y:0.15, Z:-3.01 [[ 9.98181130e-01 5.84521336e-02 1.47573569e-02 2.08563338e+01] [-5.87925363e-02 9.97986585e-01 2.37952621e-02 1.47940605e-01] [-1.33367604e-02 -2.46196041e-02 9.99607926e-01 -3.00889059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.67719347 meters Centerline goodness : 0.915451 Centerline is valid? [False, False] Translation: X:20.86, Y:0.15, Z:-3.01 [[ 9.98385926e-01 5.49125708e-02 1.44966549e-02 2.08564452e+01] [-5.52041242e-02 9.98263756e-01 2.05420852e-02 1.45875396e-01] [-1.33434665e-02 -2.13092038e-02 9.99683885e-01 -3.00876600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70719347 meters Centerline goodness : 0.866443 Centerline is valid? [False, False] Translation: X:20.87, Y:0.14, Z:-3.01 [[ 9.98647265e-01 4.92538221e-02 1.66643565e-02 2.08744908e+01] [-4.95939915e-02 9.98555849e-01 2.06555742e-02 1.37429992e-01] [-1.56229247e-02 -2.14540846e-02 9.99647761e-01 -3.01134971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.73719347 meters Centerline goodness : 0.864138 Centerline is valid? [False, False] Translation: X:20.88, Y:0.13, Z:-3.01 [[ 9.98793516e-01 4.62764082e-02 1.64318429e-02 2.08755204e+01] [-4.65728872e-02 9.98750110e-01 1.81434336e-02 1.33045700e-01] [-1.55716919e-02 -1.88868222e-02 9.99700360e-01 -3.01244741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76719347 meters Centerline goodness : 0.861942 Centerline is valid? [False, False] Translation: X:20.88, Y:0.13, Z:-3.01 [[ 9.98923701e-01 4.34771330e-02 1.61610324e-02 2.08765492e+01] [-4.37333353e-02 9.98917456e-01 1.58528242e-02 1.28301717e-01] [-1.54543020e-02 -1.65425377e-02 9.99743722e-01 -3.01349916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.79719347 meters Centerline goodness : 0.861351 Centerline is valid? [False, False] Translation: X:20.88, Y:0.13, Z:-3.01 [[ 9.99058042e-01 4.03026980e-02 1.60847990e-02 2.08766616e+01] [-4.05114384e-02 9.99096189e-01 1.28696909e-02 1.25432008e-01] [-1.55515782e-02 -1.35091866e-02 9.99787803e-01 -3.01373343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.82719347 meters Centerline goodness : 0.860272 Centerline is valid? [False, False] Translation: X:20.88, Y:0.12, Z:-3.01 [[ 9.99179537e-01 3.72549500e-02 1.58846181e-02 2.08770409e+01] [-3.74124888e-02 9.99252454e-01 9.73854040e-03 1.24375237e-01] [-1.55099348e-02 -1.03248334e-02 9.99826405e-01 -3.01384244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.85719347 meters Centerline goodness : 0.852924 Centerline is valid? [False, False] Translation: X:20.88, Y:0.12, Z:-3.01 [[ 9.99136374e-01 3.83077736e-02 1.60941233e-02 2.08765004e+01] [-3.84976622e-02 9.99190669e-01 1.16592084e-02 1.19672725e-01] [-1.56344595e-02 -1.22687253e-02 9.99802502e-01 -3.01324426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.88719347 meters Centerline goodness : 0.849967 Centerline is valid? [False, False] Translation: X:20.88, Y:0.12, Z:-3.01 [[ 9.99112682e-01 3.89259314e-02 1.60816672e-02 2.08771869e+01] [-3.91337490e-02 9.99151783e-01 1.28165281e-02 1.16784788e-01] [-1.55691312e-02 -1.34344917e-02 9.99788536e-01 -3.01399862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.91719347 meters Centerline goodness : 0.845309 Centerline is valid? [False, False] Translation: X:20.88, Y:0.11, Z:-3.02 [[ 9.99184962e-01 3.72735334e-02 1.54949987e-02 2.08800214e+01] [-3.74456012e-02 9.99238487e-01 1.09669278e-02 1.14823576e-01] [-1.50744229e-02 -1.15382089e-02 9.99819800e-01 -3.01622495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.94719347 meters Centerline goodness : 0.830212 Centerline is valid? [False, False] Translation: X:20.88, Y:0.11, Z:-3.02 [[ 9.99259910e-01 3.51607144e-02 1.55998720e-02 2.08815362e+01] [-3.53136371e-02 9.99329803e-01 9.63802807e-03 1.09279751e-01] [-1.52505371e-02 -1.01817833e-02 9.99831862e-01 -3.01839417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.97719347 meters Centerline goodness : 0.824124 Centerline is valid? [False, False] Translation: X:20.88, Y:0.11, Z:-3.02 [[ 9.99249386e-01 3.53680514e-02 1.58039756e-02 2.08814661e+01] [-3.55413062e-02 9.99309637e-01 1.08196708e-02 1.05615559e-01] [-1.54103944e-02 -1.13732433e-02 9.99816568e-01 -3.01864890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.00719347 meters Centerline goodness : 0.817410 Centerline is valid? [False, False] Translation: X:20.88, Y:0.10, Z:-3.02 [[ 9.99241892e-01 3.55170743e-02 1.59429764e-02 2.08815296e+01] [-3.57117057e-02 9.99288953e-01 1.20938745e-02 1.01940661e-01] [-1.55021011e-02 -1.26540570e-02 9.99799760e-01 -3.01883642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.03719347 meters Centerline goodness : 0.811805 Centerline is valid? [False, False] Translation: X:20.88, Y:0.10, Z:-3.02 [[ 9.99352146e-01 3.23096808e-02 1.58547523e-02 2.08820964e+01] [-3.24546152e-02 9.99432951e-01 8.97079787e-03 1.00162620e-01] [-1.55559182e-02 -9.47954598e-03 9.99834062e-01 -3.01933355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.06719347 meters Centerline goodness : 0.840185 Centerline is valid? [False, False] Translation: X:20.89, Y:0.09, Z:-3.02 [[ 9.99398814e-01 3.12285603e-02 1.50594603e-02 2.08865700e+01] [-3.13664494e-02 9.99467353e-01 9.00867824e-03 9.38491674e-02] [-1.47701109e-02 -9.47562415e-03 9.99846016e-01 -3.02288559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.09719347 meters Centerline goodness : 0.838739 Centerline is valid? [False, False] Translation: X:20.89, Y:0.09, Z:-3.02 [[ 9.99383519e-01 3.17470142e-02 1.49902721e-02 2.08881208e+01] [-3.18997843e-02 9.99440398e-01 1.00645465e-02 9.16134902e-02] [-1.46623643e-02 -1.05365284e-02 9.99836985e-01 -3.02443937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.12719347 meters Centerline goodness : 0.332791 Centerline is valid? [False, False] Translation: X:20.89, Y:0.09, Z:-3.03 [[ 9.99372794e-01 3.21194867e-02 1.49116756e-02 2.08891694e+01] [-3.22825067e-02 9.99420178e-01 1.08234466e-02 8.98174024e-02] [-1.45553859e-02 -1.12980444e-02 9.99830233e-01 -3.02524153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.15719347 meters Centerline goodness : 0.341640 Centerline is valid? [False, False] Translation: X:20.89, Y:0.09, Z:-3.03 [[ 9.99412713e-01 3.02261834e-02 1.61433227e-02 2.08869936e+01] [-3.03467555e-02 9.99512943e-01 7.27679541e-03 8.92321278e-02] [-1.59155102e-02 -7.76241931e-03 9.99843208e-01 -3.02589829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18719346999998 meters Centerline goodness : 0.184836 Centerline is valid? [False, False] Translation: X:20.88, Y:0.08, Z:-3.03 [[ 9.99387294e-01 2.97314898e-02 1.84682270e-02 2.08829689e+01] [-2.98422381e-02 9.99538081e-01 5.75026868e-03 8.32037926e-02] [-1.82887321e-02 -6.29787868e-03 9.99812912e-01 -3.02628493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.21719346999998 meters Centerline goodness : 0.222563 Centerline is valid? [False, False] Translation: X:20.88, Y:0.08, Z:-3.03 [[ 9.99431609e-01 2.74254140e-02 1.96037037e-02 2.08810387e+01] [-2.74823278e-02 9.99618804e-01 2.63968208e-03 8.08172589e-02] [-1.95238365e-02 -3.17693712e-03 9.99804344e-01 -3.02674111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24719346999998 meters Centerline goodness : 0.182737 Centerline is valid? [False, False] Translation: X:20.88, Y:0.08, Z:-3.03 [[ 9.99475948e-01 2.54195112e-02 2.00419195e-02 2.08812744e+01] [-2.54328387e-02 9.99676449e-01 4.10331000e-04 7.78083184e-02] [-2.00250045e-02 -9.19838870e-04 9.99799056e-01 -3.02816928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.27719347 meters Centerline goodness : 0.185397 Centerline is valid? [False, False] Translation: X:20.88, Y:0.08, Z:-3.03 [[ 9.99531630e-01 2.26052117e-02 2.06282429e-02 2.08808786e+01] [-2.25597608e-02 9.99742535e-01 -2.43341587e-03 7.50404481e-02] [-2.06779397e-02 1.96690791e-03 9.99784254e-01 -3.02917173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30719347 meters Centerline goodness : 0.183210 Centerline is valid? [False, False] Translation: X:20.88, Y:0.07, Z:-3.03 [[ 9.99621421e-01 1.75351227e-02 2.12022031e-02 2.08817145e+01] [-1.73935709e-02 9.99825308e-01 -6.84236871e-03 6.85527021e-02] [-2.13184810e-02 6.47099632e-03 9.99751793e-01 -3.03142019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.33719347 meters Centerline goodness : 0.223821 Centerline is valid? [False, False] Translation: X:20.88, Y:0.06, Z:-3.03 [[ 9.99677286e-01 1.44472292e-02 2.08950213e-02 2.08839647e+01] [-1.42745466e-02 9.99862913e-01 -8.38997594e-03 6.46632382e-02] [-2.10133688e-02 8.08900142e-03 9.99746471e-01 -3.03292556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36719347 meters Centerline goodness : 0.252038 Centerline is valid? [False, False] Translation: X:20.89, Y:0.06, Z:-3.03 [[ 9.99732453e-01 1.09123264e-02 2.03947161e-02 2.08865243e+01] [-1.07095208e-02 9.99892378e-01 -1.00269337e-02 6.03863068e-02] [-2.05019384e-02 9.80583341e-03 9.99741725e-01 -3.03424324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 12913.95 sec! =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= Saving Lidar 3D alignment track ... Completed! Saving Lidar 2D alignment track ... Completed! Writing Lidar 2D slices PTD file in binary format... Completed! Filtering the 2D slices ... |- Filtering the 2D slices ... 0%| | 0/6802 [00:00